[wpimath] Add LinearFilter::FiniteDifference() (#3900)

This allows making more general finite difference filters, like central
finite difference. SysId uses this for acceleration filtering.

.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

@@ -10,9 +10,9 @@ 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
+          - os: macOS-11
             name: macOS
             container: ""
             flags: "-DWITH_JAVA=OFF"
@@ -26,34 +26,40 @@ 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"
-    runs-on: windows-latest
+    runs-on: windows-2019
     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 }}
@@ -44,13 +44,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-latest
+          - os: windows-2019
             artifact-name: Win64
             architecture: x64
-          - os: windows-latest
+          - os: windows-2019
             artifact-name: Win32
             architecture: x86
-          - os: macos-latest
+          - os: macOS-11
             artifact-name: macOS
             architecture: x64
     name: "Build - ${{ 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 +9,15 @@ cppSrcFileInclude {
   \.cpp$
 }
 
+modifiableFileExclude {
+  \.patch$
+  gradlew
+}
+
 generatedFileExclude {
   FRCNetComm\.java$
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
+  fieldImages/src/main/native/resources/
 }
 
 repoRootNameOverride {

.wpilib/wpilib_preferences.json

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

CMakeLists.txt

@@ -6,11 +6,17 @@ FATAL: In-source builds are not allowed.
 ")
 endif()
 
+if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
+    set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
+    set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
+endif()
 
 project(allwpilib)
 cmake_minimum_required(VERSION 3.3.0)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
+message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
+
 set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
 
 INCLUDE(CPack)
@@ -119,13 +125,6 @@ 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 )
@@ -146,6 +145,8 @@ if (USE_VCPKG_EIGEN)
 set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
 endif()
 
+find_package(LIBSSH 0.7.1)
+
 if (WITH_FLAT_INSTALL)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
 set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
@@ -171,6 +172,75 @@ 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)
@@ -185,10 +255,14 @@ if (WITH_WPIMATH)
 endif()
 
 if (WITH_GUI)
+    add_subdirectory(fieldImages)
     add_subdirectory(imgui)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
+    if (LIBSSH_FOUND)
+        add_subdirectory(roborioteamnumbersetter)
+    endif()
 endif()
 
 if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
@@ -201,19 +275,20 @@ 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

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2022 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MavenArtifacts.md

@@ -69,15 +69,36 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 
 * wpiutil
 
+* wpigui
+  * imgui
+
+* ntcore
+  * wpiutil
+
+* wpimath
+  * wpiutil
+
+* glass/libglass
+  * wpiutil
+  * wpimath
+  * wpigui
+
+* glass/libglassnt
+  * wpiutil
+  * ntcore
+  * wpimath
+  * wpigui
+
 * hal
   * wpiutil
 
 * halsim
-  * imgui
-  * wpiutil
-
-* ntcore
   * wpiutil
+  * ntcore
+  * wpimath
+  * wpigui
+  * libglass
+  * libglassnt
 
 * cscore
   * opencv
@@ -101,6 +122,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * cameraserver
   * ntcore
   * cscore
+  * wpimath
   * wpiutil
 
 * wpilibNewCommands
@@ -109,9 +131,10 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * cameraserver
   * ntcore
   * cscore
+  * wpimath
   * wpiutil
 
-* wpilibNewCommands
+* wpilibOldCommands
   * wpilibc
   * hal
   * cameraserver
@@ -119,6 +142,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * cscore
   * wpiutil
 
+
 ### Third Party Artifacts
 
 This repository provides the builds of the following third party software.
@@ -128,3 +152,4 @@ All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
 * googletest
 * imgui
 * opencv
+* libssh

OtherVersions.md

@@ -11,9 +11,10 @@ Development builds are the per-commit build hosted everytime a commit is pushed
 In order to build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version.
 
 ```groovy
+wpi.maven.useLocal = false
 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 +23,13 @@ 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 +37,13 @@ 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 +54,13 @@ 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 +68,26 @@ 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

@@ -38,8 +38,8 @@ 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 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 Linux, install GCC 8 or greater
+    - On Windows, install [Visual Studio Community 2022 or 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)
     - On macOS, install the Xcode command-line build tools via `xcode-select --install`
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
@@ -71,6 +71,8 @@ The gradlew wrapper only exists in the root of the main project, so be sure to r
 
 There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
 
+If opening from a fresh clone, generated java dependencies will not exist. Most IDEs will not run the generation tasks, which will cause lots of IDE errors. Manually run `./gradlew compileJava` from a terminal to run all the compile tasks, and then refresh your IDE's configuration (In VS Code open settings.gradle and save).
+
 ### Faster builds
 
 `./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
@@ -95,10 +97,10 @@ 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 +122,9 @@ 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 +151,8 @@ 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:2.6.0'
+    }
+}
+
 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'
     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 'net.ltgt.errorprone' version '2.0.2' apply false
+    id 'com.github.johnrengelman.shadow' version '7.1.2' apply false
+    id 'com.diffplug.spotless' version '6.1.2' apply false
+    id 'com.github.spotbugs' version '5.0.4' 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 = '7.3.3'
 }

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2022.0.2"
+    implementation "edu.wpi.first:native-utils:2022.7.1"
 }

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/build.gradle

@@ -27,7 +27,7 @@ repositories {
 }
 
 dependencies {
-    implementation 'com.google.code.gson:gson:2.8.5'
+    implementation 'com.google.code.gson:gson:2.8.9'
 
     implementation project(':wpiutil')
     implementation project(':ntcore')

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<>();
+  private static int team;
+  private static boolean server;
+  private 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/cpp/cameraserver/CameraServer.cpp

@@ -450,9 +450,9 @@ Instance::Instance() {
           entry.SetString(VideoModeToString(sourceIt->second.GetVideoMode()));
           return;
         } else if (wpi::starts_with(relativeKey, "Property/")) {
-          propName = relativeKey.substr(9);
+          propName = wpi::substr(relativeKey, 9);
         } else if (wpi::starts_with(relativeKey, "RawProperty/")) {
-          propName = relativeKey.substr(12);
+          propName = wpi::substr(relativeKey, 12);
         } else {
           return;  // ignore
         }

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/modules/FindLIBSSH.cmake

@@ -0,0 +1,116 @@
+# - Try to find LibSSH
+# Once done this will define
+#
+#  LIBSSH_FOUND - system has LibSSH
+#  LIBSSH_INCLUDE_DIRS - the LibSSH include directory
+#  LIBSSH_LIBRARIES - link these to use LibSSH
+#  LIBSSH_VERSION -
+#
+#  Author Michal Vasko <mvasko@cesnet.cz>
+#  Copyright (c) 2020 CESNET, z.s.p.o.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions
+#  are met:
+#
+#  1. Redistributions of source code must retain the copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. The name of the author may not be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+#  IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+#  OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+#  IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+#  NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+#  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+#  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+#  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+#  THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+include(FindPackageHandleStandardArgs)
+
+if(LIBSSH_LIBRARIES AND LIBSSH_INCLUDE_DIRS)
+    # in cache already
+    set(LIBSSH_FOUND TRUE)
+else()
+    find_path(LIBSSH_INCLUDE_DIR
+        NAMES
+        libssh/libssh.h
+        PATHS
+        /usr/include
+        /usr/local/include
+        /opt/local/include
+        /sw/include
+        ${CMAKE_INCLUDE_PATH}
+        ${CMAKE_INSTALL_PREFIX}/include
+    )
+
+    find_library(LIBSSH_LIBRARY
+        NAMES
+        ssh.so
+        libssh.so
+        libssh.dylib
+        PATHS
+        /usr/lib
+        /usr/local/lib
+        /opt/local/lib
+        /sw/lib
+        ${CMAKE_LIBRARY_PATH}
+        ${CMAKE_INSTALL_PREFIX}/lib
+    )
+
+    if(LIBSSH_INCLUDE_DIR AND LIBSSH_LIBRARY)
+        # learn libssh version
+        if(EXISTS ${LIBSSH_INCLUDE_DIR}/libssh/libssh_version.h)
+            set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh_version.h)
+        else()
+            set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh.h)
+        endif()
+        file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_MAJOR
+            REGEX "#define[ ]+LIBSSH_VERSION_MAJOR[ ]+[0-9]+")
+        if(NOT LIBSSH_VERSION_MAJOR)
+            message(STATUS "LIBSSH_VERSION_MAJOR not found, assuming libssh is too old and cannot be used!")
+            set(LIBSSH_INCLUDE_DIR "LIBSSH_INCLUDE_DIR-NOTFOUND")
+            set(LIBSSH_LIBRARY "LIBSSH_LIBRARY-NOTFOUND")
+        else()
+            string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MAJOR ${LIBSSH_VERSION_MAJOR})
+            file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_MINOR
+                REGEX "#define[ ]+LIBSSH_VERSION_MINOR[ ]+[0-9]+")
+            string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MINOR ${LIBSSH_VERSION_MINOR})
+            file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_PATCH
+                REGEX "#define[ ]+LIBSSH_VERSION_MICRO[ ]+[0-9]+")
+            string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_PATCH ${LIBSSH_VERSION_PATCH})
+
+            set(LIBSSH_VERSION ${LIBSSH_VERSION_MAJOR}.${LIBSSH_VERSION_MINOR}.${LIBSSH_VERSION_PATCH})
+
+            if(LIBSSH_VERSION VERSION_LESS 0.8.0)
+                # libssh_threads also needs to be linked for these versions
+                string(REPLACE "libssh.so" "libssh_threads.so"
+                    LIBSSH_THREADS_LIBRARY
+                    ${LIBSSH_LIBRARY}
+                )
+                string(REPLACE "libssh.dylib" "libssh_threads.dylib"
+                    LIBSSH_THREADS_LIBRARY
+                    ${LIBSSH_THREADS_LIBRARY}
+                )
+                string(REPLACE "ssh.so" "ssh_threads.so"
+                    LIBSSH_THREADS_LIBRARY
+                    ${LIBSSH_THREADS_LIBRARY}
+                )
+            endif()
+        endif()
+    endif()
+
+    set(LIBSSH_INCLUDE_DIRS ${LIBSSH_INCLUDE_DIR})
+    set(LIBSSH_LIBRARIES ${LIBSSH_LIBRARY} ${LIBSSH_THREADS_LIBRARY})
+    mark_as_advanced(LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES)
+
+    find_package_handle_standard_args(LibSSH FOUND_VAR LIBSSH_FOUND
+        REQUIRED_VARS LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES
+        VERSION_VAR LIBSSH_VERSION)
+endif()

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/HttpCameraImpl.cpp

@@ -208,7 +208,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
     if (wpi::trim(key) == "boundary") {
       value = wpi::trim(wpi::trim(value), '"');  // value may be quoted
       if (wpi::starts_with(value, "--")) {
-        value = value.substr(2);
+        value = wpi::substr(value, 2);
       }
       boundary.append(value.begin(), value.end());
     }

cscore/src/main/native/cpp/JpegUtil.cpp

@@ -4,6 +4,7 @@
 
 #include "JpegUtil.h"
 
+#include <wpi/StringExtras.h>
 #include <wpi/raw_istream.h>
 
 namespace cs {
@@ -64,7 +65,7 @@ bool GetJpegSize(std::string_view data, int* width, int* height) {
     return false;
   }
 
-  data = data.substr(2);  // Get to the first block
+  data = wpi::substr(data, 2);  // Get to the first block
   for (;;) {
     if (data.size() < 4) {
       return false;  // EOF
@@ -89,7 +90,7 @@ bool GetJpegSize(std::string_view data, int* width, int* height) {
       return true;
     }
     // Go to the next block
-    data = data.substr(bytes[2] * 256 + bytes[3] + 2);
+    data = wpi::substr(data, bytes[2] * 256 + bytes[3] + 2);
   }
 }
 
@@ -102,7 +103,7 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
   *locSOF = *size;
 
   // Search until SOS for DHT tag
-  sdata = sdata.substr(2);  // Get to the first block
+  sdata = wpi::substr(sdata, 2);  // Get to the first block
   for (;;) {
     if (sdata.size() < 4) {
       return false;  // EOF
@@ -121,7 +122,7 @@ bool JpegNeedsDHT(const char* data, size_t* size, size_t* locSOF) {
       *locSOF = sdata.data() - data;  // SOF
     }
     // Go to the next block
-    sdata = sdata.substr(bytes[2] * 256 + bytes[3] + 2);
+    sdata = wpi::substr(sdata, bytes[2] * 256 + bytes[3] + 2);
   }
 
   // Only add DHT if we also found SOF (insertion point)

cscore/src/main/native/cpp/MjpegServerImpl.cpp

@@ -797,14 +797,14 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   // compatibility, others are for Axis camera compatibility.
   if ((pos = req.find("POST /stream")) != std::string_view::npos) {
     kind = kStream;
-    parameters = req.substr(req.find('?', pos + 12)).substr(1);
+    parameters = wpi::substr(wpi::substr(req, req.find('?', pos + 12)), 1);
   } else if ((pos = req.find("GET /?action=stream")) !=
              std::string_view::npos) {
     kind = kStream;
-    parameters = req.substr(req.find('&', pos + 19)).substr(1);
+    parameters = wpi::substr(wpi::substr(req, req.find('&', pos + 19)), 1);
   } else if ((pos = req.find("GET /stream.mjpg")) != std::string_view::npos) {
     kind = kStream;
-    parameters = req.substr(req.find('?', pos + 16)).substr(1);
+    parameters = wpi::substr(wpi::substr(req, req.find('?', pos + 16)), 1);
   } else if (req.find("GET /settings") != std::string_view::npos &&
              req.find(".json") != std::string_view::npos) {
     kind = kGetSettings;
@@ -820,7 +820,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   } else if ((pos = req.find("GET /?action=command")) !=
              std::string_view::npos) {
     kind = kCommand;
-    parameters = req.substr(req.find('&', pos + 20)).substr(1);
+    parameters = wpi::substr(wpi::substr(req, req.find('&', pos + 20)), 1);
   } else if (req.find("GET / ") != std::string_view::npos || req == "GET /\n") {
     kind = kRootPage;
   } else {
@@ -833,7 +833,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   pos = parameters.find_first_not_of(
       "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_"
       "-=&1234567890%./");
-  parameters = parameters.substr(0, pos);
+  parameters = wpi::substr(parameters, 0, pos);
   SDEBUG("command parameters: \"{}\"", parameters);
 
   // Read the rest of the HTTP request.

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/main/native/linux/UsbCameraImpl.cpp

@@ -107,7 +107,7 @@ static __u32 FromPixelFormat(VideoMode::PixelFormat pixelFormat) {
 
 static bool IsPercentageProperty(std::string_view name) {
   if (wpi::starts_with(name, "raw_")) {
-    name = name.substr(4);
+    name = wpi::substr(name, 4);
   }
   return name == "brightness" || name == "contrast" || name == "saturation" ||
          name == "hue" || name == "sharpness" || name == "gain" ||
@@ -181,13 +181,13 @@ static bool GetVendorProduct(int dev, int* vendor, int* product) {
   }
   std::string_view readStr{readBuf};
   if (auto v = wpi::parse_integer<int>(
-          readStr.substr(readStr.find('v')).substr(1, 4), 16)) {
+          wpi::substr(wpi::substr(readStr, readStr.find('v')), 1, 4), 16)) {
     *vendor = v.value();
   } else {
     return false;
   }
   if (auto v = wpi::parse_integer<int>(
-          readStr.substr(readStr.find('p')).substr(1, 4), 16)) {
+          wpi::substr(wpi::substr(readStr, readStr.find('p')), 1, 4), 16)) {
     *product = v.value();
   } else {
     return false;
@@ -236,8 +236,8 @@ static bool GetDescriptionIoctl(const char* cpath, std::string* desc) {
   std::optional<int> vendor;
   std::optional<int> product;
   if (wpi::starts_with(card, "UVC Camera (") &&
-      (vendor = wpi::parse_integer<int>(card.substr(12, 4), 16)) &&
-      (product = wpi::parse_integer<int>(card.substr(17, 4), 16))) {
+      (vendor = wpi::parse_integer<int>(wpi::substr(card, 12, 4), 16)) &&
+      (product = wpi::parse_integer<int>(wpi::substr(card, 17, 4), 16))) {
     std::string card2 = GetUsbNameFromId(vendor.value(), product.value());
     if (!card2.empty()) {
       *desc = std::move(card2);
@@ -283,7 +283,7 @@ static int GetDeviceNum(const char* cpath) {
   if (!wpi::starts_with(fn, "video")) {
     return -1;
   }
-  if (auto dev = wpi::parse_integer<int>(fn.substr(5), 10)) {
+  if (auto dev = wpi::parse_integer<int>(wpi::substr(fn, 5), 10)) {
     return dev.value();
   }
   return -1;
@@ -1635,7 +1635,8 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
       }
 
       unsigned int dev = 0;
-      if (auto v = wpi::parse_integer<unsigned int>(fname.substr(5), 10)) {
+      if (auto v =
+              wpi::parse_integer<unsigned int>(wpi::substr(fname, 5), 10)) {
         dev = v.value();
       } else {
         continue;
@@ -1686,7 +1687,8 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
             std::string fname = fs::path{target}.filename();
             std::optional<unsigned int> dev;
             if (wpi::starts_with(fname, "video") &&
-                (dev = wpi::parse_integer<unsigned int>(fname.substr(5), 10)) &&
+                (dev = wpi::parse_integer<unsigned int>(wpi::substr(fname, 5),
+                                                        10)) &&
                 dev.value() < retval.size()) {
               retval[dev.value()].otherPaths.emplace_back(path.str());
             }

cscore/src/main/native/linux/UsbCameraProperty.cpp

@@ -6,6 +6,7 @@
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
+#include <wpi/StringExtras.h>
 
 #include "UsbUtil.h"
 
@@ -93,7 +94,7 @@ static int GetStringCtrlIoctl(int fd, int id, int maximum, std::string* value) {
 
 static int SetStringCtrlIoctl(int fd, int id, int maximum,
                               std::string_view value) {
-  wpi::SmallString<64> str{value.substr(0, maximum)};
+  wpi::SmallString<64> str{wpi::substr(value, 0, maximum)};
 
   struct v4l2_ext_control ctrl;
   struct v4l2_ext_controls ctrls;

cscore/src/main/native/linux/UsbUtil.cpp

@@ -49,7 +49,7 @@ static std::string GetUsbNameFromFile(int vendor, int product) {
     // look for vendor at start of line
     if (wpi::starts_with(line, vendorStr)) {
       foundVendor = true;
-      buf += wpi::trim(line.substr(5));
+      buf += wpi::trim(wpi::substr(line, 5));
       buf += ' ';
       continue;
     }
@@ -62,8 +62,8 @@ static std::string GetUsbNameFromFile(int vendor, int product) {
       }
 
       // look for product
-      if (wpi::starts_with(line.substr(1), productStr)) {
-        buf += wpi::trim(line.substr(6));
+      if (wpi::starts_with(wpi::substr(line, 1), productStr)) {
+        buf += wpi::trim(wpi::substr(line, 6));
         return buf;
       }
     }

cscore/src/main/native/windows/UsbCameraImpl.cpp

@@ -14,7 +14,6 @@
 #include <windowsx.h>
 
 #include <cmath>
-#include <codecvt>
 #include <memory>
 #include <string>
 #include <vector>
@@ -25,7 +24,9 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <wpi/ConvertUTF.h>
 #include <wpi/MemAlloc.h>
+#include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
 #include <wpi/timestamp.h>
 
@@ -72,8 +73,9 @@ UsbCameraImpl::UsbCameraImpl(std::string_view name, wpi::Logger& logger,
                              Notifier& notifier, Telemetry& telemetry,
                              std::string_view path)
     : SourceImpl{name, logger, notifier, telemetry}, m_path{path} {
-  std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
-  m_widePath = utf8_conv.from_bytes(m_path.c_str());
+  wpi::SmallVector<wchar_t, 128> wideStorage;
+  wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+  m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
   m_deviceId = -1;
   StartMessagePump();
 }
@@ -227,7 +229,7 @@ void UsbCameraImpl::PostRequestNewFrame() {
 
 bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
                                       bool* connected) {
-  DEV_BROADCAST_DEVICEINTERFACE* pDi = NULL;
+  DEV_BROADCAST_DEVICEINTERFACE_A* pDi = NULL;
 
   *connected = false;
 
@@ -240,9 +242,9 @@ bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
 
   // Compare the device name with the symbolic link.
 
-  pDi = reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE*>(pHdr);
+  pDi = reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE_A*>(pHdr);
 
-  if (_stricmp(m_path.c_str(), pDi->dbcc_name) == 0) {
+  if (wpi::equals_lower(m_path, pDi->dbcc_name)) {
     if (wParam == DBT_DEVICEARRIVAL) {
       *connected = true;
       return true;
@@ -269,7 +271,7 @@ void UsbCameraImpl::DeviceDisconnect() {
 
 static bool IsPercentageProperty(std::string_view name) {
   if (wpi::starts_with(name, "raw_"))
-    name = name.substr(4);
+    name = wpi::substr(name, 4);
   return name == "Brightness" || name == "Contrast" || name == "Saturation" ||
          name == "Hue" || name == "Sharpness" || name == "Gain" ||
          name == "Exposure";
@@ -411,11 +413,12 @@ LRESULT UsbCameraImpl::PumpMain(HWND hwnd, UINT uiMsg, WPARAM wParam,
           // If has device ID, use the device ID from the event
           // because of windows bug
           auto&& device = devices[m_deviceId];
-          DEV_BROADCAST_DEVICEINTERFACE* pDi =
-              reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE*>(parameter);
+          DEV_BROADCAST_DEVICEINTERFACE_A* pDi =
+              reinterpret_cast<DEV_BROADCAST_DEVICEINTERFACE_A*>(parameter);
           m_path = pDi->dbcc_name;
-          std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
-          m_widePath = utf8_conv.from_bytes(m_path.c_str());
+          wpi::SmallVector<wchar_t, 128> wideStorage;
+          wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+          m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
         } else {
           // This device not found
           break;
@@ -482,9 +485,16 @@ bool UsbCameraImpl::DeviceConnect() {
   const wchar_t* path = m_widePath.c_str();
   m_mediaSource = CreateVideoCaptureDevice(path);
 
-  if (!m_mediaSource)
+  if (!m_mediaSource) {
     return false;
-  m_imageCallback = CreateSourceReaderCB(shared_from_this(), m_mode);
+  }
+  auto weakThis = weak_from_this();
+  auto sharedThis = weakThis.lock();
+  if (sharedThis) {
+    m_imageCallback = CreateSourceReaderCB(sharedThis, m_mode);
+  } else {
+    return false;
+  }
 
   m_sourceReader =
       CreateSourceReader(m_mediaSource.Get(), m_imageCallback.Get());
@@ -747,8 +757,9 @@ CS_StatusValue UsbCameraImpl::DeviceProcessCommand(
     {
       std::scoped_lock lock(m_mutex);
       m_path = msg->dataStr;
-      std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
-      m_widePath = utf8_conv.from_bytes(m_path.c_str());
+      wpi::SmallVector<wchar_t, 128> wideStorage;
+      wpi::sys::windows::UTF8ToUTF16(m_path, wideStorage);
+      m_widePath = std::wstring{wideStorage.data(), wideStorage.size()};
     }
     DeviceDisconnect();
     DeviceConnect();
@@ -1048,7 +1059,8 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
   // Ensure we are initialized by grabbing the message pump
   // GetMessagePump();
 
-  std::wstring_convert<std::codecvt_utf8<wchar_t>> utf8_conv;
+  wpi::SmallString<128> storage;
+  WCHAR buf[512];
   ComPtr<IMFAttributes> pAttributes;
   IMFActivate** ppDevices = nullptr;
   UINT32 count = 0;
@@ -1080,14 +1092,19 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
   for (UINT32 i = 0; i < count; i++) {
     UsbCameraInfo info;
     info.dev = i;
-    WCHAR buf[512];
+
+    UINT32 characters = 0;
     ppDevices[i]->GetString(MF_DEVSOURCE_ATTRIBUTE_FRIENDLY_NAME, buf,
-                            sizeof(buf) / sizeof(WCHAR), NULL);
-    info.name = utf8_conv.to_bytes(buf);
+                            sizeof(buf) / sizeof(WCHAR), &characters);
+    storage.clear();
+    wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
+    info.name = storage.string();
     ppDevices[i]->GetString(
         MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK, buf,
-        sizeof(buf) / sizeof(WCHAR), NULL);
-    info.path = utf8_conv.to_bytes(buf);
+        sizeof(buf) / sizeof(WCHAR), &characters);
+    storage.clear();
+    wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
+    info.path = storage.string();
 
     // Try to parse path from symbolic link
     ParseVidAndPid(info.path, &info.productId, &info.vendorId);

cscore/src/main/native/windows/WindowsMessagePump.cpp

@@ -89,7 +89,7 @@ static std::shared_ptr<ClassHolder> GetClassHolder() {
 WindowsMessagePump::WindowsMessagePump(
     std::function<LRESULT(HWND, UINT, WPARAM, LPARAM)> callback) {
   m_callback = callback;
-  auto handle = CreateEvent(NULL, true, false, NULL);
+  auto handle = CreateEventA(NULL, true, false, NULL);
   m_mainThread = std::thread([=] { ThreadMain(handle); });
   auto waitResult = WaitForSingleObject(handle, 1000);
   if (waitResult == WAIT_OBJECT_0) {
@@ -98,7 +98,7 @@ WindowsMessagePump::WindowsMessagePump(
 }
 
 WindowsMessagePump::~WindowsMessagePump() {
-  auto res = SendMessage(hwnd, WM_CLOSE, NULL, NULL);
+  auto res = SendMessageA(hwnd, WM_CLOSE, NULL, NULL);
   if (m_mainThread.joinable())
     m_mainThread.join();
 }
@@ -110,28 +110,28 @@ void WindowsMessagePump::ThreadMain(HANDLE eventHandle) {
   MFStartup(MF_VERSION);
 
   auto classHolder = GetClassHolder();
-  hwnd = CreateWindowEx(0, classHolder->class_name, "dummy_name", 0, 0, 0, 0, 0,
-                        HWND_MESSAGE, NULL, NULL, this);
+  hwnd = CreateWindowExA(0, classHolder->class_name, "dummy_name", 0, 0, 0, 0,
+                         0, HWND_MESSAGE, NULL, NULL, this);
 
   // Register for device notifications
   HDEVNOTIFY g_hdevnotify = NULL;
   HDEVNOTIFY g_hdevnotify2 = NULL;
 
-  DEV_BROADCAST_DEVICEINTERFACE di = {0};
+  DEV_BROADCAST_DEVICEINTERFACE_A di = {0};
   di.dbcc_size = sizeof(di);
   di.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
   di.dbcc_classguid = KSCATEGORY_CAPTURE;
 
   g_hdevnotify =
-      RegisterDeviceNotification(hwnd, &di, DEVICE_NOTIFY_WINDOW_HANDLE);
+      RegisterDeviceNotificationA(hwnd, &di, DEVICE_NOTIFY_WINDOW_HANDLE);
 
-  DEV_BROADCAST_DEVICEINTERFACE di2 = {0};
+  DEV_BROADCAST_DEVICEINTERFACE_A di2 = {0};
   di2.dbcc_size = sizeof(di2);
   di2.dbcc_devicetype = DBT_DEVTYP_DEVICEINTERFACE;
   di2.dbcc_classguid = KSCATEGORY_VIDEO_CAMERA;
 
   g_hdevnotify2 =
-      RegisterDeviceNotification(hwnd, &di2, DEVICE_NOTIFY_WINDOW_HANDLE);
+      RegisterDeviceNotificationA(hwnd, &di2, DEVICE_NOTIFY_WINDOW_HANDLE);
 
   SetEvent(eventHandle);
 

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 +56,109 @@ 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'
 
-    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
+        // 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++', 'no_extension=C++'
+    extract_all true
     extract_static true
+    file_patterns '*'
     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 +190,10 @@ 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 +209,23 @@ 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 +1,70 @@
+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'
+        baseId = nativeName
+        groupId = 'edu.wpi.first.fieldImages'
+        devMain = "edu.wpi.first.fieldImages.DevMain"
+    }
+
+    apply from: "${rootDir}/shared/resources.gradle"
+    apply from: "${rootDir}/shared/config.gradle"
+    apply from: "${rootDir}/shared/java/javacommon.gradle"
+
+    def generateTask = createGenerateResourcesTask('main', 'FIELDS', 'fields', project)
+
+    project(':').libraryBuild.dependsOn build
+    tasks.withType(CppCompile) {
+        dependsOn generateTask
+    }
+
+    sourceSets {
+        main {
+            resources {
+                srcDirs 'src/main/native/resources'
+            }
+        }
+    }
+
+    model {
+        components {
+            "${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 = project.nativeName
+def artifactGroupId = project.groupId
+def cppZipBaseName = "_GROUP_edu_wpi_first_fieldIimages_ID_${baseArtifactId}-cpp_CLS"
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = cppZipBaseName
+    classifier = "sources"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+    from("$buildDir/generated/cpp") {
+        into '/'
+    }
+}
+
+task cppHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = cppZipBaseName
+    classifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    ext.includeDirs = [
+        project.file('src/main/native/include')
+    ]
+
+    ext.includeDirs.each {
+        from(it) {
+            into '/'
+        }
+    }
+}
+
+build.dependsOn cppHeadersZip
+build.dependsOn cppSourcesZip
+
+addTaskToCopyAllOutputs(cppHeadersZip)
+addTaskToCopyAllOutputs(cppSourcesZip)
+
+model {
+    publishing {
+        def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], cppZipBaseName, Zip, project, includeStandardZipFormat)
+
+        publications {
+            cpp(MavenPublication) {
+                wpilibCTaskList.each {
+                    artifact it
+                }
+
+                artifact cppHeadersZip
+                artifact cppSourcesZip
+
+                artifactId = "${baseArtifactId}-cpp"
+                groupId artifactGroupId
+                version wpilibVersioning.version.get()
+            }
+        }
+    }
+}

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

@@ -0,0 +1,25 @@
+// 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";
+  public static final String k2022RapidReactFieldConfig =
+      "/edu/wpi/first/fields/2022-rapidreact.json";
+}

fieldImages/src/main/native/include/fields/2018-powerup.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_2018_powerup_json();
+std::string_view GetResource_2018_field_jpg();
+}  // namespace fields

fieldImages/src/main/native/include/fields/2019-deepspace.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_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/include/fields/2022-rapidreact.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_2022_rapidreact_json();
+std::string_view GetResource_2022_field_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"
+  }