[wpigui] Hardcode window scale to 1 on macOS (#3135)

This fixes an issue with scaling on Retina displays where the frame
buffer size was double that of the window size, resulting in a content
scale factor of 2. This scale factor caused elements to appear too
large, even on the smallest zoom setting.

This change does not affect external monitors on macOS because the
reported content scale was 1 anyway.

.clang-format

@@ -3,24 +3,29 @@ Language:        Cpp
 BasedOnStyle:  Google
 AccessModifierOffset: -1
 AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
 AlignConsecutiveAssignments: false
 AlignConsecutiveDeclarations: false
 AlignEscapedNewlines: Left
 AlignOperands:   true
 AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
 AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: false
+AllowShortBlocksOnASingleLine: Never
 AllowShortCaseLabelsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: All
-AllowShortIfStatementsOnASingleLine: true
-AllowShortLoopsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: true
-AlwaysBreakTemplateDeclarations: true
+AlwaysBreakTemplateDeclarations: Yes
 BinPackArguments: true
 BinPackParameters: true
 BraceWrapping:
+  AfterCaseLabel:  false
   AfterClass:      false
   AfterControlStatement: false
   AfterEnum:       false
@@ -29,6 +34,7 @@ BraceWrapping:
   AfterObjCDeclaration: false
   AfterStruct:     false
   AfterUnion:      false
+  AfterExternBlock: false
   BeforeCatch:     false
   BeforeElse:      false
   IndentBraces:    false
@@ -38,6 +44,7 @@ BraceWrapping:
 BreakBeforeBinaryOperators: None
 BreakBeforeBraces: Attach
 BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
 BreakBeforeTernaryOperators: true
 BreakConstructorInitializersBeforeComma: false
 BreakConstructorInitializers: BeforeColon
@@ -50,6 +57,7 @@ ConstructorInitializerAllOnOneLineOrOnePerLine: true
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
 Cpp11BracedListStyle: true
+DeriveLineEnding: true
 DerivePointerAlignment: false
 DisableFormat:   false
 ExperimentalAutoDetectBinPacking: false
@@ -58,15 +66,25 @@ ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
+IncludeBlocks:   Regroup
 IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
   - Regex:           '^<.*\.h>'
     Priority:        1
+    SortPriority:    0
   - Regex:           '^<.*'
     Priority:        2
+    SortPriority:    0
   - Regex:           '.*'
     Priority:        3
+    SortPriority:    0
 IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
 IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
 IndentWidth:     2
 IndentWrappedFunctionNames: false
 JavaScriptQuotes: Leave
@@ -76,32 +94,73 @@ MacroBlockBegin: ''
 MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
 ObjCBlockIndentWidth: 2
 ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: false
+ObjCSpaceBeforeProtocolList: true
 PenaltyBreakAssignment: 2
 PenaltyBreakBeforeFirstCallParameter: 1
 PenaltyBreakComment: 300
 PenaltyBreakFirstLessLess: 120
 PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
 PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
 ReflowComments:  true
 SortIncludes:    false
 SortUsingDeclarations: true
 SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
 SpaceAfterTemplateKeyword: true
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
 SpacesInAngles:  false
+SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
 Standard:        Auto
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
 ...

.clang-tidy

@@ -0,0 +1,76 @@
+Checks:
+  'bugprone-assert-side-effect,
+  bugprone-bool-pointer-implicit-conversion,
+  bugprone-copy-constructor-init,
+  bugprone-dangling-handle,
+  bugprone-dynamic-static-initializers,
+  bugprone-exception-escape,
+  bugprone-forward-declaration-namespace,
+  bugprone-forwarding-reference-overload,
+  bugprone-inaccurate-erase,
+  bugprone-incorrect-roundings,
+  bugprone-integer-division,
+  bugprone-lambda-function-name,
+  bugprone-misplaced-operator-in-strlen-in-alloc,
+  bugprone-misplaced-widening-cast,
+  bugprone-move-forwarding-reference,
+  bugprone-multiple-statement-macro,
+  bugprone-parent-virtual-call,
+  bugprone-posix-return,
+  bugprone-sizeof-container,
+  bugprone-sizeof-expression,
+  bugprone-spuriously-wake-up-functions,
+  bugprone-string-constructor,
+  bugprone-string-integer-assignment,
+  bugprone-string-literal-with-embedded-nul,
+  bugprone-suspicious-enum-usage,
+  bugprone-suspicious-include,
+  bugprone-suspicious-memset-usage,
+  bugprone-suspicious-missing-comma,
+  bugprone-suspicious-semicolon,
+  bugprone-suspicious-string-compare,
+  bugprone-throw-keyword-missing,
+  bugprone-too-small-loop-variable,
+  bugprone-undefined-memory-manipulation,
+  bugprone-undelegated-constructor,
+  bugprone-unhandled-self-assignment,
+  bugprone-unused-raii,
+  bugprone-virtual-near-miss,
+  cert-dcl58-cpp,
+  cert-err52-cpp,
+  cert-err60-cpp,
+  cert-mem57-cpp,
+  cert-oop57-cpp,
+  cert-oop58-cpp,
+  clang-diagnostic-*,
+  -clang-diagnostic-deprecated-declarations,
+  -clang-diagnostic-#warnings,
+  -clang-diagnostic-pedantic,
+  clang-analyzer-*,
+  cppcoreguidelines-slicing,
+  google-build-namespaces,
+  google-explicit-constructor,
+  google-global-names-in-headers,
+  google-readability-avoid-underscore-in-googletest-name,
+  google-readability-casting,
+  google-runtime-operator,
+  llvm-twine-local,
+  misc-definitions-in-headers,
+  misc-misplaced-const,
+  misc-new-delete-overloads,
+  misc-non-copyable-objects,
+  modernize-avoid-bind,
+  modernize-concat-nested-namespaces,
+  modernize-make-shared,
+  modernize-make-unique,
+  modernize-pass-by-value,
+  modernize-use-default-member-init,
+  modernize-use-noexcept,
+  modernize-use-nullptr,
+  modernize-use-override,
+  modernize-use-using,
+  readability-braces-around-statements'
+FormatStyle: file
+CheckOptions:
+  - key: bugprone-dangling-handle
+    value: 'wpi::StringRef;wpi::Twine'

.gitattributes

@@ -0,0 +1,4 @@
+*.gradle text eol=lf
+*.java text eol=lf
+*.md text eol=lf
+*.xml text eol=lf

.github/CODEOWNERS

@@ -0,0 +1,38 @@
+# Lines starting with '#' are comments.
+# Each line is a file pattern followed by one or more owners.
+
+# More details are here: https://help.github.com/articles/about-codeowners/
+
+# The '*' pattern is global owners.
+
+# Order is important. The last matching pattern has the most precedence.
+
+# The folders are ordered as a tree: by depth then alphabetically.
+# This should make it easy to add new rules without breaking existing ones.
+
+# Global rule:
+*  @wpilibsuite/wpilib
+
+/cameraserver/  @wpilibsuite/camera-server
+
+/cscore/  @wpilibsuite/camera-server
+
+/hal/  @wpilibsuite/hardware
+/hal/src/main/java/**/sim/  @wpilibsuite/simulation
+/hal/src/main/native/include/mockdata/  @wpilibsuite/simulation
+/hal/src/main/native/include/simulation/  @wpilibsuite/simulation
+/hal/src/main/native/sim/  @wpilibsuite/simulation
+
+/ntcore/  @wpilibsuite/network-tables
+
+/simulation/  @wpilibsuite/simulation
+
+/wpilibNewCommands/  @wpilibsuite/commandbased
+
+/wpilibOldCommands/  @wpilibsuite/commandbased
+
+/wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
+
+/wpilibjExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
+
+/wpiutil/  @PeterJohnson

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,30 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. ...
+2. ...
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. Windows]
+ - Java version [e.g. 1.10.2]
+ - C++ version [e.g. 17]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -0,0 +1,20 @@
+---
+name: Question
+about: Ask about features or parts of this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the question you have.**
+A clear and concise description of what you want clarification on.
+
+**Describe the reason for your confusion.**
+A clear and concise description of why the question requires clarification and what's confusing.
+
+**Is your question related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Additional context**
+Add any other context or screenshots about the question here.

.github/workflows/cmake.yml

@@ -0,0 +1,59 @@
+name: CMake
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            name: Linux
+            container: wpilib/roborio-cross-ubuntu:2020-18.04
+            flags: ""
+          - os: macos-latest
+            name: macOS
+            container: ""
+            flags: "-DWITH_JAVA=OFF"
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Dependencies
+        run: |
+          if [ "$RUNNER_OS" == "macOS" ]; then
+            brew install opencv
+          fi
+      - name: configure
+        run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
+      - name: build
+        working-directory: build
+        run: make -j3
+      - name: test
+        working-directory: build
+        run: make test
+
+  build-vcpkg:
+    name: "Build - Windows"
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Prepare vcpkg
+        uses: lukka/run-vcpkg@v4
+        with:
+          vcpkgArguments: opencv
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg/
+          vcpkgGitCommitId: 544f8e4593764f78faa94bac2adb81cca5232943
+          vcpkgTriplet: x64-windows
+      - name: Configure & Build
+        uses: lukka/run-cmake@v3
+        with:
+          buildDirectory: ${{ runner.workspace }}/build/
+          cmakeAppendedArgs: -DWITH_JAVA=OFF
+          cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
+          useVcpkgToolchainFile: true
+      - name: Run Tests
+        run: ctest -C "Debug"
+        working-directory: ${{ runner.workspace }}/build/

.github/workflows/documentation.yml

@@ -0,0 +1,58 @@
+name: Documentation
+
+on: [push, workflow_dispatch]
+
+env:
+  BASE_PATH: allwpilib/docs
+
+jobs:
+  publish:
+    name: "Documentation - Publish"
+    runs-on: ubuntu-latest
+    if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v'))
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 13
+      - name: Set environment variables (Development)
+        run: |
+          echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/master'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "TARGET_FOLDER=$BASE_PATH/beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v')
+      - name: Set environment variables (Release)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "TARGET_FOLDER=$BASE_PATH/release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
+      - name: Build with Gradle
+        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.4.1
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy Java 🚀
+        uses: JamesIves/github-pages-deploy-action@3.7.1
+        with:
+          SSH: true
+          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
+          BRANCH: main
+          CLEAN: true
+          FOLDER: docs/build/docs/javadoc
+          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/java
+      - name: Deploy C++ 🚀
+        uses: JamesIves/github-pages-deploy-action@3.7.1
+        with:
+          SSH: true
+          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
+          BRANCH: main
+          CLEAN: true
+          FOLDER: docs/build/docs/doxygen/html
+          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/cpp

.github/workflows/gazebo.yml

@@ -0,0 +1,15 @@
+name: Gazebo
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    name: "Build"
+    runs-on: ubuntu-latest
+    container: wpilib/gazebo-ubuntu:18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - name: Build with Gradle
+        run: ./gradlew build -PbuildServer -PmakeSim -Dorg.gradle.jvmargs=-Xmx2g

.github/workflows/gradle-wrapper-validation.yml

@@ -0,0 +1,10 @@
+name: "Validate Gradle Wrapper"
+on: [push, pull_request]
+
+jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: gradle/wrapper-validation-action@v1

.github/workflows/gradle.yml

@@ -0,0 +1,162 @@
+name: Gradle
+
+on: [pull_request, push]
+
+jobs:
+  build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2021-18.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+            artifact-name: Raspbian
+            build-options: "-Ponlylinuxraspbian"
+          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+            artifact-name: Aarch64
+            build-options: "-Ponlylinuxaarch64bionic"
+          - container: wpilib/ubuntu-base:18.04
+            artifact-name: Linux
+            build-options: "-Dorg.gradle.jvmargs=-Xmx2g"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - name: Set release environment variable
+        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v')
+      - name: Build with Gradle
+        run: ./gradlew build -PbuildServer ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 10.14
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+          - os: windows-latest
+            artifact-name: Win32
+            architecture: x86
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+          architecture: ${{ matrix.architecture }}
+      - name: Import Developer ID Certificate
+        uses: wpilibsuite/import-signing-certificate@v1
+        with:
+          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
+          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
+          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v')))
+      - name: Set Keychain Lock Timeout
+        run: security set-keychain-settings -lut 3600
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v')))
+      - name: Set release environment variable
+        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+        shell: bash
+        if: startsWith(github.ref, 'refs/tags/v')
+      - name: Build with Gradle
+        run: ./gradlew build -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+      - name: Sign Libraries with Developer ID
+        run: ./gradlew build -PbuildServer -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v')))
+      - uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-documentation:
+    name: "Build - Documentation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 13
+      - name: Set release environment variable
+        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v')
+      - name: Build with Gradle
+        run: ./gradlew docs:zipDocs -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: Documentation
+          path: docs/build/outputs
+
+  combine:
+    name: Combine
+    needs: [build-docker, build-host, build-documentation]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          repository: wpilibsuite/build-tools
+      - uses: actions/download-artifact@v2
+        with:
+          path: combiner/products/build/allOutputs
+      - name: Flatten Artifacts
+        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
+      - name: Check version number exists
+        run: |
+          cat combiner/products/build/allOutputs/version.txt
+          test -s combiner/products/build/allOutputs/version.txt
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 11
+      - name: Combine
+        if: |
+          !startsWith(github.ref, 'refs/tags/v') &&
+          github.ref != 'refs/heads/master'
+        run: cd combiner && ./gradlew publish -Pallwpilib
+      - name: Combine (Master)
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          github.ref == 'refs/heads/master'
+        run: cd combiner && ./gradlew publish -Pallwpilib
+        env:
+          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - name: Combine (Release)
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          startsWith(github.ref, 'refs/tags/v')
+        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
+        env:
+          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: Maven
+          path: ~/releases

.github/workflows/lint-format.yml

@@ -0,0 +1,52 @@
+name: Lint and Format
+
+on: [pull_request]
+
+jobs:
+  wpiformat:
+    name: "wpiformat"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: sudo apt-get update -q && sudo apt-get install -y clang-format-10
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run
+        run: wpiformat -clang 10
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+  tidy:
+    name: "clang-tidy"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2020-18.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format and clang-tidy
+        run: sudo apt-get update -q && sudo apt-get install -y clang-format-10 clang-tidy-10
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Create compile_commands.json
+        run: mkdir build-cmake && cd build-cmake && cmake -DWITH_OLD_COMMANDS=ON -DWITH_EXAMPLES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=YES ..
+      - name: List changed files
+        run: wpiformat -list-changed-files
+      - name: Run clang-tidy
+        run: wpiformat -clang 10 -no-format -tidy-changed -compile-commands=build-cmake

.gitignore

@@ -2,7 +2,8 @@
 
 dependency-reduced-pom.xml
 doxygen.log
-buildcmake/
+build*/
+!buildSrc/
 
 # Created by the jenkins test script
 test-reports
@@ -214,3 +215,12 @@ ipch/
 
 # Visual Studio 2015 cache/options directory
 .vs/
+
+# compile_commands
+compile_commands.json
+
+# clang configuration and clangd cache
+.clang
+.clangd/
+
+imgui.ini

.styleguide

@@ -2,6 +2,7 @@ cppHeaderFileInclude {
   \.h$
   \.hpp$
   \.inc$
+  \.inl$
 }
 
 cppSrcFileInclude {
@@ -9,31 +10,31 @@ cppSrcFileInclude {
 }
 
 generatedFileExclude {
-  gtest/
-  ni-libraries/include/
-  ni-libraries/lib/
   FRCNetComm\.java$
-  simulation/frc_gazebo_plugins/frcgazebo/
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
 }
 
-modifiableFileExclude {
-  \.so$
-}
-
 repoRootNameOverride {
   wpilib
 }
 
 includeOtherLibs {
+  ^Eigen/
   ^cameraserver/
   ^cscore
+  ^drake/
   ^hal/
+  ^imgui
+  ^implot
   ^mockdata/
   ^networktables/
   ^ntcore
   ^opencv2/
   ^support/
+  ^units/
+  ^unsupported/
   ^vision/
   ^wpi/
+  ^wpigui
+  ^wpimath/
 }

.styleguide-license

@@ -1,6 +1,3 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) {year} FIRST. All Rights Reserved.{padding}*/
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
-{
-  "enableCppIntellisense": true,
-  "currentLanguage": "cpp",
-  "projectYear": "2019",
-  "teamNumber": 0
-}
+{
+  "enableCppIntellisense": true,
+  "currentLanguage": "cpp",
+  "projectYear": "2021",
+  "teamNumber": 0
+}

CMakeLists.txt

@@ -1,5 +1,5 @@
 # Disable in-source builds to prevent source tree corruption.
-if(" ${CMAKE_SOURCE_DIR}" STREQUAL " ${CMAKE_BINARY_DIR}")
+if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
   message(FATAL_ERROR "
 FATAL: In-source builds are not allowed.
        You should create a separate directory for build files.
@@ -9,21 +9,19 @@ endif()
 
 project(allwpilib)
 cmake_minimum_required(VERSION 3.3.0)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/modules")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
+
+set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
 
 INCLUDE(CPack)
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT AND MSVC)
-    set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE PATH "Default install dir on windows" FORCE)
-endif()
-
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
-set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${CMAKE_BINARY_DIR}/jar)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
+set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${WPILIB_BINARY_DIR}/jar)
 
 # use, i.e. don't skip the full RPATH for the build tree
 SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
@@ -44,18 +42,86 @@ IF("${isSystemDir}" STREQUAL "-1")
    SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/wpilib/lib")
 ENDIF("${isSystemDir}" STREQUAL "-1")
 
-option(WITHOUT_JAVA "don't include java and JNI in the build" OFF)
-option(BUILD_SHARED_LIBS "build with shared libs (needed for JNI)" ON)
-option(WITHOUT_CSCORE "Don't build cscore (removes OpenCV requirement)" OFF)
-option(WITHOUT_ALLWPILIB "Don't build allwpilib (removes OpenCV requirement)" ON)
-option(USE_EXTERNAL_HAL "Use a separately built HAL" OFF)
+# Options for building certain parts of the repo. Everything is built by default.
+option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
+option(WITH_JAVA "Include java and JNI in the build" ON)
+option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
+option(WITH_WPIMATH "Build wpimath" ON)
+option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
+option(WITH_OLD_COMMANDS "Build old commands" OFF)
+option(WITH_EXAMPLES "Build examples" OFF)
+option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
+option(WITH_GUI "Build GUI items" ON)
+option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
+
+# Options for external HAL.
+option(WITH_EXTERNAL_HAL "Use a separately built HAL" OFF)
 set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
 
-if (NOT WITHOUT_JAVA AND NOT BUILD_SHARED_LIBS)
+# Options for using a package manager (vcpkg) for certain dependencies.
+option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
+option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
+
+# Options for installation.
+option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
+
+# Options for location of OpenCV Java.
+set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
+
+# Set default build type to release with debug info (i.e. release mode optimizations
+# are performed, but debug info still exists).
+if (NOT CMAKE_BUILD_TYPE)
+    set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
+endif()
+
+# We always want flat install with MSVC.
+if (MSVC)
+  set(WITH_FLAT_INSTALL ON)
+endif()
+
+if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
     message(FATAL_ERROR "
 FATAL: Cannot build static libs with Java enabled.
        Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITHOUT_JAVA=ON
+       WITH_JAVA=OFF
+")
+endif()
+
+if (WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
+    message(FATAL_ERROR "
+FATAL: Cannot build static libs with simulation modules enabled.
+       Static libs requires both BUILD_SHARED_LIBS=OFF and
+       WITH_SIMULATION_MODULES=OFF
+")
+endif()
+
+if (NOT WITH_JAVA OR NOT WITH_CSCORE)
+    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
+        message(WARNING "
+WARNING: OpenCV Java dir set but java is not enabled!
+It will be ignored.
+")
+    endif()
+endif()
+
+if (NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
+    message(FATAL_ERROR "
+FATAL: Cannot build simulation modules with wpilib disabled.
+       Enable wpilib by setting WITH_WPILIB=ON
+")
+endif()
+
+if (NOT WITH_WPIMATH AND WITH_WPILIB)
+    message(FATAL_ERROR "
+FATAL: Cannot build wpilib without wpimath.
+       Enable wpimath by setting WITH_WPIMATH=ON
+")
+endif()
+
+if (NOT WITH_OLD_COMMANDS AND WITH_EXAMPLES)
+    message(FATAL_ERROR "
+FATAL: Cannot build examples with old commands disabled.
+       Enable old commands by setting WITH_OLD_COMMANDS=ON
 ")
 endif()
 
@@ -65,28 +131,89 @@ set( main_lib_dest wpilib/lib )
 set( java_lib_dest wpilib/java )
 set( jni_lib_dest wpilib/jni )
 
-if (MSVC)
+if (WITH_FLAT_INSTALL)
     set (wpilib_config_dir ${wpilib_dest})
 else()
     set (wpilib_config_dir share/wpilib)
 endif()
 
+if (USE_VCPKG_LIBUV)
+set (LIBUV_VCPKG_REPLACE "find_package(unofficial-libuv CONFIG)")
+endif()
+
+if (USE_VCPKG_EIGEN)
+set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
+endif()
+
+if (WITH_FLAT_INSTALL)
+set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
+set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
+set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
+set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
+set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
+set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
+set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
+set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
+set(WPILIBOLDCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibOldcommands-config.cmake)")
+else()
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
+set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
+set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
+set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
+set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
+set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
+set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
+set(WPILIBOLDCOMMANDS_DEP_REPLACE "find_dependency(wpilibOldCommands)")
+endif()
+
+set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
+set(SELF_DIR "$\{SELF_DIR\}")
+
+if (WITH_TESTS)
+    enable_testing()
+    add_subdirectory(googletest)
+    include(GoogleTest)
+endif()
+
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)
 
-if (NOT WITHOUT_CSCORE)
+if (WITH_WPIMATH)
+    add_subdirectory(wpimath)
+endif()
+
+if (WITH_GUI)
+    add_subdirectory(imgui)
+    add_subdirectory(wpigui)
+    add_subdirectory(glass)
+endif()
+
+if (WITH_CSCORE)
+    set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
+    set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
     add_subdirectory(cscore)
     add_subdirectory(cameraserver)
-    set (CSCORE_DEP_REPLACE "find_dependency(cscore)")
-    set (CAMERASERVER_DEP_REPLACE "find_dependency(cameraserver)")
-    if (NOT WITHOUT_ALLWPILIB)
+    if (WITH_WPILIB)
+        set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
+        set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
         add_subdirectory(hal)
         add_subdirectory(wpilibj)
         add_subdirectory(wpilibc)
-        set (HAL_DEP_REPLACE "find_dependency(hal)")
-        set (WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
+        add_subdirectory(wpilibNewCommands)
+        if (WITH_OLD_COMMANDS)
+            add_subdirectory(wpilibOldCommands)
+        endif()
+        if (WITH_EXAMPLES)
+            add_subdirectory(wpilibcExamples)
+        endif()
+        add_subdirectory(myRobot)
     endif()
 endif()
 
-configure_file(wpilib-config.cmake.in ${CMAKE_BINARY_DIR}/wpilib-config.cmake )
-install(FILES ${CMAKE_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})
+if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
+    add_subdirectory(simulation)
+endif()
+
+configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake )
+install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})

CODE_OF_CONDUCT.md

@@ -0,0 +1,131 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+We as members, contributors, and leaders pledge to make participation in our
+community a harassment-free experience for everyone, regardless of age, body
+size, visible or invisible disability, ethnicity, sex characteristics, gender
+identity and expression, level of experience, education, socio-economic status,
+nationality, personal appearance, race, religion, or sexual identity
+and orientation.
+
+We pledge to act and interact in ways that contribute to an open, welcoming,
+diverse, inclusive, and healthy community.
+
+## Our Standards
+
+Examples of behavior that contributes to a positive environment for our
+community include:
+
+* Exhibiting Gracious Professionalism® at all times. Gracious Professionalism
+  is a way of doing things that encourages high-quality work, emphasizes the
+  value of others, and respects individuals and the community.
+* Demonstrating empathy and kindness toward other people
+* Being respectful of differing opinions, viewpoints, and experiences
+* Giving and gracefully accepting constructive feedback
+* Accepting responsibility and apologizing to those affected by our mistakes,
+  and learning from the experience
+* Focusing on what is best not just for us as individuals, but for the
+  overall community
+
+Examples of unacceptable behavior include:
+
+* The use of sexualized language or imagery, and sexual attention or
+  advances of any kind
+* Trolling, insulting or derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or email
+  address, without their explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Enforcement Responsibilities
+
+Community leaders are responsible for clarifying and enforcing our standards of
+acceptable behavior and will take appropriate and fair corrective action in
+response to any behavior that they deem inappropriate, threatening, offensive,
+or harmful.
+
+Community leaders have the right and responsibility to remove, edit, or reject
+comments, commits, code, wiki edits, issues, and other contributions that are
+not aligned to this Code of Conduct, and will communicate reasons for moderation
+decisions when appropriate.
+
+## Scope
+
+This Code of Conduct applies within all community spaces, and also applies when
+an individual is officially representing the community in public spaces.
+Examples of representing our community include using an official e-mail address,
+posting via an official social media account, or acting as an appointed
+representative at an online or offline event.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported to the community leaders responsible for enforcement at
+[conduct@wpilib.org](mailto:conduct@wpilib.org).
+All complaints will be reviewed and investigated promptly and fairly.
+
+All community leaders are obligated to respect the privacy and security of the
+reporter of any incident.
+
+## Enforcement Guidelines
+
+Community leaders will follow these Community Impact Guidelines in determining
+the consequences for any action they deem in violation of this Code of Conduct:
+
+### 1. Correction
+
+**Community Impact**: Use of inappropriate language or other behavior deemed
+unprofessional or unwelcome in the community.
+
+**Consequence**: A private, written warning from community leaders, providing
+clarity around the nature of the violation and an explanation of why the
+behavior was inappropriate. A public apology may be requested.
+
+### 2. Warning
+
+**Community Impact**: A violation through a single incident or series
+of actions.
+
+**Consequence**: A warning with consequences for continued behavior. No
+interaction with the people involved, including unsolicited interaction with
+those enforcing the Code of Conduct, for a specified period of time. This
+includes avoiding interactions in community spaces as well as external channels
+like social media. Violating these terms may lead to a temporary or
+permanent ban.
+
+### 3. Temporary Ban
+
+**Community Impact**: A serious violation of community standards, including
+sustained inappropriate behavior.
+
+**Consequence**: A temporary ban from any sort of interaction or public
+communication with the community for a specified period of time. No public or
+private interaction with the people involved, including unsolicited interaction
+with those enforcing the Code of Conduct, is allowed during this period.
+Violating these terms may lead to a permanent ban.
+
+### 4. Permanent Ban
+
+**Community Impact**: Demonstrating a pattern of violation of community
+standards, including sustained inappropriate behavior, harassment of an
+individual, or aggression toward or disparagement of classes of individuals.
+
+**Consequence**: A permanent ban from any sort of public interaction within
+the community.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 2.0, available at
+https://www.contributor-covenant.org/version/2/0/code_of_conduct.html.
+
+Community Impact Guidelines were inspired by [Mozilla's code of conduct
+enforcement ladder](https://github.com/mozilla/diversity).
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see the FAQ at
+https://www.contributor-covenant.org/faq. Translations are available at
+https://www.contributor-covenant.org/translations.

CONTRIBUTING.md

@@ -1,6 +1,6 @@
 # Contributing to WPILib
 
-So you want to contribute your changes back to WPILib. Great! We have a few contributing rules that will help you make sure your changes will be accepted into the project. Please remember to follow the rules written here, and behave with Gracious Professionalism.
+So you want to contribute your changes back to WPILib. Great! We have a few contributing rules that will help you make sure your changes will be accepted into the project. Please remember to follow the rules in the [code of conduct](https://github.com/wpilibsuite/allwpilib/blob/master/CODE_OF_CONDUCT.md), and behave with Gracious Professionalism.
 
 - [General Contribution Rules](#general-contribution-rules)
 - [What to Contribute](#what-to-contribute)
@@ -20,7 +20,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
     - Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
 - Changes should have tests.
 - Code should be well documented.
-    - This often involves ScreenSteps. To add content to ScreenSteps, we will work with you to get the appropriate articles written.
+    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [frc-docs repository](https://github.com/wpilibsuite/frc-docs) for more information.
 
 ## What to Contribute
 
@@ -37,7 +37,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## Coding Guidelines
 
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 5.0 with wpiformat.
+WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 10.0 with wpiformat.
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
@@ -45,12 +45,12 @@ While the library should be fully formatted according to the styles, additional
 
 ### Pull Request Format
 
-Changes should be submitted as a Pull Request against the master branch of WPILib. For most changes, we ask that you squash your changes down to a single commit. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. No change will be merged unless it is up to date with the current master. We will also not merge any changes with merge commits in them; please rebase off of master before submitting a pull request. We do this to make sure that the git history isn't too cluttered.
+Changes should be submitted as a Pull Request against the master branch of WPILib. For most changes, commits will be squashed upon merge. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. We may ask you to break a PR into multiple standalone PRs or commits for rebase within one PR to separate unrelated changes. No change will be merged unless it is up to date with the current master. We do this to make sure that the git history isn't too cluttered.
 
 ### Merge Process
 
-When you first submit changes, Travis-CI will attempt to run `./gradlew check` on your change. If this fails, you will need to fix any issues that it sees. Once Travis passes, we will begin the review process in more earnest. One or more WPILib team members will review your change. This will be a back-and-forth process with the WPILib team and the greater community. Once we are satisfied that your change is ready, we will allow our Jenkins instance to test it. This will run the full gamut of checks, including integration tests on actual hardware. Once all tests have passed and the team is satisfied, we will merge your change into the WPILib repository.
+When you first submit changes, GitHub Actions will attempt to run `./gradlew check` on your change. If this fails, you will need to fix any issues that it sees. Once Actions passes, we will begin the review process in more earnest. One or more WPILib team members will review your change. This will be a back-and-forth process with the WPILib team and the greater community. Once we are satisfied that your change is ready, we will allow our hosted instance to test it. This will run the full gamut of checks, including integration tests on actual hardware. Once all tests have passed and the team is satisfied, we will merge your change into the WPILib repository.
 
 ## Licensing
 
-By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](license.txt).
+By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](LICENSE.md).

LICENSE.md

@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

LICENSE.txt

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2018 FIRST
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of the FIRST nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
-EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

MAINTAINERS.md

@@ -0,0 +1,27 @@
+## Publishing Third Party Dependencies
+Currently the 3rd party deps are imgui, opencv, and google test
+
+For publishing these dependencies, the version needs to be manually updated in the publish.gradle file of their respective repository.
+Then, in the azure build for the dependency you want to build for, manually start a pipeline build (As of current, this is the `Run Pipeline` button).
+A variable needs to be added called `RUN_AZURE_ARTIFACTORY_RELEASE`, with a value of `true`. Then when the pipeline gets started, the final build outputs will be updated to artifactory.
+
+To use newer versions of C++ dependencies, in `shared/config.gradle`, update the version related to the specific dependency.
+For Java dependencies, there is likely a file related to the specific dependency in the shared folder. Update the version in there.
+
+Note, changing artifact locations (This includes changing the artifact year currently, I have an issue open to change this) requires updating the `native-utils` plugin
+
+## Publishing allwpilib
+allwpilib publishes to the development repo on every push to master. To publish a release build, upload a new tag, and a release will automatically be built and published.
+
+## Publishing desktop tools
+Desktop tools publish to the development repo on every push to master. To publish a release build, upload a new tag, and a release will automatically be built and published.
+
+## Publishing VS Code
+Before publishing, make sure to update the gradlerio version in `vscode-wpilib/resources/gradle/version.txt` Also make sure the gradle wrapper version matches the wrapper required by gradlerio.
+Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub. For publishing to the marketplace, you need a Microsoft account and to be added as a maintainer.
+
+## Publishing GradleRIO
+Before publishing, make sure to update the version in build.gradle. Publishing must happen locally, using the command `./gradlew publishPlugin`. This does require your API key for publishing to be set.
+
+## Building the installer
+Update the GradleRIO version in gradle.properties, and in the scripts folder in vscode, update the vscode extension. Then push, it will build the installer on azure.

MavenArtifacts.md

@@ -5,8 +5,8 @@ WPILib publishes its built artifacts to our Maven server for use by downstream p
 ## Repositories
 We provide two repositories. These repositories are:
 
-* (Release)     http://first.wpi.edu/FRC/roborio/maven/release/
-* (Development) http://first.wpi.edu/FRC/roborio/maven/development/
+* (Release)     https://frcmaven.wpi.edu/artifactory/release/
+* (Development) https://frcmaven.wpi.edu/artifactory/development/
 
 The release repository is where official WPILib releases are pushed.
 The development repository is where development releases of every commit to [master](https://github.com/wpilibsuite/allwpilib/tree/master) is pushed.
@@ -72,6 +72,10 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 * hal
   * wpiutil
 
+* halsim
+  * imgui
+  * wpiutil
+
 * ntcore
   * wpiutil
 
@@ -85,7 +89,6 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * opencv
   * wpiutil
 
-
 * wpilibj
   * hal
   * cameraserver
@@ -93,10 +96,35 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * cscore
   * wpiutil
 
-
 * wpilibc
   * hal
   * cameraserver
   * ntcore
   * cscore
   * wpiutil
+
+* wpilibNewCommands
+  * wpilibc
+  * hal
+  * cameraserver
+  * ntcore
+  * cscore
+  * wpiutil
+
+* wpilibNewCommands
+  * wpilibc
+  * hal
+  * cameraserver
+  * ntcore
+  * cscore
+  * wpiutil
+
+### Third Party Artifacts
+
+This repository provides the builds of the following third party software.
+
+All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
+
+* googletest
+* imgui
+* opencv

OtherVersions.md

@@ -0,0 +1,73 @@
+# Installing Development Builds
+
+This article contains instructions on building projects using a development build and a local WPILib build.
+
+**Note:** This only applies to Java/C++ teams.
+
+## Development Build
+
+Development builds are the per-commit build hosted everytime a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
+
+In order to build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version.
+
+```groovy
+wpi.maven.useDevelopment = true
+wpi.wpilibVersion = 'YEAR.+'
+wpi.wpimathVersion = 'YEAR.+
+```
+
+The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
+
+Java
+```groovy
+plugins {
+  id "java"
+  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+}
+
+wpi.maven.useDevelopment = true
+wpi.wpilibVersion = '2021.+'
+wpi.wpimathVersion = '2021.+'
+```
+
+C++
+```groovy
+plugins {
+  id "cpp"
+  id "google-test-test-suite"
+  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+}
+
+wpi.maven.useDevelopment = true
+wpi.wpilibVersion = '2021.+'
+wpi.wpimathVersion = '2021.+'
+```
+
+## Local Build
+
+Building with a local build is very similar to building with a development build. Ensure you have built and published WPILib by following the instructions attached [here](https://github.com/wpilibsuite/allwpilib#building-wpilib). Next, find the ``build.gradle`` file in your robot project and open it. Then, add the following code below the plugin section and replace ``YEAR`` with the year of the local version.
+
+Java
+```groovy
+plugins {
+  id "java"
+  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+}
+
+wpi.maven.useFrcMavenLocalDevelopment = true
+wpi.wpilibVersion = 'YEAR.424242.+'
+wpi.wpimathVersion = 'YEAR.424242.+'
+```
+
+C++
+```groovy
+plugins {
+  id "cpp"
+  id "google-test-test-suite"
+  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+}
+
+wpi.maven.useFrcMavenLocalDevelopment = true
+wpi.wpilibVersion = 'YEAR.424242.+'
+wpi.wpimathVersion = 'YEAR.424242.+'
+```

README-CMAKE.md

@@ -1,6 +1,6 @@
 # WPILib CMake Support
 
-WPILib is normally built with Gradle, however for some systems, such a linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. We provide the CMake build for these cases. Although it is supported on Windows, these docs will only go over linux builds.
+WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although it is supported on Windows, these docs will only go over Linux builds.
 
 ## Libraries that get built
 * wpiutil
@@ -9,56 +9,69 @@ WPILib is normally built with Gradle, however for some systems, such a linux bas
 * cameraserver
 * hal
 * wpilib
+* halsim
+* wpigui
+* wpimath
 
-By default, all libraries except for the HAL and WPILib get built with a default cmake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java jars.
+By default, all libraries except for the HAL and WPILib get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs.
 
 ## Prerequisites
 
-The most common prerequisite is going to be OpenCV. OpenCV needs to be findable by cmake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build cmake from source and install it.
+The most common prerequisite is going to be OpenCV. OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
 
-In addition, if you want JNI and Java, you will need a JDK of at least version 8 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the jdk directory.
+In addition, if you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
+
+If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
 
 ## Build Options
 
 The following build options are available:
 
-* WITHOUT_JAVA (OFF Default)
-  * Enabling this option will disable Java and JNI builds. If this is off, `BUILD_SHARED_LIBS` must be on. Otherwise cmake will error.
-* BUILD_SHARED_LIBS (ON Default)
-  * Disabling this option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITHOUT_JAVA` must be on. Otherwise cmake will error.
-* WITHOUT_CSCORE (OFF Default)
-  * Enabling this option will cause cscore to not be built. This will also implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is on, the opencv build requirement is removed.
-* WITHOUT_ALLWPILIB (ON Default)
-  * Disabling this option will build the hal and wpilib during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
-* USE_EXTERNAL_HAL (OFF Default)
+* `WITH_JAVA` (ON Default)
+  * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_SHARED_LIBS` (ON Default)
+  * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
+* `WITH_TESTS` (ON Default)
+  * This option will build C++ unit tests. These can be run via `make test`.
+* `WITH_CSCORE` (ON Default)
+  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is off, the OpenCV build requirement is removed.
+* `WITH_WPIMATH` (ON Default)
+  * This option will build the wpimath library. This option must be on to build wpilib.
+* `WITH_WPILIB` (ON Default)
+  * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
+* `WITH_SIMULATION_MODULES` (ON Default)
+  * This option will build simulation modules, including wpigui and the HALSim plugins.
+* `WITH_EXTERNAL_HAL` (OFF Default)
   * TODO
-* EXTERNAL_HAL_FILE
+* `EXTERNAL_HAL_FILE`
   * TODO
+* `OPENCV_JAVA_INSTALL_DIR`
+  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
 
 ## Build Setup
 
-The WPILib CMake build does not allow in source builds. Because the `build` directory is used by gradle, we recommend a `buildcmake` directory in the root. This folder is included in the gitignore.
+The WPILib CMake build does not allow in source builds. Because the `build` directory is used by Gradle, we recommend a `build-cmake` directory in the root. This folder is included in the gitignore.
 
-Once you have a build folder, run cmake configuration in that build directory with the following command.
+Once you have a build folder, run CMake configuration in that build directory with the following command.
 
 ```
 cmake path/to/allwpilib/root
 ```
 
-If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the cmake command. This will check for any dependencies. If everything works properly this will succeed. If not, please check out the troubleshooting section for help.
+If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake` command. This will check for any dependencies. If everything works properly this will succeed. If not, please check out the troubleshooting section for help.
 
-If you want, you can also use `ccmake` in order to visually set these properties as well.
-https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html
-Here is the link to the documentation for that program.
+If you want, you can also use `ccmake` in order to visually set these properties as well. [Here](https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html) is the link to the documentation for that program.
 
 ## Building
 
-Once you have cmake setup. run `make` from the directory you configured cmake in. This will build all libraries possible. If you have a multicore system, we recommend running make with multiple jobs. The usual rule of thumb is 1.5x the number of cores you have. To run a multiple job build, run the following command with x being the number of jobs you want.
+Once you have cmake setup. run `make` from the directory you configured CMake in. This will build all libraries possible. If you have a multicore system, we recommend running `make` with multiple jobs. The usual rule of thumb is 1.5x the number of cores you have. To run a multiple job build, run the following command with x being the number of jobs you want.
 
 ```
 make -jx
 ```
 
+The `ninja` generator is also supported, and can be enabled by passing `-GNinja` to the initial `cmake` command.
+
 ## Installing
 
 After build, the easiest way to use the libraries is to install them. Run the following command to install the libraries. This will install them so that they can be used from external cmake projects.
@@ -79,7 +92,7 @@ project(vision_app) # Project Name Here
 
 find_package(wpilib REQUIRED)
 
-add_executable(my_vision_app main.cpp) # exectuable name as first parameter
+add_executable(my_vision_app main.cpp) # executable name as first parameter
 target_link_libraries(my_vision_app cameraserver ntcore cscore wpiutil)
 ```
 
@@ -135,4 +148,4 @@ CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:
 
 If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
 
-In addition, if you do not need Java, you can disable it with `-DWITHOUT_JAVA=ON`.
+In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.

README.md

@@ -1,21 +1,30 @@
 # WPILib Project
 
-[![Build Status](https://dev.azure.com/wpilib/wpilib/_apis/build/status/wpilibsuite.allwpilib)](https://dev.azure.com/wpilib/wpilib/_build/latest?definitionId=1)
+![CI](https://github.com/wpilibsuite/allwpilib/workflows/CI/badge.svg)
+[![C++ Documentation](https://img.shields.io/badge/documentation-c%2B%2B-blue)](https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/)
+[![Java Documentation](https://img.shields.io/badge/documentation-java-orange)](https://first.wpi.edu/wpilib/allwpilib/docs/development/java/)
 
 Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.
 
-- [WPILib Mission](#wpilib-mission)
+- [WPILib Project](#wpilib-project)
+  - [WPILib Mission](#wpilib-mission)
 - [Building WPILib](#building-wpilib)
-    - [Requirements](#requirements)
-    - [Setup](#setup)
-    - [Building](#building)
-    - [Publishing](#publishing)
-    - [Structure and Organization](#structure-and-organization)
+  - [Requirements](#requirements)
+  - [Setup](#setup)
+  - [Building](#building)
+    - [Faster builds](#faster-builds)
+    - [Using Development Builds](#using-development-builds)
+    - [Custom toolchain location](#custom-toolchain-location)
+    - [Gazebo simulation](#gazebo-simulation)
+    - [Formatting/linting with wpiformat](#formattinglinting-with-wpiformat)
+    - [CMake](#cmake)
+  - [Publishing](#publishing)
+  - [Structure and Organization](#structure-and-organization)
 - [Contributing to WPILib](#contributing-to-wpilib)
 
 ## WPILib Mission
 
-The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.txt).
+The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
 
 # Building WPILib
 
@@ -23,17 +32,24 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 ## Requirements
 
-- A C++ compiler
-    - On Linux, GCC works fine
-    - On Windows, you need Visual Studio 2017 (the free community edition works fine).
-      Make sure to select the C++ Programming Language for installation
-- [ARM Compiler Toolchain](https://github.com/wpilibsuite/toolchain-builder/releases)
-  * Note that for 2019 and beyond, you should use version 6 or greater of GCC
-- Doxygen (Only required if you want to build the C++ documentation)
+- [JDK 11](https://adoptopenjdk.net/)
+    - Note that the JRE is insufficient; the full JDK is required
+    - On Ubuntu, run `sudo apt install openjdk-11-jdk`
+    - On Windows, install the JDK 11 .msi from the link above
+    - On macOS, install the JDK 11 .pkg from the link above
+- C++ compiler
+    - On Linux, install GCC 7 or greater
+    - On Windows, install [Visual Studio Community 2019](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio 2019)
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`
+- ARM compiler toolchain
+    - Run `./gradlew installRoboRioToolchain` after cloning this repository
+    - If the WPILib installer was used, this toolchain is already installed
+- Raspberry Pi toolchain (optional)
+    - Run `./gradlew installRaspbianToolchain` after cloning this repository
 
 ## Setup
 
-Clone the WPILib repository. If the toolchains are not installed, install them, and make sure they are available on the system PATH.
+Clone the WPILib repository and follow the instructions above for installing any required tooling.
 
 See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/master/README.md) for wpiformat setup instructions.
 
@@ -51,12 +67,34 @@ To build a specific subproject, such as WPILibC, you must access the subproject
 ./gradlew :wpilibc:build
 ```
 
+The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change in the HAL and then run `./gradlew :wpilibc:build`, the HAL will be rebuilt, then WPILibC.
+
+There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
+
+### Faster builds
+
+`./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
+
+`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests.
+
+`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibOldCommands`, `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
+
+`./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
+
+### Using Development Builds
+
+Please read the documentation available [here](OtherVersions.md)
+
+### Custom toolchain location
+
 If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
 
 ```bash
 ./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin
 ```
 
+### Gazebo simulation
+
 If you also want simulation to be built, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of Gazebo should work, even on Windows if you build Gazebo from source. Correct means CMake needs to be able to find gazebo-config.cmake. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
 
 ```bash
@@ -73,12 +111,19 @@ cmake ..
 make
 ```
 
-The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change in the HAL and then run `./gradlew :wpilibc:build`, the HAL will be rebuilt, then WPILibC.
 
-There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
+### Formatting/linting
+
+#### wpiformat
 
 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
+
+The Java code quality tools (checkstyle, pmd, etc.) can be run with the `./gradlew javaFormat` task.
+
+### CMake
+
 CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).
 
 ## Publishing

ThirdPartyNotices.txt

@@ -31,13 +31,23 @@ sigslot               wpiutil/src/main/native/include/wpi/Signal.h
                       wpiutil/src/test/native/cpp/sigslot/
 tcpsockets            wpiutil/src/main/native/cpp/TCP{Stream,Connector,Acceptor}.cpp
                       wpiutil/src/main/native/include/wpi/TCP*.h
-Optional              wpiutil/src/main/native/include/wpi/optional.h
-                      wpiutil/src/test/native/cpp/test_optional.cpp
 Bootstrap             wpiutil/src/main/native/resources/bootstrap-*
 CoreUI                wpiutil/src/main/native/resources/coreui-*
 Feather Icons         wpiutil/src/main/native/resources/feather-*
 jQuery                wpiutil/src/main/native/resources/jquery-*
 popper.js             wpiutil/src/main/native/resources/popper-*
+units                 wpimath/src/main/native/include/units/
+Eigen                 wpimath/src/main/native/eigeninclude/
+                      wpimath/src/main/native/include/unsupported/
+StackWalker           wpiutil/src/main/native/windows/StackWalker.*
+Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
+                      wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
+                      wpilibc/src/main/native/include/spline/SplineParameterizer.h
+                      wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
+                      wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
+Drake                 wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp
+                      wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
 
 
 ==============================================================================
@@ -221,36 +231,6 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
-==============================================================================
-Optional License
-==============================================================================
-Copyright (C) 2011 - 2017 Andrzej Krzemienski.
-
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-
-
 ==============================================================================
 Bootstrap License
 ==============================================================================
@@ -371,3 +351,508 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
+
+
+=============
+units License
+=============
+The MIT License (MIT)
+
+Copyright (c) 2016 Nic Holthaus
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+=============
+Eigen license
+=============
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.
+
+
+===================
+StackWalker License
+===================
+Copyright (c) 2005-2013, Jochen Kalmbach
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+Neither the name of Jochen Kalmbach nor the names of its contributors may be
+used to endorse or promote products derived from this software without
+specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+================
+Team 254 Library
+================
+MIT License
+
+Copyright (c) 2018 Team 254
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+=============
+Drake Library
+=============
+All components of Drake are licensed under the BSD 3-Clause License
+shown below. Where noted in the source code, some portions may
+be subject to other permissive, non-viral licenses.
+
+Copyright 2012-2016 Robot Locomotion Group @ CSAIL
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.  Redistributions
+in binary form must reproduce the above copyright notice, this list of
+conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.  Neither the name of
+the Massachusetts Institute of Technology nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+=====================
+Portable File Dialogs
+=====================
+Copyright © 2018—2020 Sam Hocevar <sam@hocevar.net>
+
+This library is free software. It comes without any warranty, to
+the extent permitted by applicable law. You can redistribute it
+and/or modify it under the terms of the Do What the **** You Want
+to Public License, Version 2, as published by the WTFPL Task Force.
+See http://www.wtfpl.net/ for more details.

azure-pipelines-testbench.yaml

@@ -0,0 +1,91 @@
+# Testing steps for real hardware
+
+trigger:
+  batch: true
+  branches:
+    include:
+      - master
+
+stages:
+  - stage: Build
+    jobs:
+      - job: IntegrationTests
+        displayName: Integration Tests
+        pool:
+          vmImage: "Ubuntu 16.04"
+
+        container:
+          image: wpilib/roborio-cross-ubuntu:2021-18.04
+
+        timeoutInMinutes: 0
+
+        steps:
+          - task: Gradle@2
+            condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
+            inputs:
+              workingDirectory: ""
+              gradleWrapperFile: "gradlew"
+              gradleOptions: "-Xmx3072m"
+              publishJUnitResults: false
+              testResultsFiles: "**/TEST-*.xml"
+              tasks: "copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput"
+              options: "-Ponlylinuxathena -PbuildServer"
+
+          - task: PublishPipelineArtifact@0
+            inputs:
+              artifactName: "Integration Tests"
+              targetPath: "build/integrationTestFiles"
+
+  - stage: TestBench
+    displayName: Test Bench
+    jobs:
+      - job: Cpp
+        displayName: C++
+        pool: RoboRioConnections
+        timeoutInMinutes: 30
+        workspace:
+          clean: all
+        steps:
+          - task: DownloadPipelineArtifact@0
+            inputs:
+              artifactName: "Integration Tests"
+              targetPath: "build/integrationTestFiles"
+
+          - task: ShellScript@2
+            displayName: Run C++ Tests
+            inputs:
+              scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
+              args: 'cpp -A "--gtest_output=xml:/home/admin/testResults/cppreport.xml"'
+
+          - task: PublishTestResults@2
+            displayName: Publish C++ Test Results
+            inputs:
+              testResultsFormat: "JUnit"
+              testResultsFiles: "*.xml"
+              testRunTitle: "C++ Test Report"
+              searchFolder: "$(System.DefaultWorkingDirectory)/test-reports"
+
+      - job: Java
+        pool: RoboRioConnections
+        timeoutInMinutes: 30
+        workspace:
+          clean: all
+        steps:
+          - task: DownloadPipelineArtifact@0
+            inputs:
+              artifactName: "Integration Tests"
+              targetPath: "build/integrationTestFiles"
+
+          - task: ShellScript@2
+            displayName: Run Java Tests
+            inputs:
+              scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
+              args: "java"
+
+          - task: PublishTestResults@2
+            displayName: Publish Java Test Results
+            inputs:
+              testResultsFormat: "JUnit"
+              testResultsFiles: "*.xml"
+              testRunTitle: "Java Test Report"
+              searchFolder: "$(System.DefaultWorkingDirectory)/test-reports"

azure-pipelines.yml

@@ -1,183 +0,0 @@
-# Gradle
-# Build your Java projects and run tests with Gradle using a Gradle wrapper script.
-# Add steps that analyze code, save build artifacts, deploy, and more:
-# https://docs.microsoft.com/vsts/pipelines/languages/java
-
-resources:
-  containers:
-  - container: wpilib2019
-    image: wpilib/roborio-cross-ubuntu:2019-18.04
-  - container: raspbian
-    image:  wpilib/raspbian-cross-ubuntu:18.04
-
-jobs:
- - job: Linux_Arm
-   pool:
-     vmImage: 'Ubuntu 16.04'
-
-   container: wpilib2019
-
-   steps:
-    - task: Gradle@2
-      inputs:
-        workingDirectory: ''
-        gradleWrapperFile: 'gradlew'
-        gradleOptions: '-Xmx3072m'
-        publishJUnitResults: false
-        testResultsFiles: '**/TEST-*.xml'
-        tasks: 'build'
-        options: '-PonlyAthena'
-        # checkStyleRunAnalysis: true
-        # pmdRunAnalysis: true
-
- - job: Linux_Raspbian
-   pool:
-     vmImage: 'Ubuntu 16.04'
-
-   container: raspbian
-
-   steps:
-    - task: Gradle@2
-      inputs:
-        workingDirectory: ''
-        gradleWrapperFile: 'gradlew'
-        gradleOptions: '-Xmx3072m'
-        publishJUnitResults: true
-        testResultsFiles: '**/TEST-*.xml'
-        tasks: 'build'
-        options: '-PonlyRaspbian'
-        # checkStyleRunAnalysis: true
-        # pmdRunAnalysis: true
-
- - job: Linux
-   pool:
-     vmImage: 'Ubuntu 16.04'
-
-   container: wpilib2019
-
-   steps:
-    - task: Gradle@2
-      inputs:
-        workingDirectory: ''
-        gradleWrapperFile: 'gradlew'
-        gradleOptions: '-Xmx3072m'
-        publishJUnitResults: true
-        testResultsFiles: '**/TEST-*.xml'
-        tasks: 'build'
-        options: '-PskipAthena'
-        # checkStyleRunAnalysis: true
-        # pmdRunAnalysis: true
-
- - job: Styleguide
-   pool:
-     vmImage: 'Ubuntu 16.04'
-
-   steps:
-      - script: |
-          sudo apt-get update -y
-          sudo apt-get install clang-format-5.0 python3-setuptools -y
-          sudo pip3 install --upgrade pip
-          sudo pip3 install wpiformat
-          git checkout -b master
-        displayName: 'Install Dependencies'
-      - script: |
-          wpiformat -y 2018 -clang 5.0
-        displayName: 'Run WPIFormat'
-        failOnStderr: true
-      - script: |
-          git --no-pager diff --exit-code HEAD  # Ensure formatter made no changes
-        displayName: 'Check WPIFormat Output'
-        failOnStderr: true
-
- - job: CMakeBuild
-   pool:
-     vmImage: 'Ubuntu 16.04'
-
-   container: wpilib2019
-
-   steps:
-      - task: CMake@1
-        inputs:
-          cmakeArgs: '-DWITHOUT_ALLWPILIB=OFF ..'
-      - script: |
-          make -j3
-        workingDirectory: 'build'
-        displayName: 'Build'
-
- - job: Windows_64_Bit
-   pool:
-     vmImage: 'vs2017-win2016'
-   steps:
-    - powershell: |
-        mkdir build
-        $ProgressPreference = 'SilentlyContinue'
-        wget "https://download.java.net/java/ga/jdk11/openjdk-11_windows-x64_bin.zip" -O "build\jdk.zip"
-      displayName: 'Download JDK'
-    - task: JavaToolInstaller@0
-      inputs:
-        jdkSourceOption: localDirectory
-        jdkFile: 'build/jdk.zip'
-        jdkDestinationDirectory: 'build/jdkinst'
-        jdkArchitectureOption: x64
-    - task: Gradle@2
-      inputs:
-        workingDirectory: ''
-        gradleWrapperFile: 'gradlew'
-        gradleOptions: '-Xmx3072m'
-        publishJUnitResults: true
-        testResultsFiles: '**/TEST-*.xml'
-        tasks: 'build'
-        # checkStyleRunAnalysis: true
-        # pmdRunAnalysis: true
-
- - job: Windows_32_Bit
-   pool:
-     vmImage: 'vs2017-win2016'
-   steps:
-    - powershell: |
-        mkdir build
-        $ProgressPreference = 'SilentlyContinue'
-        wget "https://github.com/wpilibsuite/frc-openjdk-windows/releases/download/v11.0.0u28-1/jdk-x86-11.0.0u28-1.zip" -O "build\jdk.zip"
-      displayName: 'Download JDK'
-    - task: JavaToolInstaller@0
-      inputs:
-        jdkSourceOption: localDirectory
-        jdkFile: 'build/jdk.zip'
-        jdkDestinationDirectory: 'build/jdkinst'
-        jdkArchitectureOption: x86
-    - task: Gradle@2
-      inputs:
-        workingDirectory: ''
-        gradleWrapperFile: 'gradlew'
-        gradleOptions: '-Xmx1024m'
-        publishJUnitResults: true
-        testResultsFiles: '**/TEST-*.xml'
-        tasks: 'build'
-        # checkStyleRunAnalysis: true
-        # pmdRunAnalysis: true
-
- - job: Mac
-   pool:
-     vmImage: 'xcode9-macos10.13'
-   steps:
-    - script: |
-        mkdir build
-        wget "https://download.java.net/java/ga/jdk11/openjdk-11_osx-x64_bin.tar.gz" -O "build/jdk.tar.gz"
-        sudo tar xvzf build/jdk.tar.gz -C /Library/Java/JavaVirtualMachines/
-        export JAVA_HOME=/Library/Java/JavaVirtualMachines/jdk-11.jdk/Contents/Home/
-      displayName: 'Setup JDK'
-    - script: |
-        rm /Users/vsts/.gradle/init.d/log-gradle-version-plugin.gradle
-      displayName: 'Delete Version init script'
-    - task: Gradle@2
-      inputs:
-        workingDirectory: ''
-        gradleWrapperFile: 'gradlew'
-        gradleOptions: '-Xmx3072m'
-        javaHomeOption: 'path'
-        jdkDirectory: '/Library/Java/JavaVirtualMachines/jdk-11.jdk/Contents/Home/'
-        publishJUnitResults: true
-        testResultsFiles: '**/TEST-*.xml'
-        tasks: 'build'
-        # checkStyleRunAnalysis: true
-        # pmdRunAnalysis: true

build.gradle

@@ -1,18 +1,31 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
     id 'base'
-    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2.3'
-    id 'edu.wpi.first.NativeUtils' version '2.1.2'
-    id 'edu.wpi.first.GradleJni' version '0.3.1'
-    id 'edu.wpi.first.GradleVsCode' version '0.7.1'
+    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.1.0'
+    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
+    id 'edu.wpi.first.NativeUtils' apply false
+    id 'edu.wpi.first.GradleJni' version '0.10.1'
+    id 'edu.wpi.first.GradleVsCode' version '0.11.0'
     id 'idea'
     id 'visual-studio'
-    id 'com.gradle.build-scan' version '2.0.2'
-    id 'net.ltgt.errorprone' version '0.6' apply false
-    id 'com.github.johnrengelman.shadow' version '4.0.3' apply false
+    id 'net.ltgt.errorprone' version '1.1.1' apply false
+    id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
+    id 'com.diffplug.spotless' version '5.5.0'
 }
 
-repositories {
-    mavenCentral()
+wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
+wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
+
+allprojects {
+    repositories {
+        mavenCentral()
+    }
+    if (project.hasProperty('releaseMode')) {
+        wpilibRepositories.addAllReleaseRepositories(it)
+    } else {
+        wpilibRepositories.addAllDevelopmentRepositories(it)
+    }
 }
 
 buildScan {
@@ -22,23 +35,14 @@ buildScan {
     publishAlways()
 }
 
-ext.licenseFile = files("$rootDir/LICENSE.txt", "$rootDir/ThirdPartyNotices.txt")
+ext.licenseFile = files("$rootDir/LICENSE.md", "$rootDir/ThirdPartyNotices.txt")
 
-// Ensure that the WPILibVersioningPlugin is setup by setting the release type, if releaseType wasn't
-// already specified on the command line
-if (!hasProperty('releaseType')) {
-    WPILibVersion {
-        releaseType = 'dev'
-    }
-}
-
-def pubVersion
 if (project.hasProperty("publishVersion")) {
-    pubVersion = project.publishVersion
-} else {
-    pubVersion = WPILibVersion.version
+    wpilibVersioning.version.set(project.publishVersion)
 }
 
+wpilibVersioning.version.finalizeValue()
+
 def outputsFolder = file("$buildDir/allOutputs")
 
 def versionFile = file("$outputsFolder/version.txt")
@@ -54,7 +58,7 @@ task outputVersions() {
     }
 
     doLast {
-        versionFile.write pubVersion
+        versionFile.write wpilibVersioning.version.get()
     }
 }
 
@@ -87,18 +91,87 @@ subprojects {
 
     apply from: "${rootDir}/shared/java/javastyle.gradle"
 
-    repositories {
-        mavenCentral()
-    }
-
     // Disables doclint in java 8.
     if (JavaVersion.current().isJava8Compatible()) {
         tasks.withType(Javadoc) {
-            options.addStringOption('Xdoclint:none', '-quiet')
+            if (project.name != "docs") {
+                options.addStringOption('Xdoclint:none', '-quiet')
+            }
+        }
+    }
+
+    // Sign outputs with Developer ID
+    if (project.hasProperty("developerID")) {
+        tasks.withType(AbstractLinkTask) { task ->
+            // Don't sign any executables because codesign complains
+            // about relative rpath.
+            if (!(task instanceof LinkExecutable)) {
+                doLast {
+                    // Get path to binary.
+                    String path = task.getLinkedFile().getAsFile().get().getAbsolutePath()
+                    exec {
+                        workingDir rootDir
+                        def args = [
+                            "sh",
+                            "-c",
+                            "codesign --force --strict --timestamp --options=runtime " +
+                            "--verbose -s ${project.findProperty("developerID")} ${path}"
+                        ]
+                        commandLine args
+                    }
+                }
+            }
         }
     }
 }
 
-wrapper {
-    gradleVersion = '5.0'
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
+
+spotless {
+    java {
+        target fileTree('.') {
+            include '**/*.java'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        toggleOffOn()
+        googleJavaFormat()
+        removeUnusedImports()
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    groovyGradle {
+        target fileTree('.') {
+            include '**/*.gradle'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        greclipse()
+        indentWithSpaces(4)
+        trimTrailingWhitespace()
+        endWithNewline()
+    }
+    format 'xml', {
+        target fileTree('.') {
+            include '**/*.xml'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        eclipseWtp('xml')
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+    format 'misc', {
+        target fileTree('.') {
+            include '**/*.md', '**/.gitignore'
+            exclude '**/build/**', '**/build-*/**'
+        }
+        trimTrailingWhitespace()
+        indentWithSpaces(2)
+        endWithNewline()
+    }
+}
+
+wrapper {
+    gradleVersion = '6.0.1'
 }

buildSrc/build.gradle

@@ -0,0 +1,9 @@
+repositories {
+    maven {
+        url "https://plugins.gradle.org/m2/"
+        mavenLocal()
+    }
+}
+dependencies {
+    implementation "edu.wpi.first:native-utils:2021.1.1"
+}

buildSrc/src/main/groovy/DisableBuildingGTest.groovy

@@ -0,0 +1,70 @@
+
+import org.gradle.api.GradleException;
+import org.gradle.api.Plugin;
+import org.gradle.api.Project;
+import org.gradle.api.Task;
+import org.gradle.api.file.FileTree;
+import org.gradle.api.tasks.compile.JavaCompile;
+import org.gradle.language.base.internal.ProjectLayout;
+import org.gradle.language.base.plugins.ComponentModelBasePlugin;
+import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
+import org.gradle.model.ModelMap;
+import edu.wpi.first.toolchain.ToolchainExtension
+import org.gradle.model.Mutate;
+import org.gradle.api.plugins.ExtensionContainer;
+import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
+import org.gradle.model.RuleSource;
+import org.gradle.model.Validate;
+import org.gradle.nativeplatform.NativeExecutableBinarySpec
+import org.gradle.nativeplatform.NativeBinarySpec;
+import org.gradle.nativeplatform.NativeComponentSpec;
+import org.gradle.nativeplatform.NativeLibrarySpec;
+import org.gradle.nativeplatform.SharedLibraryBinarySpec;
+import org.gradle.nativeplatform.StaticLibraryBinarySpec;
+import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
+import org.gradle.nativeplatform.toolchain.NativeToolChain;
+import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
+import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
+import org.gradle.nativeplatform.toolchain.internal.ToolType;
+import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
+import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
+import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
+import org.gradle.platform.base.BinarySpec;
+import org.gradle.platform.base.ComponentSpec;
+import org.gradle.platform.base.ComponentSpecContainer;
+import org.gradle.platform.base.BinaryContainer;
+import org.gradle.platform.base.ComponentType;
+import org.gradle.platform.base.TypeBuilder;
+import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
+import groovy.transform.CompileStatic;
+import groovy.transform.CompileDynamic
+import org.gradle.nativeplatform.BuildTypeContainer
+
+@CompileStatic
+class DisableBuildingGTest implements Plugin<Project> {
+  @CompileStatic
+  public void apply(Project project) {
+
+  }
+
+  @CompileStatic
+  static class Rules extends RuleSource {
+    @CompileDynamic
+    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
+        binary.buildable = false
+    }
+
+    @Validate
+    @CompileStatic
+    // TODO: Move this to tc plugin
+    void disableCrossTests(BinaryContainer binaries, ExtensionContainer extContainer) {
+        final ToolchainExtension ext = extContainer.getByType(ToolchainExtension.class);
+
+        for (GoogleTestTestSuiteBinarySpec binary : binaries.withType(GoogleTestTestSuiteBinarySpec.class)) {
+            if (ext.getCrossCompilers().findByName(binary.getTargetPlatform().getName()) != null) {
+              setBuildableFalseDynamically(binary)
+            }
+        }
+    }
+  }
+}

buildSrc/src/main/groovy/JREArtifact.groovy

@@ -0,0 +1,48 @@
+import groovy.transform.CompileStatic
+import javax.inject.Inject
+import jaci.gradle.deploy.artifact.MavenArtifact
+import jaci.gradle.deploy.context.DeployContext
+import org.gradle.api.Project
+import jaci.gradle.ActionWrapper
+
+import java.util.function.Function
+
+@CompileStatic
+class JREArtifact extends MavenArtifact {
+    Function<DeployContext, Boolean> buildRequiresJre = (Function<DeployContext, Boolean>){ true }
+
+    void setJreDependency(String dep) {
+      dependency = project.dependencies.add(configuration(), dep)
+    }
+
+    @Inject
+    JREArtifact(String name, Project project) {
+        super(name, project)
+        configuration = project.configurations.create(configuration())
+
+        onlyIf = { DeployContext ctx ->
+            (buildRequiresJre.apply(ctx) && jreMissing(ctx)) || project.hasProperty("force-redeploy-jre")
+        }
+
+        predeploy << new ActionWrapper({ DeployContext ctx ->
+            ctx.logger.log('Deploying RoboRIO JRE (this will take a while)...')
+        })
+
+        directory = '/tmp'
+        filename = 'frcjre.ipk'
+
+        postdeploy << new ActionWrapper({ DeployContext ctx ->
+            ctx.logger.log('Installing JRE...')
+            ctx.execute('opkg remove frc2020-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk')
+            ctx.logger.log('JRE Deployed!')
+        })
+    }
+
+    String configuration() {
+        return name + 'frcjre'
+    }
+
+    boolean jreMissing(DeployContext ctx) {
+        return ctx.execute('if [[ -f "/usr/local/frc/JRE/bin/java" ]]; then echo OK; else echo MISSING; fi').result.contains("MISSING")
+    }
+}

buildSrc/src/main/groovy/MultiBuilds.groovy

@@ -1,95 +1,74 @@
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import org.gradle.model.Mutate;
-import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.NativeExecutableBinarySpec
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.BinaryContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
-import groovy.transform.CompileStatic;
-import groovy.transform.CompileDynamic
-import org.gradle.nativeplatform.BuildTypeContainer
-
-@CompileStatic
-class MultiBuilds implements Plugin<Project> {
-  @CompileStatic
-  public void apply(Project project) {
-
-  }
-
-  @CompileStatic
-  static class Rules extends RuleSource {
-    @Mutate
-    void setupBuildTypes(BuildTypeContainer buildTypes, ProjectLayout projectLayout) {
-        def project = (Project) projectLayout.projectIdentifier
-        if (project.hasProperty('releaseBuild')) {
-            buildTypes.create('debug')
-        } else {
-            buildTypes.create('release')
-        }
-    }
-
-    @CompileDynamic
-    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
-        binary.buildable = false
-    }
-
-    @Mutate
-    @CompileStatic
-    void disableReleaseGoogleTest(BinaryContainer binaries, ProjectLayout projectLayout) {
-      def project = (Project) projectLayout.projectIdentifier
-      if (project.hasProperty('testRelease')) {
-        return
-      }
-      binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
-        GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
-        if (spec.buildType.name == 'release') {
-          Rules.setBuildableFalseDynamically(spec)
-        }
-      }
-        // def crossCompileConfigs = []
-        // for (BuildConfig config : configs) {
-        //     if (!BuildConfigRulesBase.isCrossCompile(config)) {
-        //         continue
-        //     }
-        //     crossCompileConfigs << config.architecture
-        // }
-        // if (!crossCompileConfigs.empty) {
-        //     binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
-        //         GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
-        //         if (crossCompileConfigs.contains(spec.targetPlatform.architecture.name)) {
-        //             setBuildableFalseDynamically(spec)
-        //         }
-        //     }
-        // }
-    }
-  }
-}
+
+import org.gradle.api.GradleException;
+import org.gradle.api.Plugin;
+import org.gradle.api.Project;
+import org.gradle.api.Task;
+import org.gradle.api.file.FileTree;
+import org.gradle.api.tasks.compile.JavaCompile;
+import org.gradle.language.base.internal.ProjectLayout;
+import org.gradle.language.base.plugins.ComponentModelBasePlugin;
+import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
+import org.gradle.model.ModelMap;
+import edu.wpi.first.toolchain.ToolchainExtension
+import org.gradle.model.Mutate;
+import org.gradle.api.plugins.ExtensionContainer;
+import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
+import org.gradle.model.RuleSource;
+import org.gradle.model.Validate;
+import org.gradle.nativeplatform.test.tasks.RunTestExecutable
+import org.gradle.nativeplatform.NativeExecutableBinarySpec
+import org.gradle.nativeplatform.NativeBinarySpec;
+import org.gradle.nativeplatform.NativeComponentSpec;
+import org.gradle.nativeplatform.NativeLibrarySpec;
+import org.gradle.nativeplatform.SharedLibraryBinarySpec;
+import org.gradle.nativeplatform.StaticLibraryBinarySpec;
+import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
+import org.gradle.nativeplatform.toolchain.NativeToolChain;
+import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
+import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
+import org.gradle.nativeplatform.toolchain.internal.ToolType;
+import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
+import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
+import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
+import org.gradle.platform.base.BinarySpec;
+import org.gradle.platform.base.ComponentSpec;
+import org.gradle.platform.base.ComponentSpecContainer;
+import org.gradle.platform.base.BinaryContainer;
+import org.gradle.platform.base.ComponentType;
+import org.gradle.platform.base.TypeBuilder;
+import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
+import groovy.transform.CompileStatic;
+import groovy.transform.CompileDynamic
+import org.gradle.nativeplatform.BuildTypeContainer
+
+@CompileStatic
+class MultiBuilds implements Plugin<Project> {
+  @CompileStatic
+  public void apply(Project project) {
+
+  }
+
+  @CompileStatic
+  static class Rules extends RuleSource {
+    @CompileDynamic
+    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
+        binary.buildable = false
+    }
+
+
+    @Mutate
+    @CompileStatic
+    void disableReleaseGoogleTest(BinaryContainer binaries, ProjectLayout projectLayout) {
+      def project = (Project) projectLayout.projectIdentifier
+      if (project.hasProperty('testRelease')) {
+        return
+      }
+      binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
+        GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
+        if (spec.buildType.name == 'release') {
+          Rules.setBuildableFalseDynamically(spec)
+        }
+      }
+    }
+  }
+}

buildSrc/src/main/groovy/SingleNativeBuild.groovy

@@ -6,10 +6,14 @@ import java.nio.file.Files;
 import java.util.ArrayList;
 import java.util.List;
 
+import org.gradle.api.tasks.Delete
+
 import org.gradle.api.GradleException;
 import org.gradle.api.Plugin;
 import org.gradle.api.Project;
 import org.gradle.api.Task;
+import org.gradle.api.tasks.Copy;
+import org.gradle.api.file.CopySpec;
 import org.gradle.api.file.FileTree;
 import org.gradle.api.tasks.compile.JavaCompile;
 import org.gradle.language.base.internal.ProjectLayout;
@@ -32,6 +36,8 @@ import org.gradle.nativeplatform.toolchain.internal.ToolType;
 import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
 import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
 import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
+import org.gradle.nativeplatform.tasks.CreateStaticLibrary;
+import org.gradle.nativeplatform.tasks.AbstractLinkTask;
 import org.gradle.platform.base.BinarySpec;
 import org.gradle.platform.base.ComponentSpec;
 import org.gradle.platform.base.ComponentSpecContainer;
@@ -40,6 +46,7 @@ import org.gradle.platform.base.ComponentType;
 import org.gradle.platform.base.TypeBuilder;
 import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
 import groovy.transform.CompileStatic;
+import edu.wpi.first.nativeutils.tasks.ExportsGenerationTask
 
 @CompileStatic
 class SingleNativeBuild implements Plugin<Project> {
@@ -50,6 +57,22 @@ class SingleNativeBuild implements Plugin<Project> {
 
     @CompileStatic
     static class Rules extends RuleSource {
+        @Mutate
+        @CompileStatic
+        void removeMacSystemIncludes(ModelMap<Task> tasks, BinaryContainer binaries) {
+            binaries.each {
+                if (!(it instanceof NativeBinarySpec)) {
+                    return
+                }
+                NativeBinarySpec nativeBin = (NativeBinarySpec)it
+                if (nativeBin.targetPlatform.operatingSystem.isMacOsX()) {
+                    nativeBin.tasks.withType(AbstractNativeSourceCompileTask) { AbstractNativeSourceCompileTask compileTask->
+                        compileTask.getSystemIncludes().setFrom()
+                    }
+                }
+            }
+        }
+
         @Mutate
         @CompileStatic
         void setupSingleNativeBuild(ModelMap<Task> tasks, ComponentSpecContainer components, BinaryContainer binaryContainer, ProjectLayout projectLayout) {
@@ -62,10 +85,18 @@ class SingleNativeBuild implements Plugin<Project> {
             components.each { component ->
                 if (component.name == "${nativeName}Base") {
                     base = (NativeLibrarySpec) component
-                } else if (component.name == "${nativeName}" || component.name == "${nativeName}JNI") {
+                } else if (component.name == "${nativeName}" || component.name == "${nativeName}JNI" || component.name == "${nativeName}JNICvStatic") {
                     subs << component
                 }
             }
+            Delete deleteObjects = null
+            if (project.hasProperty('buildServer')) {
+                deleteObjects = project.tasks.create('deleteObjects', Delete)
+                project.tasks.named('build').configure { Task t ->
+                    t.dependsOn deleteObjects
+                    return
+                }
+            }
             subs.each {
                 ((NativeLibrarySpec) it).binaries.each { oBinary ->
                     if (oBinary.buildable == false) {
@@ -78,23 +109,47 @@ class SingleNativeBuild implements Plugin<Project> {
                             return
                         }
                         def tmpBaseBin = (NativeBinarySpec) oTmpBaseBin
-                        if (tmpBaseBin.targetPlatform.operatingSystem.name == binary.targetPlatform.operatingSystem.name &&
-                                tmpBaseBin.targetPlatform.architecture.name == binary.targetPlatform.architecture.name &&
+                        if (tmpBaseBin.targetPlatform.name == binary.targetPlatform.name &&
                                 tmpBaseBin.buildType == binary.buildType) {
                             baseBin = tmpBaseBin
                         }
                     }
+
+                    if (binary instanceof StaticLibraryBinarySpec) {
+                        File intoDir = ((CreateStaticLibrary)((StaticLibraryBinarySpec)binary).tasks.createStaticLib).outputFile.get().asFile.parentFile
+                        File fromDir = ((CreateStaticLibrary)((StaticLibraryBinarySpec)baseBin).tasks.createStaticLib).outputFile.get().asFile.parentFile
+
+                        def copyBasePdbName = "copyBasePdbFor" + binary.buildTask.name
+                        def copyTask = project.tasks.register(copyBasePdbName, Copy) { Copy t ->
+                            t.from (fromDir)
+                            t.include '*.pdb'
+                            t.into intoDir
+
+                            t.dependsOn (((StaticLibraryBinarySpec)baseBin).tasks.createStaticLib)
+                        }
+                        ((CreateStaticLibrary)((StaticLibraryBinarySpec)binary).tasks.createStaticLib).dependsOn(copyTask)
+
+                    }
+
                     baseBin.tasks.withType(AbstractNativeSourceCompileTask) { oCompileTask ->
                         def compileTask = (AbstractNativeSourceCompileTask) oCompileTask
                         if (binary instanceof SharedLibraryBinarySpec) {
                             def sBinary = (SharedLibraryBinarySpec) binary
                             ObjectFilesToBinary link = (ObjectFilesToBinary) sBinary.tasks.link
+                            ExportsGenerationTask exportsTask = binary.tasks.withType(ExportsGenerationTask)[0]
+                            if (exportsTask != null) {
+                                exportsTask.dependsOn compileTask
+                            }
                             link.dependsOn compileTask
                             link.inputs.dir compileTask.objectFileDir
                             def tree = project.fileTree(compileTask.objectFileDir)
                             tree.include '**/*.o'
                             tree.include '**/*.obj'
                             link.source tree
+                            if (project.hasProperty('buildServer')) {
+                                deleteObjects.dependsOn link
+                                deleteObjects.delete tree
+                            }
                         } else if (binary instanceof StaticLibraryBinarySpec) {
                             def sBinary = (StaticLibraryBinarySpec) binary
                             ObjectFilesToBinary assemble = (ObjectFilesToBinary) sBinary.tasks.createStaticLib
@@ -104,6 +159,10 @@ class SingleNativeBuild implements Plugin<Project> {
                             tree.include '**/*.o'
                             tree.include '**/*.obj'
                             assemble.source tree
+                            if (project.hasProperty('buildServer')) {
+                                deleteObjects.dependsOn assemble
+                                deleteObjects.delete tree
+                            }
                         }
                     }
                 }

cameraserver/.styleguide

@@ -7,16 +7,12 @@ cppSrcFileInclude {
   \.cpp$
 }
 
-modifiableFileExclude {
-  \.so$
-}
-
 repoRootNameOverride {
   cameraserver
 }
 
 includeOtherLibs {
-  ^HAL/
+  ^hal/
   ^networktables/
   ^opencv2/
   ^support/

cameraserver/CMakeLists.txt

@@ -1,9 +1,12 @@
 project(cameraserver)
 
+include(CompileWarnings)
+include(AddTest)
+
 find_package( OpenCV REQUIRED )
 
 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
     set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
@@ -32,6 +35,7 @@ set_target_properties(cameraserver PROPERTIES DEBUG_POSTFIX "d")
 target_include_directories(cameraserver PUBLIC
                 $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                             $<INSTALL_INTERFACE:${include_dest}/cameraserver>)
+wpilib_target_warnings(cameraserver)
 target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})
 
 set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
@@ -39,19 +43,28 @@ set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
 install(TARGETS cameraserver EXPORT cameraserver DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")
 
-if (NOT WITHOUT_JAVA AND MSVC)
+if (WITH_JAVA AND MSVC)
     install(TARGETS cameraserver RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
 endif()
 
-if (MSVC)
+if (WITH_FLAT_INSTALL)
     set (cameraserver_config_dir ${wpilib_dest})
 else()
     set (cameraserver_config_dir share/cameraserver)
 endif()
 
-install(FILES cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
+configure_file(cameraserver-config.cmake.in ${WPILIB_BINARY_DIR}/cameraserver-config.cmake )
+install(FILES ${WPILIB_BINARY_DIR}/cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
 install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})
 
 file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
 add_executable(multiCameraServer ${multiCameraServer_src})
+wpilib_target_warnings(multiCameraServer)
 target_link_libraries(multiCameraServer cameraserver)
+
+set_property(TARGET multiCameraServer PROPERTY FOLDER "examples")
+
+if (WITH_TESTS)
+    wpilib_add_test(cameraserver src/test/native/cpp)
+    target_link_libraries(cameraserver_test cameraserver gtest)
+endif()

cameraserver/build.gradle

@@ -10,19 +10,19 @@ evaluationDependsOn(':hal')
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 
 dependencies {
-    compile project(':wpiutil')
-    compile project(':ntcore')
-    compile project(':cscore')
-    devCompile project(':wpiutil')
-    devCompile project(':ntcore')
-    devCompile project(':cscore')
+    implementation project(':wpiutil')
+    implementation project(':ntcore')
+    implementation project(':cscore')
+    devImplementation project(':wpiutil')
+    devImplementation project(':ntcore')
+    devImplementation project(':cscore')
 }
 
 ext {
     sharedCvConfigs = [cameraserver    : [],
-                       cameraserverBase: [],
-                       cameraserverDev : [],
-                       cameraserverTest: []]
+        cameraserverBase: [],
+        cameraserverDev : [],
+        cameraserverTest: []]
     staticCvConfigs = [:]
     useJava = true
     useCpp = true
@@ -30,23 +30,38 @@ ext {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
-model {
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        cameraserver(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
-                                 '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '_CT??_R0?AVout_of_range', '_CTA3?AVout_of_range',
-                                 '_TI3?AVout_of_range', '_CT??_R0?AVbad_cast']
-        }
+nativeUtils.exportsConfigs {
+    cameraserver {
+        x86ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
+        x64ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
     }
+}
+
+model {
     components {}
     binaries {
         all {
@@ -66,7 +81,7 @@ model {
             if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
                 it.binaries.each {
                     if (!found) {
-                        def arch = it.targetPlatform.architecture.name
+                        def arch = it.targetPlatform.name
                         if (arch == systemArch) {
                             def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
 

cameraserver/cameraserver-config.cmake

@@ -1,8 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-find_dependency(ntcore)
-find_dependency(cscore)
-find_dependency(OpenCV)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/cameraserver.cmake)

cameraserver/cameraserver-config.cmake.in

@@ -0,0 +1,9 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
+find_dependency(OpenCV)
+
+@FILENAME_DEP_REPLACE@
+include(${SELF_DIR}/cameraserver.cmake)

cameraserver/multiCameraServer/build.gradle

@@ -18,7 +18,7 @@ ext {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
-mainClassName = 'Main'
+mainClassName = 'edu.wpi.Main'
 
 apply plugin: 'com.github.johnrengelman.shadow'
 
@@ -27,12 +27,12 @@ repositories {
 }
 
 dependencies {
-    compile 'com.google.code.gson:gson:2.8.5'
+    implementation 'com.google.code.gson:gson:2.8.5'
 
-    compile project(':wpiutil')
-    compile project(':ntcore')
-    compile project(':cscore')
-    compile project(':cameraserver')
+    implementation project(':wpiutil')
+    implementation project(':ntcore')
+    implementation project(':cscore')
+    implementation project(':cameraserver')
 }
 
 model {
@@ -52,10 +52,10 @@ model {
                 }
             }
             binaries.all { binary ->
-                    lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
-                    lib project: ':ntcore', library: 'ntcore', linkage: 'static'
-                    lib project: ':cscore', library: 'cscore', linkage: 'static'
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
+                lib project: ':ntcore', library: 'ntcore', linkage: 'static'
+                lib project: ':cscore', library: 'cscore', linkage: 'static'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
             }
         }
     }

cameraserver/multiCameraServer/src/main/java/Main.java

@@ -1,211 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.util.ArrayList;
-import java.util.List;
-
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-import com.google.gson.JsonArray;
-import com.google.gson.JsonElement;
-import com.google.gson.JsonObject;
-import com.google.gson.JsonParser;
-
-import edu.wpi.cscore.VideoSource;
-import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.networktables.NetworkTableInstance;
-
-/*
-   JSON format:
-   {
-       "team": <team number>,
-       "ntmode": <"client" or "server", "client" if unspecified>
-       "cameras": [
-           {
-               "name": <camera name>
-               "path": <path, e.g. "/dev/video0">
-               "pixel format": <"MJPEG", "YUYV", etc>   // optional
-               "width": <video mode width>              // optional
-               "height": <video mode height>            // optional
-               "fps": <video mode fps>                  // optional
-               "brightness": <percentage brightness>    // optional
-               "white balance": <"auto", "hold", value> // optional
-               "exposure": <"auto", "hold", value>      // optional
-               "properties": [                          // optional
-                   {
-                       "name": <property name>
-                       "value": <property value>
-                   }
-               ]
-           }
-       ]
-   }
- */
-
-public final class Main {
-  private static String configFile = "/boot/frc.json";
-
-  @SuppressWarnings("MemberName")
-  public static class CameraConfig {
-    public String name;
-    public String path;
-    public JsonObject config;
-  }
-
-  public static int team;
-  public static boolean server;
-  public static List<CameraConfig> cameras = new ArrayList<>();
-
-  private Main() {
-  }
-
-  /**
-   * Report parse error.
-   */
-  public static void parseError(String str) {
-    System.err.println("config error in '" + configFile + "': " + str);
-  }
-
-  /**
-   * Read single camera configuration.
-   */
-  public static boolean readCameraConfig(JsonObject config) {
-    CameraConfig cam = new CameraConfig();
-
-    // name
-    JsonElement nameElement = config.get("name");
-    if (nameElement == null) {
-      parseError("could not read camera name");
-      return false;
-    }
-    cam.name = nameElement.getAsString();
-
-    // path
-    JsonElement pathElement = config.get("path");
-    if (pathElement == null) {
-      parseError("camera '" + cam.name + "': could not read path");
-      return false;
-    }
-    cam.path = pathElement.getAsString();
-
-    cam.config = config;
-
-    cameras.add(cam);
-    return true;
-  }
-
-  /**
-   * Read configuration file.
-   */
-  @SuppressWarnings("PMD.CyclomaticComplexity")
-  public static boolean readConfig() {
-    // parse file
-    JsonElement top;
-    try {
-      top = new JsonParser().parse(Files.newBufferedReader(Paths.get(configFile)));
-    } catch (IOException ex) {
-      System.err.println("could not open '" + configFile + "': " + ex);
-      return false;
-    }
-
-    // top level must be an object
-    if (!top.isJsonObject()) {
-      parseError("must be JSON object");
-      return false;
-    }
-    JsonObject obj = top.getAsJsonObject();
-
-    // team number
-    JsonElement teamElement = obj.get("team");
-    if (teamElement == null) {
-      parseError("could not read team number");
-      return false;
-    }
-    team = teamElement.getAsInt();
-
-    // ntmode (optional)
-    if (obj.has("ntmode")) {
-      String str = obj.get("ntmode").getAsString();
-      if ("client".equalsIgnoreCase(str)) {
-        server = false;
-      } else if ("server".equalsIgnoreCase(str)) {
-        server = true;
-      } else {
-        parseError("could not understand ntmode value '" + str + "'");
-      }
-    }
-
-    // cameras
-    JsonElement camerasElement = obj.get("cameras");
-    if (camerasElement == null) {
-      parseError("could not read cameras");
-      return false;
-    }
-    JsonArray cameras = camerasElement.getAsJsonArray();
-    for (JsonElement camera : cameras) {
-      if (!readCameraConfig(camera.getAsJsonObject())) {
-        return false;
-      }
-    }
-
-    return true;
-  }
-
-  /**
-   * Start running the camera.
-   */
-  public static void startCamera(CameraConfig config) {
-    System.out.println("Starting camera '" + config.name + "' on " + config.path);
-    VideoSource camera = CameraServer.getInstance().startAutomaticCapture(
-        config.name, config.path);
-
-    Gson gson = new GsonBuilder().create();
-
-    camera.setConfigJson(gson.toJson(config.config));
-  }
-
-  /**
-   * Main.
-   */
-  public static void main(String... args) {
-    if (args.length > 0) {
-      configFile = args[0];
-    }
-
-    // read configuration
-    if (!readConfig()) {
-      return;
-    }
-
-    // start NetworkTables
-    NetworkTableInstance ntinst = NetworkTableInstance.getDefault();
-    if (server) {
-      System.out.println("Setting up NetworkTables server");
-      ntinst.startServer();
-    } else {
-      System.out.println("Setting up NetworkTables client for team " + team);
-      ntinst.startClientTeam(team);
-    }
-
-    // start cameras
-    for (CameraConfig camera : cameras) {
-      startCamera(camera);
-    }
-
-    // loop forever
-    for (;;) {
-      try {
-        Thread.sleep(10000);
-      } catch (InterruptedException ex) {
-        return;
-      }
-    }
-  }
-}

cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java

@@ -0,0 +1,196 @@
+// 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.
+
+package edu.wpi;
+
+import com.google.gson.Gson;
+import com.google.gson.GsonBuilder;
+import com.google.gson.JsonArray;
+import com.google.gson.JsonElement;
+import com.google.gson.JsonObject;
+import com.google.gson.JsonParser;
+import edu.wpi.cscore.VideoSource;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+
+/*
+  JSON format:
+  {
+      "team": <team number>,
+      "ntmode": <"client" or "server", "client" if unspecified>
+      "cameras": [
+          {
+              "name": <camera name>
+              "path": <path, e.g. "/dev/video0">
+              "pixel format": <"MJPEG", "YUYV", etc>   // optional
+              "width": <video mode width>              // optional
+              "height": <video mode height>            // optional
+              "fps": <video mode fps>                  // optional
+              "brightness": <percentage brightness>    // optional
+              "white balance": <"auto", "hold", value> // optional
+              "exposure": <"auto", "hold", value>      // optional
+              "properties": [                          // optional
+                  {
+                      "name": <property name>
+                      "value": <property value>
+                  }
+              ]
+          }
+      ]
+  }
+*/
+
+public final class Main {
+  private static String configFile = "/boot/frc.json";
+
+  @SuppressWarnings("MemberName")
+  public static class CameraConfig {
+    public String name;
+    public String path;
+    public JsonObject config;
+  }
+
+  public static int team;
+  public static boolean server;
+  public static List<CameraConfig> cameras = new ArrayList<>();
+
+  private Main() {}
+
+  /** Report parse error. */
+  public static void parseError(String str) {
+    System.err.println("config error in '" + configFile + "': " + str);
+  }
+
+  /** Read single camera configuration. */
+  public static boolean readCameraConfig(JsonObject config) {
+    CameraConfig cam = new CameraConfig();
+
+    // name
+    JsonElement nameElement = config.get("name");
+    if (nameElement == null) {
+      parseError("could not read camera name");
+      return false;
+    }
+    cam.name = nameElement.getAsString();
+
+    // path
+    JsonElement pathElement = config.get("path");
+    if (pathElement == null) {
+      parseError("camera '" + cam.name + "': could not read path");
+      return false;
+    }
+    cam.path = pathElement.getAsString();
+
+    cam.config = config;
+
+    cameras.add(cam);
+    return true;
+  }
+
+  /** Read configuration file. */
+  @SuppressWarnings("PMD.CyclomaticComplexity")
+  public static boolean readConfig() {
+    // parse file
+    JsonElement top;
+    try {
+      top = new JsonParser().parse(Files.newBufferedReader(Paths.get(configFile)));
+    } catch (IOException ex) {
+      System.err.println("could not open '" + configFile + "': " + ex);
+      return false;
+    }
+
+    // top level must be an object
+    if (!top.isJsonObject()) {
+      parseError("must be JSON object");
+      return false;
+    }
+    JsonObject obj = top.getAsJsonObject();
+
+    // team number
+    JsonElement teamElement = obj.get("team");
+    if (teamElement == null) {
+      parseError("could not read team number");
+      return false;
+    }
+    team = teamElement.getAsInt();
+
+    // ntmode (optional)
+    if (obj.has("ntmode")) {
+      String str = obj.get("ntmode").getAsString();
+      if ("client".equalsIgnoreCase(str)) {
+        server = false;
+      } else if ("server".equalsIgnoreCase(str)) {
+        server = true;
+      } else {
+        parseError("could not understand ntmode value '" + str + "'");
+      }
+    }
+
+    // cameras
+    JsonElement camerasElement = obj.get("cameras");
+    if (camerasElement == null) {
+      parseError("could not read cameras");
+      return false;
+    }
+    JsonArray cameras = camerasElement.getAsJsonArray();
+    for (JsonElement camera : cameras) {
+      if (!readCameraConfig(camera.getAsJsonObject())) {
+        return false;
+      }
+    }
+
+    return true;
+  }
+
+  /** Start running the camera. */
+  public static void startCamera(CameraConfig config) {
+    System.out.println("Starting camera '" + config.name + "' on " + config.path);
+    VideoSource camera = CameraServer.getInstance().startAutomaticCapture(config.name, config.path);
+
+    Gson gson = new GsonBuilder().create();
+
+    camera.setConfigJson(gson.toJson(config.config));
+  }
+
+  /** Main. */
+  public static void main(String... args) {
+    if (args.length > 0) {
+      configFile = args[0];
+    }
+
+    // read configuration
+    if (!readConfig()) {
+      return;
+    }
+
+    // start NetworkTables
+    NetworkTableInstance ntinst = NetworkTableInstance.getDefault();
+    if (server) {
+      System.out.println("Setting up NetworkTables server");
+      ntinst.startServer();
+    } else {
+      System.out.println("Setting up NetworkTables client for team " + team);
+      ntinst.startClientTeam(team);
+    }
+
+    // start cameras
+    for (CameraConfig camera : cameras) {
+      startCamera(camera);
+    }
+
+    // loop forever
+    for (; ; ) {
+      try {
+        Thread.sleep(10000);
+      } catch (InterruptedException ex) {
+        return;
+      }
+    }
+  }
+}

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <cstdio>
 #include <string>
@@ -146,7 +143,9 @@ bool ReadConfig() {
   // cameras
   try {
     for (auto&& camera : j.at("cameras")) {
-      if (!ReadCameraConfig(camera)) return false;
+      if (!ReadCameraConfig(camera)) {
+        return false;
+      }
     }
   } catch (const wpi::json::exception& e) {
     ParseError() << "could not read cameras: " << e.what() << '\n';
@@ -167,10 +166,14 @@ void StartCamera(const CameraConfig& config) {
 }  // namespace
 
 int main(int argc, char* argv[]) {
-  if (argc >= 2) configFile = argv[1];
+  if (argc >= 2) {
+    configFile = argv[1];
+  }
 
   // read configuration
-  if (!ReadConfig()) return EXIT_FAILURE;
+  if (!ReadConfig()) {
+    return EXIT_FAILURE;
+  }
 
   // start NetworkTables
   auto ntinst = nt::NetworkTableInstance::GetDefault();
@@ -183,8 +186,12 @@ int main(int argc, char* argv[]) {
   }
 
   // start cameras
-  for (auto&& camera : cameras) StartCamera(camera);
+  for (auto&& camera : cameras) {
+    StartCamera(camera);
+  }
 
   // loop forever
-  for (;;) std::this_thread::sleep_for(std::chrono::seconds(10));
+  for (;;) {
+    std::this_thread::sleep_for(std::chrono::seconds(10));
+  }
 }

cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java

@@ -1,17 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.cameraserver;
 
 public final class DevMain {
-  public static void main(String[] args) {
+  public static void main(String[] args) {}
 
-  }
-
-  private DevMain() {
-  }
+  private DevMain() {}
 }

cameraserver/src/dev/native/cpp/main.cpp

@@ -1,8 +1,5 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 int main() {}

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -1,18 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.cameraserver;
 
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Hashtable;
-import java.util.Map;
-import java.util.concurrent.atomic.AtomicInteger;
-
 import edu.wpi.cscore.AxisCamera;
 import edu.wpi.cscore.CameraServerJNI;
 import edu.wpi.cscore.CvSink;
@@ -31,28 +22,28 @@ import edu.wpi.first.networktables.EntryListenerFlags;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.Objects;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
- * Singleton class for creating and keeping camera servers.
- * Also publishes camera information to NetworkTables.
+ * Singleton class for creating and keeping camera servers. Also publishes camera information to
+ * NetworkTables.
  */
-@SuppressWarnings("PMD.TooManyMethods")
 public final class CameraServer {
   public static final int kBasePort = 1181;
 
-  @Deprecated
-  public static final int kSize640x480 = 0;
-  @Deprecated
-  public static final int kSize320x240 = 1;
-  @Deprecated
-  public static final int kSize160x120 = 2;
+  @Deprecated public static final int kSize640x480 = 0;
+  @Deprecated public static final int kSize320x240 = 1;
+  @Deprecated public static final int kSize160x120 = 2;
 
   private static final String kPublishName = "/CameraPublisher";
   private static CameraServer server;
 
-  /**
-   * Get the CameraServer instance.
-   */
+  /** Get the CameraServer instance. */
   public static synchronized CameraServer getInstance() {
     if (server == null) {
       server = new CameraServer();
@@ -64,28 +55,29 @@ public final class CameraServer {
   private String m_primarySourceName;
   private final Map<String, VideoSource> m_sources;
   private final Map<String, VideoSink> m_sinks;
-  private final Map<Integer, NetworkTable> m_tables;  // indexed by source handle
+  private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
   // source handle indexed by sink handle
   private final Map<Integer, Integer> m_fixedSources;
   private final NetworkTable m_publishTable;
-  private final VideoListener m_videoListener; //NOPMD
-  private final int m_tableListener; //NOPMD
+  private final VideoListener m_videoListener; // NOPMD
+  private final int m_tableListener; // NOPMD
   private int m_nextPort;
   private String[] m_addresses;
 
-  @SuppressWarnings("JavadocMethod")
+  @SuppressWarnings("MissingJavadocMethod")
   private static String makeSourceValue(int source) {
     switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
       case kUsb:
         return "usb:" + CameraServerJNI.getUsbCameraPath(source);
-      case kHttp: {
-        String[] urls = CameraServerJNI.getHttpCameraUrls(source);
-        if (urls.length > 0) {
-          return "ip:" + urls[0];
-        } else {
-          return "ip:";
+      case kHttp:
+        {
+          String[] urls = CameraServerJNI.getHttpCameraUrls(source);
+          if (urls.length > 0) {
+            return "ip:" + urls[0];
+          } else {
+            return "ip:";
+          }
         }
-      }
       case kCv:
         return "cv:";
       default:
@@ -93,12 +85,12 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings("JavadocMethod")
+  @SuppressWarnings("MissingJavadocMethod")
   private static String makeStreamValue(String address, int port) {
     return "mjpg:http://" + address + ":" + port + "/?action=stream";
   }
 
-  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
+  @SuppressWarnings({"MissingJavadocMethod", "PMD.AvoidUsingHardCodedIP"})
   private synchronized String[] getSinkStreamValues(int sink) {
     // Ignore all but MjpegServer
     if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
@@ -119,7 +111,7 @@ public final class CameraServer {
       values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
       for (String addr : m_addresses) {
         if ("127.0.0.1".equals(addr)) {
-          continue;  // ignore localhost
+          continue; // ignore localhost
         }
         values.add(makeStreamValue(addr, port));
       }
@@ -128,11 +120,11 @@ public final class CameraServer {
     return values.toArray(new String[0]);
   }
 
-  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP"})
+  @SuppressWarnings({"MissingJavadocMethod", "PMD.AvoidUsingHardCodedIP"})
   private synchronized String[] getSourceStreamValues(int source) {
     // Ignore all but HttpCamera
     if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
-            != VideoSource.Kind.kHttp) {
+        != VideoSource.Kind.kHttp) {
       return new String[0];
     }
 
@@ -142,37 +134,42 @@ public final class CameraServer {
       values[j] = "mjpg:" + values[j];
     }
 
-    // Look to see if we have a passthrough server for this source
-    for (VideoSink i : m_sinks.values()) {
-      int sink = i.getHandle();
-      int sinkSource = CameraServerJNI.getSinkSource(sink);
-      if (source == sinkSource
-          && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
-        // Add USB-only passthrough
-        String[] finalValues = Arrays.copyOf(values, values.length + 1);
-        int port = CameraServerJNI.getMjpegServerPort(sink);
-        finalValues[values.length] = makeStreamValue("172.22.11.2", port);
-        return finalValues;
+    if (CameraServerSharedStore.getCameraServerShared().isRoboRIO()) {
+      // Look to see if we have a passthrough server for this source
+      // Only do this on the roboRIO
+      for (VideoSink i : m_sinks.values()) {
+        int sink = i.getHandle();
+        int sinkSource = CameraServerJNI.getSinkSource(sink);
+        if (source == sinkSource
+            && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
+                == VideoSink.Kind.kMjpeg) {
+          // Add USB-only passthrough
+          String[] finalValues = Arrays.copyOf(values, values.length + 1);
+          int port = CameraServerJNI.getMjpegServerPort(sink);
+          finalValues[values.length] = makeStreamValue("172.22.11.2", port);
+          return finalValues;
+        }
       }
     }
 
     return values;
   }
 
-  @SuppressWarnings({"JavadocMethod", "PMD.AvoidUsingHardCodedIP", "PMD.CyclomaticComplexity"})
+  @SuppressWarnings({
+    "MissingJavadocMethod",
+    "PMD.AvoidUsingHardCodedIP",
+    "PMD.CyclomaticComplexity"
+  })
   private synchronized void updateStreamValues() {
     // Over all the sinks...
     for (VideoSink i : m_sinks.values()) {
       int sink = i.getHandle();
 
       // Get the source's subtable (if none exists, we're done)
-      int source;
-      Integer fixedSource = m_fixedSources.get(sink);
-      if (fixedSource != null) {
-        source = fixedSource;
-      } else {
-        source = CameraServerJNI.getSinkSource(sink);
-      }
+      int source =
+          Objects.requireNonNullElseGet(
+              m_fixedSources.get(sink), () -> CameraServerJNI.getSinkSource(sink));
+
       if (source == 0) {
         continue;
       }
@@ -208,7 +205,7 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings("JavadocMethod")
+  @SuppressWarnings("MissingJavadocMethod")
   private static String pixelFormatToString(PixelFormat pixelFormat) {
     switch (pixelFormat) {
       case kMJPEG:
@@ -228,13 +225,19 @@ public final class CameraServer {
 
   /// Provide string description of video mode.
   /// The returned string is "{width}x{height} {format} {fps} fps".
-  @SuppressWarnings("JavadocMethod")
+  @SuppressWarnings("MissingJavadocMethod")
   private static String videoModeToString(VideoMode mode) {
-    return mode.width + "x" + mode.height + " " + pixelFormatToString(mode.pixelFormat)
-        + " " + mode.fps + " fps";
+    return mode.width
+        + "x"
+        + mode.height
+        + " "
+        + pixelFormatToString(mode.pixelFormat)
+        + " "
+        + mode.fps
+        + " fps";
   }
 
-  @SuppressWarnings("JavadocMethod")
+  @SuppressWarnings("MissingJavadocMethod")
   private static String[] getSourceModeValues(int sourceHandle) {
     VideoMode[] modes = CameraServerJNI.enumerateSourceVideoModes(sourceHandle);
     String[] modeStrings = new String[modes.length];
@@ -244,7 +247,7 @@ public final class CameraServer {
     return modeStrings;
   }
 
-  @SuppressWarnings({"JavadocMethod", "PMD.CyclomaticComplexity"})
+  @SuppressWarnings({"MissingJavadocMethod", "PMD.CyclomaticComplexity"})
   private static void putSourcePropertyValue(NetworkTable table, VideoEvent event, boolean isNew) {
     String name;
     String infoName;
@@ -270,14 +273,18 @@ public final class CameraServer {
         case kEnum:
           if (isNew) {
             entry.setDefaultDouble(event.value);
-            table.getEntry(infoName + "/min").setDouble(
-                CameraServerJNI.getPropertyMin(event.propertyHandle));
-            table.getEntry(infoName + "/max").setDouble(
-                CameraServerJNI.getPropertyMax(event.propertyHandle));
-            table.getEntry(infoName + "/step").setDouble(
-                CameraServerJNI.getPropertyStep(event.propertyHandle));
-            table.getEntry(infoName + "/default").setDouble(
-                CameraServerJNI.getPropertyDefault(event.propertyHandle));
+            table
+                .getEntry(infoName + "/min")
+                .setDouble(CameraServerJNI.getPropertyMin(event.propertyHandle));
+            table
+                .getEntry(infoName + "/max")
+                .setDouble(CameraServerJNI.getPropertyMax(event.propertyHandle));
+            table
+                .getEntry(infoName + "/step")
+                .setDouble(CameraServerJNI.getPropertyStep(event.propertyHandle));
+            table
+                .getEntry(infoName + "/default")
+                .setDouble(CameraServerJNI.getPropertyDefault(event.propertyHandle));
           } else {
             entry.setDouble(event.value);
           }
@@ -297,14 +304,18 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings({"JavadocMethod", "PMD.UnusedLocalVariable", "PMD.ExcessiveMethodLength",
-      "PMD.NPathComplexity"})
+  @SuppressWarnings({
+    "MissingJavadocMethod",
+    "PMD.UnusedLocalVariable",
+    "PMD.ExcessiveMethodLength",
+    "PMD.NPathComplexity"
+  })
   private CameraServer() {
     m_defaultUsbDevice = new AtomicInteger();
-    m_sources = new Hashtable<>();
-    m_sinks = new Hashtable<>();
-    m_fixedSources = new Hashtable<>();
-    m_tables = new Hashtable<>();
+    m_sources = new HashMap<>();
+    m_sinks = new HashMap<>();
+    m_fixedSources = new HashMap<>();
+    m_tables = new HashMap<>();
     m_publishTable = NetworkTableInstance.getDefault().getTable(kPublishName);
     m_nextPort = kBasePort;
     m_addresses = new String[0];
@@ -321,176 +332,204 @@ public final class CameraServer {
     // - "PropertyInfo/{Property}" - Property supporting information
 
     // Listener for video events
-    m_videoListener = new VideoListener(event -> {
-      switch (event.kind) {
-        case kSourceCreated: {
-          // Create subtable for the camera
-          NetworkTable table = m_publishTable.getSubTable(event.name);
-          m_tables.put(event.sourceHandle, table);
-          table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
-          table.getEntry("description").setString(
-              CameraServerJNI.getSourceDescription(event.sourceHandle));
-          table.getEntry("connected").setBoolean(
-              CameraServerJNI.isSourceConnected(event.sourceHandle));
-          table.getEntry("streams").setStringArray(getSourceStreamValues(event.sourceHandle));
-          try {
-            VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
-            table.getEntry("mode").setDefaultString(videoModeToString(mode));
-            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-          } catch (VideoException ignored) {
-            // Do nothing. Let the other event handlers update this if there is an error.
-          }
-          break;
-        }
-        case kSourceDestroyed: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("source").setString("");
-            table.getEntry("streams").setStringArray(new String[0]);
-            table.getEntry("modes").setStringArray(new String[0]);
-          }
-          break;
-        }
-        case kSourceConnected: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            // update the description too (as it may have changed)
-            table.getEntry("description").setString(
-                CameraServerJNI.getSourceDescription(event.sourceHandle));
-            table.getEntry("connected").setBoolean(true);
-          }
-          break;
-        }
-        case kSourceDisconnected: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("connected").setBoolean(false);
-          }
-          break;
-        }
-        case kSourceVideoModesUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-          }
-          break;
-        }
-        case kSourceVideoModeChanged: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            table.getEntry("mode").setString(videoModeToString(event.mode));
-          }
-          break;
-        }
-        case kSourcePropertyCreated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            putSourcePropertyValue(table, event, true);
-          }
-          break;
-        }
-        case kSourcePropertyValueUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            putSourcePropertyValue(table, event, false);
-          }
-          break;
-        }
-        case kSourcePropertyChoicesUpdated: {
-          NetworkTable table = m_tables.get(event.sourceHandle);
-          if (table != null) {
-            try {
-              String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-              table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
-            } catch (VideoException ignored) {
-              // ignore
-            }
-          }
-          break;
-        }
-        case kSinkSourceChanged:
-        case kSinkCreated:
-        case kSinkDestroyed:
-        case kNetworkInterfacesChanged: {
-          m_addresses = CameraServerJNI.getNetworkInterfaces();
-          updateStreamValues();
-          break;
-        }
-        default:
-          break;
-      }
-    }, 0x4fff, true);
+    m_videoListener =
+        new VideoListener(
+            event -> {
+              switch (event.kind) {
+                case kSourceCreated:
+                  {
+                    // Create subtable for the camera
+                    NetworkTable table = m_publishTable.getSubTable(event.name);
+                    m_tables.put(event.sourceHandle, table);
+                    table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
+                    table
+                        .getEntry("description")
+                        .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                    table
+                        .getEntry("connected")
+                        .setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
+                    table
+                        .getEntry("streams")
+                        .setStringArray(getSourceStreamValues(event.sourceHandle));
+                    try {
+                      VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
+                      table.getEntry("mode").setDefaultString(videoModeToString(mode));
+                      table
+                          .getEntry("modes")
+                          .setStringArray(getSourceModeValues(event.sourceHandle));
+                    } catch (VideoException ignored) {
+                      // Do nothing. Let the other event handlers update this if there is an error.
+                    }
+                    break;
+                  }
+                case kSourceDestroyed:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("source").setString("");
+                      table.getEntry("streams").setStringArray(new String[0]);
+                      table.getEntry("modes").setStringArray(new String[0]);
+                    }
+                    break;
+                  }
+                case kSourceConnected:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      // update the description too (as it may have changed)
+                      table
+                          .getEntry("description")
+                          .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
+                      table.getEntry("connected").setBoolean(true);
+                    }
+                    break;
+                  }
+                case kSourceDisconnected:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("connected").setBoolean(false);
+                    }
+                    break;
+                  }
+                case kSourceVideoModesUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table
+                          .getEntry("modes")
+                          .setStringArray(getSourceModeValues(event.sourceHandle));
+                    }
+                    break;
+                  }
+                case kSourceVideoModeChanged:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      table.getEntry("mode").setString(videoModeToString(event.mode));
+                    }
+                    break;
+                  }
+                case kSourcePropertyCreated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      putSourcePropertyValue(table, event, true);
+                    }
+                    break;
+                  }
+                case kSourcePropertyValueUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      putSourcePropertyValue(table, event, false);
+                    }
+                    break;
+                  }
+                case kSourcePropertyChoicesUpdated:
+                  {
+                    NetworkTable table = m_tables.get(event.sourceHandle);
+                    if (table != null) {
+                      try {
+                        String[] choices =
+                            CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+                        table
+                            .getEntry("PropertyInfo/" + event.name + "/choices")
+                            .setStringArray(choices);
+                      } catch (VideoException ignored) {
+                        // ignore
+                      }
+                    }
+                    break;
+                  }
+                case kSinkSourceChanged:
+                case kSinkCreated:
+                case kSinkDestroyed:
+                case kNetworkInterfacesChanged:
+                  {
+                    m_addresses = CameraServerJNI.getNetworkInterfaces();
+                    updateStreamValues();
+                    break;
+                  }
+                default:
+                  break;
+              }
+            },
+            0x4fff,
+            true);
 
     // Listener for NetworkTable events
     // We don't currently support changing settings via NT due to
     // synchronization issues, so just update to current setting if someone
     // else tries to change it.
-    m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
-      event -> {
-        String relativeKey = event.name.substring(kPublishName.length() + 1);
+    m_tableListener =
+        NetworkTableInstance.getDefault()
+            .addEntryListener(
+                kPublishName + "/",
+                event -> {
+                  String relativeKey = event.name.substring(kPublishName.length() + 1);
 
-        // get source (sourceName/...)
-        int subKeyIndex = relativeKey.indexOf('/');
-        if (subKeyIndex == -1) {
-          return;
-        }
-        String sourceName = relativeKey.substring(0, subKeyIndex);
-        VideoSource source = m_sources.get(sourceName);
-        if (source == null) {
-          return;
-        }
+                  // get source (sourceName/...)
+                  int subKeyIndex = relativeKey.indexOf('/');
+                  if (subKeyIndex == -1) {
+                    return;
+                  }
+                  String sourceName = relativeKey.substring(0, subKeyIndex);
+                  VideoSource source = m_sources.get(sourceName);
+                  if (source == null) {
+                    return;
+                  }
 
-        // get subkey
-        relativeKey = relativeKey.substring(subKeyIndex + 1);
+                  // get subkey
+                  relativeKey = relativeKey.substring(subKeyIndex + 1);
 
-        // handle standard names
-        String propName;
-        if ("mode".equals(relativeKey)) {
-          // reset to current mode
-          event.getEntry().setString(videoModeToString(source.getVideoMode()));
-          return;
-        } else if (relativeKey.startsWith("Property/")) {
-          propName = relativeKey.substring(9);
-        } else if (relativeKey.startsWith("RawProperty/")) {
-          propName = relativeKey.substring(12);
-        } else {
-          return;  // ignore
-        }
+                  // handle standard names
+                  String propName;
+                  if ("mode".equals(relativeKey)) {
+                    // reset to current mode
+                    event.getEntry().setString(videoModeToString(source.getVideoMode()));
+                    return;
+                  } else if (relativeKey.startsWith("Property/")) {
+                    propName = relativeKey.substring(9);
+                  } else if (relativeKey.startsWith("RawProperty/")) {
+                    propName = relativeKey.substring(12);
+                  } else {
+                    return; // ignore
+                  }
 
-        // everything else is a property
-        VideoProperty property = source.getProperty(propName);
-        switch (property.getKind()) {
-          case kNone:
-            return;
-          case kBoolean:
-            // reset to current setting
-            event.getEntry().setBoolean(property.get() != 0);
-            return;
-          case kInteger:
-          case kEnum:
-            // reset to current setting
-            event.getEntry().setDouble(property.get());
-            return;
-          case kString:
-            // reset to current setting
-            event.getEntry().setString(property.getString());
-            return;
-          default:
-            return;
-        }
-      }, EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
+                  // everything else is a property
+                  VideoProperty property = source.getProperty(propName);
+                  switch (property.getKind()) {
+                    case kNone:
+                      return;
+                    case kBoolean:
+                      // reset to current setting
+                      event.getEntry().setBoolean(property.get() != 0);
+                      return;
+                    case kInteger:
+                    case kEnum:
+                      // reset to current setting
+                      event.getEntry().setDouble(property.get());
+                      return;
+                    case kString:
+                      // reset to current setting
+                      event.getEntry().setString(property.getString());
+                      return;
+                    default:
+                      return;
+                  }
+                },
+                EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
   }
 
   /**
    * Start automatically capturing images to send to the dashboard.
    *
-   * <p>You should call this method to see a camera feed on the dashboard.
-   * If you also want to perform vision processing on the roboRIO, use
-   * getVideo() to get access to the camera images.
+   * <p>You should call this method to see a camera feed on the dashboard. If you also want to
+   * perform vision processing on the roboRIO, use getVideo() to get access to the camera images.
    *
-   * <p>The first time this overload is called, it calls
-   * {@link #startAutomaticCapture(int)} with device 0, creating a camera
-   * named "USB Camera 0".  Subsequent calls increment the device number
+   * <p>The first time this overload is called, it calls {@link #startAutomaticCapture(int)} with
+   * device 0, creating a camera named "USB Camera 0". Subsequent calls increment the device number
    * (e.g. 1, 2, etc).
    */
   public UsbCamera startAutomaticCapture() {
@@ -502,8 +541,8 @@ public final class CameraServer {
   /**
    * Start automatically capturing images to send to the dashboard.
    *
-   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with
-   * a name of "USB Camera {dev}".
+   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with a name of "USB Camera
+   * {dev}".
    *
    * @param dev The device number of the camera interface
    */
@@ -541,8 +580,7 @@ public final class CameraServer {
   }
 
   /**
-   * Start automatically capturing images to send to the dashboard from
-   * an existing camera.
+   * Start automatically capturing images to send to the dashboard from an existing camera.
    *
    * @param camera Camera
    */
@@ -556,8 +594,7 @@ public final class CameraServer {
   /**
    * Adds an Axis IP camera.
    *
-   * <p>This overload calls {@link #addAxisCamera(String, String)} with
-   * name "Axis Camera".
+   * <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    */
@@ -568,8 +605,7 @@ public final class CameraServer {
   /**
    * Adds an Axis IP camera.
    *
-   * <p>This overload calls {@link #addAxisCamera(String, String[])} with
-   * name "Axis Camera".
+   * <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
    *
    * @param hosts Array of Camera host IPs/DNS names
    */
@@ -606,26 +642,27 @@ public final class CameraServer {
   }
 
   /**
-   * Adds a virtual camera for switching between two streams.  Unlike the
-   * other addCamera methods, this returns a VideoSink rather than a
-   * VideoSource.  Calling setSource() on the returned object can be used
-   * to switch the actual source of the stream.
+   * Adds a virtual camera for switching between two streams. Unlike the other addCamera methods,
+   * this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object
+   * can be used to switch the actual source of the stream.
    */
   public MjpegServer addSwitchedCamera(String name) {
     // create a dummy CvSource
     CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
     MjpegServer server = startAutomaticCapture(source);
-    m_fixedSources.put(server.getHandle(), source.getHandle());
+    synchronized (this) {
+      m_fixedSources.put(server.getHandle(), source.getHandle());
+    }
 
     return server;
   }
 
   /**
-   * Get OpenCV access to the primary camera feed.  This allows you to
-   * get images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the primary camera feed. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
+   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
+   * or addServer().
    */
   public CvSink getVideo() {
     VideoSource source;
@@ -642,8 +679,8 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
    * @param camera Camera (e.g. as returned by startAutomaticCapture).
    */
@@ -668,8 +705,8 @@ public final class CameraServer {
   }
 
   /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
    *
    * @param name Camera name
    */
@@ -685,8 +722,8 @@ public final class CameraServer {
   }
 
   /**
-   * Create a MJPEG stream with OpenCV input. This can be called to pass custom
-   * annotated images to the dashboard.
+   * Create a MJPEG stream with OpenCV input. This can be called to pass custom annotated images to
+   * the dashboard.
    *
    * @param name Name to give the stream
    * @param width Width of the image being sent
@@ -748,8 +785,8 @@ public final class CameraServer {
   /**
    * Get server for the primary camera feed.
    *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
+   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
+   * or addServer().
    */
   public VideoSink getServer() {
     synchronized (this) {

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java

@@ -1,13 +1,9 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.cameraserver;
 
-
 public interface CameraServerShared {
   /**
    * get the main thread id func.
@@ -43,4 +39,13 @@ public interface CameraServerShared {
    * @param id the usage id
    */
   void reportAxisCamera(int id);
+
+  /**
+   * Get if running on a roboRIO.
+   *
+   * @return true if on roboRIO
+   */
+  default boolean isRoboRIO() {
+    return false;
+  }
 }

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java

@@ -1,57 +1,42 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.cameraserver;
 
 public final class CameraServerSharedStore {
   private static CameraServerShared cameraServerShared;
 
-  private CameraServerSharedStore() {
-  }
+  private CameraServerSharedStore() {}
 
-  /**
-   * get the CameraServerShared object.
-   */
+  /** get the CameraServerShared object. */
   public static synchronized CameraServerShared getCameraServerShared() {
     if (cameraServerShared == null) {
-      cameraServerShared = new CameraServerShared() {
+      cameraServerShared =
+          new CameraServerShared() {
 
-        @Override
-        public void reportVideoServer(int id) {
+            @Override
+            public void reportVideoServer(int id) {}
 
-        }
+            @Override
+            public void reportUsbCamera(int id) {}
 
-        @Override
-        public void reportUsbCamera(int id) {
+            @Override
+            public void reportDriverStationError(String error) {}
 
-        }
+            @Override
+            public void reportAxisCamera(int id) {}
 
-        @Override
-        public void reportDriverStationError(String error) {
-
-        }
-
-        @Override
-        public void reportAxisCamera(int id) {
-
-        }
-
-        @Override
-        public Long getRobotMainThreadId() {
-          return null;
-        }
-      };
+            @Override
+            public Long getRobotMainThreadId() {
+              return null;
+            }
+          };
     }
     return cameraServerShared;
   }
 
-  /**
-   * set the CameraServerShared object.
-   */
+  /** set the CameraServerShared object. */
   public static synchronized void setCameraServerShared(CameraServerShared shared) {
     cameraServerShared = shared;
   }

cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java

@@ -1,26 +1,22 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.vision;
 
 import org.opencv.core.Mat;
 
 /**
- * A vision pipeline is responsible for running a group of
- * OpenCV algorithms to extract data from an image.
+ * A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an
+ * image.
  *
  * @see VisionRunner
  * @see VisionThread
  */
 public interface VisionPipeline {
   /**
-   * Processes the image input and sets the result objects.
-   * Implementations should make these objects accessible.
+   * Processes the image input and sets the result objects. Implementations should make these
+   * objects accessible.
    */
   void process(Mat image);
-
 }

cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java

@@ -1,22 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.vision;
 
-import org.opencv.core.Mat;
-
 import edu.wpi.cscore.CvSink;
 import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.cameraserver.CameraServerSharedStore;
+import org.opencv.core.Mat;
 
 /**
- * A vision runner is a convenient wrapper object to make it easy to run vision pipelines
- * from robot code. The easiest  way to use this is to run it in a {@link VisionThread}
- * and use the listener to take snapshots of the pipeline's outputs.
+ * A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot
+ * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
+ * take snapshots of the pipeline's outputs.
  *
  * @see VisionPipeline
  * @see VisionThread
@@ -45,17 +41,16 @@ public class VisionRunner<P extends VisionPipeline> {
      * @param pipeline the vision pipeline that ran
      */
     void copyPipelineOutputs(P pipeline);
-
   }
 
   /**
-   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to
-   * the {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert
-   * user code when it is safe to access the pipeline's outputs.
+   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to the
+   * {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert user
+   * code when it is safe to access the pipeline's outputs.
    *
    * @param videoSource the video source to use to supply images for the pipeline
-   * @param pipeline    the vision pipeline to run
-   * @param listener    a function to call after the pipeline has finished running
+   * @param pipeline the vision pipeline to run
+   * @param listener a function to call after the pipeline has finished running
    */
   public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
     this.m_pipeline = pipeline;
@@ -64,20 +59,20 @@ public class VisionRunner<P extends VisionPipeline> {
   }
 
   /**
-   * Runs the pipeline one time, giving it the next image from the video source specified
-   * in the constructor. This will block until the source either has an image or throws an error.
-   * If the source successfully supplied a frame, the pipeline's image input will be set,
-   * the pipeline will run, and the listener specified in the constructor will be called to notify
-   * it that the pipeline ran.
+   * Runs the pipeline one time, giving it the next image from the video source specified in the
+   * constructor. This will block until the source either has an image or throws an error. If the
+   * source successfully supplied a frame, the pipeline's image input will be set, the pipeline will
+   * run, and the listener specified in the constructor will be called to notify it that the
+   * pipeline ran.
    *
-   * <p>This method is exposed to allow teams to add additional functionality or have their own
-   * ways to run the pipeline. Most teams, however, should just use {@link #runForever} in its own
-   * thread using a {@link VisionThread}.</p>
+   * <p>This method is exposed to allow teams to add additional functionality or have their own ways
+   * to run the pipeline. Most teams, however, should just use {@link #runForever} in its own thread
+   * using a {@link VisionThread}.
    */
   public void runOnce() {
     Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
 
-    if (id != null && Thread.currentThread().getId() == id.longValue()) {
+    if (id != null && Thread.currentThread().getId() == id) {
       throw new IllegalStateException(
           "VisionRunner.runOnce() cannot be called from the main robot thread");
     }
@@ -98,11 +93,11 @@ public class VisionRunner<P extends VisionPipeline> {
   }
 
   /**
-   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must
-   * be run in a dedicated thread, and cannot be used in the main robot thread because
-   * it will freeze the robot program.
+   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must be run in a
+   * dedicated thread, and cannot be used in the main robot thread because it will freeze the robot
+   * program.
    *
-   * <p><strong>Do not call this method directly from the main thread.</strong></p>
+   * <p><strong>Do not call this method directly from the main thread.</strong>
    *
    * @throws IllegalStateException if this is called from the main robot thread
    * @see VisionThread
@@ -110,7 +105,7 @@ public class VisionRunner<P extends VisionPipeline> {
   public void runForever() {
     Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
 
-    if (id != null && Thread.currentThread().getId() == id.longValue()) {
+    if (id != null && Thread.currentThread().getId() == id) {
       throw new IllegalStateException(
           "VisionRunner.runForever() cannot be called from the main robot thread");
     }
@@ -119,9 +114,7 @@ public class VisionRunner<P extends VisionPipeline> {
     }
   }
 
-  /**
-   * Stop a RunForever() loop.
-   */
+  /** Stop a RunForever() loop. */
   public void stop() {
     m_enabled = false;
   }

cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java

@@ -1,18 +1,15 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.first.vision;
 
 import edu.wpi.cscore.VideoSource;
 
 /**
- * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread;
- * it does not prevent the program from exiting when all other non-daemon threads
- * have finished running.
+ * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread; it
+ * does not prevent the program from exiting when all other non-daemon threads have finished
+ * running.
  *
  * @see VisionPipeline
  * @see VisionRunner
@@ -34,14 +31,12 @@ public class VisionThread extends Thread {
    * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
    *
    * @param videoSource the source for images the pipeline should process
-   * @param pipeline    the pipeline to run
-   * @param listener    the listener to copy outputs from the pipeline after it runs
-   * @param <P>         the type of the pipeline
+   * @param pipeline the pipeline to run
+   * @param listener the listener to copy outputs from the pipeline after it runs
+   * @param <P> the type of the pipeline
    */
-  public <P extends VisionPipeline> VisionThread(VideoSource videoSource,
-                                                 P pipeline,
-                                                 VisionRunner.Listener<? super P> listener) {
+  public <P extends VisionPipeline> VisionThread(
+      VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
     this(new VisionRunner<>(videoSource, pipeline, listener));
   }
-
 }

cameraserver/src/main/java/edu/wpi/first/vision/package-info.java

@@ -1,16 +1,13 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 /**
- * Classes in the {@code edu.wpi.first.vision} package are designed to
- * simplify using OpenCV vision processing code from a robot program.
+ * Classes in the {@code edu.wpi.first.vision} package are designed to simplify using OpenCV vision
+ * processing code from a robot program.
+ *
+ * <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
  *
- * <p>An example use case for grabbing a yellow tote from 2015 in autonomous:
- * <br>
  * <pre><code>
  * public class Robot extends IterativeRobot
  *     implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {

cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include "cameraserver/CameraServer.h"
 
@@ -13,6 +10,7 @@
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DenseMap.h>
+#include <wpi/ManagedStatic.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
@@ -39,7 +37,8 @@ struct CameraServer::Impl {
   wpi::StringMap<cs::VideoSink> m_sinks;
   wpi::DenseMap<CS_Sink, CS_Source> m_fixedSources;
   wpi::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
-  std::shared_ptr<nt::NetworkTable> m_publishTable;
+  std::shared_ptr<nt::NetworkTable> m_publishTable{
+      nt::NetworkTableInstance::GetDefault().GetTable(kPublishName)};
   cs::VideoListener m_videoListener;
   int m_tableListener;
   int m_nextPort;
@@ -47,8 +46,14 @@ struct CameraServer::Impl {
 };
 
 CameraServer* CameraServer::GetInstance() {
-  static CameraServer instance;
-  return &instance;
+  struct Creator {
+    static void* call() { return new CameraServer{}; }
+  };
+  struct Deleter {
+    static void call(void* ptr) { delete static_cast<CameraServer*>(ptr); }
+  };
+  static wpi::ManagedStatic<CameraServer, Creator, Deleter> instance;
+  return &(*instance);
 }
 
 static wpi::StringRef MakeSourceValue(CS_Source source,
@@ -56,21 +61,23 @@ static wpi::StringRef MakeSourceValue(CS_Source source,
   CS_Status status = 0;
   buf.clear();
   switch (cs::GetSourceKind(source, &status)) {
-    case cs::VideoSource::kUsb: {
+    case CS_SOURCE_USB: {
       wpi::StringRef prefix{"usb:"};
       buf.append(prefix.begin(), prefix.end());
       auto path = cs::GetUsbCameraPath(source, &status);
       buf.append(path.begin(), path.end());
       break;
     }
-    case cs::VideoSource::kHttp: {
+    case CS_SOURCE_HTTP: {
       wpi::StringRef prefix{"ip:"};
       buf.append(prefix.begin(), prefix.end());
       auto urls = cs::GetHttpCameraUrls(source, &status);
-      if (!urls.empty()) buf.append(urls[0].begin(), urls[0].end());
+      if (!urls.empty()) {
+        buf.append(urls[0].begin(), urls[0].end());
+      }
       break;
     }
-    case cs::VideoSource::kCv:
+    case CS_SOURCE_CV:
       return "cv:";
     default:
       return "unknown:";
@@ -87,7 +94,7 @@ static std::string MakeStreamValue(const wpi::Twine& address, int port) {
 
 std::shared_ptr<nt::NetworkTable> CameraServer::Impl::GetSourceTable(
     CS_Source source) {
-  std::lock_guard<wpi::mutex> lock(m_mutex);
+  std::scoped_lock lock(m_mutex);
   return m_tables.lookup(source);
 }
 
@@ -95,8 +102,9 @@ std::vector<std::string> CameraServer::Impl::GetSinkStreamValues(CS_Sink sink) {
   CS_Status status = 0;
 
   // Ignore all but MjpegServer
-  if (cs::GetSinkKind(sink, &status) != CS_SINK_MJPEG)
-    return std::vector<std::string>{};
+  if (cs::GetSinkKind(sink, &status) != CS_SINK_MJPEG) {
+    return {};
+  }
 
   // Get port
   int port = cs::GetMjpegServerPort(sink, &status);
@@ -112,7 +120,9 @@ std::vector<std::string> CameraServer::Impl::GetSinkStreamValues(CS_Sink sink) {
     values.emplace_back(MakeStreamValue(cs::GetHostname() + ".local", port));
 
     for (const auto& addr : m_addresses) {
-      if (addr == "127.0.0.1") continue;  // ignore localhost
+      if (addr == "127.0.0.1") {
+        continue;  // ignore localhost
+      }
       values.emplace_back(MakeStreamValue(addr, port));
     }
   }
@@ -125,14 +135,19 @@ std::vector<std::string> CameraServer::Impl::GetSourceStreamValues(
   CS_Status status = 0;
 
   // Ignore all but HttpCamera
-  if (cs::GetSourceKind(source, &status) != CS_SOURCE_HTTP)
-    return std::vector<std::string>{};
+  if (cs::GetSourceKind(source, &status) != CS_SOURCE_HTTP) {
+    return {};
+  }
 
   // Generate values
   auto values = cs::GetHttpCameraUrls(source, &status);
-  for (auto& value : values) value = "mjpg:" + value;
+  for (auto& value : values) {
+    value = "mjpg:" + value;
+  }
 
+#ifdef __FRC_ROBORIO__
   // Look to see if we have a passthrough server for this source
+  // Only do this on the roboRIO
   for (const auto& i : m_sinks) {
     CS_Sink sink = i.second.GetHandle();
     CS_Source sinkSource = cs::GetSinkSource(sink, &status);
@@ -144,13 +159,14 @@ std::vector<std::string> CameraServer::Impl::GetSourceStreamValues(
       break;
     }
   }
+#endif
 
   // Set table value
   return values;
 }
 
 void CameraServer::Impl::UpdateStreamValues() {
-  std::lock_guard<wpi::mutex> lock(m_mutex);
+  std::scoped_lock lock(m_mutex);
   // Over all the sinks...
   for (const auto& i : m_sinks) {
     CS_Status status = 0;
@@ -158,16 +174,24 @@ void CameraServer::Impl::UpdateStreamValues() {
 
     // Get the source's subtable (if none exists, we're done)
     CS_Source source = m_fixedSources.lookup(sink);
-    if (source == 0) source = cs::GetSinkSource(sink, &status);
-    if (source == 0) continue;
+    if (source == 0) {
+      source = cs::GetSinkSource(sink, &status);
+    }
+    if (source == 0) {
+      continue;
+    }
     auto table = m_tables.lookup(source);
     if (table) {
       // Don't set stream values if this is a HttpCamera passthrough
-      if (cs::GetSourceKind(source, &status) == CS_SOURCE_HTTP) continue;
+      if (cs::GetSourceKind(source, &status) == CS_SOURCE_HTTP) {
+        continue;
+      }
 
       // Set table value
       auto values = GetSinkStreamValues(sink);
-      if (!values.empty()) table->GetEntry("streams").SetStringArray(values);
+      if (!values.empty()) {
+        table->GetEntry("streams").SetStringArray(values);
+      }
     }
   }
 
@@ -180,7 +204,9 @@ void CameraServer::Impl::UpdateStreamValues() {
     if (table) {
       // Set table value
       auto values = GetSourceStreamValues(source);
-      if (!values.empty()) table->GetEntry("streams").SetStringArray(values);
+      if (!values.empty()) {
+        table->GetEntry("streams").SetStringArray(values);
+      }
     }
   }
 }
@@ -214,8 +240,9 @@ static std::string VideoModeToString(const cs::VideoMode& mode) {
 static std::vector<std::string> GetSourceModeValues(int source) {
   std::vector<std::string> rv;
   CS_Status status = 0;
-  for (const auto& mode : cs::EnumerateSourceVideoModes(source, &status))
+  for (const auto& mode : cs::EnumerateSourceVideoModes(source, &status)) {
     rv.emplace_back(VideoModeToString(mode));
+  }
   return rv;
 }
 
@@ -239,14 +266,15 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
   CS_Status status = 0;
   nt::NetworkTableEntry entry = table->GetEntry(name);
   switch (event.propertyKind) {
-    case cs::VideoProperty::kBoolean:
-      if (isNew)
+    case CS_PROP_BOOLEAN:
+      if (isNew) {
         entry.SetDefaultBoolean(event.value != 0);
-      else
+      } else {
         entry.SetBoolean(event.value != 0);
+      }
       break;
-    case cs::VideoProperty::kInteger:
-    case cs::VideoProperty::kEnum:
+    case CS_PROP_INTEGER:
+    case CS_PROP_ENUM:
       if (isNew) {
         entry.SetDefaultDouble(event.value);
         table->GetEntry(infoName + "/min")
@@ -261,21 +289,19 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
         entry.SetDouble(event.value);
       }
       break;
-    case cs::VideoProperty::kString:
-      if (isNew)
+    case CS_PROP_STRING:
+      if (isNew) {
         entry.SetDefaultString(event.valueStr);
-      else
+      } else {
         entry.SetString(event.valueStr);
+      }
       break;
     default:
       break;
   }
 }
 
-CameraServer::Impl::Impl()
-    : m_publishTable{nt::NetworkTableInstance::GetDefault().GetTable(
-          kPublishName)},
-      m_nextPort(kBasePort) {
+CameraServer::Impl::Impl() : m_nextPort(kBasePort) {
   // We publish sources to NetworkTables using the following structure:
   // "/CameraPublisher/{Source.Name}/" - root
   // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
@@ -296,7 +322,7 @@ CameraServer::Impl::Impl()
             // Create subtable for the camera
             auto table = m_publishTable->GetSubTable(event.name);
             {
-              std::lock_guard<wpi::mutex> lock(m_mutex);
+              std::scoped_lock lock(m_mutex);
               m_tables.insert(std::make_pair(event.sourceHandle, table));
             }
             wpi::SmallString<64> buf;
@@ -341,30 +367,38 @@ CameraServer::Impl::Impl()
           }
           case cs::VideoEvent::kSourceDisconnected: {
             auto table = GetSourceTable(event.sourceHandle);
-            if (table) table->GetEntry("connected").SetBoolean(false);
+            if (table) {
+              table->GetEntry("connected").SetBoolean(false);
+            }
             break;
           }
           case cs::VideoEvent::kSourceVideoModesUpdated: {
             auto table = GetSourceTable(event.sourceHandle);
-            if (table)
+            if (table) {
               table->GetEntry("modes").SetStringArray(
                   GetSourceModeValues(event.sourceHandle));
+            }
             break;
           }
           case cs::VideoEvent::kSourceVideoModeChanged: {
             auto table = GetSourceTable(event.sourceHandle);
-            if (table)
+            if (table) {
               table->GetEntry("mode").SetString(VideoModeToString(event.mode));
+            }
             break;
           }
           case cs::VideoEvent::kSourcePropertyCreated: {
             auto table = GetSourceTable(event.sourceHandle);
-            if (table) PutSourcePropertyValue(table.get(), event, true);
+            if (table) {
+              PutSourcePropertyValue(table.get(), event, true);
+            }
             break;
           }
           case cs::VideoEvent::kSourcePropertyValueUpdated: {
             auto table = GetSourceTable(event.sourceHandle);
-            if (table) PutSourcePropertyValue(table.get(), event, false);
+            if (table) {
+              PutSourcePropertyValue(table.get(), event, false);
+            }
             break;
           }
           case cs::VideoEvent::kSourcePropertyChoicesUpdated: {
@@ -406,10 +440,14 @@ CameraServer::Impl::Impl()
 
         // get source (sourceName/...)
         auto subKeyIndex = relativeKey.find('/');
-        if (subKeyIndex == wpi::StringRef::npos) return;
+        if (subKeyIndex == wpi::StringRef::npos) {
+          return;
+        }
         wpi::StringRef sourceName = relativeKey.slice(0, subKeyIndex);
         auto sourceIt = m_sources.find(sourceName);
-        if (sourceIt == m_sources.end()) return;
+        if (sourceIt == m_sources.end()) {
+          return;
+        }
 
         // get subkey
         relativeKey = relativeKey.substr(subKeyIndex + 1);
@@ -453,7 +491,7 @@ CameraServer::Impl::Impl()
 
 CameraServer::CameraServer() : m_impl(new Impl) {}
 
-CameraServer::~CameraServer() {}
+CameraServer::~CameraServer() = default;
 
 cs::UsbCamera CameraServer::StartAutomaticCapture() {
   cs::UsbCamera camera = StartAutomaticCapture(m_impl->m_defaultUsbDevice++);
@@ -561,7 +599,7 @@ cs::CvSink CameraServer::GetVideo() {
   cs::VideoSource source;
   {
     auto csShared = GetCameraServerShared();
-    std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+    std::scoped_lock lock(m_impl->m_mutex);
     if (m_impl->m_primarySourceName.empty()) {
       csShared->SetCameraServerError("no camera available");
       return cs::CvSink{};
@@ -581,7 +619,7 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
   name += camera.GetName();
 
   {
-    std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+    std::scoped_lock lock(m_impl->m_mutex);
     auto it = m_impl->m_sinks.find(name);
     if (it != m_impl->m_sinks.end()) {
       auto kind = it->second.GetKind();
@@ -606,7 +644,7 @@ cs::CvSink CameraServer::GetVideo(const wpi::Twine& name) {
   wpi::StringRef nameStr = name.toStringRef(nameBuf);
   cs::VideoSource source;
   {
-    std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+    std::scoped_lock lock(m_impl->m_mutex);
     auto it = m_impl->m_sources.find(nameStr);
     if (it == m_impl->m_sources.end()) {
       auto csShared = GetCameraServerShared();
@@ -628,7 +666,7 @@ cs::CvSource CameraServer::PutVideo(const wpi::Twine& name, int width,
 cs::MjpegServer CameraServer::AddServer(const wpi::Twine& name) {
   int port;
   {
-    std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+    std::scoped_lock lock(m_impl->m_mutex);
     port = m_impl->m_nextPort++;
   }
   return AddServer(name, port);
@@ -641,12 +679,12 @@ cs::MjpegServer CameraServer::AddServer(const wpi::Twine& name, int port) {
 }
 
 void CameraServer::AddServer(const cs::VideoSink& server) {
-  std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+  std::scoped_lock lock(m_impl->m_mutex);
   m_impl->m_sinks.try_emplace(server.GetName(), server);
 }
 
 void CameraServer::RemoveServer(const wpi::Twine& name) {
-  std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+  std::scoped_lock lock(m_impl->m_mutex);
   wpi::SmallString<64> nameBuf;
   m_impl->m_sinks.erase(name.toStringRef(nameBuf));
 }
@@ -654,7 +692,7 @@ void CameraServer::RemoveServer(const wpi::Twine& name) {
 cs::VideoSink CameraServer::GetServer() {
   wpi::SmallString<64> name;
   {
-    std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+    std::scoped_lock lock(m_impl->m_mutex);
     if (m_impl->m_primarySourceName.empty()) {
       auto csShared = GetCameraServerShared();
       csShared->SetCameraServerError("no camera available");
@@ -669,7 +707,7 @@ cs::VideoSink CameraServer::GetServer() {
 cs::VideoSink CameraServer::GetServer(const wpi::Twine& name) {
   wpi::SmallString<64> nameBuf;
   wpi::StringRef nameStr = name.toStringRef(nameBuf);
-  std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+  std::scoped_lock lock(m_impl->m_mutex);
   auto it = m_impl->m_sinks.find(nameStr);
   if (it == m_impl->m_sinks.end()) {
     auto csShared = GetCameraServerShared();
@@ -681,26 +719,33 @@ cs::VideoSink CameraServer::GetServer(const wpi::Twine& name) {
 
 void CameraServer::AddCamera(const cs::VideoSource& camera) {
   std::string name = camera.GetName();
-  std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
-  if (m_impl->m_primarySourceName.empty()) m_impl->m_primarySourceName = name;
+  std::scoped_lock lock(m_impl->m_mutex);
+  if (m_impl->m_primarySourceName.empty()) {
+    m_impl->m_primarySourceName = name;
+  }
   m_impl->m_sources.try_emplace(name, camera);
 }
 
 void CameraServer::RemoveCamera(const wpi::Twine& name) {
-  std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
+  std::scoped_lock lock(m_impl->m_mutex);
   wpi::SmallString<64> nameBuf;
   m_impl->m_sources.erase(name.toStringRef(nameBuf));
 }
 
 void CameraServer::SetSize(int size) {
-  std::lock_guard<wpi::mutex> lock(m_impl->m_mutex);
-  if (m_impl->m_primarySourceName.empty()) return;
+  std::scoped_lock lock(m_impl->m_mutex);
+  if (m_impl->m_primarySourceName.empty()) {
+    return;
+  }
   auto it = m_impl->m_sources.find(m_impl->m_primarySourceName);
-  if (it == m_impl->m_sources.end()) return;
-  if (size == kSize160x120)
+  if (it == m_impl->m_sources.end()) {
+    return;
+  }
+  if (size == kSize160x120) {
     it->second.SetResolution(160, 120);
-  else if (size == kSize320x240)
+  } else if (size == kSize320x240) {
     it->second.SetResolution(320, 240);
-  else if (size == kSize640x480)
+  } else if (size == kSize640x480) {
     it->second.SetResolution(640, 480);
+  }
 }

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include "cameraserver/CameraServerShared.h"
 
@@ -24,20 +21,22 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
 };
 }  // namespace
 
-namespace frc {
-
-static std::unique_ptr<CameraServerShared> cameraServerShared = nullptr;
+static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
 static wpi::mutex setLock;
 
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared) {
-  std::unique_lock<wpi::mutex> lock(setLock);
-  cameraServerShared = std::move(shared);
-}
+namespace frc {
 CameraServerShared* GetCameraServerShared() {
-  std::unique_lock<wpi::mutex> lock(setLock);
+  std::unique_lock lock(setLock);
   if (!cameraServerShared) {
     cameraServerShared = std::make_unique<DefaultCameraServerShared>();
   }
   return cameraServerShared.get();
 }
 }  // namespace frc
+
+extern "C" {
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
+  std::unique_lock lock(setLock);
+  cameraServerShared.reset(shared);
+}
+}  // extern "C"

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include "vision/VisionRunner.h"
 
@@ -23,7 +20,7 @@ VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
 }
 
 // Located here and not in header due to cv::Mat forward declaration.
-VisionRunnerBase::~VisionRunnerBase() {}
+VisionRunnerBase::~VisionRunnerBase() = default;
 
 void VisionRunnerBase::RunOnce() {
   auto csShared = frc::GetCameraServerShared();
@@ -56,4 +53,6 @@ void VisionRunnerBase::RunForever() {
   }
 }
 
-void VisionRunnerBase::Stop() { m_enabled = false; }
+void VisionRunnerBase::Stop() {
+  m_enabled = false;
+}

cameraserver/src/main/native/include/CameraServer.h

@@ -1,19 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#pragma once
-
-// clang-format off
-#ifdef _MSC_VER
-#pragma message "warning: CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
-#else
-#warning "CameraServer.h is deprecated; include cameraserver/CameraServer.h instead"
-#endif
-
-// clang-format on
-
-#include "cameraserver/CameraServer.h"

cameraserver/src/main/native/include/cameraserver/CameraServer.h

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2014-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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
 
@@ -16,6 +13,7 @@
 #include <wpi/Twine.h>
 
 #include "cscore.h"
+#include "cscore_cv.h"
 
 namespace frc {
 

cameraserver/src/main/native/include/cameraserver/CameraServer.inc

@@ -1,15 +1,14 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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 <string>
 #include <vector>
 
+#include "cameraserver/CameraServer.h"
+
 namespace frc {
 
 template <typename T>
@@ -23,7 +22,9 @@ inline cs::AxisCamera CameraServer::AddAxisCamera(
     const wpi::Twine& name, std::initializer_list<T> hosts) {
   std::vector<std::string> vec;
   vec.reserve(hosts.size());
-  for (const auto& host : hosts) vec.emplace_back(host);
+  for (const auto& host : hosts) {
+    vec.emplace_back(host);
+  }
   return AddAxisCamera(name, vec);
 }
 

cameraserver/src/main/native/include/cameraserver/CameraServerShared.h

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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
 
@@ -26,6 +23,10 @@ class CameraServerShared {
   virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
 };
 
-void SetCameraServerShared(std::unique_ptr<CameraServerShared> shared);
 CameraServerShared* GetCameraServerShared();
 }  // namespace frc
+
+extern "C" {
+// Takes ownership
+void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
+}  // extern "C"

cameraserver/src/main/native/include/vision/VisionPipeline.h

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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
 

cameraserver/src/main/native/include/vision/VisionRunner.h

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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
 
@@ -12,6 +9,7 @@
 #include <memory>
 
 #include "cscore.h"
+#include "cscore_cv.h"
 #include "vision/VisionPipeline.h"
 
 namespace frc {

cameraserver/src/main/native/include/vision/VisionRunner.inc

@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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 "vision/VisionRunner.h"
+
 namespace frc {
 
 /**

cameraserver/src/test/native/cpp/main.cpp

@@ -1,8 +1,7 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
-int main() { return 0; }
+int main() {
+  return 0;
+}

cmake/modules/AddTest.cmake

@@ -0,0 +1,14 @@
+include(CompileWarnings)
+
+macro(wpilib_add_test name srcdir)
+    file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
+    add_executable(${name}_test ${test_src})
+    wpilib_target_warnings(${name}_test)
+    if (BUILD_SHARED_LIBS)
+        target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
+    endif()
+    if (MSVC)
+        target_compile_options(${name}_test PRIVATE /wd4251 /wd4101)
+    endif()
+    add_test(NAME ${name} COMMAND ${name}_test)
+endmacro()

cmake/modules/CompileWarnings.cmake

@@ -0,0 +1,7 @@
+macro(wpilib_target_warnings target)
+    if(NOT MSVC)
+        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
+    else()
+        target_compile_options(${target} PRIVATE /wd4244 /wd4267 /wd4146 /WX /wd4996)
+    endif()
+endmacro()

cmake/modules/GenResources.cmake

@@ -1,3 +1,4 @@
+set(SCRIPTS_DIR "${CMAKE_CURRENT_LIST_DIR}/../scripts")
 MACRO(GENERATE_RESOURCES inputDir outputDir prefix namespace outputFiles)
   FILE(GLOB inputFiles ${inputDir}/*)
   SET(${outputFiles})
@@ -16,9 +17,9 @@ MACRO(GENERATE_RESOURCES inputDir outputDir prefix namespace outputFiles)
         "-Doutput=${output}"
         "-Dprefix=${prefix}"
         "-Dnamespace=${namespace}"
-        -P "${CMAKE_SOURCE_DIR}/cmake/scripts/GenResource.cmake"
+        -P "${SCRIPTS_DIR}/GenResource.cmake"
       MAIN_DEPENDENCY ${input}
-      DEPENDS ${CMAKE_SOURCE_DIR}/cmake/scripts/GenResource.cmake
+      DEPENDS ${SCRIPTS_DIR}/GenResource.cmake
       VERBATIM
     )
   ENDFOREACH()

cmake/modules/LinkMacOSGUI.cmake

@@ -0,0 +1,5 @@
+macro(wpilib_link_macos_gui target)
+    if (APPLE)
+        set_target_properties(${target} PROPERTIES LINK_FLAGS "-framework Metal -framework QuartzCore")
+    endif()
+endmacro()

cmake/toolchains/arm-frc-gnueabi.toolchain.cmake

@@ -0,0 +1,4 @@
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-frc2021-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(SOFTFP yes)
+include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")

cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake

@@ -0,0 +1,98 @@
+set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
+set(GNU_MACHINE "arm-raspbian10-linux-gnueabi" CACHE STRING "GNU compiler triple")
+
+if(COMMAND toolchain_save_config)
+  return() # prevent recursive call
+endif()
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
+  set(CMAKE_SYSTEM_PROCESSOR arm)
+else()
+  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
+  set(FLOAT_ABI_SUFFIX "")
+  if(NOT SOFTFP)
+    set(FLOAT_ABI_SUFFIX "hf")
+  endif()
+endif()
+
+if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
+  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
+endif()
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
+
+  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
+  endif()
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
+    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  endif()
+  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
+  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+  set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+  set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()

cmake/toolchains/arm.toolchain.cmake

@@ -0,0 +1,97 @@
+if(COMMAND toolchain_save_config)
+  return() # prevent recursive call
+endif()
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_VERSION 1)
+if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
+  set(CMAKE_SYSTEM_PROCESSOR arm)
+else()
+  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
+  set(FLOAT_ABI_SUFFIX "")
+  if(NOT SOFTFP)
+    set(FLOAT_ABI_SUFFIX "hf")
+  endif()
+endif()
+
+if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
+  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
+endif()
+
+if(NOT DEFINED CMAKE_C_COMPILER)
+  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_CXX_COMPILER)
+  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
+else()
+  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
+endif()
+if(NOT DEFINED CMAKE_LINKER)
+  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
+else()
+  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
+endif()
+if(NOT DEFINED CMAKE_AR)
+  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
+else()
+  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
+endif()
+
+if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
+  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
+endif()
+
+if(NOT DEFINED CMAKE_CXX_FLAGS)
+  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
+  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
+  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
+  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
+
+  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(CMAKE_CXX_FLAGS           "-mthumb ${CMAKE_CXX_FLAGS}")
+    set(CMAKE_C_FLAGS             "-mthumb ${CMAKE_C_FLAGS}")
+    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
+  endif()
+  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
+    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
+    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+  endif()
+  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
+  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
+  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
+else()
+  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
+endif()
+
+if(USE_NEON)
+  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
+  set(ENABLE_NEON TRUE)
+elseif(USE_VFPV3)
+  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
+  set(ENABLE_VFPV3 TRUE)
+endif()
+
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
+
+if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
+  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
+endif()
+
+set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
+    ARM_LINUX_SYSROOT
+    ENABLE_NEON
+    ENABLE_VFPV3
+    CUDA_TOOLKIT_ROOT_DIR
+)
+toolchain_save_config()

cmake/toolchains/gnu.toolchain.cmake

@@ -0,0 +1,134 @@
+cmake_minimum_required(VERSION 2.8)
+
+# load settings in case of "try compile"
+set(TOOLCHAIN_CONFIG_FILE "${WPILIB_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
+get_property(__IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE)
+if(__IN_TRY_COMPILE)
+  include("${CMAKE_CURRENT_SOURCE_DIR}/../toolchain.config.cmake" OPTIONAL) # WPILIB_BINARY_DIR is different
+  macro(toolchain_save_config)
+    # nothing
+  endmacro()
+else()
+  macro(toolchain_save_config)
+    set(__config "#message(\"Load TOOLCHAIN config...\")\n")
+    get_cmake_property(__variableNames VARIABLES)
+    set(__vars_list ${ARGN})
+    list(APPEND __vars_list
+        ${TOOLCHAIN_CONFIG_VARS}
+        CMAKE_SYSTEM_NAME
+        CMAKE_SYSTEM_VERSION
+        CMAKE_SYSTEM_PROCESSOR
+        CMAKE_C_COMPILER
+        CMAKE_CXX_COMPILER
+        CMAKE_C_FLAGS
+        CMAKE_CXX_FLAGS
+        CMAKE_SHARED_LINKER_FLAGS
+        CMAKE_MODULE_LINKER_FLAGS
+        CMAKE_EXE_LINKER_FLAGS
+        CMAKE_SKIP_RPATH
+        CMAKE_FIND_ROOT_PATH
+        GCC_COMPILER_VERSION
+    )
+    foreach(__var ${__variableNames})
+      foreach(_v ${__vars_list})
+        if("x${__var}" STREQUAL "x${_v}")
+          if(${__var} MATCHES " ")
+            set(__config "${__config}set(${__var} \"${${__var}}\")\n")
+          else()
+            set(__config "${__config}set(${__var} ${${__var}})\n")
+          endif()
+        endif()
+      endforeach()
+    endforeach()
+    if(EXISTS "${TOOLCHAIN_CONFIG_FILE}")
+      file(READ "${TOOLCHAIN_CONFIG_FILE}" __config_old)
+    endif()
+    if("${__config_old}" STREQUAL "${__config}")
+      # nothing
+    else()
+      #message("Update TOOLCHAIN config: ${__config}")
+      file(WRITE "${TOOLCHAIN_CONFIG_FILE}" "${__config}")
+    endif()
+    unset(__config)
+    unset(__config_old)
+    unset(__vars_list)
+    unset(__variableNames)
+  endmacro()
+endif() # IN_TRY_COMPILE
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_LIBRARY)
+  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_INCLUDE)
+  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_PACKAGE)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+endif()
+
+if(NOT CMAKE_FIND_ROOT_PATH_MODE_PROGRAM)
+  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+endif()
+
+macro(__cmake_find_root_save_and_reset)
+  foreach(v
+      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
+      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+  )
+    set(__save_${v} ${${v}})
+    set(${v} NEVER)
+  endforeach()
+endmacro()
+
+macro(__cmake_find_root_restore)
+  foreach(v
+      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
+      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+  )
+    set(${v} ${__save_${v}})
+    unset(__save_${v})
+  endforeach()
+endmacro()
+
+
+# macro to find programs on the host OS
+macro(find_host_program)
+ __cmake_find_root_save_and_reset()
+ if(CMAKE_HOST_WIN32)
+  SET(WIN32 1)
+  SET(UNIX)
+ elseif(CMAKE_HOST_APPLE)
+  SET(APPLE 1)
+  SET(UNIX)
+ endif()
+ find_program(${ARGN})
+ SET(WIN32)
+ SET(APPLE)
+ SET(UNIX 1)
+ __cmake_find_root_restore()
+endmacro()
+
+# macro to find packages on the host OS
+macro(find_host_package)
+ __cmake_find_root_save_and_reset()
+ if(CMAKE_HOST_WIN32)
+  SET(WIN32 1)
+  SET(UNIX)
+ elseif(CMAKE_HOST_APPLE)
+  SET(APPLE 1)
+  SET(UNIX)
+ endif()
+ find_package(${ARGN})
+ SET(WIN32)
+ SET(APPLE)
+ SET(UNIX 1)
+ __cmake_find_root_restore()
+endmacro()
+
+set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")

cscore/.styleguide

@@ -6,6 +6,7 @@ cppHeaderFileInclude {
   (?<!_c)\.h$
   \.hpp$
   \.inc$
+  \.inl$
 }
 
 cppSrcFileInclude {

cscore/CMakeLists.txt

@@ -1,6 +1,9 @@
 project(cscore)
 
 include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+include(LinkMacOSGUI)
 
 find_package( OpenCV REQUIRED )
 
@@ -21,14 +24,15 @@ if(NOT MSVC)
     endif()
 else()
     target_sources(cscore PRIVATE ${cscore_windows_src})
-    target_compile_options(cscore PUBLIC -DNOMINMAX)
-    target_compile_options(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+    target_compile_definitions(cscore PUBLIC -DNOMINMAX)
+    target_compile_definitions(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
 endif()
 
 target_include_directories(cscore PUBLIC
                 $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
                             $<INSTALL_INTERFACE:${include_dest}/cscore>)
 target_include_directories(cscore PRIVATE src/main/native/cpp)
+wpilib_target_warnings(cscore)
 target_link_libraries(cscore PUBLIC wpiutil ${OpenCV_LIBS})
 
 set_property(TARGET cscore PROPERTY FOLDER "libraries")
@@ -36,26 +40,42 @@ set_property(TARGET cscore PROPERTY FOLDER "libraries")
 install(TARGETS cscore EXPORT cscore DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")
 
-if (MSVC)
+if (WITH_FLAT_INSTALL)
     set (cscore_config_dir ${wpilib_dest})
 else()
     set (cscore_config_dir share/cscore)
 endif()
 
-install(FILES cscore-config.cmake DESTINATION ${cscore_config_dir})
+configure_file(cscore-config.cmake.in ${WPILIB_BINARY_DIR}/cscore-config.cmake )
+install(FILES ${WPILIB_BINARY_DIR}/cscore-config.cmake DESTINATION ${cscore_config_dir})
 install(EXPORT cscore DESTINATION ${cscore_config_dir})
 
 SUBDIR_LIST(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
 foreach(example ${cscore_examples})
     file(GLOB cscore_example_src examples/${example}/*.cpp)
+    unset(add_libs)
+    if(${example} STREQUAL "usbviewer")
+        if(TARGET wpigui)
+            set(add_libs wpigui)
+        else()
+            unset(cscore_example_src)
+        endif()
+    endif()
     if(cscore_example_src)
         add_executable(cscore_${example} ${cscore_example_src})
-        target_link_libraries(cscore_${example} cscore)
+        wpilib_target_warnings(cscore_${example})
+
+        if (${example} STREQUAL "usbviewer")
+            wpilib_link_macos_gui(cscore_${example})
+        endif()
+
+        target_link_libraries(cscore_${example} cscore ${add_libs})
+        set_property(TARGET cscore_${example} PROPERTY FOLDER "examples")
     endif()
 endforeach()
 
 # Java bindings
-if (NOT WITHOUT_JAVA)
+if (WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
@@ -63,7 +83,9 @@ if (NOT WITHOUT_JAVA)
 
     #find java files, copy them locally
 
-    set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
+    if("${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
+        set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
+    endif()
 
     find_file(OPENCV_JAR_FILE NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin NO_DEFAULT_PATH)
     find_file(OPENCV_JNI_FILE NAMES libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.so
@@ -101,6 +123,7 @@ if (NOT WITHOUT_JAVA)
     set_property(TARGET cscore_jar PROPERTY FOLDER "java")
 
     add_library(cscorejni ${cscore_jni_src})
+    wpilib_target_warnings(cscorejni)
     target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})
 
     set_property(TARGET cscorejni PROPERTY FOLDER "libraries")
@@ -120,3 +143,8 @@ if (NOT WITHOUT_JAVA)
     install(TARGETS cscorejni EXPORT cscorejni DESTINATION "${main_lib_dest}")
 
 endif()
+
+if (WITH_TESTS)
+    wpilib_add_test(cscore src/test/native/cpp)
+    target_link_libraries(cscore_test cscore gmock)
+endif()

cscore/build.gradle

@@ -5,33 +5,83 @@ ext {
     devMain = 'edu.wpi.cscore.DevMain'
 }
 
-if (OperatingSystem.current().isMacOsX()) {
-    apply plugin: 'objective-cpp'
-}
+// Removed because having the objective-cpp plugin added breaks
+// embedded tools and its toolchain check. It causes an obj-cpp
+// source set to be added to all binaries, even cross binaries
+// with no support.
+// if (OperatingSystem.current().isMacOsX()) {
+//     apply plugin: 'objective-cpp'
+// }
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
-ext {
-    sharedCvConfigs = [cscore    : [],
-                       cscoreBase: [],
-                       cscoreDev : [],
-                       cscoreTest: []]
-    staticCvConfigs = [cscoreJNI: []]
-    useJava = true
-    useCpp = true
-    splitSetup = {
-        if (it.targetPlatform.operatingSystem.name == 'osx') {
-            it.sources {
-                macObjCpp(ObjectiveCppSourceSet) {
+model {
+    components {
+        cscoreJNICvStatic(JniNativeLibrarySpec) {
+            baseName = 'cscorejnicvstatic'
+
+            enableCheckTask true
+            javaCompileTasks << compileJava
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+
+            sources {
+                cpp {
                     source {
-                        srcDirs = ['src/main/native/objcpp']
-                        include '**/*.mm'
+                        srcDirs 'src/main/native/cpp'
+                        include '**/jni/*.cpp'
                     }
                     exportedHeaders {
-                        srcDirs 'src/main/native/include'
+                        srcDir 'src/main/native/include'
                         include '**/*.h'
                     }
+
                 }
+            }
+            binaries.all {
+                if (it instanceof StaticLibraryBinarySpec) {
+                    it.buildable = false
+                    return
+                }
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+
+                if (it.targetPlatform.operatingSystem.linux) {
+                    it.linker.args '-Wl,--version-script=' + file('src/main/native/LinuxSymbolScript.txt')
+                } else if (it.targetPlatform.operatingSystem.macOsX) {
+                    it.linker.args '-exported_symbols_list'
+                    it.linker.args file('src/main/native/MacSymbolScript.txt').toString()
+                }
+            }
+        }
+    }
+}
+
+
+ext {
+    sharedCvConfigs = [cscore    : [],
+        cscoreBase: [],
+        cscoreDev : [],
+        cscoreTest: [],
+        cscoreJNIShared: []]
+    staticCvConfigs = [cscoreJNI: [],
+        cscoreJNICvStatic: []]
+    useJava = true
+    useCpp = true
+    cvStaticBuild = true
+    splitSetup = {
+        if (it.targetPlatform.operatingSystem.isMacOsX()) {
+            it.sources {
+                // macObjCpp(ObjectiveCppSourceSet) {
+                //     source {
+                //         srcDirs = ['src/main/native/objcpp']
+                //         include '**/*.mm'
+                //     }
+                //     exportedHeaders {
+                //         srcDirs 'src/main/native/include'
+                //         include '**/*.h'
+                //     }
+                // }
                 cscoreMacCpp(CppSourceSet) {
                     source {
                         srcDirs 'src/main/native/osx'
@@ -43,7 +93,7 @@ ext {
                     }
                 }
             }
-        } else if (it.targetPlatform.operatingSystem.name == 'linux') {
+        } else if (it.targetPlatform.operatingSystem.isLinux()) {
             it.sources {
                 cscoreLinuxCpp(CppSourceSet) {
                     source {
@@ -56,7 +106,7 @@ ext {
                     }
                 }
             }
-        } else if (it.targetPlatform.operatingSystem.name == 'windows') {
+        } else if (it.targetPlatform.operatingSystem.isWindows()) {
             it.sources {
                 cscoreWindowsCpp(CppSourceSet) {
                     source {
@@ -77,67 +127,111 @@ def examplesMap = [:];
 
 File examplesTree = file("$projectDir/examples")
 examplesTree.list(new FilenameFilter() {
-    @Override
-    public boolean accept(File current, String name) {
-        return new File(current, name).isDirectory();
-    }
-}).each {
-    sharedCvConfigs.put(it, [])
-    examplesMap.put(it, [])
-}
+            @Override
+            public boolean accept(File current, String name) {
+                return new File(current, name).isDirectory();
+            }
+        }).each {
+            sharedCvConfigs.put(it, [])
+            examplesMap.put(it, [])
+        }
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
-model {
-    // Exports config is a utility to enable exporting all symbols in a C++ library on windows to a DLL.
-    // This removes the need for DllExport on a library. However, the gradle C++ builder has a bug
-    // where some extra symbols are added that cannot be resolved at link time. This configuration
-    // lets you specify specific symbols to exlude from exporting.
-    exportsConfigs {
-        cscore(ExportsConfig) {
-            x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '==']
-            x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
-                                 '_CT??_R0?AVbad_cast',
-                                 '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
-                                 '_TI5?AVfailure', '==']
+nativeUtils.exportsConfigs {
+    cscore {
+        x86ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
+        x64ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
+    }
+    cscoreJNI {
+        x86SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('CS_') })
         }
-        cscoreJNI(ExportsConfig) {
-            x86SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('CS_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
-            x64SymbolFilter = { symbols ->
-                def retList = []
-                symbols.each { symbol ->
-                    if (symbol.startsWith('CS_')) {
-                        retList << symbol
-                    }
-                }
-                return retList
-            }
+        x64SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('CS_') })
         }
     }
+    cscoreJNICvStatic {
+        x86SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('CS_') })
+        }
+        x64SymbolFilter = { symbols ->
+            symbols.removeIf({ !it.startsWith('CS_') })
+        }
+    }
+}
+
+model {
     components {
         examplesMap.each { key, value ->
-            "${key}"(NativeExecutableSpec) {
-                targetBuildTypes 'debug'
-                binaries.all {
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    lib library: 'cscore', linkage: 'shared'
+            if (key == "usbviewer") {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+                    "${key}"(NativeExecutableSpec) {
+                        targetBuildTypes 'debug'
+                        binaries.all {
+                            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                            lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                            lib library: 'cscore', linkage: 'shared'
+                            nativeUtils.useRequiredLibrary(it, 'imgui_static')
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                                it.buildable = false
+                                return
+                            }
+                            if (it.targetPlatform.operatingSystem.isWindows()) {
+                                it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+                            } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+                                it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                            } else {
+                                it.linker.args << '-lX11'
+                            }
+                        }
+                        sources {
+                            cpp {
+                                source {
+                                    srcDirs 'examples/' + "${key}"
+                                    include '**/*.cpp'
+                                }
+                            }
+                        }
+                    }
                 }
-                sources {
-                    cpp {
-                        source {
-                            srcDirs 'examples/' + "${key}"
-                            include '**/*.cpp'
+            } else {
+                "${key}"(NativeExecutableSpec) {
+                    targetBuildTypes 'debug'
+                    binaries.all {
+                        lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                        lib library: 'cscore', linkage: 'shared'
+                    }
+                    sources {
+                        cpp {
+                            source {
+                                srcDirs 'examples/' + "${key}"
+                                include '**/*.cpp'
+                            }
                         }
                     }
                 }

cscore/cscore-config.cmake

@@ -1,6 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(wpiutil)
-find_dependency(OpenCV)
-
-get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-include(${SELF_DIR}/cscore.cmake)

cscore/cscore-config.cmake.in

@@ -0,0 +1,7 @@
+include(CMakeFindDependencyMacro)
+@FILENAME_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+find_dependency(OpenCV)
+
+@FILENAME_DEP_REPLACE@
+include(${SELF_DIR}/cscore.cmake)

cscore/examples/enum_usb/enum_usb.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <wpi/SmallString.h>
 #include <wpi/raw_ostream.h>
@@ -19,8 +16,9 @@ int main() {
                 << ")\n";
     if (!caminfo.otherPaths.empty()) {
       wpi::outs() << "Other device paths:\n";
-      for (auto&& path : caminfo.otherPaths)
+      for (auto&& path : caminfo.otherPaths) {
         wpi::outs() << "  " << path << '\n';
+      }
     }
 
     cs::UsbCamera camera{"usbcam", caminfo.dev};
@@ -48,7 +46,9 @@ int main() {
                       << "value=" << prop.Get();
           auto choices = prop.GetChoices();
           for (size_t i = 0; i < choices.size(); ++i) {
-            if (choices[i].empty()) continue;
+            if (choices[i].empty()) {
+              continue;
+            }
             wpi::outs() << "\n    " << i << ": " << choices[i];
           }
           break;

cscore/examples/httpcvstream/httpcvstream.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <cstdio>
 #include <iostream>
@@ -11,6 +8,7 @@
 #include <opencv2/core/core.hpp>
 
 #include "cscore.h"
+#include "cscore_cv.h"
 
 int main() {
   cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};

cscore/examples/settings/settings.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <chrono>
 #include <thread>
@@ -37,18 +34,22 @@ int main(int argc, char** argv) {
     } else {
       wpi::StringRef propVal{argv[arg]};
       int intVal;
-      if (propVal.getAsInteger(10, intVal))
+      if (propVal.getAsInteger(10, intVal)) {
         camera.GetProperty(propName).SetString(propVal);
-      else
+      } else {
         camera.GetProperty(propName).Set(intVal);
+      }
       propName = wpi::StringRef{};
     }
   }
-  if (arg < argc && wpi::StringRef{argv[arg]} == "--") ++arg;
+  if (arg < argc && wpi::StringRef{argv[arg]} == "--") {
+    ++arg;
+  }
 
   // Wait to connect
-  while (!camera.IsConnected())
+  while (!camera.IsConnected()) {
     std::this_thread::sleep_for(std::chrono::milliseconds(10));
+  }
 
   // Set rest
   propName = wpi::StringRef{};
@@ -58,10 +59,11 @@ int main(int argc, char** argv) {
     } else {
       wpi::StringRef propVal{argv[arg]};
       int intVal;
-      if (propVal.getAsInteger(10, intVal))
+      if (propVal.getAsInteger(10, intVal)) {
         camera.GetProperty(propName).SetString(propVal);
-      else
+      } else {
         camera.GetProperty(propName).Set(intVal);
+      }
       propName = wpi::StringRef{};
     }
   }
@@ -91,7 +93,9 @@ int main(int argc, char** argv) {
                     << "value=" << prop.Get();
         auto choices = prop.GetChoices();
         for (size_t i = 0; i < choices.size(); ++i) {
-          if (choices[i].empty()) continue;
+          if (choices[i].empty()) {
+            continue;
+          }
           wpi::outs() << "\n    " << i << ": " << choices[i];
         }
         break;

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <cstdio>
 #include <iostream>
@@ -11,6 +8,7 @@
 #include <opencv2/core/core.hpp>
 
 #include "cscore.h"
+#include "cscore_cv.h"
 
 int main() {
   cs::UsbCamera camera{"usbcam", 0};

cscore/examples/usbstream/usbstream.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <cstdio>
 
@@ -14,8 +11,9 @@
 int main() {
   wpi::outs() << "hostname: " << cs::GetHostname() << '\n';
   wpi::outs() << "IPv4 network addresses:\n";
-  for (const auto& addr : cs::GetNetworkInterfaces())
+  for (const auto& addr : cs::GetNetworkInterfaces()) {
     wpi::outs() << "  " << addr << '\n';
+  }
   cs::UsbCamera camera{"usbcam", 0};
   camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
   cs::MjpegServer mjpegServer{"httpserver", 8081};

cscore/examples/usbviewer/usbviewer.cpp

@@ -0,0 +1,115 @@
+// 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.
+
+#include <atomic>
+#include <thread>
+#include <vector>
+
+#define IMGUI_DEFINE_MATH_OPERATORS
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <wpi/raw_ostream.h>
+#include <wpi/spinlock.h>
+#include <wpigui.h>
+
+#include "cscore.h"
+#include "cscore_cv.h"
+
+namespace gui = wpi::gui;
+
+int main() {
+  std::atomic<cv::Mat*> latestFrame{nullptr};
+  std::vector<cv::Mat*> sharedFreeList;
+  wpi::spinlock sharedFreeListMutex;
+  std::vector<cv::Mat*> sourceFreeList;
+  std::atomic<bool> stopCamera{false};
+
+  cs::UsbCamera camera{"usbcam", 0};
+  camera.SetVideoMode(cs::VideoMode::kMJPEG, 640, 480, 30);
+  cs::CvSink cvsink{"cvsink"};
+  cvsink.SetSource(camera);
+
+  std::thread thr([&] {
+    cv::Mat frame;
+    while (!stopCamera) {
+      // get frame from camera
+      uint64_t time = cvsink.GrabFrame(frame);
+      if (time == 0) {
+        wpi::outs() << "error: " << cvsink.GetError() << '\n';
+        continue;
+      }
+
+      // get or create a mat, prefer sourceFreeList over sharedFreeList
+      cv::Mat* out;
+      if (!sourceFreeList.empty()) {
+        out = sourceFreeList.back();
+        sourceFreeList.pop_back();
+      } else {
+        {
+          std::scoped_lock lock(sharedFreeListMutex);
+          for (auto mat : sharedFreeList) {
+            sourceFreeList.emplace_back(mat);
+          }
+          sharedFreeList.clear();
+        }
+        if (!sourceFreeList.empty()) {
+          out = sourceFreeList.back();
+          sourceFreeList.pop_back();
+        } else {
+          out = new cv::Mat;
+        }
+      }
+
+      // convert to RGBA
+      cv::cvtColor(frame, *out, cv::COLOR_BGR2RGBA);
+
+      // make available
+      auto prev = latestFrame.exchange(out);
+
+      // put prev on free list
+      if (prev) {
+        sourceFreeList.emplace_back(prev);
+      }
+    }
+  });
+
+  gui::CreateContext();
+  gui::Initialize("Hello World", 1024, 768);
+  gui::Texture tex;
+  gui::AddEarlyExecute([&] {
+    auto frame = latestFrame.exchange(nullptr);
+    if (frame) {
+      // create or update texture
+      if (!tex || frame->cols != tex.GetWidth() ||
+          frame->rows != tex.GetHeight()) {
+        tex = gui::Texture(gui::kPixelRGBA, frame->cols, frame->rows,
+                           frame->data);
+      } else {
+        tex.Update(frame->data);
+      }
+      // put back on shared freelist
+      std::scoped_lock lock(sharedFreeListMutex);
+      sharedFreeList.emplace_back(frame);
+    }
+
+    ImGui::SetNextWindowSize(ImVec2(640, 480), ImGuiCond_FirstUseEver);
+    if (ImGui::Begin("Video")) {
+      // render to window (best fit)
+      if (tex && tex.GetWidth() != 0 && tex.GetHeight() != 0) {
+        auto drawList = ImGui::GetWindowDrawList();
+        ImVec2 windowPos = ImGui::GetWindowPos();
+        ImVec2 imageMin = ImGui::GetWindowContentRegionMin();
+        ImVec2 imageMax = ImGui::GetWindowContentRegionMax();
+        gui::MaxFit(&imageMin, &imageMax, tex.GetWidth(), tex.GetHeight());
+        drawList->AddImage(tex, windowPos + imageMin, windowPos + imageMax);
+      }
+    }
+    ImGui::End();
+  });
+  gui::Main();
+  stopCamera = true;
+  thr.join();
+}

cscore/java-examples/RawCVMatSink.java

@@ -0,0 +1,95 @@
+// 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.
+
+package edu.wpi.cscore;
+
+import edu.wpi.cscore.VideoMode.PixelFormat;
+import edu.wpi.cscore.raw.RawFrame;
+import java.nio.ByteBuffer;
+import org.opencv.core.CvType;
+import org.opencv.core.Mat;
+
+public class RawCVMatSink extends ImageSink {
+  RawFrame frame = new RawFrame();
+  Mat tmpMat;
+  ByteBuffer origByteBuffer;
+  int width;
+  int height;
+  int pixelFormat;
+  int bgrValue = PixelFormat.kBGR.getValue();
+
+  private int getCVFormat(PixelFormat pixelFormat) {
+    int type = 0;
+    switch (pixelFormat) {
+      case kYUYV:
+      case kRGB565:
+        type = CvType.CV_8UC2;
+        break;
+      case kBGR:
+        type = CvType.CV_8UC3;
+        break;
+      case kGray:
+      case kMJPEG:
+      default:
+        type = CvType.CV_8UC1;
+        break;
+    }
+    return type;
+  }
+
+  /**
+   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * get each new image.
+   *
+   * @param name Source name (arbitrary unique identifier)
+   */
+  public RawCVMatSink(String name) {
+    super(CameraServerJNI.createRawSink(name));
+  }
+
+  /**
+   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
+   */
+  public long grabFrame(Mat image) {
+    return grabFrame(image, 0.225);
+  }
+
+  /**
+   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
+   */
+  public long grabFrame(Mat image, double timeout) {
+    frame.setWidth(0);
+    frame.setHeight(0);
+    frame.setPixelFormat(bgrValue);
+    long rv = CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
+    if (rv <= 0) {
+      return rv;
+    }
+
+    if (frame.getDataByteBuffer() != origByteBuffer
+        || width != frame.getWidth()
+        || height != frame.getHeight()
+        || pixelFormat != frame.getPixelFormat()) {
+      origByteBuffer = frame.getDataByteBuffer();
+      height = frame.getHeight();
+      width = frame.getWidth();
+      pixelFormat = frame.getPixelFormat();
+      tmpMat =
+          new Mat(
+              frame.getHeight(),
+              frame.getWidth(),
+              getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)),
+              origByteBuffer);
+    }
+    tmpMat.copyTo(image);
+    return rv;
+  }
+}

cscore/java-examples/RawCVMatSource.java

@@ -0,0 +1,60 @@
+// 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.
+
+package edu.wpi.cscore;
+
+import edu.wpi.cscore.VideoMode.PixelFormat;
+import org.opencv.core.Mat;
+
+public class RawCVMatSource extends ImageSource {
+  /**
+   * Create an OpenCV source.
+   *
+   * @param name Source name (arbitrary unique identifier)
+   * @param mode Video mode being generated
+   */
+  public RawCVMatSource(String name, VideoMode mode) {
+    super(
+        CameraServerJNI.createRawSource(
+            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
+  }
+
+  /**
+   * Create an OpenCV source.
+   *
+   * @param name Source name (arbitrary unique identifier)
+   * @param pixelFormat Pixel format
+   * @param width width
+   * @param height height
+   * @param fps fps
+   */
+  public RawCVMatSource(
+      String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+    super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
+  }
+
+  /**
+   * Put an OpenCV image and notify sinks.
+   *
+   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
+   * format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
+   * it first.
+   *
+   * @param image OpenCV image
+   */
+  public void putFrame(Mat image) {
+    int channels = image.channels();
+    if (channels != 1 && channels != 3) {
+      throw new VideoException("Unsupported Image Type");
+    }
+    int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
+    CameraServerJNI.putRawSourceFrame(
+        m_handle,
+        image.dataAddr(),
+        image.width(),
+        image.height(),
+        imgType,
+        (int) image.total() * channels);
+  }
+}

cscore/src/dev/java/edu/wpi/cscore/DevMain.java

@@ -1,24 +1,18 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public final class DevMain {
-  /**
-   * Main method.
-   */
+  /** Main method. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
     System.out.println(RuntimeDetector.getPlatformPath());
     System.out.println(CameraServerJNI.getHostname());
   }
 
-  private DevMain() {
-  }
+  private DevMain() {}
 }

cscore/src/dev/native/cpp/main.cpp

@@ -1,12 +1,11 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 #include <iostream>
 
 #include "cscore.h"
 
-int main() { std::cout << cs::GetHostname() << std::endl; }
+int main() {
+  std::cout << cs::GetHostname() << std::endl;
+}

cscore/src/main/java/edu/wpi/cscore/AxisCamera.java

@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents an Axis IP camera.
- */
+/** A source that represents an Axis IP camera. */
 public class AxisCamera extends HttpCamera {
   private static String hostToUrl(String host) {
     return "http://" + host + "/mjpg/video.mjpg";

cscore/src/main/java/edu/wpi/cscore/CameraServerCvJNI.java

@@ -0,0 +1,70 @@
+// 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.
+
+package edu.wpi.cscore;
+
+import edu.wpi.first.wpiutil.RuntimeLoader;
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+import org.opencv.core.Core;
+
+public class CameraServerCvJNI {
+  static boolean libraryLoaded = false;
+
+  static RuntimeLoader<Core> loader = null;
+
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+  }
+
+  static {
+    String opencvName = Core.NATIVE_LIBRARY_NAME;
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        CameraServerJNI.forceLoad();
+        loader =
+            new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+        loader.loadLibraryHashed();
+      } catch (IOException ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /** Force load the library. */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    CameraServerJNI.forceLoad();
+    loader =
+        new RuntimeLoader<>(
+            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
+    loader.loadLibrary();
+    libraryLoaded = true;
+  }
+
+  public static native int createCvSource(
+      String name, int pixelFormat, int width, int height, int fps);
+
+  public static native void putSourceFrame(int source, long imageNativeObj);
+
+  public static native int createCvSink(String name);
+  // public static native int createCvSinkCallback(String name,
+  //                            void (*processFrame)(long time));
+
+  public static native long grabSinkFrame(int sink, long imageNativeObj);
+
+  public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+}

cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java

@@ -1,30 +1,39 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-import java.io.IOException;
-import java.util.function.Consumer;
-
-import org.opencv.core.Core;
-
+import edu.wpi.cscore.raw.RawFrame;
 import edu.wpi.first.wpiutil.RuntimeLoader;
+import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.function.Consumer;
 
 public class CameraServerJNI {
   static boolean libraryLoaded = false;
-  static boolean cvLibraryLoaded = false;
 
   static RuntimeLoader<CameraServerJNI> loader = null;
-  static RuntimeLoader<Core> cvLoader = null;
+
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+  }
 
   static {
-    if (!libraryLoaded) {
+    if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
+        loader =
+            new RuntimeLoader<>(
+                "cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -32,149 +41,275 @@ public class CameraServerJNI {
       }
       libraryLoaded = true;
     }
-
-    String opencvName = Core.NATIVE_LIBRARY_NAME;
-    if (!cvLibraryLoaded) {
-      try {
-        cvLoader = new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-        cvLoader.loadLibraryHashed();
-      } catch (IOException ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      cvLibraryLoaded = true;
-    }
   }
 
-  public static void forceLoad() {}
+  /** Force load the library. */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    loader =
+        new RuntimeLoader<>(
+            "cscorejni", RuntimeLoader.getDefaultExtractionRoot(), CameraServerJNI.class);
+    loader.loadLibrary();
+    libraryLoaded = true;
+  }
 
   //
   // Property Functions
   //
   public static native int getPropertyKind(int property);
+
   public static native String getPropertyName(int property);
+
   public static native int getProperty(int property);
+
   public static native void setProperty(int property, int value);
+
   public static native int getPropertyMin(int property);
+
   public static native int getPropertyMax(int property);
+
   public static native int getPropertyStep(int property);
+
   public static native int getPropertyDefault(int property);
+
   public static native String getStringProperty(int property);
+
   public static native void setStringProperty(int property, String value);
+
   public static native String[] getEnumPropertyChoices(int property);
 
   //
   // Source Creation Functions
   //
   public static native int createUsbCameraDev(String name, int dev);
+
   public static native int createUsbCameraPath(String name, String path);
+
   public static native int createHttpCamera(String name, String url, int kind);
+
   public static native int createHttpCameraMulti(String name, String[] urls, int kind);
-  public static native int createCvSource(String name, int pixelFormat, int width, int height, int fps);
+
+  public static native int createRawSource(
+      String name, int pixelFormat, int width, int height, int fps);
 
   //
   // Source Functions
   //
   public static native int getSourceKind(int source);
+
   public static native String getSourceName(int source);
+
   public static native String getSourceDescription(int source);
+
   public static native long getSourceLastFrameTime(int source);
+
   public static native void setSourceConnectionStrategy(int source, int strategy);
+
   public static native boolean isSourceConnected(int source);
+
   public static native boolean isSourceEnabled(int source);
+
   public static native int getSourceProperty(int source, String name);
+
   public static native int[] enumerateSourceProperties(int source);
+
   public static native VideoMode getSourceVideoMode(int source);
-  public static native boolean setSourceVideoMode(int source, int pixelFormat, int width, int height, int fps);
+
+  public static native boolean setSourceVideoMode(
+      int source, int pixelFormat, int width, int height, int fps);
+
   public static native boolean setSourcePixelFormat(int source, int pixelFormat);
+
   public static native boolean setSourceResolution(int source, int width, int height);
+
   public static native boolean setSourceFPS(int source, int fps);
+
   public static native boolean setSourceConfigJson(int source, String config);
+
   public static native String getSourceConfigJson(int source);
+
   public static native VideoMode[] enumerateSourceVideoModes(int source);
+
   public static native int[] enumerateSourceSinks(int source);
+
   public static native int copySource(int source);
+
   public static native void releaseSource(int source);
 
   //
   // Camera Source Common Property Fuctions
   //
   public static native void setCameraBrightness(int source, int brightness);
+
   public static native int getCameraBrightness(int source);
+
   public static native void setCameraWhiteBalanceAuto(int source);
+
   public static native void setCameraWhiteBalanceHoldCurrent(int source);
+
   public static native void setCameraWhiteBalanceManual(int source, int value);
+
   public static native void setCameraExposureAuto(int source);
+
   public static native void setCameraExposureHoldCurrent(int source);
+
   public static native void setCameraExposureManual(int source, int value);
 
   //
   // UsbCamera Source Functions
   //
+  public static native void setUsbCameraPath(int source, String path);
+
   public static native String getUsbCameraPath(int source);
+
   public static native UsbCameraInfo getUsbCameraInfo(int source);
 
   //
   // HttpCamera Source Functions
   //
   public static native int getHttpCameraKind(int source);
+
   public static native void setHttpCameraUrls(int source, String[] urls);
+
   public static native String[] getHttpCameraUrls(int source);
 
   //
-  // OpenCV Source Functions
+  // Image Source Functions
   //
-  public static native void putSourceFrame(int source, long imageNativeObj);
+  public static native void putRawSourceFrameBB(
+      int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
+
+  public static native void putRawSourceFrame(
+      int source, long data, int width, int height, int pixelFormat, int totalData);
+
+  public static void putRawSourceFrame(int source, RawFrame raw) {
+    putRawSourceFrame(
+        source,
+        raw.getDataPtr(),
+        raw.getWidth(),
+        raw.getHeight(),
+        raw.getPixelFormat(),
+        raw.getTotalData());
+  }
+
   public static native void notifySourceError(int source, String msg);
+
   public static native void setSourceConnected(int source, boolean connected);
+
   public static native void setSourceDescription(int source, String description);
-  public static native int createSourceProperty(int source, String name, int kind, int minimum, int maximum, int step, int defaultValue, int value);
-  public static native void setSourceEnumPropertyChoices(int source, int property, String[] choices);
+
+  public static native int createSourceProperty(
+      int source,
+      String name,
+      int kind,
+      int minimum,
+      int maximum,
+      int step,
+      int defaultValue,
+      int value);
+
+  public static native void setSourceEnumPropertyChoices(
+      int source, int property, String[] choices);
 
   //
   // Sink Creation Functions
   //
   public static native int createMjpegServer(String name, String listenAddress, int port);
-  public static native int createCvSink(String name);
-  //public static native int createCvSinkCallback(String name,
-  //                            void (*processFrame)(long time));
+
+  public static native int createRawSink(String name);
 
   //
   // Sink Functions
   //
   public static native int getSinkKind(int sink);
+
   public static native String getSinkName(int sink);
+
   public static native String getSinkDescription(int sink);
+
   public static native int getSinkProperty(int sink, String name);
+
   public static native int[] enumerateSinkProperties(int sink);
+
   public static native boolean setSinkConfigJson(int sink, String config);
+
   public static native String getSinkConfigJson(int sink);
+
   public static native void setSinkSource(int sink, int source);
+
   public static native int getSinkSourceProperty(int sink, String name);
+
   public static native int getSinkSource(int sink);
+
   public static native int copySink(int sink);
+
   public static native void releaseSink(int sink);
 
   //
   // MjpegServer Sink Functions
   //
   public static native String getMjpegServerListenAddress(int sink);
+
   public static native int getMjpegServerPort(int sink);
 
   //
-  // OpenCV Sink Functions
+  // Image Sink Functions
   //
   public static native void setSinkDescription(int sink, String description);
-  public static native long grabSinkFrame(int sink, long imageNativeObj);
-  public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+
+  private static native long grabRawSinkFrameImpl(
+      int sink,
+      RawFrame rawFrame,
+      long rawFramePtr,
+      ByteBuffer byteBuffer,
+      int width,
+      int height,
+      int pixelFormat);
+
+  private static native long grabRawSinkFrameTimeoutImpl(
+      int sink,
+      RawFrame rawFrame,
+      long rawFramePtr,
+      ByteBuffer byteBuffer,
+      int width,
+      int height,
+      int pixelFormat,
+      double timeout);
+
+  public static long grabSinkFrame(int sink, RawFrame rawFrame) {
+    return grabRawSinkFrameImpl(
+        sink,
+        rawFrame,
+        rawFrame.getFramePtr(),
+        rawFrame.getDataByteBuffer(),
+        rawFrame.getWidth(),
+        rawFrame.getHeight(),
+        rawFrame.getPixelFormat());
+  }
+
+  public static long grabSinkFrameTimeout(int sink, RawFrame rawFrame, double timeout) {
+    return grabRawSinkFrameTimeoutImpl(
+        sink,
+        rawFrame,
+        rawFrame.getFramePtr(),
+        rawFrame.getDataByteBuffer(),
+        rawFrame.getWidth(),
+        rawFrame.getHeight(),
+        rawFrame.getPixelFormat(),
+        timeout);
+  }
+
   public static native String getSinkError(int sink);
+
   public static native void setSinkEnabled(int sink, boolean enabled);
 
   //
   // Listener Functions
   //
-  public static native int addListener(Consumer<VideoEvent> listener,
-                                       int eventMask, boolean immediateNotify);
+  public static native int addListener(
+      Consumer<VideoEvent> listener, int eventMask, boolean immediateNotify);
 
   public static native void removeListener(int handle);
 
@@ -185,7 +320,6 @@ public class CameraServerJNI {
     kSourceBytesReceived(1),
     kSourceFramesReceived(2);
 
-    @SuppressWarnings("MemberName")
     private final int value;
 
     TelemetryKind(int value) {
@@ -196,13 +330,19 @@ public class CameraServerJNI {
       return value;
     }
   }
+
   public static native void setTelemetryPeriod(double seconds);
+
   public static native double getTelemetryElapsedTime();
+
   public static native long getTelemetryValue(int handle, int kind);
+
   public static long getTelemetryValue(int handle, TelemetryKind kind) {
     return getTelemetryValue(handle, kind.getValue());
   }
+
   public static native double getTelemetryAverageValue(int handle, int kind);
+
   public static double getTelemetryAverageValue(int handle, TelemetryKind kind) {
     return getTelemetryAverageValue(handle, kind.getValue());
   }
@@ -214,6 +354,7 @@ public class CameraServerJNI {
   public interface LoggerFunction {
     void apply(int level, String file, int line, String msg);
   }
+
   public static native void setLogger(LoggerFunction func, int minLevel);
 
   //
@@ -228,4 +369,8 @@ public class CameraServerJNI {
   public static native String getHostname();
 
   public static native String[] getNetworkInterfaces();
+
+  public static native long allocateRawFrame();
+
+  public static native void freeRawFrame(long frame);
 }

cscore/src/main/java/edu/wpi/cscore/CvSink.java

@@ -1,27 +1,24 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
 import org.opencv.core.Mat;
 
 /**
- * A sink for user code to accept video frames as OpenCV images.
+ * A sink for user code to accept video frames as OpenCV images. These sinks require the WPILib
+ * OpenCV builds. For an alternate OpenCV, see the documentation how to build your own with RawSink.
  */
-public class CvSink extends VideoSink {
+public class CvSink extends ImageSink {
   /**
-   * Create a sink for accepting OpenCV images.
-   * WaitForFrame() must be called on the created sink to get each new
-   * image.
+   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
    */
   public CvSink(String name) {
-    super(CameraServerJNI.createCvSink(name));
+    super(CameraServerCvJNI.createCvSink(name));
   }
 
   /// Create a sink for accepting OpenCV images in a separate thread.
@@ -32,70 +29,40 @@ public class CvSink extends VideoSink {
   ///        time=0 if an error occurred.  processFrame should call GetImage()
   ///        or GetError() as needed, but should not call (except in very
   ///        unusual circumstances) WaitForImage().
-  //public CvSink(wpi::StringRef name,
+  // public CvSink(wpi::StringRef name,
   //       std::function<void(uint64_t time)> processFrame) {
   //  super(CameraServerJNI.createCvSinkCallback(name, processFrame));
-  //}
+  // }
 
   /**
-   * Set sink description.
+   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
    *
-   * @param description Description
-   */
-  public void setDescription(String description) {
-    CameraServerJNI.setSinkDescription(m_handle, description);
-  }
-
-  /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after 0.225 seconds.
-   * The provided image will have three 3-bit channels stored in BGR order.
-   *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message)
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
    */
   public long grabFrame(Mat image) {
     return grabFrame(image, 0.225);
   }
 
   /**
-   * Wait for the next frame and get the image.
-   * Times out (returning 0) after timeout seconds.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in 1 us increments.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
    */
   public long grabFrame(Mat image, double timeout) {
-    return CameraServerJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
+    return CameraServerCvJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
   }
 
   /**
-   * Wait for the next frame and get the image.  May block forever.
-   * The provided image will have three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. May block forever. The provided image will have
+   * three 3-bit channels stored in BGR order.
    *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error
-   *         message); the frame time is in 1 us increments.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
    */
   public long grabFrameNoTimeout(Mat image) {
-    return CameraServerJNI.grabSinkFrame(m_handle, image.nativeObj);
-  }
-
-  /**
-   * Get error string.  Call this if WaitForFrame() returns 0 to determine
-   * what the error is.
-   */
-  public String getError() {
-    return CameraServerJNI.getSinkError(m_handle);
-  }
-
-  /**
-   * Enable or disable getting new frames.
-   * Disabling will cause processFrame (for callback-based CvSinks) to not
-   * be called and WaitForFrame() to not return.  This can be used to save
-   * processor resources when frames are not needed.
-   */
-  public void setEnabled(boolean enabled) {
-    CameraServerJNI.setSinkEnabled(m_handle, enabled);
+    return CameraServerCvJNI.grabSinkFrame(m_handle, image.nativeObj);
   }
 }

cscore/src/main/java/edu/wpi/cscore/CvSource.java

@@ -1,18 +1,16 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
 import org.opencv.core.Mat;
 
 /**
- * A source that represents a video camera.
+ * A source that represents a video camera. These sources require the WPILib OpenCV builds. For an
+ * alternate OpenCV, see the documentation how to build your own with RawSource.
  */
-public class CvSource extends VideoSource {
+public class CvSource extends ImageSource {
   /**
    * Create an OpenCV source.
    *
@@ -20,11 +18,9 @@ public class CvSource extends VideoSource {
    * @param mode Video mode being generated
    */
   public CvSource(String name, VideoMode mode) {
-    super(CameraServerJNI.createCvSource(name,
-        mode.pixelFormat.getValue(),
-        mode.width,
-        mode.height,
-        mode.fps));
+    super(
+        CameraServerCvJNI.createCvSource(
+            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
   }
 
   /**
@@ -37,167 +33,19 @@ public class CvSource extends VideoSource {
    * @param fps fps
    */
   public CvSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
-    super(CameraServerJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
+    super(CameraServerCvJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
   }
 
   /**
    * Put an OpenCV image and notify sinks.
    *
-   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images
-   * are supported. If the format, depth or channel order is different, use
-   * Mat.convertTo() and/or cvtColor() to convert it first.
+   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
+   * format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
+   * it first.
    *
    * @param image OpenCV image
    */
   public void putFrame(Mat image) {
-    CameraServerJNI.putSourceFrame(m_handle, image.nativeObj);
-  }
-
-  /**
-   * Signal sinks that an error has occurred.  This should be called instead
-   * of NotifyFrame when an error occurs.
-   */
-  public void notifyError(String msg) {
-    CameraServerJNI.notifySourceError(m_handle, msg);
-  }
-
-  /**
-   * Set source connection status.  Defaults to true.
-   *
-   * @param connected True for connected, false for disconnected
-   */
-  public void setConnected(boolean connected) {
-    CameraServerJNI.setSourceConnected(m_handle, connected);
-  }
-
-  /**
-   * Set source description.
-   *
-   * @param description Description
-   */
-  public void setDescription(String description) {
-    CameraServerJNI.setSourceDescription(m_handle, description);
-  }
-
-  /**
-   * Create a property.
-   *
-   * @param name Property name
-   * @param kind Property kind
-   * @param minimum Minimum value
-   * @param maximum Maximum value
-   * @param step Step value
-   * @param defaultValue Default value
-   * @param value Current value
-   * @return Property
-   */
-  public VideoProperty createProperty(String name,
-                                      VideoProperty.Kind kind,
-                                      int minimum,
-                                      int maximum,
-                                      int step,
-                                      int defaultValue,
-                                      int value) {
-    return new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
-            name,
-            kind.getValue(),
-            minimum,
-            maximum,
-            step,
-            defaultValue,
-            value));
-  }
-
-  /**
-   * Create an integer property.
-   *
-   * @param name Property name
-   * @param minimum Minimum value
-   * @param maximum Maximum value
-   * @param step Step value
-   * @param defaultValue Default value
-   * @param value Current value
-   * @return Property
-   */
-  public VideoProperty createIntegerProperty(String name,
-                                             int minimum,
-                                             int maximum,
-                                             int step,
-                                             int defaultValue,
-                                             int value) {
-    return new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
-            name,
-            VideoProperty.Kind.kInteger.getValue(),
-            minimum,
-            maximum,
-            step,
-            defaultValue,
-            value));
-  }
-
-  /**
-   * Create a boolean property.
-   *
-   * @param name Property name
-   * @param defaultValue Default value
-   * @param value Current value
-   * @return Property
-   */
-  public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
-    return new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
-            name,
-            VideoProperty.Kind.kBoolean.getValue(),
-            0,
-            1,
-            1,
-            defaultValue ? 1 : 0,
-            value ? 1 : 0));
-  }
-
-  /**
-   * Create a string property.
-   *
-   * @param name Property name
-   * @param value Current value
-   * @return Property
-   */
-  public VideoProperty createStringProperty(String name, String value) {
-    VideoProperty prop = new VideoProperty(
-        CameraServerJNI.createSourceProperty(m_handle,
-            name,
-            VideoProperty.Kind.kString.getValue(),
-            0,
-            0,
-            0,
-            0,
-            0));
-    prop.setString(value);
-    return prop;
-  }
-
-  /**
-   * Configure enum property choices.
-   *
-   * @param property Property
-   * @param choices Choices
-   */
-  public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
-    CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
-  }
-
-  /**
-   * Configure enum property choices.
-   *
-   * @param property Property
-   * @param choices Choices
-   * @deprecated Use {@code setEnumPropertyChoices} instead.
-   */
-  @Deprecated
-  @SuppressWarnings("MethodName")
-  public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
-    setEnumPropertyChoices(property, choices);
+    CameraServerCvJNI.putSourceFrame(m_handle, image.nativeObj);
   }
 }

cscore/src/main/java/edu/wpi/cscore/HttpCamera.java

@@ -1,20 +1,17 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents a MJPEG-over-HTTP (IP) camera.
- */
+/** A source that represents a MJPEG-over-HTTP (IP) camera. */
 public class HttpCamera extends VideoCamera {
   public enum HttpCameraKind {
-    kUnknown(0), kMJPGStreamer(1), kCSCore(2), kAxis(3);
+    kUnknown(0),
+    kMJPGStreamer(1),
+    kCSCore(2),
+    kAxis(3);
 
-    @SuppressWarnings("MemberName")
     private final int value;
 
     HttpCameraKind(int value) {
@@ -34,10 +31,14 @@ public class HttpCamera extends VideoCamera {
    */
   public static HttpCameraKind getHttpCameraKindFromInt(int kind) {
     switch (kind) {
-      case 1: return HttpCameraKind.kMJPGStreamer;
-      case 2: return HttpCameraKind.kCSCore;
-      case 3: return HttpCameraKind.kAxis;
-      default: return HttpCameraKind.kUnknown;
+      case 1:
+        return HttpCameraKind.kMJPGStreamer;
+      case 2:
+        return HttpCameraKind.kCSCore;
+      case 3:
+        return HttpCameraKind.kAxis;
+      default:
+        return HttpCameraKind.kUnknown;
     }
   }
 
@@ -86,23 +87,18 @@ public class HttpCamera extends VideoCamera {
   /**
    * Get the kind of HTTP camera.
    *
-   * <p>Autodetection can result in returning a different value than the camera
-   * was created with.
+   * <p>Autodetection can result in returning a different value than the camera was created with.
    */
   public HttpCameraKind getHttpCameraKind() {
     return getHttpCameraKindFromInt(CameraServerJNI.getHttpCameraKind(m_handle));
   }
 
-  /**
-   * Change the URLs used to connect to the camera.
-   */
+  /** Change the URLs used to connect to the camera. */
   public void setUrls(String[] urls) {
     CameraServerJNI.setHttpCameraUrls(m_handle, urls);
   }
 
-  /**
-   * Get the URLs used to connect to the camera.
-   */
+  /** Get the URLs used to connect to the camera. */
   public String[] getUrls() {
     return CameraServerJNI.getHttpCameraUrls(m_handle);
   }

cscore/src/main/java/edu/wpi/cscore/ImageSink.java

@@ -0,0 +1,34 @@
+// 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.
+
+package edu.wpi.cscore;
+
+public abstract class ImageSink extends VideoSink {
+  protected ImageSink(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Set sink description.
+   *
+   * @param description Description
+   */
+  public void setDescription(String description) {
+    CameraServerJNI.setSinkDescription(m_handle, description);
+  }
+
+  /** Get error string. Call this if WaitForFrame() returns 0 to determine what the error is. */
+  public String getError() {
+    return CameraServerJNI.getSinkError(m_handle);
+  }
+
+  /**
+   * Enable or disable getting new frames. Disabling will cause processFrame (for callback-based
+   * CvSinks) to not be called and WaitForFrame() to not return. This can be used to save processor
+   * resources when frames are not needed.
+   */
+  public void setEnabled(boolean enabled) {
+    CameraServerJNI.setSinkEnabled(m_handle, enabled);
+  }
+}

cscore/src/main/java/edu/wpi/cscore/ImageSource.java

@@ -0,0 +1,147 @@
+// 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.
+
+package edu.wpi.cscore;
+
+public abstract class ImageSource extends VideoSource {
+  protected ImageSource(int handle) {
+    super(handle);
+  }
+
+  /**
+   * Signal sinks that an error has occurred. This should be called instead of NotifyFrame when an
+   * error occurs.
+   */
+  public void notifyError(String msg) {
+    CameraServerJNI.notifySourceError(m_handle, msg);
+  }
+
+  /**
+   * Set source connection status. Defaults to true.
+   *
+   * @param connected True for connected, false for disconnected
+   */
+  public void setConnected(boolean connected) {
+    CameraServerJNI.setSourceConnected(m_handle, connected);
+  }
+
+  /**
+   * Set source description.
+   *
+   * @param description Description
+   */
+  public void setDescription(String description) {
+    CameraServerJNI.setSourceDescription(m_handle, description);
+  }
+
+  /**
+   * Create a property.
+   *
+   * @param name Property name
+   * @param kind Property kind
+   * @param minimum Minimum value
+   * @param maximum Maximum value
+   * @param step Step value
+   * @param defaultValue Default value
+   * @param value Current value
+   * @return Property
+   */
+  public VideoProperty createProperty(
+      String name,
+      VideoProperty.Kind kind,
+      int minimum,
+      int maximum,
+      int step,
+      int defaultValue,
+      int value) {
+    return new VideoProperty(
+        CameraServerJNI.createSourceProperty(
+            m_handle, name, kind.getValue(), minimum, maximum, step, defaultValue, value));
+  }
+
+  /**
+   * Create an integer property.
+   *
+   * @param name Property name
+   * @param minimum Minimum value
+   * @param maximum Maximum value
+   * @param step Step value
+   * @param defaultValue Default value
+   * @param value Current value
+   * @return Property
+   */
+  public VideoProperty createIntegerProperty(
+      String name, int minimum, int maximum, int step, int defaultValue, int value) {
+    return new VideoProperty(
+        CameraServerJNI.createSourceProperty(
+            m_handle,
+            name,
+            VideoProperty.Kind.kInteger.getValue(),
+            minimum,
+            maximum,
+            step,
+            defaultValue,
+            value));
+  }
+
+  /**
+   * Create a boolean property.
+   *
+   * @param name Property name
+   * @param defaultValue Default value
+   * @param value Current value
+   * @return Property
+   */
+  public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
+    return new VideoProperty(
+        CameraServerJNI.createSourceProperty(
+            m_handle,
+            name,
+            VideoProperty.Kind.kBoolean.getValue(),
+            0,
+            1,
+            1,
+            defaultValue ? 1 : 0,
+            value ? 1 : 0));
+  }
+
+  /**
+   * Create a string property.
+   *
+   * @param name Property name
+   * @param value Current value
+   * @return Property
+   */
+  public VideoProperty createStringProperty(String name, String value) {
+    VideoProperty prop =
+        new VideoProperty(
+            CameraServerJNI.createSourceProperty(
+                m_handle, name, VideoProperty.Kind.kString.getValue(), 0, 0, 0, 0, 0));
+    prop.setString(value);
+    return prop;
+  }
+
+  /**
+   * Configure enum property choices.
+   *
+   * @param property Property
+   * @param choices Choices
+   */
+  public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
+    CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
+  }
+
+  /**
+   * Configure enum property choices.
+   *
+   * @param property Property
+   * @param choices Choices
+   * @deprecated Use {@code setEnumPropertyChoices} instead.
+   */
+  @Deprecated
+  @SuppressWarnings("MethodName")
+  public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
+    setEnumPropertyChoices(property, choices);
+  }
+}

cscore/src/main/java/edu/wpi/cscore/MjpegServer.java

@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-/**
- * A sink that acts as a MJPEG-over-HTTP network server.
- */
+/** A sink that acts as a MJPEG-over-HTTP network server. */
 public class MjpegServer extends VideoSink {
   /**
    * Create a MJPEG-over-HTTP server sink.
@@ -32,16 +27,12 @@ public class MjpegServer extends VideoSink {
     this(name, "", port);
   }
 
-  /**
-   * Get the listen address of the server.
-   */
+  /** Get the listen address of the server. */
   public String getListenAddress() {
     return CameraServerJNI.getMjpegServerListenAddress(m_handle);
   }
 
-  /**
-   * Get the port number of the server.
-   */
+  /** Get the port number of the server. */
   public int getPort() {
     return CameraServerJNI.getMjpegServerPort(m_handle);
   }
@@ -49,13 +40,11 @@ public class MjpegServer extends VideoSink {
   /**
    * Set the stream resolution for clients that don't specify it.
    *
-   * <p>It is not necessary to set this if it is the same as the source
-   * resolution.
+   * <p>It is not necessary to set this if it is the same as the source resolution.
    *
-   * <p>Setting this different than the source resolution will result in
-   * increased CPU usage, particularly for MJPEG source cameras, as it will
-   * decompress, resize, and recompress the image, instead of using the
-   * camera's MJPEG image directly.
+   * <p>Setting this different than the source resolution will result in increased CPU usage,
+   * particularly for MJPEG source cameras, as it will decompress, resize, and recompress the image,
+   * instead of using the camera's MJPEG image directly.
    *
    * @param width width, 0 for unspecified
    * @param height height, 0 for unspecified
@@ -79,26 +68,24 @@ public class MjpegServer extends VideoSink {
   /**
    * Set the compression for clients that don't specify it.
    *
-   * <p>Setting this will result in increased CPU usage for MJPEG source cameras
-   * as it will decompress and recompress the image instead of using the
-   * camera's MJPEG image directly.
+   * <p>Setting this will result in increased CPU usage for MJPEG source cameras as it will
+   * decompress and recompress the image instead of using the camera's MJPEG image directly.
    *
    * @param quality JPEG compression quality (0-100), -1 for unspecified
    */
   public void setCompression(int quality) {
-    CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"),
-                                quality);
+    CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "compression"), quality);
   }
 
   /**
-   * Set the default compression used for non-MJPEG sources.  If not set,
-   * 80 is used.  This function has no effect on MJPEG source cameras; use
-   * SetCompression() instead to force recompression of MJPEG source images.
+   * Set the default compression used for non-MJPEG sources. If not set, 80 is used. This function
+   * has no effect on MJPEG source cameras; use SetCompression() instead to force recompression of
+   * MJPEG source images.
    *
    * @param quality JPEG compression quality (0-100)
    */
   public void setDefaultCompression(int quality) {
-    CameraServerJNI.setProperty(CameraServerJNI.getSinkProperty(m_handle, "default_compression"),
-                                quality);
+    CameraServerJNI.setProperty(
+        CameraServerJNI.getSinkProperty(m_handle, "default_compression"), quality);
   }
 }

cscore/src/main/java/edu/wpi/cscore/UsbCamera.java

@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents a USB camera.
- */
+/** A source that represents a USB camera. */
 public class UsbCamera extends VideoCamera {
   /**
    * Create a source for a USB camera based on device number.
@@ -40,16 +35,17 @@ public class UsbCamera extends VideoCamera {
     return CameraServerJNI.enumerateUsbCameras();
   }
 
-  /**
-   * Get the path to the device.
-   */
+  /** Change the path to the device. */
+  void setPath(String path) {
+    CameraServerJNI.setUsbCameraPath(m_handle, path);
+  }
+
+  /** Get the path to the device. */
   public String getPath() {
     return CameraServerJNI.getUsbCameraPath(m_handle);
   }
 
-  /**
-   * Get the full camera information for the device.
-   */
+  /** Get the full camera information for the device. */
   public UsbCameraInfo getInfo() {
     return CameraServerJNI.getUsbCameraInfo(m_handle);
   }
@@ -60,7 +56,7 @@ public class UsbCamera extends VideoCamera {
    * @param level 0=don't display Connecting message, 1=do display message
    */
   public void setConnectVerbose(int level) {
-    CameraServerJNI.setProperty(CameraServerJNI.getSourceProperty(m_handle, "connect_verbose"),
-                                level);
+    CameraServerJNI.setProperty(
+        CameraServerJNI.getSourceProperty(m_handle, "connect_verbose"), level);
   }
 }

cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java

@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-/**
- * USB camera information.
- */
+/** USB camera information. */
 public class UsbCameraInfo {
   /**
    * Create a new set of UsbCameraInfo.
@@ -18,36 +13,41 @@ public class UsbCameraInfo {
    * @param path Path to device if available (e.g. '/dev/video0' on Linux)
    * @param name Vendor/model name of the camera as provided by the USB driver
    * @param otherPaths Other path aliases to device
+   * @param vendorId USB vendor id
+   * @param productId USB product id
    */
   @SuppressWarnings("PMD.ArrayIsStoredDirectly")
-  public UsbCameraInfo(int dev, String path, String name, String[] otherPaths) {
+  public UsbCameraInfo(
+      int dev, String path, String name, String[] otherPaths, int vendorId, int productId) {
     this.dev = dev;
     this.path = path;
     this.name = name;
     this.otherPaths = otherPaths;
+    this.vendorId = vendorId;
+    this.productId = productId;
   }
 
-  /**
-   * Device number (e.g. N in '/dev/videoN' on Linux).
-   */
+  /** Device number (e.g. N in '/dev/videoN' on Linux). */
   @SuppressWarnings("MemberName")
   public int dev;
 
-  /**
-   * Path to device if available (e.g. '/dev/video0' on Linux).
-   */
+  /** Path to device if available (e.g. '/dev/video0' on Linux). */
   @SuppressWarnings("MemberName")
   public String path;
 
-  /**
-   * Vendor/model name of the camera as provided by the USB driver.
-   */
+  /** Vendor/model name of the camera as provided by the USB driver. */
   @SuppressWarnings("MemberName")
   public String name;
 
-  /**
-   * Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux).
-   */
+  /** Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux). */
   @SuppressWarnings("MemberName")
   public String[] otherPaths;
+
+  /** USB vendor id. */
+  @SuppressWarnings("MemberName")
+  public int vendorId;
+
+  /** USB product id. */
+  @SuppressWarnings("MemberName")
+  public int productId;
 }

cscore/src/main/java/edu/wpi/cscore/VideoCamera.java

@@ -1,15 +1,10 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
+// 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.
 
 package edu.wpi.cscore;
 
-/**
- * A source that represents a video camera.
- */
+/** A source that represents a video camera. */
 public class VideoCamera extends VideoSource {
   public static class WhiteBalance {
     public static final int kFixedIndoor = 3000;
@@ -23,58 +18,42 @@ public class VideoCamera extends VideoSource {
     super(handle);
   }
 
-  /**
-   * Set the brightness, as a percentage (0-100).
-   */
+  /** Set the brightness, as a percentage (0-100). */
   public synchronized void setBrightness(int brightness) {
     CameraServerJNI.setCameraBrightness(m_handle, brightness);
   }
 
-  /**
-   * Get the brightness, as a percentage (0-100).
-   */
+  /** Get the brightness, as a percentage (0-100). */
   public synchronized int getBrightness() {
     return CameraServerJNI.getCameraBrightness(m_handle);
   }
 
-  /**
-   * Set the white balance to auto.
-   */
+  /** Set the white balance to auto. */
   public synchronized void setWhiteBalanceAuto() {
     CameraServerJNI.setCameraWhiteBalanceAuto(m_handle);
   }
 
-  /**
-   * Set the white balance to hold current.
-   */
+  /** Set the white balance to hold current. */
   public synchronized void setWhiteBalanceHoldCurrent() {
     CameraServerJNI.setCameraWhiteBalanceHoldCurrent(m_handle);
   }
 
-  /**
-   * Set the white balance to manual, with specified color temperature.
-   */
+  /** Set the white balance to manual, with specified color temperature. */
   public synchronized void setWhiteBalanceManual(int value) {
     CameraServerJNI.setCameraWhiteBalanceManual(m_handle, value);
   }
 
-  /**
-   * Set the exposure to auto aperture.
-   */
+  /** Set the exposure to auto aperture. */
   public synchronized void setExposureAuto() {
     CameraServerJNI.setCameraExposureAuto(m_handle);
   }
 
-  /**
-   * Set the exposure to hold current.
-   */
+  /** Set the exposure to hold current. */
   public synchronized void setExposureHoldCurrent() {
     CameraServerJNI.setCameraExposureHoldCurrent(m_handle);
   }
 
-  /**
-   * Set the exposure to manual, as a percentage (0-100).
-   */
+  /** Set the exposure to manual, as a percentage (0-100). */
   public synchronized void setExposureManual(int value) {
     CameraServerJNI.setCameraExposureManual(m_handle, value);
   }