[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.

README.md

@@ -1,6 +1,8 @@
 # WPILib Project
 
 ![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.
 

glass/publish.gradle

@@ -4,9 +4,65 @@ def baseArtifactId = 'Glass'
 def artifactGroupId = 'edu.wpi.first.tools'
 def zipBaseName = '_GROUP_edu_wpi_first_tools_ID_Glass_CLS'
 
+def libBaseArtifactId = 'libglass'
+def libArtifactGroupId = 'edu.wpi.first.glass'
+def libZipBaseName = '_GROUP_edu_wpi_first_glass_ID_libglass_CLS'
+
+def libntBaseArtifactId = 'libglassnt'
+def libntArtifactGroupId = 'edu.wpi.first.glass'
+def libntZipBaseName = '_GROUP_edu_wpi_first_glass_ID_libglassnt_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task libCppSourcesZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = libZipBaseName
+    classifier = "sources"
+
+    from(licenseFile) { into '/' }
+    from('src/lib/native/cpp') { into '/' }
+}
+
+task libCppHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = libZipBaseName
+    classifier = "headers"
+
+    from(licenseFile) { into '/' }
+    from('src/lib/native/include') { into '/' }
+}
+
+task libntCppSourcesZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = libntZipBaseName
+    classifier = "sources"
+
+    from(licenseFile) { into '/' }
+    from('src/libnt/native/cpp') { into '/' }
+}
+
+task libntCppHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = libntZipBaseName
+    classifier = "headers"
+
+    from(licenseFile) { into '/' }
+    from('src/libnt/native/include') { into '/' }
+}
+
+build.dependsOn libCppHeadersZip
+build.dependsOn libCppSourcesZip
+build.dependsOn libntCppHeadersZip
+build.dependsOn libntCppSourcesZip
+
+addTaskToCopyAllOutputs(libCppHeadersZip)
+addTaskToCopyAllOutputs(libCppSourcesZip)
+addTaskToCopyAllOutputs(libntCppHeadersZip)
+addTaskToCopyAllOutputs(libntCppSourcesZip)
+
 model {
     publishing {
-        def tasks = []
+        def glassAppTaskList = []
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("glassApp")) {
@@ -50,7 +106,6 @@ model {
                         }
 
                         // Create the ZIP.
-                        def outputsFolder = file("$project.buildDir/outputs")
                         def task = project.tasks.create("copyGlassExecutable", Zip) {
                             description("Copies the Glass executable to the outputs directory.")
                             destinationDirectory = outputsFolder
@@ -73,7 +128,7 @@ model {
                         }
 
                         task.dependsOn binary.tasks.link
-                        tasks.add(task)
+                        glassAppTaskList.add(task)
                         project.build.dependsOn task
                         project.artifacts { task }
                         addTaskToCopyAllOutputs(task)
@@ -82,13 +137,37 @@ model {
             }
         }
 
+        def libGlassTaskList = createComponentZipTasks($.components, ['glass'], libZipBaseName, Zip, project, includeStandardZipFormat)
+        def libGlassntTaskList = createComponentZipTasks($.components, ['glassnt'], libntZipBaseName, Zip, project, includeStandardZipFormat)
+
         publications {
-            cpp(MavenPublication) {
-                tasks.each { artifact it }
+            glassApp(MavenPublication) {
+                glassAppTaskList.each { artifact it }
+
                 artifactId = baseArtifactId
                 groupId = artifactGroupId
                 version wpilibVersioning.version.get()
             }
+            libglass(MavenPublication) {
+                libGlassTaskList.each { artifact it }
+
+                artifact libCppHeadersZip
+                artifact libCppSourcesZip
+
+                artifactId = libBaseArtifactId
+                groupId = libArtifactGroupId
+                version wpilibVersioning.version.get()
+            }
+            libglassnt(MavenPublication) {
+                libGlassntTaskList.each { artifact it }
+
+                artifact libntCppHeadersZip
+                artifact libntCppSourcesZip
+
+                artifactId = libntBaseArtifactId
+                groupId = libntArtifactGroupId
+                version wpilibVersioning.version.get()
+            }
         }
     }
 }

hal/src/main/java/edu/wpi/first/hal/SimDevice.java

@@ -140,6 +140,42 @@ public class SimDevice implements AutoCloseable {
     return new SimValue(handle);
   }
 
+  /**
+   * Creates an int value on the simulated device.
+   *
+   * <p>Returns null if not in simulation.
+   *
+   * @param name value name
+   * @param direction input/output/bidir (from perspective of user code)
+   * @param initialValue initial value
+   * @return simulated double value object
+   */
+  public SimInt createInt(String name, Direction direction, int initialValue) {
+    int handle = SimDeviceJNI.createSimValueInt(m_handle, name, direction.m_value, initialValue);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimInt(handle);
+  }
+
+  /**
+   * Creates a long value on the simulated device.
+   *
+   * <p>Returns null if not in simulation.
+   *
+   * @param name value name
+   * @param direction input/output/bidir (from perspective of user code)
+   * @param initialValue initial value
+   * @return simulated double value object
+   */
+  public SimLong createLong(String name, Direction direction, long initialValue) {
+    int handle = SimDeviceJNI.createSimValueLong(m_handle, name, direction.m_value, initialValue);
+    if (handle <= 0) {
+      return null;
+    }
+    return new SimLong(handle);
+  }
+
   /**
    * Creates a double value on the simulated device.
    *

hal/src/main/native/athena/Threads.cpp

@@ -32,8 +32,8 @@ int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
     return sch.sched_priority;
   } else {
     *isRealTime = false;
-    // 0 is the only suppored priority for non-realtime, so scale to 1
-    return 1;
+    // 0 is the only supported priority for non-real-time
+    return 0;
   }
 }
 

hal/src/main/native/include/hal/SimDevice.h

@@ -94,6 +94,46 @@ inline HAL_SimValueHandle HAL_CreateSimValue(HAL_SimDeviceHandle device,
 }  // extern "C++"
 #endif
 
+/**
+ * Creates an int value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+inline HAL_SimValueHandle HAL_CreateSimValueInt(HAL_SimDeviceHandle device,
+                                                const char* name,
+                                                int32_t direction,
+                                                int32_t initialValue) {
+  struct HAL_Value v = HAL_MakeInt(initialValue);
+  return HAL_CreateSimValue(device, name, direction, &v);
+}
+
+/**
+ * Creates a long value on a simulated device.
+ *
+ * Returns 0 if not in simulation; this can be used to avoid calls
+ * to Set/Get functions.
+ *
+ * @param device simulated device handle
+ * @param name value name
+ * @param direction input/output/bidir (from perspective of user code)
+ * @param initialValue initial value
+ * @return simulated value handle
+ */
+inline HAL_SimValueHandle HAL_CreateSimValueLong(HAL_SimDeviceHandle device,
+                                                 const char* name,
+                                                 int32_t direction,
+                                                 int64_t initialValue) {
+  struct HAL_Value v = HAL_MakeLong(initialValue);
+  return HAL_CreateSimValue(device, name, direction, &v);
+}
+
 /**
  * Creates a double value on a simulated device.
  *
@@ -708,6 +748,37 @@ class SimDevice {
     return HAL_CreateSimValue(m_handle, name, direction, &initialValue);
   }
 
+  /**
+   * Creates an int value on the simulated device.
+   *
+   * If not in simulation, results in an "empty" object that evaluates to false
+   * in a boolean context.
+   *
+   * @param name value name
+   * @param direction input/output/bidir (from perspective of user code)
+   * @param initialValue initial value
+   * @return simulated double value object
+   */
+  SimInt CreateInt(const char* name, int32_t direction, int32_t initialValue) {
+    return HAL_CreateSimValueInt(m_handle, name, direction, initialValue);
+  }
+
+  /**
+   * Creates a long value on the simulated device.
+   *
+   * If not in simulation, results in an "empty" object that evaluates to false
+   * in a boolean context.
+   *
+   * @param name value name
+   * @param direction input/output/bidir (from perspective of user code)
+   * @param initialValue initial value
+   * @return simulated double value object
+   */
+  SimLong CreateLong(const char* name, int32_t direction,
+                     int64_t initialValue) {
+    return HAL_CreateSimValueLong(m_handle, name, direction, initialValue);
+  }
+
   /**
    * Creates a double value on the simulated device.
    *

hal/src/main/native/include/hal/Threads.h

@@ -21,11 +21,13 @@ extern "C" {
 /**
  * Gets the thread priority for the specified thread.
  *
- * @param handle     Native handle pointer to the thread to get the priority for
- * @param isRealTime Set to true if thread is realtime, otherwise false
- * @param status     Error status variable. 0 on success
- * @return           The current thread priority. Scaled 1-99, with 1 being
- * highest.
+ * @param handle     Native handle pointer to the thread to get the priority
+ *                   for.
+ * @param isRealTime Set to true if thread is real-time, otherwise false.
+ * @param status     Error status variable. 0 on success.
+ * @return           The current thread priority. For real-time, this is 1-99
+ *                   with 99 being highest. For non-real-time, this is 0. See
+ *                   "man 7 sched" for details.
  */
 int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
                               int32_t* status);
@@ -34,23 +36,25 @@ int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
  * Gets the thread priority for the current thread.
  *
  * @param handle     Native handle pointer to the thread to get the priority for
- * @param isRealTime Set to true if thread is realtime, otherwise false
- * @param status     Error status variable. 0 on success
- * @return           The current thread priority. Scaled 1-99, with 1 being
- * highest.
+ * @param isRealTime Set to true if thread is real-time, otherwise false.
+ * @param status     Error status variable. 0 on success.
+ * @return           The current thread priority. For real-time, this is 1-99
+ *                   with 99 being highest. For non-real-time, this is 0. See
+ *                   "man 7 sched" for details.
  */
 int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status);
 
 /**
  * Sets the thread priority for the specified thread.
  *
- * @param thread   Reference to the thread to set the priority of
- * @param realTime Set to true to set a realtime priority, false for standard
- * priority
- * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
- * highest
- * @param status   Error status variable. 0 on success
- * @return         The success state of setting the priority
+ * @param thread   Reference to the thread to set the priority of.
+ * @param realTime Set to true to set a real-time priority, false for standard
+ *                 priority.
+ * @param priority Priority to set the thread to. For real-time, this is 1-99
+ *                 with 99 being highest. For non-real-time, this is forced to
+ *                 0. See "man 7 sched" for more details.
+ * @param status   Error status variable. 0 on success.
+ * @return         True on success.
  */
 HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
                                int32_t priority, int32_t* status);
@@ -58,13 +62,14 @@ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
 /**
  * Sets the thread priority for the current thread.
  *
- * @param thread   Reference to the thread to set the priority of
- * @param realTime Set to true to set a realtime priority, false for standard
- * priority
- * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
- * highest
- * @param status   Error status variable. 0 on success
- * @return         The success state of setting the priority
+ * @param thread   Reference to the thread to set the priority of.
+ * @param realTime Set to true to set a real-time priority, false for standard
+ *                 priority.
+ * @param priority Priority to set the thread to. For real-time, this is 1-99
+ *                 with 99 being highest. For non-real-time, this is forced to
+ *                 0. See "man 7 sched" for more details.
+ * @param status   Error status variable. 0 on success.
+ * @return         True on success.
  */
 HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
                                       int32_t* status);

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

@@ -112,7 +112,7 @@ class DispatcherBase : public IDispatcher {
   // Condition variable for forced dispatch wakeup (flush)
   wpi::mutex m_flush_mutex;
   wpi::condition_variable m_flush_cv;
-  uint64_t m_last_flush;
+  uint64_t m_last_flush = 0;
   bool m_do_flush = false;
 
   // Condition variable for client reconnect (uses user mutex)

shared/config.gradle

@@ -11,7 +11,7 @@ nativeUtils {
             niLibVersion = "2020.10.1"
             opencvVersion = "3.4.7-5"
             googleTestVersion = "1.9.0-5-437e100-1"
-            imguiVersion = "1.79-1"
+            imguiVersion = "1.79-2"
             wpimathVersion = "-1"
         }
     }

simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp

@@ -1348,7 +1348,19 @@ static void DisplaySystemJoysticks() {
     DisplaySystemJoystick(*gGlfwJoysticks[i], i);
   }
   for (size_t i = 0; i < gKeyboardJoysticks.size(); ++i) {
-    DisplaySystemJoystick(*gKeyboardJoysticks[i], i + GLFW_JOYSTICK_LAST + 1);
+    auto joy = gKeyboardJoysticks[i].get();
+    DisplaySystemJoystick(*joy, i + GLFW_JOYSTICK_LAST + 1);
+    if (ImGui::BeginPopupContextItem()) {
+      char buf[64];
+      std::snprintf(buf, sizeof(buf), "%s Settings", joy->GetName());
+      if (ImGui::MenuItem(buf)) {
+        if (auto win = DriverStationGui::dsManager.GetWindow(buf)) {
+          win->SetVisible(true);
+        }
+        ImGui::CloseCurrentPopup();
+      }
+      ImGui::EndPopup();
+    }
   }
 }
 

wpigui/src/main/native/cpp/portable-file-dialogs.cpp

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2020 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.
 
 //
 //  Portable File Dialogs

wpigui/src/main/native/cpp/wpigui.cpp

@@ -193,9 +193,11 @@ bool gui::Initialize(const char* title, int width, int height) {
   }
 
   if (!gContext->loadedWidthHeight) {
+#ifndef __APPLE__
     if (windowScale == 1.0) {
       glfwGetWindowContentScale(gContext->window, &windowScale, nullptr);
     }
+#endif
     // force user scale if window scale is smaller
     if (windowScale <= 0.5) {
       gContext->userScale = 0;
@@ -284,7 +286,9 @@ void gui::CommonRenderFrame() {
 
   // Scale based on OS window content scaling
   float windowScale = 1.0;
+#ifndef __APPLE__
   glfwGetWindowContentScale(gContext->window, &windowScale, nullptr);
+#endif
   // map to closest font size: 0 = 0.5x, 1 = 0.75x, 2 = 1.0x, 3 = 1.25x,
   // 4 = 1.5x, 5 = 1.75x, 6 = 2x
   gContext->fontScale = std::clamp(
@@ -394,12 +398,14 @@ void gui::ConfigurePlatformSaveFile(const std::string& name) {
   gContext->iniPath = name;
 #if defined(_MSC_VER)
   const char* env = std::getenv("APPDATA");
-  if (env)
+  if (env) {
     gContext->iniPath = env + std::string("/" + name);
+  }
 #elif defined(__APPLE__)
   const char* env = std::getenv("HOME");
-  if (env)
+  if (env) {
     gContext->iniPath = env + std::string("/Library/Preferences/" + name);
+  }
 #else
   const char* xdg = std::getenv("XDG_CONFIG_HOME");
   const char* env = std::getenv("HOME");

wpigui/src/main/native/metal/wpigui_metal.mm

@@ -1,9 +1,6 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019-2020 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.
 
 #define GLFW_INCLUDE_NONE
 #define GLFW_EXPOSE_NATIVE_COCOA

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

@@ -46,8 +46,9 @@ class Notifier : public ErrorBase {
    * This is useful for reducing scheduling jitter on processes which are
    * sensitive to timing variance, like model-based control.
    *
-   * @param priority The FIFO real-time scheduler priority ([0..100] where a
-   *                 lower number represents higher priority).
+   * @param priority The FIFO real-time scheduler priority ([1..99] where a
+   *                 higher number represents higher priority). See "man 7
+   *                 sched" for more details.
    * @param handler  The handler is called at the notification time which is set
    *                 using StartSingle or StartPeriodic.
    */

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

@@ -12,16 +12,20 @@ namespace frc {
  * Get the thread priority for the specified thread.
  *
  * @param thread     Reference to the thread to get the priority for.
- * @param isRealTime Set to true if thread is realtime, otherwise false.
- * @return The current thread priority. Scaled 1-99, with 1 being highest.
+ * @param isRealTime Set to true if thread is real-time, otherwise false.
+ * @return           The current thread priority. For real-time, this is 1-99
+ *                   with 99 being highest. For non-real-time, this is 0. See
+ *                   "man 7 sched" for details.
  */
 int GetThreadPriority(std::thread& thread, bool* isRealTime);
 
 /**
  * Get the thread priority for the current thread
  *
- * @param isRealTime Set to true if thread is realtime, otherwise false.
- * @return The current thread priority. Scaled 1-99.
+ * @param isRealTime Set to true if thread is real-time, otherwise false.
+ * @return           The current thread priority. For real-time, this is 1-99
+ *                   with 99 being highest. For non-real-time, this is 0. See
+ *                   "man 7 sched" for details.
  */
 int GetCurrentThreadPriority(bool* isRealTime);
 
@@ -29,26 +33,24 @@ int GetCurrentThreadPriority(bool* isRealTime);
  * Sets the thread priority for the specified thread
  *
  * @param thread   Reference to the thread to set the priority of.
- * @param realTime Set to true to set a realtime priority, false for standard
+ * @param realTime Set to true to set a real-time priority, false for standard
  *                 priority.
- * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
- *                 highest. On RoboRIO, priority is ignored for non realtime
- *                 setting.
- *
- * @return The success state of setting the priority
+ * @param priority Priority to set the thread to. For real-time, this is 1-99
+ *                 with 99 being highest. For non-real-time, this is forced to
+ *                 0. See "man 7 sched" for more details.
+ * @return         True on success.
  */
 bool SetThreadPriority(std::thread& thread, bool realTime, int priority);
 
 /**
  * Sets the thread priority for the current thread
  *
- * @param realTime Set to true to set a realtime priority, false for standard
+ * @param realTime Set to true to set a real-time priority, false for standard
  *                 priority.
- * @param priority Priority to set the thread to. Scaled 1-99, with 1 being
- *                 highest. On RoboRIO, priority is ignored for non realtime
- *                 setting.
- *
- * @return The success state of setting the priority
+ * @param priority Priority to set the thread to. For real-time, this is 1-99
+ *                 with 99 being highest. For non-real-time, this is forced to
+ *                 0. See "man 7 sched" for more details.
+ * @return         True on success.
  */
 bool SetCurrentThreadPriority(bool realTime, int priority);
 

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/DriveStraight.cpp

@@ -11,8 +11,8 @@
 DriveStraight::DriveStraight(double distance, DriveTrain* drivetrain)
     : frc2::CommandHelper<frc2::PIDCommand, DriveStraight>(
           frc2::PIDController(4, 0, 0),
-          [this]() { return m_drivetrain->GetDistance(); }, distance,
-          [this](double output) { m_drivetrain->Drive(output, output); },
+          [drivetrain] { return drivetrain->GetDistance(); }, distance,
+          [drivetrain](double output) { drivetrain->Drive(output, output); },
           {drivetrain}),
       m_drivetrain(drivetrain) {
   m_controller.SetTolerance(0.01);

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/SetDistanceToBox.cpp

@@ -11,8 +11,9 @@
 SetDistanceToBox::SetDistanceToBox(double distance, DriveTrain* drivetrain)
     : frc2::CommandHelper<frc2::PIDCommand, SetDistanceToBox>(
           frc2::PIDController(-2, 0, 0),
-          [this]() { return m_drivetrain->GetDistanceToObstacle(); }, distance,
-          [this](double output) { m_drivetrain->Drive(output, output); },
+          [drivetrain] { return drivetrain->GetDistanceToObstacle(); },
+          distance,
+          [drivetrain](double output) { drivetrain->Drive(output, output); },
           {drivetrain}),
       m_drivetrain(drivetrain) {
   m_controller.SetTolerance(0.01);

wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp

@@ -25,7 +25,7 @@ class Robot : public frc::TimedRobot {
     // Drive for 2 seconds
     if (m_timer.Get() < 2.0) {
       // Drive forwards half speed
-      m_robotDrive.ArcadeDrive(-0.5, 0.0);
+      m_robotDrive.ArcadeDrive(0.5, 0.0);
     } else {
       // Stop robot
       m_robotDrive.ArcadeDrive(0.0, 0.0);

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/subsystems/DriveSubsystem.cpp

@@ -48,8 +48,8 @@ void DriveSubsystem::Periodic() {
 }
 
 void DriveSubsystem::Drive(double xSpeed, double ySpeed, double rot,
-                           bool feildRelative) {
-  if (feildRelative) {
+                           bool fieldRelative) {
+  if (fieldRelative) {
     m_drive.DriveCartesian(ySpeed, xSpeed, rot, -m_gyro.GetAngle());
   } else {
     m_drive.DriveCartesian(ySpeed, xSpeed, rot);

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h

@@ -39,7 +39,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
    * @param fieldRelative Whether the provided x and y speeds are relative to
    *                      the field.
    */
-  void Drive(double xSpeed, double ySpeed, double rot, bool feildRelative);
+  void Drive(double xSpeed, double ySpeed, double rot, bool fieldRelative);
 
   /**
    * Resets the drive encoders to currently read a position of 0.

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

@@ -43,7 +43,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
    */
   void Drive(units::meters_per_second_t xSpeed,
              units::meters_per_second_t ySpeed, units::radians_per_second_t rot,
-             bool feildRelative);
+             bool fieldRelative);
 
   /**
    * Resets the drive encoders to currently read a position of 0.

wpilibj/src/main/java/edu/wpi/first/wpilibj/Threads.java

@@ -10,16 +10,17 @@ public final class Threads {
   /**
    * Get the thread priority for the current thread.
    *
-   * @return The current thread priority. Scaled 1-99.
+   * @return The current thread priority. For real-time, this is 1-99 with 99 being highest. For
+   *     non-real-time, this is 0. See "man 7 sched" for details.
    */
   public static int getCurrentThreadPriority() {
     return ThreadsJNI.getCurrentThreadPriority();
   }
 
   /**
-   * Get if the current thread is realtime.
+   * Get if the current thread is real-time.
    *
-   * @return If the current thread is realtime
+   * @return If the current thread is real-time.
    */
   public static boolean getCurrentThreadIsRealTime() {
     return ThreadsJNI.getCurrentThreadIsRealTime();
@@ -28,10 +29,10 @@ public final class Threads {
   /**
    * Sets the thread priority for the current thread.
    *
-   * @param realTime Set to true to set a realtime priority, false for standard priority
-   * @param priority Priority to set the thread to. Scaled 1-99, with 1 being highest. On RoboRIO,
-   *     priority is ignored for non realtime setting
-   * @return The success state of setting the priority
+   * @param realTime Set to true to set a real-time priority, false for standard priority.
+   * @param priority Priority to set the thread to. For real-time, this is 1-99 with 99 being
+   *     highest. For non-real-time, this is forced to 0. See "man 7 sched" for details.
+   * @return True on success.
    */
   public static boolean setCurrentThreadPriority(boolean realTime, int priority) {
     return ThreadsJNI.setCurrentThreadPriority(realTime, priority);

wpimath/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java

@@ -183,7 +183,8 @@ public class Rotation2d {
   @Override
   public boolean equals(Object obj) {
     if (obj instanceof Rotation2d) {
-      return Math.abs(((Rotation2d) obj).m_value - m_value) < 1E-9;
+      var other = (Rotation2d) obj;
+      return Math.hypot(m_cos - other.m_cos, m_sin - other.m_sin) < 1E-9;
     }
     return false;
   }

wpimath/src/main/native/cpp/geometry/Rotation2d.cpp

@@ -65,7 +65,7 @@ Rotation2d Rotation2d::operator*(double scalar) const {
 }
 
 bool Rotation2d::operator==(const Rotation2d& other) const {
-  return units::math::abs(m_value - other.m_value) < 1E-9_rad;
+  return std::hypot(m_cos - other.m_cos, m_sin - other.m_sin) < 1E-9;
 }
 
 bool Rotation2d::operator!=(const Rotation2d& other) const {

wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h

@@ -101,8 +101,8 @@ class DifferentialDrivePoseEstimator {
    * gyroscope angle does not need to be reset here on the user's robot code.
    * The library automatically takes care of offsetting the gyro angle.
    *
-   *@param pose The estimated pose of the robot on the field.
-   *@param gyroAngle The current gyro angle.
+   * @param pose The estimated pose of the robot on the field.
+   * @param gyroAngle The current gyro angle.
    */
   void ResetPosition(const Pose2d& pose, const Rotation2d& gyroAngle);
 

wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h

@@ -41,9 +41,8 @@ namespace frc {
  *
  * <strong> u = [[vx, vy, omega]]^T </strong> in the field-coordinate system.
  *
- * <strong> y = [[x, y, std::theta]]^T </strong> in field
- * coords from vision, or <strong> y = [[theta]]^T
- * </strong> from the gyro.
+ * <strong> y = [[x, y, theta]]^T </strong> in field coords from vision,
+ * or <strong> y = [[theta]]^T </strong> from the gyro.
  */
 template <size_t NumModules>
 class SwerveDrivePoseEstimator {

wpimath/src/test/java/edu/wpi/first/wpilibj/geometry/Rotation2dTest.java

@@ -15,22 +15,22 @@ class Rotation2dTest {
 
   @Test
   void testRadiansToDegrees() {
-    var one = new Rotation2d(Math.PI / 3);
-    var two = new Rotation2d(Math.PI / 4);
+    var rot1 = new Rotation2d(Math.PI / 3);
+    var rot2 = new Rotation2d(Math.PI / 4);
 
     assertAll(
-        () -> assertEquals(one.getDegrees(), 60.0, kEpsilon),
-        () -> assertEquals(two.getDegrees(), 45.0, kEpsilon));
+        () -> assertEquals(rot1.getDegrees(), 60.0, kEpsilon),
+        () -> assertEquals(rot2.getDegrees(), 45.0, kEpsilon));
   }
 
   @Test
   void testRadiansAndDegrees() {
-    var one = Rotation2d.fromDegrees(45.0);
-    var two = Rotation2d.fromDegrees(30.0);
+    var rot1 = Rotation2d.fromDegrees(45.0);
+    var rot2 = Rotation2d.fromDegrees(30.0);
 
     assertAll(
-        () -> assertEquals(one.getRadians(), Math.PI / 4, kEpsilon),
-        () -> assertEquals(two.getRadians(), Math.PI / 6, kEpsilon));
+        () -> assertEquals(rot1.getRadians(), Math.PI / 4, kEpsilon),
+        () -> assertEquals(rot2.getRadians(), Math.PI / 6, kEpsilon));
   }
 
   @Test
@@ -53,23 +53,27 @@ class Rotation2dTest {
 
   @Test
   void testMinus() {
-    var one = Rotation2d.fromDegrees(70.0);
-    var two = Rotation2d.fromDegrees(30.0);
+    var rot1 = Rotation2d.fromDegrees(70.0);
+    var rot2 = Rotation2d.fromDegrees(30.0);
 
-    assertEquals(one.minus(two).getDegrees(), 40.0, kEpsilon);
+    assertEquals(rot1.minus(rot2).getDegrees(), 40.0, kEpsilon);
   }
 
   @Test
   void testEquality() {
-    var one = Rotation2d.fromDegrees(43.0);
-    var two = Rotation2d.fromDegrees(43.0);
-    assertEquals(one, two);
+    var rot1 = Rotation2d.fromDegrees(43.0);
+    var rot2 = Rotation2d.fromDegrees(43.0);
+    assertEquals(rot1, rot2);
+
+    var rot3 = Rotation2d.fromDegrees(-180.0);
+    var rot4 = Rotation2d.fromDegrees(180.0);
+    assertEquals(rot3, rot4);
   }
 
   @Test
   void testInequality() {
-    var one = Rotation2d.fromDegrees(43.0);
-    var two = Rotation2d.fromDegrees(43.5);
-    assertNotEquals(one, two);
+    var rot1 = Rotation2d.fromDegrees(43.0);
+    var rot2 = Rotation2d.fromDegrees(43.5);
+    assertNotEquals(rot1, rot2);
   }
 }

wpimath/src/test/java/edu/wpi/first/wpilibj/kinematics/SwerveModuleStateTest.java

@@ -0,0 +1,53 @@
+// 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.wpilibj.kinematics;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import org.junit.jupiter.api.Test;
+
+class SwerveModuleStateTest {
+  private static final double kEpsilon = 1E-9;
+
+  @Test
+  void testOptimize() {
+    var angleA = Rotation2d.fromDegrees(45);
+    var refA = new SwerveModuleState(-2.0, Rotation2d.fromDegrees(180));
+    var optimizedA = SwerveModuleState.optimize(refA, angleA);
+
+    assertAll(
+        () -> assertEquals(2.0, optimizedA.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(0.0, optimizedA.angle.getDegrees(), kEpsilon));
+
+    var angleB = Rotation2d.fromDegrees(-50);
+    var refB = new SwerveModuleState(4.7, Rotation2d.fromDegrees(41));
+    var optimizedB = SwerveModuleState.optimize(refB, angleB);
+
+    assertAll(
+        () -> assertEquals(-4.7, optimizedB.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-139.0, optimizedB.angle.getDegrees(), kEpsilon));
+  }
+
+  @Test
+  void testNoOptimize() {
+    var angleA = Rotation2d.fromDegrees(0);
+    var refA = new SwerveModuleState(2.0, Rotation2d.fromDegrees(89));
+    var optimizedA = SwerveModuleState.optimize(refA, angleA);
+
+    assertAll(
+        () -> assertEquals(2.0, optimizedA.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(89.0, optimizedA.angle.getDegrees(), kEpsilon));
+
+    var angleB = Rotation2d.fromDegrees(0);
+    var refB = new SwerveModuleState(-2.0, Rotation2d.fromDegrees(-2));
+    var optimizedB = SwerveModuleState.optimize(refB, angleB);
+
+    assertAll(
+        () -> assertEquals(-2.0, optimizedB.speedMetersPerSecond, kEpsilon),
+        () -> assertEquals(-2.0, optimizedB.angle.getDegrees(), kEpsilon));
+  }
+}

wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp

@@ -14,19 +14,19 @@ using namespace frc;
 static constexpr double kEpsilon = 1E-9;
 
 TEST(Rotation2dTest, RadiansToDegrees) {
-  const Rotation2d one{units::radian_t(wpi::math::pi / 3)};
-  const Rotation2d two{units::radian_t(wpi::math::pi / 4)};
+  const Rotation2d rot1{units::radian_t(wpi::math::pi / 3)};
+  const Rotation2d rot2{units::radian_t(wpi::math::pi / 4)};
 
-  EXPECT_NEAR(one.Degrees().to<double>(), 60.0, kEpsilon);
-  EXPECT_NEAR(two.Degrees().to<double>(), 45.0, kEpsilon);
+  EXPECT_NEAR(rot1.Degrees().to<double>(), 60.0, kEpsilon);
+  EXPECT_NEAR(rot2.Degrees().to<double>(), 45.0, kEpsilon);
 }
 
 TEST(Rotation2dTest, DegreesToRadians) {
-  const auto one = Rotation2d(45.0_deg);
-  const auto two = Rotation2d(30.0_deg);
+  const auto rot1 = Rotation2d(45.0_deg);
+  const auto rot2 = Rotation2d(30.0_deg);
 
-  EXPECT_NEAR(one.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
-  EXPECT_NEAR(two.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
+  EXPECT_NEAR(rot1.Radians().to<double>(), wpi::math::pi / 4.0, kEpsilon);
+  EXPECT_NEAR(rot2.Radians().to<double>(), wpi::math::pi / 6.0, kEpsilon);
 }
 
 TEST(Rotation2dTest, RotateByFromZero) {
@@ -45,20 +45,24 @@ TEST(Rotation2dTest, RotateByNonZero) {
 }
 
 TEST(Rotation2dTest, Minus) {
-  const auto one = Rotation2d(70.0_deg);
-  const auto two = Rotation2d(30.0_deg);
+  const auto rot1 = Rotation2d(70.0_deg);
+  const auto rot2 = Rotation2d(30.0_deg);
 
-  EXPECT_NEAR((one - two).Degrees().to<double>(), 40.0, kEpsilon);
+  EXPECT_NEAR((rot1 - rot2).Degrees().to<double>(), 40.0, kEpsilon);
 }
 
 TEST(Rotation2dTest, Equality) {
-  const auto one = Rotation2d(43_deg);
-  const auto two = Rotation2d(43_deg);
-  EXPECT_TRUE(one == two);
+  const auto rot1 = Rotation2d(43_deg);
+  const auto rot2 = Rotation2d(43_deg);
+  EXPECT_EQ(rot1, rot2);
+
+  const auto rot3 = Rotation2d(-180_deg);
+  const auto rot4 = Rotation2d(180_deg);
+  EXPECT_EQ(rot3, rot4);
 }
 
 TEST(Rotation2dTest, Inequality) {
-  const auto one = Rotation2d(43_deg);
-  const auto two = Rotation2d(43.5_deg);
-  EXPECT_TRUE(one != two);
+  const auto rot1 = Rotation2d(43_deg);
+  const auto rot2 = Rotation2d(43.5_deg);
+  EXPECT_NE(rot1, rot2);
 }

wpimath/src/test/native/cpp/kinematics/SwerveModuleStateTest.cpp

@@ -0,0 +1,41 @@
+// 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 "frc/geometry/Rotation2d.h"
+#include "frc/kinematics/SwerveModuleState.h"
+#include "gtest/gtest.h"
+
+static constexpr double kEpsilon = 1E-9;
+
+TEST(SwerveModuleState, Optimize) {
+  frc::Rotation2d angleA{45_deg};
+  frc::SwerveModuleState refA{-2_mps, 180_deg};
+  auto optimizedA = frc::SwerveModuleState::Optimize(refA, angleA);
+
+  EXPECT_NEAR(optimizedA.speed.to<double>(), 2.0, kEpsilon);
+  EXPECT_NEAR(optimizedA.angle.Degrees().to<double>(), 0.0, kEpsilon);
+
+  frc::Rotation2d angleB{-50_deg};
+  frc::SwerveModuleState refB{4.7_mps, 41_deg};
+  auto optimizedB = frc::SwerveModuleState::Optimize(refB, angleB);
+
+  EXPECT_NEAR(optimizedB.speed.to<double>(), -4.7, kEpsilon);
+  EXPECT_NEAR(optimizedB.angle.Degrees().to<double>(), -139.0, kEpsilon);
+}
+
+TEST(SwerveModuleState, NoOptimize) {
+  frc::Rotation2d angleA{0_deg};
+  frc::SwerveModuleState refA{2_mps, 89_deg};
+  auto optimizedA = frc::SwerveModuleState::Optimize(refA, angleA);
+
+  EXPECT_NEAR(optimizedA.speed.to<double>(), 2.0, kEpsilon);
+  EXPECT_NEAR(optimizedA.angle.Degrees().to<double>(), 89.0, kEpsilon);
+
+  frc::Rotation2d angleB{0_deg};
+  frc::SwerveModuleState refB{-2_mps, -2_deg};
+  auto optimizedB = frc::SwerveModuleState::Optimize(refB, angleB);
+
+  EXPECT_NEAR(optimizedB.speed.to<double>(), -2.0, kEpsilon);
+  EXPECT_NEAR(optimizedB.angle.Degrees().to<double>(), -2.0, kEpsilon);
+}

wpiutil/src/test/native/cpp/priority_mutex_test.cpp

@@ -55,7 +55,7 @@ void SetProcessorAffinity(int32_t core_id) {
 
 void SetThreadRealtimePriorityOrDie(int32_t priority) {
   struct sched_param param;
-  // Set realtime priority for this thread
+  // Set real-time priority for this thread
   param.sched_priority = priority + sched_get_priority_min(SCHED_RR);
   ASSERT_EQ(pthread_setschedparam(pthread_self(), SCHED_RR, &param), 0)
       << ": Failed to set scheduler priority.";