[hal] Fix REVPH Analog Pressure channel selection (#3716)

Replace pointer constructor arguments with references, and const qualify
getters where possible.

Also remove redundant simulation P gain.

Fixes #1146.

.clang-format

@@ -157,7 +157,7 @@ SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
 SpaceBeforeSquareBrackets: false
-Standard:        Auto
+Standard:        c++17
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,7 +22,8 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - OS: [e.g. Windows]
+ - WPILib Version: [e.g. 2021.3.1]
+ - OS: [e.g. Windows 11]
  - Java version [e.g. 1.10.2]
  - C++ version [e.g. 17]
 

.github/workflows/cmake.yml

@@ -10,7 +10,7 @@ jobs:
         include:
           - os: ubuntu-latest
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2021-18.04
+            container: wpilib/roborio-cross-ubuntu:2022-20.04
             flags: ""
           - os: macos-latest
             name: macOS
@@ -26,14 +26,20 @@ jobs:
           if [ "$RUNNER_OS" == "macOS" ]; then
             brew install opencv
           fi
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install jinja
+        run: python -m pip install jinja2
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
       - name: build
         working-directory: build
-        run: make -j3
+        run: cmake --build . -j$(nproc)
       - name: test
         working-directory: build
-        run: make test
+        run: ctest --output-on-failure
 
   build-vcpkg:
     name: "Build - Windows"
@@ -41,19 +47,19 @@ jobs:
     steps:
       - uses: actions/checkout@v2
       - name: Prepare vcpkg
-        uses: lukka/run-vcpkg@v4
+        uses: lukka/run-vcpkg@v7
         with:
           vcpkgArguments: opencv
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg/
-          vcpkgGitCommitId: 544f8e4593764f78faa94bac2adb81cca5232943
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
           vcpkgTriplet: x64-windows
+          vcpkgGitCommitId: d781bd9ca77ac3dc2f13d88169021d48459c665f # HEAD on 2021-07-25
       - name: Configure & Build
         uses: lukka/run-cmake@v3
         with:
-          buildDirectory: ${{ runner.workspace }}/build/
+          buildDirectory: ${{ runner.workspace }}/build
           cmakeAppendedArgs: -DWITH_JAVA=OFF
           cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
           useVcpkgToolchainFile: true
       - name: Run Tests
-        run: ctest -C "Debug"
-        working-directory: ${{ runner.workspace }}/build/
+        run: ctest -C "Debug" --output-on-failure
+        working-directory: ${{ runner.workspace }}/build

.github/workflows/documentation.yml

@@ -18,6 +18,8 @@ jobs:
       - uses: actions/setup-java@v1
         with:
           java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Set environment variables (Development)
         run: |
           echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV

.github/workflows/gazebo.yml

@@ -12,4 +12,4 @@ jobs:
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PmakeSim -Dorg.gradle.jvmargs=-Xmx2g
+        run: ./gradlew simulation:frc_gazebo_plugins:build simulation:halsim_gazebo:build -PbuildServer -PforceGazebo

.github/workflows/gradle.yml

@@ -8,7 +8,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2021-18.04
+          - container: wpilib/roborio-cross-ubuntu:2022-18.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:10-18.04
@@ -31,7 +31,7 @@ jobs:
         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 }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
       - uses: actions/upload-artifact@v2
         with:
           name: ${{ matrix.artifact-name }}
@@ -82,9 +82,9 @@ jobs:
         shell: bash
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
@@ -103,6 +103,8 @@ jobs:
       - uses: actions/setup-java@v1
         with:
           java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')

.github/workflows/lint-format.yml

@@ -10,7 +10,7 @@ jobs:
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2021-20.04
+    container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Fetch all history and metadata
@@ -31,12 +31,20 @@ jobs:
         run: pip3 install wpiformat
       - name: Run
         run: wpiformat -clang 12
-      - name: Check Output
+      - name: Check output
         run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > wpiformat-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v2
+        with:
+          name: wpiformat fixes
+          path: wpiformat-fixes.patch
+        if: ${{ failure() }}
   tidy:
     name: "clang-tidy"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2021-20.04
+    container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Fetch all history and metadata
@@ -56,8 +64,37 @@ jobs:
       - 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 ..
+        run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
       - name: List changed files
         run: wpiformat -list-changed-files
       - name: Run clang-tidy
-        run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build-cmake
+        run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+  javaformat:
+    name: "Java format"
+    runs-on: ubuntu-latest
+    container: wpilib/ubuntu-base:18.04
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - name: Run Java format
+        run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > javaformat-fixes.patch
+        if: ${{ failure() }}
+  documentation:
+    name: "Documentation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v1
+        with:
+          java-version: 13
+      - name: Install libclang-9
+        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
+      - name: Build with Gradle
+        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/sanitizers.yml

@@ -0,0 +1,49 @@
+name: Sanitizers
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: asan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
+            ctest-env: ""
+            ctest-flags: "-E 'wpiutil|ntcore|wpilibc'"
+          - name: tsan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
+            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
+            ctest-flags: "-E 'ntcore|cscore|cameraserver|wpilibc|wpilibNewCommands'"
+          - name: ubsan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
+            ctest-env: ""
+            ctest-flags: ""
+    name: "${{ matrix.name }}"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2022-20.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Dependencies
+        run: |
+          sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+          sudo apt install -y gcc-11 g++-11
+          sudo update-alternatives \
+            --install /usr/bin/gcc gcc /usr/bin/gcc-11 11 \
+            --slave /usr/bin/g++ g++ /usr/bin/g++-11
+          sudo update-alternatives --set gcc /usr/bin/gcc-11
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install jinja
+        run: python -m pip install jinja2
+      - name: configure
+        run: mkdir build && cd build && cmake ${{ matrix.cmake-flags }} ..
+      - name: build
+        working-directory: build
+        run: cmake --build . -j$(nproc)
+      - name: test
+        working-directory: build
+        run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.gitignore

@@ -225,3 +225,9 @@ compile_commands.json
 .cache/
 
 imgui.ini
+
+# Bazel
+/.ijwb/
+/bazel-*
+user.bazelrc
+coverage_report/

.styleguide

@@ -9,9 +9,14 @@ cppSrcFileInclude {
   \.cpp$
 }
 
+modifiableFileExclude {
+  \.patch$
+}
+
 generatedFileExclude {
   FRCNetComm\.java$
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
+  fieldImages/src/main/native/resources/
 }
 
 repoRootNameOverride {

CMakeLists.txt

@@ -119,13 +119,6 @@ FATAL: Cannot build wpilib without wpimath.
 ")
 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()
-
 set( wpilib_dest wpilib)
 set( include_dest wpilib/include )
 set( main_lib_dest wpilib/lib )
@@ -171,12 +164,82 @@ endif()
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
 
+get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
+
+if(isMultiConfig)
+    if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+        list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
+    endif()
+    if(NOT "Tsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+        list(APPEND CMAKE_CONFIGURATION_TYPES Tsan)
+    endif()
+    if(NOT "Ubsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
+        list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
+    endif()
+else()
+    set(allowedBuildTypes Asan Tsan Ubsan Debug Release RelWithDebInfo MinSizeRel)
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
+
+    if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
+        message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
+    endif()
+endif()
+
+set(CMAKE_C_FLAGS_ASAN
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C compiler for Asan build type or configuration." FORCE)
+
+set(CMAKE_CXX_FLAGS_ASAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C++ compiler for Asan build type or configuration." FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_ASAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
+    "Linker flags to be used to create executables for Asan build type." FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_ASAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
+    "Linker lags to be used to create shared libraries for Asan build type." FORCE)
+
+set(CMAKE_C_FLAGS_TSAN
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C compiler for Tsan build type or configuration." FORCE)
+
+set(CMAKE_CXX_FLAGS_TSAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C++ compiler for Tsan build type or configuration." FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_TSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
+    "Linker flags to be used to create executables for Tsan build type." FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_TSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
+    "Linker lags to be used to create shared libraries for Tsan build type." FORCE)
+
+set(CMAKE_C_FLAGS_UBSAN
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C compiler for Ubsan build type or configuration." FORCE)
+
+set(CMAKE_CXX_FLAGS_UBSAN
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
+    "Flags used by the C++ compiler for Ubsan build type or configuration." FORCE)
+
+set(CMAKE_EXE_LINKER_FLAGS_UBSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all" CACHE STRING
+    "Linker flags to be used to create executables for Ubsan build type." FORCE)
+
+set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined" CACHE STRING
+    "Linker lags to be used to create shared libraries for Ubsan build type." FORCE)
+
 if (WITH_TESTS)
     enable_testing()
     add_subdirectory(googletest)
     include(GoogleTest)
 endif()
 
+add_subdirectory(fieldImages)
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)
 
@@ -201,19 +264,20 @@ if (WITH_CSCORE)
     set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
     add_subdirectory(cscore)
     add_subdirectory(cameraserver)
-    if (WITH_WPILIB)
-        set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
-        add_subdirectory(wpilibj)
-        add_subdirectory(wpilibc)
-        add_subdirectory(wpilibNewCommands)
-        if (WITH_OLD_COMMANDS)
-            add_subdirectory(wpilibOldCommands)
-        endif()
-        if (WITH_EXAMPLES)
-            add_subdirectory(wpilibcExamples)
-        endif()
-        add_subdirectory(myRobot)
+endif()
+
+if (WITH_WPILIB)
+    set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
+    add_subdirectory(wpilibj)
+    add_subdirectory(wpilibc)
+    add_subdirectory(wpilibNewCommands)
+    if (WITH_OLD_COMMANDS)
+        add_subdirectory(wpilibOldCommands)
     endif()
+    if (WITH_EXAMPLES)
+        add_subdirectory(wpilibcExamples)
+    endif()
+    add_subdirectory(myRobot)
 endif()
 
 if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)

CONTRIBUTING.md

@@ -41,6 +41,8 @@ WPILib uses modified Google style guides for both C++ and Java, which can be fou
 
 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.
 
+When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.
+
 ## Submitting Changes
 
 ### Pull Request Format

OtherVersions.md

@@ -12,8 +12,8 @@ In order to build a project using a development build, find the build.gradle fil
 
 ```groovy
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = 'YEAR.+'
-wpi.wpimathVersion = 'YEAR.+
+wpi.versions.wpilibVersion = 'YEAR.+'
+wpi.versions.wpimathVersion = 'YEAR.+
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -22,12 +22,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = '2021.+'
-wpi.wpimathVersion = '2021.+'
+wpi.versions.wpilibVersion = '2022.+'
+wpi.versions.wpimathVersion = '2022.+'
 ```
 
 C++
@@ -35,12 +36,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.wpilibVersion = '2021.+'
-wpi.wpimathVersion = '2021.+'
+wpi.versions.wpilibVersion = '2022.+'
+wpi.versions.wpimathVersion = '2022.+'
 ```
 
 ## Local Build
@@ -51,12 +53,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.wpilibVersion = 'YEAR.424242.+'
-wpi.wpimathVersion = 'YEAR.424242.+'
+wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 C++
@@ -64,10 +67,26 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2020.3.2"
+  id "edu.wpi.first.GradleRIO" version "2022.1.1"
 }
 
+wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.wpilibVersion = 'YEAR.424242.+'
-wpi.wpimathVersion = 'YEAR.424242.+'
+wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
+
+# roboRIO Development
+
+This repo contains a myRobot project built in way to do full project development without needing to do a full publish into GradleRIO. These also only require building the minimum amount of binaries for the roboRIO, so the builds are much faster as well.
+
+The setup only works if the roboRIO is USB connected. If an alternate IP address is preferred, the `address` block in myRobot\build.gradle can be changed to point to another address.
+
+The following 3 tasks can be used for deployment:
+* `:myRobot:deployShared` deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
+* `:myRobot:deployStatic` deploys the C++ project with all dependencies statically linked.
+* `:myRobot:deployJava` deploys the Java project and all required dependencies. Also installs the JRE if not currently installed.
+
+Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
+
+From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.

README.md

@@ -38,7 +38,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
     - 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 Linux, install GCC 8 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
@@ -95,10 +95,10 @@ If you have installed the FRC Toolchain to a directory other than the default, o
 
 ### 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.
+If you also want to force building Gazebo simulation support, add -PforceGazebo. 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
-./gradlew build -PmakeSim
+./gradlew build -PforceGazebo
 ```
 
 If you prefer to use CMake directly, the you can still do so.
@@ -120,7 +120,9 @@ wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on
 
 #### Java Code Quality Tools
 
-The Java code quality tools (checkstyle, pmd, etc.) can be run with the `./gradlew javaFormat` task.
+The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./gradlew javaFormat`. SpotBugs can be run via the `spotbugsMain`, `spotbugsTest`, and `spotbugsDev` tasks. These tools will all be run automatically by the `build` task. To disable this behavior, pass the `-PskipJavaFormat` flag.
+
+If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
 
 ### CMake
 
@@ -147,6 +149,8 @@ The integration test directories for C++ and Java contain test code that runs on
 
 The hal directory contains more C++ code meant to run on the roboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.
 
+The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
+
 The [styleguide repository](https://github.com/wpilibsuite/styleguide) contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document [here](CONTRIBUTING.md#coding-guidelines).
 
 # Contributing to WPILib

ThirdPartyNotices.txt

@@ -32,6 +32,8 @@ 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
+MPack                 wpiutil/src/main/native/include/mpack.h
+                      wpiutil/src/main/native/cpp/mpack.cpp
 Bootstrap             wpiutil/src/main/native/resources/bootstrap-*
 CoreUI                wpiutil/src/main/native/resources/coreui-*
 Feather Icons         wpiutil/src/main/native/resources/feather-*
@@ -235,6 +237,32 @@ See the License for the specific language governing permissions and
 limitations under the License.
 
 
+==============================================================================
+MPacks License
+==============================================================================
+The MIT License (MIT)
+
+Copyright (c) 2015-2021 Nicholas Fraser and the MPack authors
+
+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.
+
+
 ==============================================================================
 Bootstrap License
 ==============================================================================

azure-pipelines-testbench.yaml

@@ -12,10 +12,10 @@ stages:
       - job: IntegrationTests
         displayName: Integration Tests
         pool:
-          vmImage: "Ubuntu 16.04"
+          vmImage: 'ubuntu-latest'
 
         container:
-          image: wpilib/roborio-cross-ubuntu:2021-18.04
+          image: wpilib/roborio-cross-ubuntu:2022-18.04
 
         timeoutInMinutes: 0
 
@@ -29,7 +29,7 @@ stages:
               publishJUnitResults: false
               testResultsFiles: "**/TEST-*.xml"
               tasks: "copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput"
-              options: "-Ponlylinuxathena -PbuildServer"
+              options: "-Ponlylinuxathena -PbuildServer -PskipJavaFormat"
 
           - task: PublishPipelineArtifact@0
             inputs:

build.gradle

@@ -1,17 +1,27 @@
 import edu.wpi.first.toolchain.*
 
+buildscript {
+    repositories {
+        mavenCentral()
+    }
+    dependencies {
+        classpath 'com.hubspot.jinjava:jinjava:2.5.8'
+    }
+}
+
 plugins {
     id 'base'
     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 'edu.wpi.first.GradleJni' version '1.0.0'
+    id 'edu.wpi.first.GradleVsCode' version '1.0.0'
     id 'idea'
     id 'visual-studio'
     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'
+    id 'com.diffplug.spotless' version '5.5.0' apply false
+    id 'com.github.spotbugs' version '5.0.0-beta.1' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -100,6 +110,13 @@ subprojects {
         }
     }
 
+    // Enables UTF-8 support in Javadoc
+    tasks.withType(Javadoc) {
+        options.addStringOption("charset", "utf-8")
+        options.addStringOption("docencoding", "utf-8")
+        options.addStringOption("encoding", "utf-8")
+    }
+
     // Sign outputs with Developer ID
     if (project.hasProperty("developerID")) {
         tasks.withType(AbstractLinkTask) { task ->
@@ -129,49 +146,6 @@ 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'
+    gradleVersion = '7.1.1'
 }

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2022.0.2"
+    implementation "edu.wpi.first:native-utils:2022.3.1"
 }

buildSrc/src/main/groovy/JREArtifact.groovy

@@ -1,48 +0,0 @@
-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/SingleNativeBuild.groovy

@@ -46,7 +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
+import edu.wpi.first.nativeutils.exports.ExportsGenerationTask
 
 @CompileStatic
 class SingleNativeBuild implements Plugin<Project> {

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -0,0 +1,48 @@
+import groovy.transform.CompileStatic
+import javax.inject.Inject
+import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact
+import edu.wpi.first.deployutils.deploy.context.DeployContext
+import org.gradle.api.Project
+import edu.wpi.first.deployutils.ActionWrapper
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget
+import edu.wpi.first.deployutils.PredicateWrapper
+
+import java.util.function.Function
+
+@CompileStatic
+public class WPIJREArtifact extends MavenArtifact {
+    private final String configName;
+
+    public String getConfigName() {
+        return configName;
+    }
+
+    @Inject
+    public WPIJREArtifact(String name, RemoteTarget target) {
+        super(name, target);
+        String configName = name + "frcjre";
+        this.configName = configName;
+        Project project = target.getProject();
+        getConfiguration().set(project.getConfigurations().create(configName));
+        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.12u5-1"));
+
+        setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
+            return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");
+        }));
+
+        getDirectory().set("/tmp");
+        getFilename().set("frcjre.ipk");
+
+        getPostdeploy().add(new ActionWrapper({ DeployContext ctx ->
+            ctx.getLogger().log("Installing JRE...");
+            ctx.execute("opkg remove frc2022-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
+            ctx.getLogger().log("JRE Deployed!");
+        }));
+    }
+
+    private boolean jreMissing(DeployContext ctx) {
+        return ctx.execute("if [[ -f \"/usr/local/frc/JRE/bin/java\" ]]; then echo OK; else echo MISSING; fi").getResult().contains("MISSING");
+    }
+
+
+}

cameraserver/CMakeLists.txt

@@ -9,7 +9,7 @@ find_package( OpenCV REQUIRED )
 if (WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     #find java files, copy them locally
 

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

@@ -56,9 +56,9 @@ public final class Main {
     public JsonObject config;
   }
 
-  public static int team;
-  public static boolean server;
-  public static List<CameraConfig> cameras = new ArrayList<>();
+  static int team;
+  static boolean server;
+  static List<CameraConfig> cameras = new ArrayList<>();
 
   private Main() {}
 

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

@@ -47,6 +47,7 @@ public final class CameraServer {
   /**
    * Get the CameraServer instance.
    *
+   * @return The CameraServer instance.
    * @deprecated Use the static methods
    */
   @Deprecated

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

@@ -18,7 +18,6 @@ public final class CameraServerSharedStore {
     if (cameraServerShared == null) {
       cameraServerShared =
           new CameraServerShared() {
-
             @Override
             public void reportVideoServer(int id) {}
 

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

@@ -229,6 +229,7 @@ class CameraServer {
    * Adds a MJPEG server.
    *
    * @param name Server name
+   * @param port Port number
    */
   static cs::MjpegServer AddServer(std::string_view name, int port);
 

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

@@ -44,7 +44,7 @@ class VisionRunnerBase {
    *
    * <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 std::thread.</p>
+   * use RunForever() in its own thread using a std::thread.</p>
    */
   void RunOnce();
 

cmake/modules/AddTest.cmake

@@ -8,7 +8,7 @@ macro(wpilib_add_test name srcdir)
         target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
     endif()
     if (MSVC)
-        target_compile_options(${name}_test PRIVATE /wd4251 /wd4101)
+        target_compile_options(${name}_test PRIVATE /wd4101 /wd4251)
     endif()
     add_test(NAME ${name} COMMAND ${name}_test)
 endmacro()

cmake/modules/CompileWarnings.cmake

@@ -2,6 +2,6 @@ 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)
+        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX)
     endif()
 endmacro()

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

@@ -1,4 +1,4 @@
 set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-frc2021-linux-gnueabi" CACHE STRING "GNU compiler triple")
+set(GNU_MACHINE "arm-frc2022-linux-gnueabi" CACHE STRING "GNU compiler triple")
 set(SOFTFP yes)
 include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")

crossConnIntegrationTests/build.gradle

@@ -1,6 +1,7 @@
 import org.gradle.language.base.internal.ProjectLayout
-import jaci.gradle.toolchains.*
-import jaci.gradle.nativedeps.*
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget
+import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
+import edu.wpi.first.deployutils.deploy.artifact.*
 import org.gradle.internal.os.OperatingSystem
 
 apply plugin: 'cpp'
@@ -8,8 +9,7 @@ apply plugin: 'visual-studio'
 apply plugin: 'edu.wpi.first.NativeUtils'
 apply plugin: ExtraTasks
 
-apply plugin: 'edu.wpi.first.NativeUtils'
-apply plugin: 'jaci.gradle.EmbeddedTools'
+apply plugin: 'edu.wpi.first.DeployUtils'
 
 apply from: '../shared/config.gradle'
 
@@ -25,6 +25,42 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 apply from: "${rootDir}/shared/googletest.gradle"
 
+deploy {
+    targets {
+        roborio(RemoteTarget) {
+            directory = '/home/admin'
+            maxChannels = 4
+            locations {
+                ssh(SshDeployLocation) {
+                    address = "172.22.11.2"
+                    user = 'admin'
+                    password = ''
+                    ipv6 = false
+                }
+            }
+
+            artifacts {
+                all {
+                    predeploy << { ctx ->
+                        ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
+                    }
+                    postdeploy << { ctx ->
+                        ctx.execute("sync")
+                        ctx.execute("ldconfig")
+                    }
+                }
+
+                crossConnIntegrationTests(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    postdeploy << { ctx ->
+                        ctx.execute('chmod +x crossConnIntegrationTests')
+                    }
+                }
+            }
+        }
+    }
+}
+
 model {
     components {
         crossConnIntegrationTests(NativeExecutableSpec) {
@@ -32,6 +68,10 @@ model {
             nativeUtils.useRequiredLibrary(it, 'googletest_static')
             binaries.all { binary ->
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    if (binary.buildType.name == 'debug') {
+                        deploy.targets.roborio.artifacts.crossConnIntegrationTests.binary = binary
+                    }
+
                     binary.sources {
                         athenaCpp(CppSourceSet) {
                             source {
@@ -53,7 +93,7 @@ model {
                     project(':hal').addHalJniDependency(binary)
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        nativeUtils.useRequiredLibrary(binary, 'netcomm_shared', 'chipobject_shared', 'visa_shared', 'ni_runtime_shared')
+                        nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
                     }
                 } else {
                     binary.sources {
@@ -70,45 +110,6 @@ model {
     }
 }
 
-deploy {
-    targets {
-        target('roborio') {
-            directory = '/home/admin'
-            maxChannels = 4
-            locations {
-                ssh {
-                    address = "172.22.11.2"
-                    user = 'admin'
-                    password = ''
-                    ipv6 = false
-                }
-            }
-        }
-    }
-    artifacts {
-        all {
-            targets << 'roborio'
-            predeploy << { ctx ->
-                ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
-            }
-            postdeploy << { ctx ->
-                ctx.execute("sync")
-                ctx.execute("ldconfig")
-            }
-        }
-
-        nativeArtifact('crossConnIntegrationTests') {
-            component = 'crossConnIntegrationTests'
-            targetPlatform = nativeUtils.wpi.platforms.roborio
-            libraryDirectory = '/usr/local/frc/third-party/lib'
-            buildType = 'debug'
-            postdeploy << { ctx ->
-                ctx.execute('chmod +x crossConnIntegrationTests')
-            }
-        }
-    }
-}
-
 tasks.register('deployTests') {
     try {
         dependsOn tasks.named('deployCrossConnIntegrationTestsLibrariesRoborio')

crossConnIntegrationTests/src/main/native/cpp/AnalogTest.cpp

@@ -1,112 +1,112 @@
-// 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 <hal/AnalogInput.h>
-#include <hal/AnalogOutput.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(AnalogCrossTest, TestAnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  AnalogInputHandle input{param.first, &status};
-  ASSERT_EQ(0, status);
-  AnalogOutputHandle output{param.second, &status};
-  ASSERT_EQ(0, status);
-
-  for (double i = 0; i < 5; i += 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-
-  for (double i = 5; i > 0; i -= 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-}
-
-TEST(AnalogInputTest, TestAllocateAll) {
-  wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogInputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogInputTest, TestMultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogInputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogInputTest, TestOverAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogInputTest, TestUnderAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, TestAllocateAll) {
-  wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogOutputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogOutputTest, TestMultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogOutputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogOutputTest, TestOverAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, TestUnderAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTest, AnalogCrossTest,
-                         ::testing::ValuesIn(AnalogCrossConnects));
+// 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 <hal/AnalogInput.h>
+#include <hal/AnalogOutput.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(AnalogCrossTest, AnalogCross) {
+  auto param = GetParam();
+
+  int32_t status = 0;
+  AnalogInputHandle input{param.first, &status};
+  ASSERT_EQ(0, status);
+  AnalogOutputHandle output{param.second, &status};
+  ASSERT_EQ(0, status);
+
+  for (double i = 0; i < 5; i += 0.1) {
+    HAL_SetAnalogOutput(output, i, &status);
+    ASSERT_EQ(0, status);
+    usleep(1000);
+    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
+    ASSERT_EQ(0, status);
+  }
+
+  for (double i = 5; i > 0; i -= 0.1) {
+    HAL_SetAnalogOutput(output, i, &status);
+    ASSERT_EQ(0, status);
+    usleep(1000);
+    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
+    ASSERT_EQ(0, status);
+  }
+}
+
+TEST(AnalogInputTest, AllocateAll) {
+  wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
+  for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
+    int32_t status = 0;
+    analogHandles.emplace_back(AnalogInputHandle(i, &status));
+    ASSERT_EQ(status, 0);
+  }
+}
+
+TEST(AnalogInputTest, MultipleAllocateFails) {
+  int32_t status = 0;
+  AnalogInputHandle handle(0, &status);
+  ASSERT_NE(handle, HAL_kInvalidHandle);
+  ASSERT_EQ(status, 0);
+
+  AnalogInputHandle handle2(0, &status);
+  ASSERT_EQ(handle2, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(AnalogInputTest, OverAllocateFails) {
+  int32_t status = 0;
+  AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogInputTest, UnderAllocateFails) {
+  int32_t status = 0;
+  AnalogInputHandle handle(-1, &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogOutputTest, AllocateAll) {
+  wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
+  for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
+    int32_t status = 0;
+    analogHandles.emplace_back(AnalogOutputHandle(i, &status));
+    ASSERT_EQ(status, 0);
+  }
+}
+
+TEST(AnalogOutputTest, MultipleAllocateFails) {
+  int32_t status = 0;
+  AnalogOutputHandle handle(0, &status);
+  ASSERT_NE(handle, HAL_kInvalidHandle);
+  ASSERT_EQ(status, 0);
+
+  AnalogOutputHandle handle2(0, &status);
+  ASSERT_EQ(handle2, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(AnalogOutputTest, OverAllocateFails) {
+  int32_t status = 0;
+  AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(AnalogOutputTest, UnderAllocateFails) {
+  int32_t status = 0;
+  AnalogOutputHandle handle(-1, &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTests, AnalogCrossTest,
+                         ::testing::ValuesIn(AnalogCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/DIOTest.cpp

@@ -13,7 +13,7 @@ using namespace hlt;
 
 class DIOTest : public ::testing::TestWithParam<std::pair<int, int>> {};
 
-TEST_P(DIOTest, TestDIOCross) {
+TEST_P(DIOTest, DIOCross) {
   auto param = GetParam();
   int32_t status = 0;
   DIOHandle first{param.first, false, &status};
@@ -53,7 +53,7 @@ TEST_P(DIOTest, TestDIOCross) {
   ASSERT_EQ(0, status);
 }
 
-TEST(DIOTest, TestAllocateAll) {
+TEST(DIOTest, AllocateAll) {
   wpi::SmallVector<DIOHandle, 32> dioHandles;
   for (int i = 0; i < HAL_GetNumDigitalChannels(); i++) {
     int32_t status = 0;
@@ -62,7 +62,7 @@ TEST(DIOTest, TestAllocateAll) {
   }
 }
 
-TEST(DIOTest, TestMultipleAllocateFails) {
+TEST(DIOTest, MultipleAllocateFails) {
   int32_t status = 0;
   DIOHandle handle(0, true, &status);
   ASSERT_NE(handle, HAL_kInvalidHandle);
@@ -73,21 +73,21 @@ TEST(DIOTest, TestMultipleAllocateFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-TEST(DIOTest, TestOverAllocateFails) {
+TEST(DIOTest, OverAllocateFails) {
   int32_t status = 0;
   DIOHandle handle(HAL_GetNumDigitalChannels(), true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(DIOTest, TestUnderAllocateFails) {
+TEST(DIOTest, UnderAllocateFails) {
   int32_t status = 0;
   DIOHandle handle(-1, true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(DIOTest, TestCrossAllocationFails) {
+TEST(DIOTest, CrossAllocationFails) {
   int32_t status = 0;
   PWMHandle pwmHandle(10, &status);
   ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
@@ -97,5 +97,5 @@ TEST(DIOTest, TestCrossAllocationFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTest, DIOTest,
+INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTests, DIOTest,
                          ::testing::ValuesIn(DIOCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp

@@ -1,51 +1,51 @@
-// 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 <hal/HAL.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(DutyCycleTest, TestDutyCycle) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-
-  DIOHandle dioHandle{param.second, true, &status};
-  ASSERT_EQ(0, status);
-
-  DutyCycleHandle dutyCycle{dioHandle, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
-  ASSERT_EQ(0, status);
-
-  // Sleep enough time for the frequency to converge
-  usleep(3500000);
-
-  ASSERT_NEAR(1000 / 5.05,
-              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
-
-  // TODO measure output
-}
-
-INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTest, DutyCycleTest,
-                         ::testing::ValuesIn(PWMCrossConnects));
+// 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 <hal/HAL.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(DutyCycleTest, DutyCycle) {
+  auto param = GetParam();
+
+  int32_t status = 0;
+  PWMHandle pwmHandle(param.first, &status);
+  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+  ASSERT_EQ(0, status);
+
+  // Ensure our PWM is disabled, and set up properly
+  HAL_SetPWMRaw(pwmHandle, 0, &status);
+  ASSERT_EQ(0, status);
+  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
+  ASSERT_EQ(0, status);
+  HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
+  ASSERT_EQ(0, status);
+
+  DIOHandle dioHandle{param.second, true, &status};
+  ASSERT_EQ(0, status);
+
+  DutyCycleHandle dutyCycle{dioHandle, &status};
+  ASSERT_EQ(0, status);
+
+  HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
+  ASSERT_EQ(0, status);
+
+  // Sleep enough time for the frequency to converge
+  usleep(3500000);
+
+  ASSERT_NEAR(1000 / 5.05,
+              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
+
+  // TODO measure output
+}
+
+INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
+                         ::testing::ValuesIn(PWMCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp

@@ -279,37 +279,37 @@ void TestTiming(int squelch, std::pair<int, int> param) {
   }
 }
 
-TEST_P(PWMTest, TestTiming4x) {
+TEST_P(PWMTest, Timing4x) {
   auto param = GetParam();
   TestTiming(3, param);
 }
 
-TEST_P(PWMTest, TestTiming2x) {
+TEST_P(PWMTest, Timing2x) {
   auto param = GetParam();
   TestTiming(1, param);
 }
 
-TEST_P(PWMTest, TestTiming1x) {
+TEST_P(PWMTest, Timing1x) {
   auto param = GetParam();
   TestTiming(0, param);
 }
 
-TEST_P(PWMTest, TestTimingDMA4x) {
+TEST_P(PWMTest, TimingDMA4x) {
   auto param = GetParam();
   TestTimingDMA(3, param);
 }
 
-TEST_P(PWMTest, TestTimingDMA2x) {
+TEST_P(PWMTest, TimingDMA2x) {
   auto param = GetParam();
   TestTimingDMA(1, param);
 }
 
-TEST_P(PWMTest, TestTimingDMA1x) {
+TEST_P(PWMTest, TimingDMA1x) {
   auto param = GetParam();
   TestTimingDMA(0, param);
 }
 
-TEST(PWMTest, TestAllocateAll) {
+TEST(PWMTest, AllocateAll) {
   wpi::SmallVector<PWMHandle, 21> pwmHandles;
   for (int i = 0; i < HAL_GetNumPWMChannels(); i++) {
     int32_t status = 0;
@@ -318,7 +318,7 @@ TEST(PWMTest, TestAllocateAll) {
   }
 }
 
-TEST(PWMTest, TestMultipleAllocateFails) {
+TEST(PWMTest, MultipleAllocateFails) {
   int32_t status = 0;
   PWMHandle handle(0, &status);
   ASSERT_NE(handle, HAL_kInvalidHandle);
@@ -329,21 +329,21 @@ TEST(PWMTest, TestMultipleAllocateFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-TEST(PWMTest, TestOverAllocateFails) {
+TEST(PWMTest, OverAllocateFails) {
   int32_t status = 0;
   PWMHandle handle(HAL_GetNumPWMChannels(), &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(PWMTest, TestUnderAllocateFails) {
+TEST(PWMTest, UnderAllocateFails) {
   int32_t status = 0;
   PWMHandle handle(-1, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(PWMTest, TestCrossAllocationFails) {
+TEST(PWMTest, CrossAllocationFails) {
   int32_t status = 0;
   DIOHandle dioHandle(10, true, &status);
   ASSERT_NE(dioHandle, HAL_kInvalidHandle);

crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTest.cpp

@@ -1,50 +1,50 @@
-// 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 <hal/AnalogInput.h>
-#include <hal/Relay.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(RelayAnalogTest, TestRelayAnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  RelayHandle relay{param.first, true, &status};
-  ASSERT_EQ(0, status);
-  AnalogInputHandle analog{param.second, &status};
-  ASSERT_EQ(0, status);
-  AnalogTriggerHandle trigger{analog, &status};
-  ASSERT_EQ(0, status);
-  HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-}
-
-INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTest, RelayAnalogTest,
-                         ::testing::ValuesIn(RelayAnalogCrossConnects));
+// 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 <hal/AnalogInput.h>
+#include <hal/Relay.h>
+#include <wpi/SmallVector.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+#include "gtest/gtest.h"
+
+using namespace hlt;
+
+class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+TEST_P(RelayAnalogTest, RelayAnalogCross) {
+  auto param = GetParam();
+
+  int32_t status = 0;
+  RelayHandle relay{param.first, true, &status};
+  ASSERT_EQ(0, status);
+  AnalogInputHandle analog{param.second, &status};
+  ASSERT_EQ(0, status);
+  AnalogTriggerHandle trigger{analog, &status};
+  ASSERT_EQ(0, status);
+  HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
+  ASSERT_EQ(0, status);
+
+  HAL_SetRelay(relay, false, &status);
+  ASSERT_EQ(0, status);
+  usleep(1000);
+  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+  ASSERT_EQ(0, status);
+
+  HAL_SetRelay(relay, true, &status);
+  ASSERT_EQ(0, status);
+  usleep(1000);
+  ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+  ASSERT_EQ(0, status);
+
+  HAL_SetRelay(relay, false, &status);
+  ASSERT_EQ(0, status);
+  usleep(1000);
+  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
+  ASSERT_EQ(0, status);
+}
+
+INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTests, RelayAnalogTest,
+                         ::testing::ValuesIn(RelayAnalogCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTest.cpp

@@ -13,7 +13,7 @@ using namespace hlt;
 
 class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
 
-TEST_P(RelayDigitalTest, TestRelayCross) {
+TEST_P(RelayDigitalTest, RelayCross) {
   auto param = GetParam();
   int32_t status = 0;
   RelayHandle fwd{param.Relay, true, &status};
@@ -66,7 +66,7 @@ TEST_P(RelayDigitalTest, TestRelayCross) {
   ASSERT_EQ(0, status);
 }
 
-TEST(RelayDigitalTest, TestAllocateAll) {
+TEST(RelayDigitalTest, AllocateAll) {
   wpi::SmallVector<RelayHandle, 32> relayHandles;
   for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
     int32_t status = 0;
@@ -75,7 +75,7 @@ TEST(RelayDigitalTest, TestAllocateAll) {
   }
 }
 
-TEST(RelayDigitalTest, TestMultipleAllocateFails) {
+TEST(RelayDigitalTest, MultipleAllocateFails) {
   int32_t status = 0;
   RelayHandle handle(0, true, &status);
   ASSERT_NE(handle, HAL_kInvalidHandle);
@@ -86,19 +86,19 @@ TEST(RelayDigitalTest, TestMultipleAllocateFails) {
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
 }
 
-TEST(RelayDigitalTest, TestOverAllocateFails) {
+TEST(RelayDigitalTest, OverAllocateFails) {
   int32_t status = 0;
   RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-TEST(RelayDigitalTest, TestUnderAllocateFails) {
+TEST(RelayDigitalTest, UnderAllocateFails) {
   int32_t status = 0;
   RelayHandle handle(-1, true, &status);
   ASSERT_EQ(handle, HAL_kInvalidHandle);
   ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
 }
 
-INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTest, RelayDigitalTest,
+INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest,
                          ::testing::ValuesIn(RelayCrossConnects));

cscore/CMakeLists.txt

@@ -79,7 +79,7 @@ if (WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     #find java files, copy them locally
 

cscore/build.gradle

@@ -138,6 +138,10 @@ examplesTree.list(new FilenameFilter() {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
+Action<List<String>> symbolFilter = { symbols ->
+    symbols.removeIf({ !it.startsWith('CS_') })
+} as Action<List<String>>;
+
 nativeUtils.exportsConfigs {
     cscore {
         x86ExcludeSymbols = [
@@ -168,20 +172,12 @@ nativeUtils.exportsConfigs {
         ]
     }
     cscoreJNI {
-        x86SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
-        x64SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
+        x86SymbolFilter = symbolFilter
+        x64SymbolFilter = symbolFilter
     }
     cscoreJNICvStatic {
-        x86SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
-        x64SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('CS_') })
-        }
+        x86SymbolFilter = symbolFilter
+        x64SymbolFilter = symbolFilter
     }
 }
 

cscore/examples/httpcvstream/httpcvstream.cpp

@@ -3,8 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstdio>
-#include <iostream>
 
+#include <fmt/core.h>
 #include <opencv2/core/core.hpp>
 
 #include "cscore.h"
@@ -24,11 +24,11 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      std::cout << "error: " << cvsink.GetError() << std::endl;
+      fmt::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    std::cout << "got frame at time " << time << " size " << test.size()
-              << std::endl;
+    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+               test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);
   }

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -2,9 +2,7 @@
 // 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>
-
+#include <fmt/core.h>
 #include <opencv2/core/core.hpp>
 
 #include "cscore.h"
@@ -26,11 +24,11 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      std::cout << "error: " << cvsink.GetError() << std::endl;
+      fmt::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    std::cout << "got frame at time " << time << " size " << test.size()
-              << std::endl;
+    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+               test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);
   }

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

@@ -2,10 +2,10 @@
 // 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 <fmt/core.h>
 
 #include "cscore.h"
 
 int main() {
-  std::cout << cs::GetHostname() << std::endl;
+  fmt::print("{}\n", cs::GetHostname());
 }

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

@@ -133,17 +133,4 @@ public abstract class ImageSource extends VideoSource {
   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/native/cpp/Handle.h

@@ -5,6 +5,8 @@
 #ifndef CSCORE_HANDLE_H_
 #define CSCORE_HANDLE_H_
 
+#include <wpi/Synchronization.h>
+
 #include "cscore_c.h"
 
 namespace cs {
@@ -18,7 +20,7 @@ class Handle {
  public:
   enum Type {
     kUndefined = 0,
-    kProperty = 0x40,
+    kProperty = wpi::kHandleTypeCSBase,
     kSource,
     kSink,
     kListener,

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

@@ -35,8 +35,11 @@ struct ListenerData : public wpi::CallbackListenerData<
 class NotifierThread
     : public wpi::CallbackThread<NotifierThread, RawEvent, ListenerData> {
  public:
-  bool Matches(const ListenerData& /*listener*/, const RawEvent& /*data*/) {
-    return true;
+  NotifierThread(std::function<void()> on_start, std::function<void()> on_exit)
+      : CallbackThread(std::move(on_start), std::move(on_exit)) {}
+
+  bool Matches(const ListenerData& listener, const RawEvent& data) {
+    return (data.kind & listener.eventMask) != 0;
   }
 
   void SetListener(RawEvent* data, unsigned int listener_uid) {

cscore/src/main/native/cpp/cscore_cpp.cpp

@@ -708,9 +708,13 @@ void ReleaseSink(CS_Sink sink, CS_Status* status) {
 // Listener Functions
 //
 
-void SetListenerOnStart(std::function<void()> onStart) {}
+void SetListenerOnStart(std::function<void()> onStart) {
+  Instance::GetInstance().notifier.SetOnStart(onStart);
+}
 
-void SetListenerOnExit(std::function<void()> onExit) {}
+void SetListenerOnExit(std::function<void()> onExit) {
+  Instance::GetInstance().notifier.SetOnExit(onExit);
+}
 
 static void StartBackground(int eventMask, bool immediateNotify) {
   auto& inst = Instance::GetInstance();

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

@@ -152,7 +152,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
+  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image,
+                                   double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -162,7 +163,7 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
+  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
 };
 
 inline CvSource::CvSource(std::string_view name, const VideoMode& mode) {

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

@@ -570,7 +570,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, std::string_view host);
 
@@ -579,7 +578,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, const char* host);
 
@@ -588,7 +586,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, const std::string& host);
 
@@ -597,7 +594,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
-   * @param kind Camera kind (e.g. kAxis)
    */
   AxisCamera(std::string_view name, wpi::span<const std::string> hosts);
 
@@ -606,7 +602,6 @@ class AxisCamera : public HttpCamera {
    *
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
-   * @param kind Camera kind (e.g. kAxis)
    */
   template <typename T>
   AxisCamera(std::string_view name, std::initializer_list<T> hosts);
@@ -623,6 +618,8 @@ class ImageSource : public VideoSource {
   /**
    * Signal sinks that an error has occurred.  This should be called instead
    * of NotifyFrame when an error occurs.
+   *
+   * @param msg Notification message.
    */
   void NotifyError(std::string_view msg);
 
@@ -686,7 +683,6 @@ class ImageSource : public VideoSource {
    * Create a string property.
    *
    * @param name Property name
-   * @param defaultValue Default value
    * @param value Current value
    * @return Property
    */

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

@@ -174,7 +174,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
+  [[nodiscard]] uint64_t GrabFrame(RawFrame& image,
+                                   double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -184,7 +185,7 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+  [[nodiscard]] uint64_t GrabFrameNoTimeout(RawFrame& image) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {

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

@@ -111,7 +111,7 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -121,7 +121,7 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeout(cv::Mat& image);
+  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image);
 
   /**
    * Wait for the next frame and get the image.
@@ -132,7 +132,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameDirect(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]] uint64_t GrabFrameDirect(cv::Mat& image,
+                                         double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -142,7 +143,7 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
+  [[nodiscard]] uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
  private:
   RawFrame rawFrame;

cscore/src/test/java/edu/wpi/first/cscore/UsbCameraTest.java

@@ -21,7 +21,7 @@ import org.junit.jupiter.api.condition.OS;
 class UsbCameraTest {
   @Nested
   @EnabledOnOs(OS.LINUX)
-  class ConnectVerbose {
+  static class ConnectVerbose {
     @Test
     void setConnectVerboseEnabledTest() {
       try (UsbCamera camera = new UsbCamera("Nonexistant Camera", getNonexistentCameraDev())) {

cscore/src/test/native/cpp/CameraSourceTest.cpp

@@ -14,6 +14,7 @@ class CameraSourceTest : public ::testing::Test {
 
 TEST_F(CameraSourceTest, HTTPCamera) {
   auto source = HttpCamera("axis", "http://localhost:8000");
+  cs::Shutdown();
 }
 
 }  // namespace cs

docs/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id 'java'
-    id "org.ysb33r.doxygen" version "0.5"
+    id "org.ysb33r.doxygen" version "0.7.0"
 }
 
 evaluationDependsOn(':wpiutil')
@@ -39,13 +39,14 @@ cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
 
 doxygen {
     executables {
-        doxygen version : '1.8.18',
+        doxygen version : '1.9.2',
         baseURI : 'https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen'
     }
 }
 
 doxygen {
     generate_html true
+    html_extra_stylesheet 'theme.css'
 
     cppProjectZips.each {
         dependsOn it
@@ -55,28 +56,108 @@ doxygen {
         }
     }
 
-    exclude 'Eigen/**'
-    exclude 'unsupported/**'
-    exclude 'units/**'
-    exclude 'uv.h'
-    exclude 'uv/**'
+    if (project.hasProperty('docWarningsAsErrors')) {
+        // C++20 shims
+        exclude 'wpi/ghc/filesystem.hpp'
+        exclude 'wpi/span.h'
 
+        // Drake
+        exclude 'drake/common/**'
+
+        // Eigen
+        exclude 'Eigen/**'
+        exclude 'unsupported/**'
+
+        // LLVM
+        exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Chrono.h'
+        exclude 'wpi/Compiler.h'
+        exclude 'wpi/ConvertUTF.h'
+        exclude 'wpi/DenseMap.h'
+        exclude 'wpi/DenseMapInfo.h'
+        exclude 'wpi/Endian.h'
+        exclude 'wpi/EpochTracker.h'
+        exclude 'wpi/Errc.h'
+        exclude 'wpi/Errno.h'
+        exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/fs.h'
+        exclude 'wpi/FunctionExtras.h'
+        exclude 'wpi/function_ref.h'
+        exclude 'wpi/Hashing.h'
+        exclude 'wpi/iterator.h'
+        exclude 'wpi/iterator_range.h'
+        exclude 'wpi/ManagedStatic.h'
+        exclude 'wpi/MapVector.h'
+        exclude 'wpi/MathExtras.h'
+        exclude 'wpi/MemAlloc.h'
+        exclude 'wpi/PointerIntPair.h'
+        exclude 'wpi/PointerLikeTypeTraits.h'
+        exclude 'wpi/PointerUnion.h'
+        exclude 'wpi/raw_os_ostream.h'
+        exclude 'wpi/raw_ostream.h'
+        exclude 'wpi/SmallPtrSet.h'
+        exclude 'wpi/SmallSet.h'
+        exclude 'wpi/SmallString.h'
+        exclude 'wpi/SmallVector.h'
+        exclude 'wpi/StringExtras.h'
+        exclude 'wpi/StringMap.h'
+        exclude 'wpi/SwapByteOrder.h'
+        exclude 'wpi/type_traits.h'
+        exclude 'wpi/VersionTuple.h'
+        exclude 'wpi/WindowsError.h'
+
+        // fmtlib
+        exclude 'fmt/**'
+
+        // libuv
+        exclude 'uv.h'
+        exclude 'uv/**'
+        exclude 'wpi/uv/**'
+
+        // json
+        exclude 'wpi/json.h'
+
+        // mpack
+        exclude 'wpi/mpack.h'
+
+        // units
+        exclude 'units/**'
+    }
+
+    case_sense_names false
     extension_mapping 'inc=C++'
-    project_name 'WPILibC++'
-    project_number wpilibVersioning.version.get()
-    javadoc_autobrief true
-    recursive true
-    quiet true
-    warnings false
-    warn_if_undocumented false
-    generate_latex false
-    use_mathjax true
-    html_timestamp true
-    generate_treeview true
+    extract_all true
     extract_static true
     full_path_names true
+    generate_html true
+    generate_latex false
+    generate_treeview true
+    html_extra_stylesheet 'theme.css'
+    html_timestamp true
+    javadoc_autobrief true
+    project_name 'WPILibC++'
+    project_logo '../wpiutil/src/main/native/resources/wpilib-128.png'
+    project_number wpilibVersioning.version.get()
+    quiet true
+    recursive true
+    strip_code_comments false
     strip_from_inc_path cppIncludeRoots as String[]
     strip_from_path cppIncludeRoots as String[]
+    use_mathjax true
+    warnings false
+    warn_if_incomplete_doc true
+    warn_if_undocumented false
+    warn_no_paramdoc true
+
+    //enable doxygen preprocessor expansion of WPI_DEPRECATED to fix SpeedController docs
+    enable_preprocessing true
+    macro_expansion true
+    expand_only_predef true
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]"
+
+    if (project.hasProperty('docWarningsAsErrors')) {
+        warn_as_error 'FAIL_ON_WARNINGS'
+    }
 }
 
 tasks.register("zipCppDocs", Zip) {
@@ -108,9 +189,10 @@ apply from: "${rootDir}/shared/opencv.gradle"
 task generateJavaDocs(type: Javadoc) {
     classpath += project(":wpimath").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
-    options.addStringOption "tag", "pre:a:Pre-Condition"
-    options.addBooleanOption "Xdoclint:html,missing,reference,syntax", true
+    options.addStringOption("tag", "pre:a:Pre-Condition")
+    options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
+    options.linkSource(true)
     dependsOn project(':wpilibj').generateJavaVersion
     dependsOn project(':hal').generateUsageReporting
     dependsOn project(':wpimath').generateNat
@@ -126,11 +208,23 @@ task generateJavaDocs(type: Javadoc) {
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'
     failOnError = true
-    options.encoding = 'UTF-8'
 
     title = "WPILib API ${wpilibVersioning.version.get()}"
     ext.entryPoint = "$destinationDir/index.html"
 
+    if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
+        // Treat javadoc warnings as errors.
+        //
+        // The second argument '-quiet' is a hack. The one paramater
+        // addStringOption() doesn't work, so we add '-quiet', which is added
+        // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
+        //
+        // See JDK-8200363 (https://bugs.openjdk.java.net/browse/JDK-8200363)
+        // for information about the nonstandard -Xwerror option. JDK 15+ has
+        // -Werror.
+        options.addStringOption('Xwerror', '-quiet')
+    }
+
     if (JavaVersion.current().isJava11Compatible()) {
         if (!JavaVersion.current().isJava12Compatible()) {
             options.addBooleanOption('-no-module-directories', true)

fieldImages/CMakeLists.txt

@@ -0,0 +1,37 @@
+project(fieldImages)
+
+include(CompileWarnings)
+include(GenResources)
+
+if (WITH_JAVA)
+    find_package(Java REQUIRED)
+    include(UseJava)
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json src/main/native/resources/*.png src/main/native/resources/*.jpg)
+    add_jar(field_images_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES} OUTPUT_NAME fieldImages)
+
+    get_property(FIELD_IMAGES_JAR_FILE TARGET field_images_jar PROPERTY JAR_FILE)
+    install(FILES ${FIELD_IMAGES_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET field_images_jar PROPERTY FOLDER "java")
+
+endif()
+
+
+GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
+
+
+add_library(fieldImages ${field_images_resources_src})
+set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
+
+set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
+target_compile_features(fieldImages PUBLIC cxx_std_17)
+if (MSVC)
+    target_compile_options(fieldImages PUBLIC /bigobj)
+endif()
+wpilib_target_warnings(fieldImages)
+
+target_include_directories(fieldImages PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/fields>)

fieldImages/build.gradle

@@ -0,0 +1,66 @@
+import org.gradle.internal.os.OperatingSystem
+
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+    apply plugin: 'cpp'
+    apply plugin: 'c'
+    apply plugin: 'java'
+    apply plugin: 'google-test-test-suite'
+    apply plugin: 'visual-studio'
+    apply plugin: 'edu.wpi.first.NativeUtils'
+
+    if (OperatingSystem.current().isWindows()) {
+        apply plugin: 'windows-resources'
+    }
+
+    ext {
+        nativeName = 'fieldImages'
+    }
+
+    apply from: "${rootDir}/shared/resources.gradle"
+    apply from: "${rootDir}/shared/config.gradle"
+
+    def generateTask = createGenerateResourcesTask('main', 'FIELDS', 'fields', project)
+
+    project(':').libraryBuild.dependsOn build
+    tasks.withType(CppCompile) {
+        dependsOn generateTask
+    }
+
+    sourceSets {
+        main {
+            resources {
+                srcDirs 'src/main/native/resources'
+            }
+        }
+    }
+
+    model {
+        components {
+            "${nativeName}"(NativeLibrarySpec) {
+                baseName = 'fieldImages'
+                sources {
+                    cpp {
+                        source {
+                            srcDirs "$buildDir/generated/main/cpp"
+                            include '**/*.cpp'
+                        }
+                        exportedHeaders {
+                            srcDirs 'src/main/native/include'
+                        }
+                    }
+                    if (OperatingSystem.current().isWindows()) {
+                        rc {
+                            source {
+                                srcDirs 'src/main/native/win'
+                                include '*.rc'
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    apply from: 'publish.gradle'
+}

fieldImages/publish.gradle

@@ -0,0 +1,71 @@
+apply plugin: 'maven-publish'
+
+def baseArtifactId = 'fieldImages'
+def artifactGroupId = 'edu.wpi.first.fieldImages'
+def zipBaseName = '_GROUP_edu_wpi_first_field_images_ID_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
+    classifier = "sources"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+    from("$buildDir/generated/cpp") {
+        into '/'
+    }
+}
+
+task cppHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
+    classifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    ext.includeDirs = [
+        project.file('src/main/native/include')
+    ]
+
+    ext.includeDirs.each {
+        from(it) {
+            into '/'
+        }
+    }
+}
+
+build.dependsOn cppHeadersZip
+build.dependsOn cppSourcesZip
+
+addTaskToCopyAllOutputs(cppHeadersZip)
+addTaskToCopyAllOutputs(cppSourcesZip)
+
+model {
+    publishing {
+        def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], zipBaseName, Zip, project, includeStandardZipFormat)
+
+        publications {
+            cpp(MavenPublication) {
+                wpilibCTaskList.each {
+                    artifact it
+                }
+
+                artifact cppHeadersZip
+                artifact cppSourcesZip
+
+                artifactId = baseArtifactId
+                groupId artifactGroupId
+                version wpilibVersioning.version.get()
+            }
+        }
+    }
+}

fieldImages/src/main/java/edu/wpi/fields/FieldImages.java

@@ -0,0 +1,23 @@
+// 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.fields;
+
+public class FieldImages {
+  public static final String k2018PowerUpFieldConfig = "/edu/wpi/first/fields/2018-powerup.json";
+  public static final String k2019DeepSpaceFieldConfig =
+      "/edu/wpi/first/fields/2019-deepspace.json";
+  public static final String k2020InfiniteRechargeFieldConfig =
+      "/edu/wpi/first/fields/2020-infiniterecharge.json";
+  public static final String k2021InfiniteRechargeFieldConfig =
+      "/edu/wpi/first/fields/2021-infiniterecharge.json";
+  public static final String k2021BarrelFieldConfig =
+      "/edu/wpi/first/fields/2021-barrelracingpath.json";
+  public static final String k2021BounceFieldConfig = "/edu/wpi/first/fields/2021-bouncepath.json";
+  public static final String k2021GalacticSearchAFieldConfig =
+      "/edu/wpi/first/fields/2021-galacticsearcha.json";
+  public static final String k2021GalacticSearchBFieldConfig =
+      "/edu/wpi/first/fields/2021-galacticsearchb.json";
+  public static final String k2021SlalomFieldConfig = "/edu/wpi/first/fields/2021-slalompath.json";
+}

fieldImages/src/main/native/include/fields/2018-powerup.h

@@ -4,12 +4,9 @@
 
 #pragma once
 
-#include <frc/commands/CommandGroup.h>
+#include <string_view>
 
-/**
- * Shoot the ball at the current angle.
- */
-class Shoot : public frc::CommandGroup {
- public:
-  Shoot();
-};
+namespace fields {
+std::string_view GetResource_2018_powerup_json();
+std::string_view GetResource_2018_field_jpg();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2019-deepspace.h

@@ -4,12 +4,9 @@
 
 #pragma once
 
-#include <frc/commands/CommandGroup.h>
+#include <string_view>
 
-/**
- * Get the robot set to collect balls.
- */
-class Collect : public frc::CommandGroup {
- public:
-  Collect();
-};
+namespace fields {
+std::string_view GetResource_2019_deepspace_json();
+std::string_view GetResource_2019_field_jpg();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2020-infiniterecharge.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2020_infiniterecharge_json();
+std::string_view GetResource_2020_field_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-barrel.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2021_barrelracingpath_json();
+std::string_view GetResource_2021_barrel_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-bounce.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2021_bouncepath_json();
+std::string_view GetResource_2021_bounce_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-galacticsearcha.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearcha_json();
+std::string_view GetResource_2021_galacticsearcha_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-galacticsearchb.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearchb_json();
+std::string_view GetResource_2021_galacticsearchb_png();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-infiniterecharge.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2021_field_png();
+std::string_view GetResource_2021_infiniterecharge_json();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2021-slalom.h

@@ -0,0 +1,12 @@
+// 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_view>
+
+namespace fields {
+std::string_view GetResource_2021_slalompath_json();
+std::string_view GetResource_2021_slalom_png();
+}  // namespace fields

fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json

@@ -0,0 +1,10 @@
+{
+  "game": "FIRST Power Up",
+  "field-image": "2018-field.jpg",
+  "field-corners": {
+    "top-left": [125, 20],
+    "bottom-right": [827, 370]
+  },
+  "field-size": [54, 27],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json

@@ -0,0 +1,10 @@
+{
+"game" : "Destination: Deep Space",
+"field-image" : "2019-field.jpg",
+"field-corners": {
+	"top-left" : [217, 40],
+	"bottom-right" : [1372, 615]
+},
+"field-size" : [54, 27],
+"field-unit" : "foot"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json

@@ -0,0 +1,10 @@
+{
+    "game" : "Infinite Recharge",
+    "field-image" : "2020-field.png",
+    "field-corners": {
+        "top-left" : [96, 25],
+        "bottom-right" : [1040, 514]
+    },
+    "field-size" : [52.4375, 26.9375],
+    "field-unit" : "foot"
+    }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json

@@ -0,0 +1,10 @@
+{
+    "game": "Barrel Racing Path",
+    "field-image": "2021-barrel.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json

@@ -0,0 +1,10 @@
+{
+    "game": "Bounce Path",
+    "field-image": "2021-bounce.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json

@@ -0,0 +1,10 @@
+{
+    "game": "Galactic Search A",
+    "field-image": "2021-galacticsearcha.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json

@@ -0,0 +1,10 @@
+{
+    "game": "Galactic Search B",
+    "field-image": "2021-galacticsearchb.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json

@@ -0,0 +1,10 @@
+{
+    "game": "Infinite Recharge 2021",
+    "field-image": "2021-field.png",
+    "field-corners": {
+      "top-left": [127, 34],
+      "bottom-right": [1323, 649]
+    },
+    "field-size": [52.4375, 26.9375],
+    "field-unit": "foot"
+  }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json

@@ -0,0 +1,10 @@
+{
+    "game": "Slalom Path",
+    "field-image": "2021-slalom.png",
+    "field-corners": {
+      "top-left": [20, 20],
+      "bottom-right": [780, 400]
+    },
+    "field-size": [30, 15],
+    "field-unit": "feet"
+  }

glass/src/lib/native/cpp/hardware/PowerDistribution.cpp

@@ -2,7 +2,7 @@
 // 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 "glass/hardware/PDP.h"
+#include "glass/hardware/PowerDistribution.h"
 
 #include <algorithm>
 #include <cstdio>
@@ -15,7 +15,7 @@
 
 using namespace glass;
 
-static float DisplayChannel(PDPModel& pdp, int channel) {
+static float DisplayChannel(PowerDistributionModel& pdp, int channel) {
   float width = 0;
   if (auto currentData = pdp.GetCurrentData(channel)) {
     ImGui::PushID(channel);
@@ -34,9 +34,9 @@ static float DisplayChannel(PDPModel& pdp, int channel) {
   return width;
 }
 
-void glass::DisplayPDP(PDPModel* model, int index) {
+void glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
   char name[128];
-  std::snprintf(name, sizeof(name), "PDP[%d]", index);
+  std::snprintf(name, sizeof(name), "PowerDistribution[%d]", index);
   if (CollapsingHeader(name)) {
     // temperature
     if (auto tempData = model->GetTemperatureData()) {
@@ -56,7 +56,7 @@ void glass::DisplayPDP(PDPModel* model, int index) {
       }
     }
 
-    // channel currents; show as two columns laid out like PDP
+    // channel currents; show as two columns laid out like PowerDistribution
     const int numChannels = model->GetNumChannels();
     ImGui::Text("Channel Current (A)");
     ImGui::Columns(2, "channels", false);
@@ -79,12 +79,13 @@ void glass::DisplayPDP(PDPModel* model, int index) {
   }
 }
 
-void glass::DisplayPDPs(PDPsModel* model, std::string_view noneMsg) {
+void glass::DisplayPowerDistributions(PowerDistributionsModel* model,
+                                      std::string_view noneMsg) {
   bool hasAny = false;
-  model->ForEachPDP([&](PDPModel& pdp, int i) {
+  model->ForEachPowerDistribution([&](PowerDistributionModel& pdp, int i) {
     hasAny = true;
     PushID(i);
-    DisplayPDP(&pdp, i);
+    DisplayPowerDistribution(&pdp, i);
     PopID();
   });
   if (!hasAny && !noneMsg.empty()) {

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -261,17 +261,17 @@ static DisplayUnits gDisplayUnits = kDisplayMeters;
 static double ConvertDisplayLength(units::meter_t v) {
   switch (gDisplayUnits) {
     case kDisplayFeet:
-      return v.convert<units::feet>().to<double>();
+      return v.convert<units::feet>().value();
     case kDisplayInches:
-      return v.convert<units::inches>().to<double>();
+      return v.convert<units::inches>().value();
     case kDisplayMeters:
     default:
-      return v.to<double>();
+      return v.value();
   }
 }
 
 static double ConvertDisplayAngle(units::degree_t v) {
-  return v.to<double>();
+  return v.value();
 }
 
 static bool InputLength(const char* label, units::meter_t* v, double step = 0.0,

glass/src/lib/native/include/glass/hardware/PowerDistribution.h

@@ -14,7 +14,7 @@ namespace glass {
 
 class DataSource;
 
-class PDPModel : public Model {
+class PowerDistributionModel : public Model {
  public:
   virtual int GetNumChannels() const = 0;
 
@@ -27,13 +27,16 @@ class PDPModel : public Model {
   virtual void SetCurrent(int channel, double val) = 0;
 };
 
-class PDPsModel : public Model {
+class PowerDistributionsModel : public Model {
  public:
-  virtual void ForEachPDP(
-      wpi::function_ref<void(PDPModel& model, int index)> func) = 0;
+  virtual void ForEachPowerDistribution(
+      wpi::function_ref<void(PowerDistributionModel& model, int index)>
+          func) = 0;
 };
 
-void DisplayPDP(PDPModel* model, int index);
-void DisplayPDPs(PDPsModel* model, std::string_view noneMsg = "No PDPs");
+void DisplayPowerDistribution(PowerDistributionModel* model, int index);
+void DisplayPowerDistributions(
+    PowerDistributionsModel* model,
+    std::string_view noneMsg = "No Power Distributions");
 
 }  // namespace glass

glass/src/lib/native/include/glass/hardware/RoboRio.h

@@ -32,10 +32,12 @@ class RoboRioModel : public Model {
   virtual DataSource* GetUserButton() = 0;
   virtual DataSource* GetVInVoltageData() = 0;
   virtual DataSource* GetVInCurrentData() = 0;
+  virtual DataSource* GetBrownoutVoltage() = 0;
 
   virtual void SetUserButton(bool val) = 0;
   virtual void SetVInVoltage(double val) = 0;
   virtual void SetVInCurrent(double val) = 0;
+  virtual void SetBrownoutVoltage(double val) = 0;
 };
 
 void DisplayRoboRio(RoboRioModel* model);

glass/src/libnt/native/cpp/NTField2D.cpp

@@ -94,9 +94,9 @@ void NTField2DModel::ObjectModel::UpdateNT() {
     wpi::SmallVector<double, 9> arr;
     for (auto&& pose : m_poses) {
       auto& translation = pose.Translation();
-      arr.push_back(translation.X().to<double>());
-      arr.push_back(translation.Y().to<double>());
-      arr.push_back(pose.Rotation().Degrees().to<double>());
+      arr.push_back(translation.X().value());
+      arr.push_back(translation.Y().value());
+      arr.push_back(pose.Rotation().Degrees().value());
     }
     nt::SetEntryTypeValue(m_entry, nt::Value::MakeDoubleArray(arr));
   } else {
@@ -107,13 +107,13 @@ void NTField2DModel::ObjectModel::UpdateNT() {
     for (auto&& pose : m_poses) {
       auto& translation = pose.Translation();
       wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(translation.X().to<double>()));
+          p, wpi::DoubleToBits(translation.X().value()));
       p += 8;
       wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(translation.Y().to<double>()));
+          p, wpi::DoubleToBits(translation.Y().value()));
       p += 8;
       wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(pose.Rotation().Degrees().to<double>()));
+          p, wpi::DoubleToBits(pose.Rotation().Degrees().value()));
       p += 8;
     }
     nt::SetEntryTypeValue(m_entry,

glass/src/libnt/native/cpp/NTSpeedController.cpp

@@ -17,7 +17,7 @@ NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
     : m_nt(instance),
       m_value(m_nt.GetEntry(fmt::format("{}/Value", path))),
       m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
-      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable"))),
+      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable", path))),
       m_valueData(fmt::format("NT_SpdCtrl:{}", path)),
       m_nameValue(wpi::rsplit(path, '/').second) {
   m_nt.AddListener(m_value);

googletest/CMakeLists.txt

@@ -22,3 +22,6 @@ set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src
                  ${CMAKE_CURRENT_BINARY_DIR}/googletest-build
                  EXCLUDE_FROM_ALL)
+
+target_compile_features(gtest PUBLIC cxx_std_17)
+target_compile_features(gtest_main PUBLIC cxx_std_17)

googletest/CMakeLists.txt.in

@@ -5,7 +5,7 @@ project(googletest-download NONE)
 include(ExternalProject)
 ExternalProject_Add(googletest
   GIT_REPOSITORY    https://github.com/google/googletest.git
-  GIT_TAG           b4676595c03a26bb84f68542c8b74d3d89b38b68
+  GIT_TAG           e2239ee6043f73722e7aa812a459f54a28552929 # 1.11.0
   SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
   BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
   CONFIGURE_COMMAND ""

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.1.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -72,7 +72,7 @@ case "`uname`" in
   Darwin* )
     darwin=true
     ;;
-  MINGW* )
+  MSYS* | MINGW* )
     msys=true
     ;;
   NONSTOP* )
@@ -82,6 +82,7 @@ esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
@@ -129,6 +130,7 @@ fi
 if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
     APP_HOME=`cygpath --path --mixed "$APP_HOME"`
     CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+
     JAVACMD=`cygpath --unix "$JAVACMD"`
 
     # We build the pattern for arguments to be converted via cygpath

gradlew.bat

@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell

hal/.styleguide

@@ -10,6 +10,7 @@ cppSrcFileInclude {
 
 generatedFileExclude {
   hal/src/main/native/athena/ctre/
+  hal/src/main/native/athena/rev/
   hal/src/main/native/athena/frccansae/
   hal/src/main/native/athena/visa/
   hal/src/main/native/include/ctre/

hal/CMakeLists.txt

@@ -74,7 +74,7 @@ if (WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     configure_file(src/generate/FRCNetComm.java.in FRCNetComm.java)
 

hal/build.gradle

@@ -127,6 +127,10 @@ cppHeadersZip {
     }
 }
 
+Action<List<String>> symbolFilter = { symbols ->
+    symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
+} as Action<List<String>>;
+
 nativeUtils.exportsConfigs {
     hal {
         x86ExcludeSymbols = [
@@ -157,22 +161,21 @@ nativeUtils.exportsConfigs {
         ]
     }
     halJNI {
-        x86SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
-        }
-        x64SymbolFilter = { symbols ->
-            symbols.removeIf({ !it.startsWith('HAL_') && !it.startsWith('HALSIM_') })
-        }
+        x86SymbolFilter = symbolFilter
+        x64SymbolFilter = symbolFilter
     }
 }
 
 model {
     binaries {
         all {
+            it.tasks.withType(AbstractNativeSourceCompileTask) {
+                it.dependsOn generateUsageReporting
+            }
             if (!(it instanceof NativeBinarySpec)) return
                 if (it.component.name != 'hal' && it.component.name != 'halBase') return
                 if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
-                nativeUtils.useRequiredLibrary(it, 'netcomm_shared', 'chipobject_shared', 'visa_shared')
+                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries')
         }
     }
 }