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

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

.wpilib/wpilib_preferences.json

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

CMakeLists.txt

@@ -145,6 +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)")
@@ -245,7 +247,6 @@ if (WITH_TESTS)
     include(GoogleTest)
 endif()
 
-add_subdirectory(fieldImages)
 add_subdirectory(wpiutil)
 add_subdirectory(ntcore)
 
@@ -254,10 +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)

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

build.gradle

@@ -19,9 +19,9 @@ plugins {
     id 'idea'
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '2.0.2' apply false
-    id 'com.github.johnrengelman.shadow' version '7.1.1' apply false
-    id 'com.diffplug.spotless' version '6.0.5' apply false
-    id 'com.github.spotbugs' version '5.0.3' 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')
@@ -147,5 +147,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '7.3.2'
+    gradleVersion = '7.3.3'
 }

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()

fieldImages/build.gradle

@@ -15,10 +15,14 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
 
     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)
 

fieldImages/publish.gradle

@@ -1,14 +1,14 @@
 apply plugin: 'maven-publish'
 
-def baseArtifactId = 'fieldImages'
-def artifactGroupId = 'edu.wpi.first.fieldImages'
-def zipBaseName = '_GROUP_edu_wpi_first_field_images_ID_CLS'
+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 = zipBaseName
+    archiveBaseName = cppZipBaseName
     classifier = "sources"
 
     from(licenseFile) {
@@ -25,7 +25,7 @@ task cppSourcesZip(type: Zip) {
 
 task cppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
-    archiveBaseName = zipBaseName
+    archiveBaseName = cppZipBaseName
     classifier = "headers"
 
     from(licenseFile) {
@@ -51,7 +51,7 @@ addTaskToCopyAllOutputs(cppSourcesZip)
 
 model {
     publishing {
-        def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], zipBaseName, Zip, project, includeStandardZipFormat)
+        def wpilibCTaskList = createComponentZipTasks($.components, ['fieldImages'], cppZipBaseName, Zip, project, includeStandardZipFormat)
 
         publications {
             cpp(MavenPublication) {
@@ -62,7 +62,7 @@ model {
                 artifact cppHeadersZip
                 artifact cppSourcesZip
 
-                artifactId = baseArtifactId
+                artifactId = "${baseArtifactId}-cpp"
                 groupId artifactGroupId
                 version wpilibVersioning.version.get()
             }

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

@@ -20,4 +20,6 @@ public class FieldImages {
   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/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/2022-rapidreact.json

@@ -0,0 +1,10 @@
+{
+    "game": "Rapid React",
+    "field-image": "2022-field.png",
+    "field-corners": {
+      "top-left": [74, 50],
+      "bottom-right": [1774, 900]
+    },
+    "field-size": [54, 27],
+    "field-unit": "foot"
+  }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-7.3.3-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright © 2015-2021 the original authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -32,10 +32,10 @@
 #       Busybox and similar reduced shells will NOT work, because this script
 #       requires all of these POSIX shell features:
 #         * functions;
-#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
-#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
-#         * compound commands having a testable exit status, especially «case»;
-#         * various built-in commands including «command», «set», and «ulimit».
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
 #
 #   Important for patching:
 #

hal/src/main/native/athena/I2C.cpp

@@ -54,6 +54,10 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) {
   }
 
   if (port == HAL_I2C_kOnboard) {
+    HAL_SendError(0, 0, 0,
+                  "Onboard I2C port is subject to system lockups. See Known "
+                  "Issues page for details",
+                  "", "", true);
     std::scoped_lock lock(digitalI2COnBoardMutex);
     i2COnboardObjCount++;
     if (i2COnboardObjCount > 1) {

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

@@ -11,6 +11,7 @@
 #include <hal/handles/IndexedHandleResource.h>
 
 #include <cstring>
+#include <thread>
 
 #include <fmt/format.h>
 
@@ -35,6 +36,7 @@ struct REV_PDHObj {
   int32_t controlPeriod;
   HAL_CANHandle hcan;
   std::string previousAllocation;
+  HAL_PowerDistributionVersion versionInfo;
 };
 
 }  // namespace
@@ -226,6 +228,7 @@ HAL_REVPDHHandle HAL_InitializeREVPDH(int32_t module,
   hpdh->previousAllocation = allocationLocation ? allocationLocation : "";
   hpdh->hcan = hcan;
   hpdh->controlPeriod = kDefaultControlPeriod;
+  std::memset(&hpdh->versionInfo, 0, sizeof(hpdh->versionInfo));
 
   return handle;
 }
@@ -490,6 +493,18 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
     return;
   }
 
+  if (hpdh->versionInfo.firmwareMajor > 0) {
+    version->firmwareMajor = hpdh->versionInfo.firmwareMajor;
+    version->firmwareMinor = hpdh->versionInfo.firmwareMinor;
+    version->firmwareFix = hpdh->versionInfo.firmwareFix;
+    version->hardwareMajor = hpdh->versionInfo.hardwareMajor;
+    version->hardwareMinor = hpdh->versionInfo.hardwareMinor;
+    version->uniqueId = hpdh->versionInfo.uniqueId;
+
+    *status = 0;
+    return;
+  }
+
   HAL_WriteCANRTRFrame(hpdh->hcan, PDH_VERSION_LENGTH, PDH_VERSION_FRAME_API,
                        status);
 
@@ -497,9 +512,15 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
     return;
   }
 
-  HAL_ReadCANPacketTimeout(hpdh->hcan, PDH_VERSION_FRAME_API, packedData,
-                           &length, &timestamp, kDefaultControlPeriod * 2,
-                           status);
+  uint32_t timeoutMs = 100;
+  for (uint32_t i = 0; i <= timeoutMs; i++) {
+    HAL_ReadCANPacketNew(hpdh->hcan, PDH_VERSION_FRAME_API, packedData, &length,
+                         &timestamp, status);
+    if (*status == 0) {
+      break;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
 
   if (*status != 0) {
     return;
@@ -513,6 +534,8 @@ void HAL_GetREVPDHVersion(HAL_REVPDHHandle handle,
   version->hardwareMinor = result.hardware_minor;
   version->hardwareMajor = result.hardware_major;
   version->uniqueId = result.unique_id;
+
+  hpdh->versionInfo = *version;
 }
 
 void HAL_GetREVPDHFaults(HAL_REVPDHHandle handle,

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

@@ -4,6 +4,8 @@
 
 #include "hal/REVPH.h"
 
+#include <thread>
+
 #include <fmt/format.h>
 
 #include "HALInitializer.h"
@@ -63,6 +65,7 @@ struct REV_PHObj {
   wpi::mutex solenoidLock;
   HAL_CANHandle hcan;
   std::string previousAllocation;
+  HAL_REVPHVersion versionInfo;
 };
 
 }  // namespace
@@ -221,6 +224,9 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
   hph->previousAllocation = allocationLocation ? allocationLocation : "";
   hph->hcan = hcan;
   hph->controlPeriod = kDefaultControlPeriod;
+  std::memset(&hph->desiredSolenoidsState, 0,
+              sizeof(hph->desiredSolenoidsState));
+  std::memset(&hph->versionInfo, 0, sizeof(hph->versionInfo));
 
   // Start closed-loop compressor control by starting solenoid state updates
   HAL_SendREVPHSolenoidsState(hph.get(), status);
@@ -480,6 +486,18 @@ void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
     return;
   }
 
+  if (ph->versionInfo.firmwareMajor > 0) {
+    version->firmwareMajor = ph->versionInfo.firmwareMajor;
+    version->firmwareMinor = ph->versionInfo.firmwareMinor;
+    version->firmwareFix = ph->versionInfo.firmwareFix;
+    version->hardwareMajor = ph->versionInfo.hardwareMajor;
+    version->hardwareMinor = ph->versionInfo.hardwareMinor;
+    version->uniqueId = ph->versionInfo.uniqueId;
+
+    *status = 0;
+    return;
+  }
+
   HAL_WriteCANRTRFrame(ph->hcan, PH_VERSION_LENGTH, PH_VERSION_FRAME_API,
                        status);
 
@@ -487,8 +505,15 @@ void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
     return;
   }
 
-  HAL_ReadCANPacketTimeout(ph->hcan, PH_VERSION_FRAME_API, packedData, &length,
-                           &timestamp, kDefaultControlPeriod * 2, status);
+  uint32_t timeoutMs = 100;
+  for (uint32_t i = 0; i <= timeoutMs; i++) {
+    HAL_ReadCANPacketNew(ph->hcan, PH_VERSION_FRAME_API, packedData, &length,
+                         &timestamp, status);
+    if (*status == 0) {
+      break;
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
 
   if (*status != 0) {
     return;
@@ -502,6 +527,8 @@ void HAL_GetREVPHVersion(HAL_REVPHHandle handle, HAL_REVPHVersion* version,
   version->hardwareMinor = result.hardware_minor;
   version->hardwareMajor = result.hardware_major;
   version->uniqueId = result.unique_id;
+
+  ph->versionInfo = *version;
 }
 
 int32_t HAL_GetREVPHSolenoids(HAL_REVPHHandle handle, int32_t* status) {

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

@@ -74,6 +74,11 @@ typedef int32_t HAL_Bool;
 
 #ifdef __cplusplus
 #define HAL_ENUM(name) enum name : int32_t
+#elif defined(__clang__)
+#define HAL_ENUM(name)    \
+  enum name : int32_t;    \
+  typedef enum name name; \
+  enum name : int32_t
 #else
 #define HAL_ENUM(name)  \
   typedef int32_t name; \

imgui/CMakeLists.txt.in

@@ -5,7 +5,7 @@ project(imgui-download NONE)
 include(ExternalProject)
 ExternalProject_Add(glfw3
   GIT_REPOSITORY    https://github.com/glfw/glfw.git
-  GIT_TAG           3.3.5
+  GIT_TAG           3.3.6
   SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/glfw-src"
   BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/glfw-build"
   CONFIGURE_COMMAND ""
@@ -23,7 +23,7 @@ ExternalProject_Add(gl3w
 )
 ExternalProject_Add(imgui
   GIT_REPOSITORY    https://github.com/ocornut/imgui.git
-  GIT_TAG           v1.85
+  GIT_TAG           v1.86
   SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/imgui-src"
   BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/imgui-build"
   CONFIGURE_COMMAND ""

myRobot/build.gradle

@@ -162,6 +162,7 @@ model {
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
                 lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
                 lib project: ':cscore', library: 'cscore', linkage: 'shared'
                 lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
@@ -171,7 +172,6 @@ model {
                 project(':hal').addHalDependency(binary, 'shared')
                 project(':hal').addHalJniDependency(binary)
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
                 } else {
@@ -209,11 +209,11 @@ model {
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'static'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
                 lib project: ':ntcore', library: 'ntcore', linkage: 'static'
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 project(':hal').addHalDependency(binary, 'static')
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-                lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
                 }

roborioteamnumbersetter/CMakeLists.txt

@@ -0,0 +1,29 @@
+project(roborioteamnumbersetter)
+
+include(CompileWarnings)
+include(GenResources)
+include(LinkMacOSGUI)
+
+configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
+GENERATE_RESOURCES(src/main/native/resources generated/main/cpp RTNS rtns rtns_resources_src)
+
+file(GLOB rtns_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
+
+if (WIN32)
+    set(rtns_rc src/main/native/win/roborioteamnumbersetter.rc)
+elseif(APPLE)
+    set(MACOSX_BUNDLE_ICON_FILE glass.icns)
+    set(APP_ICON_MACOSX src/main/native/mac/rtns.icns)
+    set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
+endif()
+
+add_executable(roborioteamnumbersetter ${rtns_src} ${rtns_resources_src} ${rtns_rc} ${APP_ICON_MACOSX})
+wpilib_link_macos_gui(roborioteamnumbersetter)
+target_link_libraries(roborioteamnumbersetter libglass ${LIBSSH_LIBRARIES})
+target_include_directories(roborioteamnumbersetter PRIVATE ${LIBSSH_INCLUDE_DIRS})
+
+if (WIN32)
+    set_target_properties(roborioteamnumbersetter PROPERTIES WIN32_EXECUTABLE YES)
+elseif(APPLE)
+    set_target_properties(roborioteamnumbersetter PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "roborioTeamNumberSetter")
+endif()

shared/config.gradle

@@ -13,7 +13,7 @@ nativeUtils {
             niLibVersion = "2022.2.3"
             opencvVersion = "4.5.2-1"
             googleTestVersion = "1.9.0-5-437e100-1"
-            imguiVersion = "1.85-2"
+            imguiVersion = "1.86-1"
             wpimathVersion = "-1"
         }
     }

styleguide/spotbugs-exclude.xml

@@ -80,6 +80,14 @@
     <Bug pattern="UC_USELESS_VOID_METHOD" />
     <Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
   </Match>
+  <Match>
+    <Bug pattern="URF_UNREAD_FIELD" />
+    <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
+  </Match>
+  <Match>
+    <Bug pattern="URF_UNREAD_FIELD" />
+    <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
+  </Match>
   <Match>
     <Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
   </Match>

upstream_utils/fmt-dont-throw-on-write-failure.patch

@@ -0,0 +1,42 @@
+diff --git a/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h b/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
+index 2c51c50ae..cc89abdd3 100644
+--- a/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
++++ b/wpiutil/src/main/native/fmtlib/include/fmt/format-inl.h
+@@ -92,8 +92,7 @@ FMT_FUNC void report_error(format_func func, int error_code,
+ // A wrapper around fwrite that throws on error.
+ inline void fwrite_fully(const void* ptr, size_t size, size_t count,
+                          FILE* stream) {
+-  size_t written = std::fwrite(ptr, size, count, stream);
+-  if (written < count) FMT_THROW(system_error(errno, "cannot write to file"));
++  std::fwrite(ptr, size, count, stream);
+ }
+ 
+ #ifndef FMT_STATIC_THOUSANDS_SEPARATOR
+diff --git a/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h b/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
+index 55825077f..9acb893fa 100644
+--- a/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
++++ b/wpiutil/src/main/native/fmtlib/include/fmt/xchar.h
+@@ -207,8 +207,7 @@ inline void vprint(std::FILE* f, wstring_view fmt, wformat_args args) {
+   wmemory_buffer buffer;
+   detail::vformat_to(buffer, fmt, args);
+   buffer.push_back(L'\0');
+-  if (std::fputws(buffer.data(), f) == -1)
+-    FMT_THROW(system_error(errno, FMT_STRING("cannot write to file")));
++  std::fputws(buffer.data(), f);
+ }
+ 
+ inline void vprint(wstring_view fmt, wformat_args args) {
+diff --git a/wpiutil/src/main/native/fmtlib/src/os.cpp b/wpiutil/src/main/native/fmtlib/src/os.cpp
+index 04b4dc506..4eb3e1fdd 100644
+--- a/wpiutil/src/main/native/fmtlib/src/os.cpp
++++ b/wpiutil/src/main/native/fmtlib/src/os.cpp
+@@ -277,8 +277,7 @@ std::size_t file::read(void* buffer, std::size_t count) {
+ std::size_t file::write(const void* buffer, std::size_t count) {
+   rwresult result = 0;
+   FMT_RETRY(result, FMT_POSIX_CALL(write(fd_, buffer, convert_rwcount(count))));
+-  if (result < 0) FMT_THROW(system_error(errno, "cannot write to file"));
+-  return detail::to_unsigned(result);
++  return count;
+ }
+ 
+ file file::dup(int fd) {

upstream_utils/update_fmt.py

@@ -3,11 +3,11 @@
 import os
 import shutil
 
-from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if
+from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if, apply_patches
 
 
 def main():
-    root, repo = setup_upstream_repo("https://github.com/fmtlib/fmt", "8.0.1")
+    root, repo = setup_upstream_repo("https://github.com/fmtlib/fmt", "8.1.1")
     wpiutil = os.path.join(root, "wpiutil")
 
     # Delete old install
@@ -31,6 +31,9 @@ def main():
         comment_out_invalid_includes(
             f, [os.path.join(wpiutil, "src/main/native/fmtlib/include")])
 
+    apply_patches(root,
+                  ["upstream_utils/fmt-dont-throw-on-write-failure.patch"])
+
 
 if __name__ == "__main__":
     main()

wpigui/.styleguide

@@ -27,5 +27,4 @@ includeOtherLibs {
   ^imgui
   ^implot
   ^stb
-  ^wpi/
 }

wpigui/CMakeLists.txt

@@ -15,7 +15,7 @@ set_property(TARGET wpigui PROPERTY POSITION_INDEPENDENT_CODE ON)
 set_property(TARGET wpigui PROPERTY FOLDER "libraries")
 
 wpilib_target_warnings(wpigui)
-target_link_libraries(wpigui PUBLIC imgui wpiutil)
+target_link_libraries(wpigui PUBLIC imgui)
 
 target_include_directories(wpigui PUBLIC
                             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>

wpigui/build.gradle

@@ -62,7 +62,6 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                 }
                 binaries.all {
                     nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
                         it.buildable = false
                         return
@@ -120,7 +119,6 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                 binaries.all {
                     lib library: 'wpigui'
                     nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 }
             }
         }

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

@@ -15,7 +15,6 @@
 #include <imgui_internal.h>
 #include <implot.h>
 #include <stb_image.h>
-#include <wpi/fs.h>
 
 #include "wpigui_internal.h"
 
@@ -320,7 +319,7 @@ void gui::Main() {
 
   // Delete the save file if requested.
   if (!gContext->saveSettings && gContext->resetOnExit) {
-    fs::remove(fs::path{gContext->iniPath});
+    std::remove(gContext->iniPath.c_str());
   }
 
   glfwDestroyWindow(gContext->window);

wpilibNewCommands/build.gradle

@@ -75,6 +75,7 @@ model {
 
             if (it.component.name == "${nativeName}Dev") {
                 lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
                 project(':hal').addHalJniDependency(it)
             }
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java

@@ -14,6 +14,8 @@ import java.util.function.BooleanSupplier;
  *
  * <p>Commands are run synchronously from the main robot loop; no multithreading is used, unless
  * specified explicitly from the command implementation.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public interface Command {
   /** The initial subroutine of a command. Called once when the command is initially scheduled. */

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandBase.java

@@ -10,7 +10,11 @@ import edu.wpi.first.util.sendable.SendableRegistry;
 import java.util.HashSet;
 import java.util.Set;
 
-/** A {@link Sendable} base class for {@link Command}s. */
+/**
+ * A {@link Sendable} base class for {@link Command}s.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
 public abstract class CommandBase implements Sendable, Command {
   protected Set<Subsystem> m_requirements = new HashSet<>();
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandGroupBase.java

@@ -13,6 +13,8 @@ import java.util.WeakHashMap;
  * A base for CommandGroups. Statically tracks commands that have been allocated to groups to ensure
  * those commands are not also used independently, which can result in inconsistent command state
  * and unpredictable execution.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class CommandGroupBase extends CommandBase {
   private static final Set<Command> m_groupedCommands =

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java

@@ -33,6 +33,8 @@ import java.util.function.Consumer;
  * synchronously from the main loop. Subsystems should be registered with the scheduler using {@link
  * CommandScheduler#registerSubsystem(Subsystem...)} in order for their {@link Subsystem#periodic()}
  * methods to be called and for their default commands to be scheduled.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public final class CommandScheduler implements NTSendable, AutoCloseable {
   /** The Singleton Instance. */

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandState.java

@@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj.Timer;
 
 /**
  * Class that holds scheduling state for a command. Used internally by the {@link CommandScheduler}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 class CommandState {
   // The time since this command was initialized.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ConditionalCommand.java

@@ -21,6 +21,8 @@ import java.util.function.BooleanSupplier;
  * scheduled individually.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ConditionalCommand extends CommandBase {
   private final Command m_onTrue;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/FunctionalCommand.java

@@ -14,6 +14,8 @@ import java.util.function.Consumer;
  * the constructor. Useful for inline definitions of complex commands - note, however, that if a
  * command is beyond a certain complexity it is usually better practice to write a proper class for
  * it than to inline it.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class FunctionalCommand extends CommandBase {
   protected final Runnable m_onInit;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/InstantCommand.java

@@ -10,6 +10,8 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  * A Command that runs instantly; it will initialize, execute once, and end on the same iteration of
  * the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass
  * this command if desired.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class InstantCommand extends CommandBase {
   private final Runnable m_toRun;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java

@@ -35,6 +35,8 @@ import java.util.function.Supplier;
  *
  * <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
  * to the angle given in the final state of the trajectory.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 @SuppressWarnings("MemberName")
 public class MecanumControllerCommand extends CommandBase {
@@ -359,7 +361,7 @@ public class MecanumControllerCommand extends CommandBase {
         m_controller.calculate(m_pose.get(), desiredState, m_desiredRotation.get());
     var targetWheelSpeeds = m_kinematics.toWheelSpeeds(targetChassisSpeeds);
 
-    targetWheelSpeeds.normalize(m_maxWheelVelocityMetersPerSecond);
+    targetWheelSpeeds.desaturate(m_maxWheelVelocityMetersPerSecond);
 
     var frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeftMetersPerSecond;
     var rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeftMetersPerSecond;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/NotifierCommand.java

@@ -14,6 +14,8 @@ import edu.wpi.first.wpilibj.Notifier;
  * <p>WARNING: Do not use this class unless you are confident in your ability to make the executed
  * code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you
  * should not use this class.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class NotifierCommand extends CommandBase {
   protected final Notifier m_notifier;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDCommand.java

@@ -15,6 +15,8 @@ import java.util.function.DoubleSupplier;
  * A command that controls an output with a {@link PIDController}. Runs forever by default - to add
  * exit conditions and/or other behavior, subclass this class. The controller calculation and output
  * are performed synchronously in the command's execute() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class PIDCommand extends CommandBase {
   protected final PIDController m_controller;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PIDSubsystem.java

@@ -11,6 +11,8 @@ import edu.wpi.first.math.controller.PIDController;
 /**
  * A subsystem that uses a {@link PIDController} to control an output. The controller is run
  * synchronously from the subsystem's periodic() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class PIDSubsystem extends SubsystemBase {
   protected final PIDController m_controller;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java

@@ -12,6 +12,8 @@ import java.util.Map;
  * A CommandGroup that runs a set of commands in parallel, ending when the last command ends.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ParallelCommandGroup extends CommandGroupBase {
   // maps commands in this group to whether they are still running

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java

@@ -13,6 +13,8 @@ import java.util.Map;
  * "deadline") ends, interrupting all other commands that are still running at that point.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ParallelDeadlineGroup extends CommandGroupBase {
   // maps commands in this group to whether they are still running

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java

@@ -13,6 +13,8 @@ import java.util.Set;
  * and interrupting all the others.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ParallelRaceGroup extends CommandGroupBase {
   private final Set<Command> m_commands = new HashSet<>();

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PerpetualCommand.java

@@ -14,6 +14,8 @@ import static edu.wpi.first.wpilibj2.command.CommandGroupBase.requireUngrouped;
  * cannot be added to any other groups, or scheduled individually.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class PerpetualCommand extends CommandBase {
   protected final Command m_command;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/PrintCommand.java

@@ -4,7 +4,11 @@
 
 package edu.wpi.first.wpilibj2.command;
 
-/** A command that prints a string when initialized. */
+/**
+ * A command that prints a string when initialized.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
 public class PrintCommand extends InstantCommand {
   /**
    * Creates a new a PrintCommand.

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDCommand.java

@@ -17,6 +17,8 @@ import java.util.function.Supplier;
  * A command that controls an output with a {@link ProfiledPIDController}. Runs forever by default -
  * to add exit conditions and/or other behavior, subclass this class. The controller calculation and
  * output are performed synchronously in the command's execute() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ProfiledPIDCommand extends CommandBase {
   protected final ProfiledPIDController m_controller;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProfiledPIDSubsystem.java

@@ -13,6 +13,8 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
 /**
  * A subsystem that uses a {@link ProfiledPIDController} to control an output. The controller is run
  * synchronously from the subsystem's periodic() method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class ProfiledPIDSubsystem extends SubsystemBase {
   protected final ProfiledPIDController m_controller;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ProxyScheduleCommand.java

@@ -10,6 +10,8 @@ import java.util.Set;
  * Schedules the given commands when this command is initialized, and ends when all the commands are
  * no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted,
  * it will cancel all of the commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ProxyScheduleCommand extends CommandBase {
   private final Set<Command> m_toSchedule;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java

@@ -29,6 +29,8 @@ import java.util.function.Supplier;
  * <p>Advanced teams seeking more flexibility (for example, those who wish to use the onboard PID
  * functionality of a "smart" motor controller) may use the secondary constructor that omits the PID
  * and feedforward functionality, returning only the raw wheel speeds from the RAMSETE controller.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class RamseteCommand extends CommandBase {
   private final Timer m_timer = new Timer();

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RunCommand.java

@@ -12,6 +12,8 @@ import java.util.function.BooleanSupplier;
  * A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or
  * use {@link Command#withTimeout(double)} or {@link Command#withInterrupt(BooleanSupplier)} to give
  * it one. If you only wish to execute a Runnable once, use {@link InstantCommand}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class RunCommand extends CommandBase {
   protected final Runnable m_toRun;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ScheduleCommand.java

@@ -10,6 +10,8 @@ import java.util.Set;
  * Schedules the given commands when this command is initialized. Useful for forking off from
  * CommandGroups. Note that if run from a CommandGroup, the group will not know about the status of
  * the scheduled commands, and will treat this command as finishing instantly.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class ScheduleCommand extends CommandBase {
   private final Set<Command> m_toSchedule;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SelectCommand.java

@@ -23,6 +23,8 @@ import java.util.function.Supplier;
  * scheduled individually.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class SelectCommand extends CommandBase {
   private final Map<Object, Command> m_commands;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java

@@ -11,6 +11,8 @@ import java.util.List;
  * A CommandGroups that runs a list of commands in sequence.
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their component commands.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class SequentialCommandGroup extends CommandGroupBase {
   private final List<Command> m_commands = new ArrayList<>();

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/StartEndCommand.java

@@ -11,6 +11,8 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
  * Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no
  * end condition as-is; either subclass it or use {@link Command#withTimeout(double)} or {@link
  * Command#withInterrupt(java.util.function.BooleanSupplier)} to give it one.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class StartEndCommand extends CommandBase {
   protected final Runnable m_onInit;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java

@@ -18,6 +18,8 @@ package edu.wpi.first.wpilibj2.command;
  * Subsystem#periodic()} method to be called. It is recommended that this method be called from the
  * constructor of users' Subsystem implementations. The {@link SubsystemBase} class offers a simple
  * base for user implementations that handles this.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public interface Subsystem {
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SubsystemBase.java

@@ -11,6 +11,8 @@ import edu.wpi.first.util.sendable.SendableRegistry;
 /**
  * A base for subsystems that handles registration in the constructor, and provides a more intuitive
  * method for setting the default command.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class SubsystemBase implements Subsystem, Sendable {
   /** Constructor. */

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java

@@ -28,6 +28,8 @@ import java.util.function.Supplier;
  *
  * <p>The robot angle controller does not follow the angle given by the trajectory but rather goes
  * to the angle given in the final state of the trajectory.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 @SuppressWarnings("MemberName")
 public class SwerveControllerCommand extends CommandBase {

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java

@@ -13,6 +13,8 @@ import java.util.function.Consumer;
 
 /**
  * A command that runs a {@link TrapezoidProfile}. Useful for smoothly controlling mechanism motion.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class TrapezoidProfileCommand extends CommandBase {
   private final TrapezoidProfile m_profile;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileSubsystem.java

@@ -11,6 +11,8 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
 /**
  * A subsystem that generates and runs trapezoidal motion profiles automatically. The user specifies
  * how to use the current state of the motion profile by overriding the `useState` method.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public abstract class TrapezoidProfileSubsystem extends SubsystemBase {
   private final double m_period;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java

@@ -10,6 +10,8 @@ import edu.wpi.first.wpilibj.Timer;
 /**
  * A command that does nothing but takes a specified amount of time to finish. Useful for
  * CommandGroups. Can also be subclassed to make a command with an internal timer.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class WaitCommand extends CommandBase {
   protected Timer m_timer = new Timer();

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java

@@ -12,6 +12,8 @@ import java.util.function.BooleanSupplier;
 /**
  * A command that does nothing but ends after a specified match time or condition. Useful for
  * CommandGroups.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class WaitUntilCommand extends CommandBase {
   private final BooleanSupplier m_condition;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Button.java

@@ -17,6 +17,8 @@ import java.util.function.BooleanSupplier;
  * <p>This class represents a subclass of Trigger that is specifically aimed at buttons on an
  * operator interface as a common use case of the more generalized Trigger objects. This is a simple
  * wrapper around Trigger with the method names renamed to fit the Button object use.
+ *
+ * <p>This class is provided by the OldCommands VendorDep
  */
 public class Button extends Trigger {
   /**

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/InternalButton.java

@@ -7,6 +7,8 @@ package edu.wpi.first.wpilibj2.command.button;
 /**
  * This class is intended to be used within a program. The programmer can manually set its value.
  * Also includes a setting for whether or not it should invert its value.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
 public class InternalButton extends Button {
   private boolean m_pressed;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/JoystickButton.java

@@ -8,7 +8,11 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.wpilibj.GenericHID;
 
-/** A {@link Button} that gets its state from a {@link GenericHID}. */
+/**
+ * A {@link Button} that gets its state from a {@link GenericHID}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
 public class JoystickButton extends Button {
   private final GenericHID m_joystick;
   private final int m_buttonNumber;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/NetworkButton.java

@@ -8,7 +8,11 @@ import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 
-/** A {@link Button} that uses a {@link NetworkTable} boolean field. */
+/**
+ * A {@link Button} that uses a {@link NetworkTable} boolean field.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
 public class NetworkButton extends Button {
   private final NetworkTableEntry m_entry;
 

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/POVButton.java

@@ -8,7 +8,11 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.wpilibj.GenericHID;
 
-/** A {@link Button} that gets its state from a POV on a {@link GenericHID}. */
+/**
+ * A {@link Button} that gets its state from a POV on a {@link GenericHID}.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
+ */
 public class POVButton extends Button {
   private final GenericHID m_joystick;
   private final int m_angle;

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj2.command.button;
 
 import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
 
-import edu.wpi.first.wpilibj.Debouncer;
+import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
@@ -23,8 +23,10 @@ import java.util.function.BooleanSupplier;
  * (for instance, if they want to react to the user holding a button while the robot is reading a
  * certain sensor input). For this, they only have to write the {@link Trigger#get()} method to get
  * the full functionality of the Trigger class.
+ *
+ * <p>This class is provided by the NewCommands VendorDep
  */
-public class Trigger {
+public class Trigger implements BooleanSupplier {
   private final BooleanSupplier m_isActive;
 
   /**
@@ -49,9 +51,25 @@ public class Trigger {
    *
    * <p>This method will be called repeatedly a command is linked to the Trigger.
    *
+   * <p>Functionally identical to {@link Trigger#getAsBoolean()}.
+   *
    * @return whether or not the trigger condition is active.
    */
   public boolean get() {
+    return this.getAsBoolean();
+  }
+
+  /**
+   * Returns whether or not the trigger is active.
+   *
+   * <p>This method will be called repeatedly a command is linked to the Trigger.
+   *
+   * <p>Functionally identical to {@link Trigger#get()}.
+   *
+   * @return whether or not the trigger condition is active.
+   */
+  @Override
+  public boolean getAsBoolean() {
     return m_isActive.getAsBoolean();
   }
 
@@ -365,13 +383,25 @@ public class Trigger {
    * Creates a new debounced trigger from this trigger - it will become active when this trigger has
    * been active for longer than the specified period.
    *
-   * @param seconds the debounce period
-   * @return the debounced trigger
+   * @param seconds The debounce period.
+   * @return The debounced trigger (rising edges debounced only)
    */
   public Trigger debounce(double seconds) {
+    return debounce(seconds, Debouncer.DebounceType.kRising);
+  }
+
+  /**
+   * Creates a new debounced trigger from this trigger - it will become active when this trigger has
+   * been active for longer than the specified period.
+   *
+   * @param seconds The debounce period.
+   * @param type The debounce type.
+   * @return The debounced trigger.
+   */
+  public Trigger debounce(double seconds, Debouncer.DebounceType type) {
     return new Trigger(
         new BooleanSupplier() {
-          Debouncer m_debouncer = new Debouncer(seconds);
+          Debouncer m_debouncer = new Debouncer(seconds, type);
 
           @Override
           public boolean getAsBoolean() {

wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp

@@ -278,7 +278,7 @@ void MecanumControllerCommand::Execute() {
       m_controller.Calculate(m_pose(), m_desiredState, m_desiredRotation());
   auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(targetChassisSpeeds);
 
-  targetWheelSpeeds.Normalize(m_maxWheelVelocity);
+  targetWheelSpeeds.Desaturate(m_maxWheelVelocity);
 
   auto frontLeftSpeedSetpoint = targetWheelSpeeds.frontLeft;
   auto rearLeftSpeedSetpoint = targetWheelSpeeds.rearLeft;

wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp

@@ -4,7 +4,7 @@
 
 #include "frc2/command/button/Trigger.h"
 
-#include <frc/Debouncer.h>
+#include <frc/filter/Debouncer.h>
 
 #include "frc2/command/InstantCommand.h"
 
@@ -139,8 +139,10 @@ Trigger Trigger::CancelWhenActive(Command* command) {
   return *this;
 }
 
-Trigger Trigger::Debounce(units::second_t debounceTime) {
-  return Trigger([debouncer = frc::Debouncer(debounceTime), *this]() mutable {
-    return debouncer.Calculate(m_isActive());
-  });
+Trigger Trigger::Debounce(units::second_t debounceTime,
+                          frc::Debouncer::DebounceType type) {
+  return Trigger(
+      [debouncer = frc::Debouncer(debounceTime, type), *this]() mutable {
+        return debouncer.Calculate(m_isActive());
+      });
 }

wpilibNewCommands/src/main/native/include/frc2/command/Command.h

@@ -42,6 +42,8 @@ class ProxyScheduleCommand;
  * <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
  * or decorators will not function!
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see CommandScheduler
  * @see CommandHelper
  */

wpilibNewCommands/src/main/native/include/frc2/command/CommandBase.h

@@ -18,6 +18,8 @@
 namespace frc2 {
 /**
  * A Sendable base class for Commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class CommandBase : public Command,
                     public wpi::Sendable,

wpilibNewCommands/src/main/native/include/frc2/command/CommandGroupBase.h

@@ -18,6 +18,8 @@ namespace frc2 {
  * A base for CommandGroups.  Statically tracks commands that have been
  * allocated to groups to ensure those commands are not also used independently,
  * which can result in inconsistent command state and unpredictable execution.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class CommandGroupBase : public CommandBase {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/CommandHelper.h

@@ -17,6 +17,8 @@ namespace frc2 {
  *
  * <p>Note: ALWAYS create a subclass by extending CommandHelper<Base, Subclass>,
  * or decorators will not function!
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 template <typename Base, typename CRTP,
           typename = std::enable_if_t<std::is_base_of_v<Command, Base>>>

wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h

@@ -26,6 +26,8 @@ class Subsystem;
  * commands synchronously from the main loop.  Subsystems should be registered
  * with the scheduler using RegisterSubsystem() in order for their Periodic()
  * methods to be called and for their default commands to be scheduled.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class CommandScheduler final : public nt::NTSendable,
                                public wpi::SendableHelper<CommandScheduler> {

wpilibNewCommands/src/main/native/include/frc2/command/CommandState.h

@@ -10,6 +10,8 @@ namespace frc2 {
 /**
  * Class that holds scheduling state for a command.  Used internally by the
  * CommandScheduler
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class CommandState final {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/ConditionalCommand.h

@@ -29,6 +29,8 @@ namespace frc2 {
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see ScheduleCommand
  */
 class ConditionalCommand

wpilibNewCommands/src/main/native/include/frc2/command/FunctionalCommand.h

@@ -19,6 +19,8 @@ namespace frc2 {
  * complex commands - note, however, that if a command is beyond a certain
  * complexity it is usually better practice to write a proper class for it than
  * to inline it.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class FunctionalCommand : public CommandHelper<CommandBase, FunctionalCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/InstantCommand.h

@@ -17,6 +17,8 @@ namespace frc2 {
  * A Command that runs instantly; it will initialize, execute once, and end on
  * the same iteration of the scheduler.  Users can either pass in a Runnable and
  * a set of requirements, or else subclass this command if desired.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class InstantCommand : public CommandHelper<CommandBase, InstantCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/MecanumControllerCommand.h

@@ -47,6 +47,8 @@ namespace frc2 {
  * <p>The robot angle controller does not follow the angle given by
  * the trajectory but rather goes to the angle given in the final state of the
  * trajectory.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class MecanumControllerCommand
     : public CommandHelper<CommandBase, MecanumControllerCommand> {

wpilibNewCommands/src/main/native/include/frc2/command/NotifierCommand.h

@@ -24,6 +24,8 @@ namespace frc2 {
  * <p>WARNING: Do not use this class unless you are confident in your ability to
  * make the executed code thread-safe.  If you do not know what "thread-safe"
  * means, that is a good sign that you should not use this class.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class NotifierCommand : public CommandHelper<CommandBase, NotifierCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/PIDCommand.h

@@ -20,6 +20,8 @@ namespace frc2 {
  * The controller calculation and output are performed synchronously in the
  * command's execute() method.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see PIDController
  */
 class PIDCommand : public CommandHelper<CommandBase, PIDCommand> {

wpilibNewCommands/src/main/native/include/frc2/command/PIDSubsystem.h

@@ -13,6 +13,8 @@ namespace frc2 {
  * A subsystem that uses a PIDController to control an output.  The controller
  * is run synchronously from the subsystem's periodic() method.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see PIDController
  */
 class PIDSubsystem : public SubsystemBase {

wpilibNewCommands/src/main/native/include/frc2/command/ParallelCommandGroup.h

@@ -23,6 +23,8 @@ namespace frc2 {
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class ParallelCommandGroup
     : public CommandHelper<CommandGroupBase, ParallelCommandGroup> {

wpilibNewCommands/src/main/native/include/frc2/command/ParallelDeadlineGroup.h

@@ -24,6 +24,8 @@ namespace frc2 {
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class ParallelDeadlineGroup
     : public CommandHelper<CommandGroupBase, ParallelDeadlineGroup> {

wpilibNewCommands/src/main/native/include/frc2/command/ParallelRaceGroup.h

@@ -23,6 +23,8 @@ namespace frc2 {
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class ParallelRaceGroup
     : public CommandHelper<CommandGroupBase, ParallelRaceGroup> {

wpilibNewCommands/src/main/native/include/frc2/command/PerpetualCommand.h

@@ -26,6 +26,8 @@ namespace frc2 {
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class PerpetualCommand : public CommandHelper<CommandBase, PerpetualCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/PrintCommand.h

@@ -12,6 +12,8 @@
 namespace frc2 {
 /**
  * A command that prints a string when initialized.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class PrintCommand : public CommandHelper<InstantCommand, PrintCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDCommand.h

@@ -22,6 +22,8 @@ namespace frc2 {
  * class. The controller calculation and output are performed synchronously in
  * the command's execute() method.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see ProfiledPIDController<Distance>
  */
 template <class Distance>
@@ -95,7 +97,7 @@ class ProfiledPIDCommand
                      std::initializer_list<Subsystem*> requirements)
       : ProfiledPIDCommand(
             controller, measurementSource,
-            [&goalSource]() {
+            [goalSource = std::move(goalSource)]() {
               return State{goalSource(), Velocity_t{0}};
             },
             useOutput, requirements) {}
@@ -117,7 +119,7 @@ class ProfiledPIDCommand
                      wpi::span<Subsystem* const> requirements = {})
       : ProfiledPIDCommand(
             controller, measurementSource,
-            [&goalSource]() {
+            [goalSource = std::move(goalSource)]() {
               return State{goalSource(), Velocity_t{0}};
             },
             useOutput, requirements) {}

wpilibNewCommands/src/main/native/include/frc2/command/ProfiledPIDSubsystem.h

@@ -14,6 +14,8 @@ namespace frc2 {
  * A subsystem that uses a ProfiledPIDController to control an output.  The
  * controller is run synchronously from the subsystem's periodic() method.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see ProfiledPIDController
  */
 template <class Distance>

wpilibNewCommands/src/main/native/include/frc2/command/ProxyScheduleCommand.h

@@ -17,6 +17,8 @@ namespace frc2 {
  * all the commands are no longer scheduled.  Useful for forking off from
  * CommandGroups.  If this command is interrupted, it will cancel all of the
  * commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class ProxyScheduleCommand
     : public CommandHelper<CommandBase, ProxyScheduleCommand> {

wpilibNewCommands/src/main/native/include/frc2/command/RamseteCommand.h

@@ -37,6 +37,8 @@ namespace frc2 {
  * secondary constructor that omits the PID and feedforward functionality,
  * returning only the raw wheel speeds from the RAMSETE controller.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see RamseteController
  * @see Trajectory
  */

wpilibNewCommands/src/main/native/include/frc2/command/RunCommand.h

@@ -18,6 +18,8 @@ namespace frc2 {
  * either subclass it or use Command.WithTimeout() or
  * Command.WithInterrupt() to give it one.  If you only wish
  * to execute a Runnable once, use InstantCommand.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class RunCommand : public CommandHelper<CommandBase, RunCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/ScheduleCommand.h

@@ -17,6 +17,8 @@ namespace frc2 {
  * forking off from CommandGroups.  Note that if run from a CommandGroup, the
  * group will not know about the status of the scheduled commands, and will
  * treat this command as finishing instantly.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class ScheduleCommand : public CommandHelper<CommandBase, ScheduleCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/SelectCommand.h

@@ -35,6 +35,8 @@ namespace frc2 {
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 template <typename Key>
 class SelectCommand : public CommandHelper<CommandBase, SelectCommand<Key>> {

wpilibNewCommands/src/main/native/include/frc2/command/SequentialCommandGroup.h

@@ -29,6 +29,8 @@ const size_t invalid_index = std::numeric_limits<size_t>::max();
  *
  * <p>As a rule, CommandGroups require the union of the requirements of their
  * component commands.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class SequentialCommandGroup
     : public CommandHelper<CommandGroupBase, SequentialCommandGroup> {

wpilibNewCommands/src/main/native/include/frc2/command/StartEndCommand.h

@@ -19,6 +19,8 @@ namespace frc2 {
  * extending and then retracting a solenoid. Has no end condition as-is; either
  * subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give
  * it one.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class StartEndCommand : public CommandHelper<CommandBase, StartEndCommand> {
  public:

wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h

@@ -29,6 +29,8 @@ class Command;
  * SubsystemBase class offers a simple base for user implementations
  * that handles this.
  *
+ * This class is provided by the NewCommands VendorDep
+ *
  * @see Command
  * @see CommandScheduler
  * @see SubsystemBase

wpilibNewCommands/src/main/native/include/frc2/command/SubsystemBase.h

@@ -16,6 +16,8 @@ namespace frc2 {
 /**
  * A base for subsystems that handles registration in the constructor, and
  * provides a more intuitive method for setting the default command.
+ *
+ * This class is provided by the NewCommands VendorDep
  */
 class SubsystemBase : public Subsystem,
                       public wpi::Sendable,