[wpilibj] Tachometer.getFrequency(): Fix bug (#4281)

Now it returns 1/period (like Tachometer.cpp); before it just returned period.

.github/workflows/cmake.yml

@@ -2,6 +2,10 @@ name: CMake
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     strategy:
@@ -16,50 +20,64 @@ jobs:
             name: macOS
             container: ""
             flags: "-DWITH_JAVA=OFF"
+
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v2
-      - name: Install Dependencies
-        run: |
-          if [ "$RUNNER_OS" == "macOS" ]; then
-            brew install opencv
-          fi
+      - uses: actions/checkout@v3
+
+      - name: Install opencv (macOS)
+        run: brew install opencv
+        if: runner.os == 'macOS'
+
       - 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 ${{ matrix.flags }} ..
+
       - name: build
         working-directory: build
-        run: cmake --build . -j$(nproc)
+        run: cmake --build . --parallel $(nproc)
+
       - name: test
         working-directory: build
         run: ctest --output-on-failure
 
-  build-vcpkg:
+  build-windows:
+    env:
+      VCPKG_DEFAULT_TRIPLET: x64-windows
     name: "Build - Windows"
     runs-on: windows-2019
     steps:
-      - uses: actions/checkout@v2
-      - name: Prepare vcpkg
-        uses: lukka/run-vcpkg@v7
+      - uses: actions/checkout@v3
+
+      - name: Install CMake
+        uses: lukka/get-cmake@v3.23.0
+
+      - name: Run vcpkg
+        uses: lukka/run-vcpkg@v10.2
         with:
-          vcpkgArguments: opencv
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgTriplet: x64-windows
-          vcpkgGitCommitId: d781bd9ca77ac3dc2f13d88169021d48459c665f # HEAD on 2021-07-25
-      - name: Configure & Build
-        uses: lukka/run-cmake@v3
-        with:
-          buildDirectory: ${{ runner.workspace }}/build
-          cmakeAppendedArgs: -DWITH_JAVA=OFF
-          cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
-          useVcpkgToolchainFile: true
-      - name: Run Tests
+          vcpkgGitCommitId: f6af75acc923c833a5620943e3fc7d5e4930f0df # HEAD on 2022-04-10
+          runVcpkgInstall: true
+
+      - name: Install jinja
+        run: python -m pip install jinja2
+
+      - name: configure
+        run: mkdir build && cd build && cmake -DWITH_JAVA=OFF -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake ..
+
+      - name: build
+        working-directory: build
+        run: cmake --build . --parallel $(nproc)
+
+      - name: test
+        working-directory: build
         run: ctest -C "Debug" --output-on-failure
-        working-directory: ${{ runner.workspace }}/build

.github/workflows/comment-command.yml

@@ -0,0 +1,54 @@
+name: Comment Commands
+on:
+  issue_comment:
+    types: [ created ]
+
+jobs:
+  wpiformat:
+    if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/wpiformat')
+    runs-on: ubuntu-latest
+    steps:
+      - name: React Rocket
+        uses: actions/github-script@v4
+        with:
+          script: |
+            const {owner, repo} = context.issue
+            github.reactions.createForIssueComment({
+              owner,
+              repo,
+              comment_id: context.payload.comment.id,
+              content: "rocket",
+            });
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Checkout PR
+        run: |
+          gh pr checkout $NUMBER
+        env:
+          GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+          NUMBER: ${{ github.event.issue.number }}
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: |
+          sudo sh -c "echo 'deb http://archive.ubuntu.com/ubuntu/ $(lsb_release -cs)-proposed restricted main multiverse universe' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo apt-get update -q
+          sudo apt-get install -y clang-format-12
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run wpiformat
+        run: wpiformat -clang 12
+      - name: Commit
+        run: |
+          # Set credentials
+          git config user.name "github-actions[bot]"
+          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
+          # Commit
+          git commit -am "wpiformat"
+          git push

.github/workflows/documentation.yml

@@ -2,6 +2,10 @@ name: Documentation
 
 on: [push, workflow_dispatch]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 env:
   BASE_PATH: allwpilib/docs
 
@@ -10,8 +14,9 @@ jobs:
     name: "Documentation - Publish"
     runs-on: ubuntu-latest
     if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+    concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
           persist-credentials: false

.github/workflows/gazebo.yml

@@ -2,13 +2,17 @@ name: Gazebo
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: "Build"
     runs-on: ubuntu-latest
-    container: wpilib/gazebo-ubuntu:18.04
+    container: wpilib/gazebo-ubuntu:20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Build with Gradle

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

@@ -1,10 +1,14 @@
 name: "Validate Gradle Wrapper"
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   validation:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: gradle/wrapper-validation-action@v1

.github/workflows/gradle.yml

@@ -2,36 +2,43 @@ name: Gradle
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2022-18.04
+          - container: wpilib/roborio-cross-ubuntu:2022-20.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+          - container: wpilib/raspbian-cross-ubuntu:10-20.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxraspbian"
-          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+          - container: wpilib/aarch64-cross-ubuntu:bionic-20.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxaarch64bionic"
-          - container: wpilib/ubuntu-base:18.04
+          - container: wpilib/ubuntu-base:20.04
             artifact-name: Linux
-            build-options: "-Dorg.gradle.jvmargs=-Xmx2g"
+            build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-latest
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v2
         with:
           name: ${{ matrix.artifact-name }}
@@ -47,16 +54,13 @@ jobs:
           - os: windows-2019
             artifact-name: Win64
             architecture: x64
-          - os: windows-2019
-            artifact-name: Win32
-            architecture: x86
           - os: macOS-11
             artifact-name: macOS
             architecture: x64
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
@@ -82,7 +86,10 @@ jobs:
         shell: bash
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
         run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
@@ -97,7 +104,7 @@ jobs:
     name: "Build - Documentation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
@@ -109,7 +116,10 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v2
         with:
           name: Documentation
@@ -120,7 +130,7 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v2

.github/workflows/lint-format.yml

@@ -6,15 +6,19 @@ on:
     branches-ignore:
       - main
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
@@ -46,9 +50,10 @@ jobs:
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
@@ -72,11 +77,15 @@ jobs:
   javaformat:
     name: "Java format"
     runs-on: ubuntu-latest
-    container: wpilib/ubuntu-base:18.04
+    container: wpilib/ubuntu-base:20.04
     steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
       - name: Run Java format
         run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
       - name: Check output
@@ -88,7 +97,7 @@ jobs:
     name: "Documentation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1

.github/workflows/sanitizers.yml

@@ -2,6 +2,10 @@ name: Sanitizers
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     strategy:
@@ -11,7 +15,7 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: "-E 'wpiutil|ntcore|wpilibc'"
+            ctest-flags: "-E 'wpinet|wpiutil|ntcore|wpilibc'"
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
@@ -24,7 +28,8 @@ jobs:
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
+
       - name: Install Dependencies
         run: |
           sudo add-apt-repository ppa:ubuntu-toolchain-r/test
@@ -33,17 +38,22 @@ jobs:
             --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)
+        run: cmake --build . --parallel $(nproc)
+
       - name: test
         working-directory: build
         run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.github/workflows/upstream-utils.yml

@@ -0,0 +1,53 @@
+name: Upstream utils
+
+on:
+  pull_request:
+  push:
+    branches-ignore:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  update:
+    name: "Update"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.9
+      - name: Configure committer identity
+        run: |
+          git config --global user.email "you@example.com"
+          git config --global user.name "Your Name"
+      - name: Run update_drake.py
+        run: |
+          cd upstream_utils
+          ./update_drake.py
+      - name: Run update_eigen.py
+        run: |
+          cd upstream_utils
+          ./update_eigen.py
+      - name: Run update_libuv.py
+        run: |
+          cd upstream_utils
+          ./update_libuv.py
+      - name: Run update_llvm.py
+        run: |
+          cd upstream_utils
+          ./update_llvm.py
+      - name: Run update_stack_walker.py
+        run: |
+          cd upstream_utils
+          ./update_stack_walker.py
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD

.styleguide

@@ -44,4 +44,5 @@ includeOtherLibs {
   ^wpi/
   ^wpigui
   ^wpimath/
+  ^wpinet/
 }

CMakeLists.txt

@@ -54,7 +54,6 @@ option(WITH_JAVA "Include java and JNI in the build" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
-option(WITH_OLD_COMMANDS "Build old commands" OFF)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
@@ -149,6 +148,7 @@ find_package(LIBSSH 0.7.1)
 
 if (WITH_FLAT_INSTALL)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
+set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
 set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
 set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
@@ -156,9 +156,9 @@ set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
 set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
 set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
-set(WPILIBOLDCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibOldcommands-config.cmake)")
 else()
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
+set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
 set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
 set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
@@ -166,7 +166,6 @@ set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
 set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
 set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-set(WPILIBOLDCOMMANDS_DEP_REPLACE "find_dependency(wpilibOldCommands)")
 endif()
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
@@ -248,6 +247,7 @@ if (WITH_TESTS)
 endif()
 
 add_subdirectory(wpiutil)
+add_subdirectory(wpinet)
 add_subdirectory(ntcore)
 
 if (WITH_WPIMATH)
@@ -262,6 +262,7 @@ if (WITH_GUI)
     add_subdirectory(outlineviewer)
     if (LIBSSH_FOUND)
         add_subdirectory(roborioteamnumbersetter)
+        add_subdirectory(datalogtool)
     endif()
 endif()
 
@@ -282,9 +283,6 @@ if (WITH_WPILIB)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(wpilibNewCommands)
-    if (WITH_OLD_COMMANDS)
-        add_subdirectory(wpilibOldCommands)
-    endif()
     if (WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()

CONTRIBUTING.md

@@ -37,7 +37,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## Coding Guidelines
 
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 10.0 with wpiformat.
+WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 12.0 with wpiformat.
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 

MavenArtifacts.md

@@ -134,14 +134,6 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * wpimath
   * wpiutil
 
-* wpilibOldCommands
-  * wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpiutil
-
 
 ### Third Party Artifacts
 

README.md

@@ -26,6 +26,15 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
 
 The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
 
+# Quick Start
+
+Below is a list of instructions that guide you through cloning, building, publishing and using local allwpilib binaries in a robot project. This quick start is not intended as a replacement for the information further listed in this document.
+
+1. Clone the repository with `git clone https://github.com/wpilibsuite/allwpilib.git`
+2. Build the repository with `./gradlew build` or `./gradlew build --build-cache` if you have an internet connection
+3. Publish the artifacts locally by running `./gradlew publish`
+4. [Update your](OtherVersions.md) `build.gradle` [to use the artifacts](OtherVersions.md)
+
 # Building WPILib
 
 Using Gradle makes building WPILib very straightforward. It only has a few dependencies on outside tools, such as the ARM cross compiler for creating roboRIO binaries.
@@ -79,10 +88,18 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 
 `./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests.
 
-`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibOldCommands`, `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
+`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
 
 `./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
 
+### Build Cache
+
+Run with `--build-cache` on the command-line to use the shared [build cache](https://docs.gradle.org/current/userguide/build_cache.html) artifacts generated by the continuous integration server. Example:
+
+```bash
+./gradlew build --build-cache
+```
+
 ### Using Development Builds
 
 Please read the documentation available [here](OtherVersions.md)

ThirdPartyNotices.txt

@@ -24,9 +24,7 @@ LLVM                  wpiutil/src/main/native/include/wpi/{various files}
 JSON for Modern C++   wpiutil/src/main/native/include/wpi/json.h
                       wpiutil/src/main/native/cpp/json_*.cpp
                       wpiutil/src/test/native/cpp/json/
-libuv                 wpiutil/src/main/native/include/uv.h
-                      wpiutil/src/main/native/include/uv/
-                      wpiutil/src/main/native/libuv/
+libuv                 wpinet/src/main/native/thirdparty/libuv/
 fmtlib                wpiutil/src/main/native/fmtlib/
 sigslot               wpiutil/src/main/native/include/wpi/Signal.h
                       wpiutil/src/test/native/cpp/sigslot/
@@ -34,11 +32,11 @@ tcpsockets            wpiutil/src/main/native/cpp/TCP{Stream,Connector,Acceptor}
                       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-*
-jQuery                wpiutil/src/main/native/resources/jquery-*
-popper.js             wpiutil/src/main/native/resources/popper-*
+Bootstrap             wpinet/src/main/native/resources/bootstrap-*
+CoreUI                wpinet/src/main/native/resources/coreui-*
+Feather Icons         wpinet/src/main/native/resources/feather-*
+jQuery                wpinet/src/main/native/resources/jquery-*
+popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/eigeninclude/
                       wpimath/src/main/native/include/unsupported/
@@ -54,7 +52,7 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
 Drake                 wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp
                       wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
-
+V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 
 ==============================================================================
 Google Test License
@@ -90,12 +88,247 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 ==============================================================================
-LLVM Release License
+The LLVM Project is under the Apache License v2.0 with LLVM Exceptions:
+==============================================================================
+
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+
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+
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+with the conditions of Sections 4(a), 4(b) and 4(d) of the License.
+
+In addition, if you combine or link compiled forms of this Software with
+software that is licensed under the GPLv2 ("Combined Software") and if a
+court of competent jurisdiction determines that the patent provision (Section
+3), the indemnity provision (Section 9) or other Section of the License
+conflicts with the conditions of the GPLv2, you may retroactively and
+prospectively choose to deem waived or otherwise exclude such Section(s) of
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+Software.
+
+==============================================================================
+Software from third parties included in the LLVM Project:
+==============================================================================
+The LLVM Project contains third party software which is under different license
+terms. All such code will be identified clearly using at least one of two
+mechanisms:
+1) It will be in a separate directory tree with its own `LICENSE.txt` or
+   `LICENSE` file at the top containing the specific license and restrictions
+   which apply to that software, or
+2) It will contain specific license and restriction terms at the top of every
+   file.
+
+==============================================================================
+Legacy LLVM License (https://llvm.org/docs/DeveloperPolicy.html#legacy):
 ==============================================================================
 University of Illinois/NCSA
 Open Source License
 
-Copyright (c) 2003-2017 University of Illinois at Urbana-Champaign.
+Copyright (c) 2003-2019 University of Illinois at Urbana-Champaign.
 All rights reserved.
 
 Developed by:
@@ -969,3 +1202,33 @@ 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.
+
+==================
+V8 export-template
+==================
+Copyright 2014, the V8 project authors. All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+    * Neither the name of Google Inc. nor the names of its
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

build.gradle

@@ -2,7 +2,9 @@ import edu.wpi.first.toolchain.*
 
 buildscript {
     repositories {
-        mavenCentral()
+        maven {
+            url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+        }
     }
     dependencies {
         classpath 'com.hubspot.jinjava:jinjava:2.6.0'
@@ -20,8 +22,8 @@ plugins {
     id 'visual-studio'
     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
+    id 'com.diffplug.spotless' version '6.4.2' apply false
+    id 'com.github.spotbugs' version '5.0.6' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -29,7 +31,9 @@ wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
 
 allprojects {
     repositories {
-        mavenCentral()
+        maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
     }
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2022.7.1"
+    implementation "edu.wpi.first:native-utils:2023.0.1"
 }

cameraserver/build.gradle

@@ -11,9 +11,11 @@ apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 
 dependencies {
     implementation project(':wpiutil')
+    implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
     devImplementation project(':wpiutil')
+    devImplementation project(':wpinet')
     devImplementation project(':ntcore')
     devImplementation project(':cscore')
 }
@@ -32,19 +34,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 nativeUtils.exportsConfigs {
     cameraserver {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
         x64ExcludeSymbols = [
             '_CT??_R0?AV_System_error',
             '_CT??_R0?AVexception',
@@ -70,6 +59,7 @@ model {
             }
             lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
             lib project: ':cscore', library: 'cscore', linkage: 'shared'
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }

cameraserver/multiCameraServer/build.gradle

@@ -23,13 +23,16 @@ mainClassName = 'edu.wpi.Main'
 apply plugin: 'com.github.johnrengelman.shadow'
 
 repositories {
-    mavenCentral()
+    maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
 }
 
 dependencies {
     implementation 'com.google.code.gson:gson:2.8.9'
 
     implementation project(':wpiutil')
+    implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
@@ -55,6 +58,7 @@ model {
                 lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
                 lib project: ':ntcore', library: 'ntcore', linkage: 'static'
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
             }
         }

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

@@ -37,27 +37,9 @@ import java.util.concurrent.atomic.AtomicInteger;
 public final class CameraServer {
   public static final int kBasePort = 1181;
 
-  @Deprecated public static final int kSize640x480 = 0;
-  @Deprecated public static final int kSize320x240 = 1;
-  @Deprecated public static final int kSize160x120 = 2;
-
   private static final String kPublishName = "/CameraPublisher";
   private static CameraServer server;
 
-  /**
-   * Get the CameraServer instance.
-   *
-   * @return The CameraServer instance.
-   * @deprecated Use the static methods
-   */
-  @Deprecated
-  public static synchronized CameraServer getInstance() {
-    if (server == null) {
-      server = new CameraServer();
-    }
-    return server;
-  }
-
   private static final AtomicInteger m_defaultUsbDevice = new AtomicInteger();
   private static String m_primarySourceName;
   private static final Map<String, VideoSource> m_sources = new HashMap<>();

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

@@ -9,7 +9,7 @@
  * <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
  *
  * <pre><code>
- * public class Robot extends IterativeRobot
+ * public class Robot extends TimedRobot
  *     implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {
  *
  *      // A USB camera connected to the roboRIO.

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

@@ -52,12 +52,6 @@ static Instance& GetInstance() {
   return instance;
 }
 
-CameraServer* CameraServer::GetInstance() {
-  ::GetInstance();
-  static CameraServer instance;
-  return &instance;
-}
-
 static std::string_view MakeSourceValue(CS_Source source,
                                         wpi::SmallVectorImpl<char>& buf) {
   CS_Status status = 0;

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

@@ -9,7 +9,6 @@
 #include <string>
 #include <string_view>
 
-#include <wpi/deprecated.h>
 #include <wpi/span.h>
 
 #include "cscore.h"
@@ -29,13 +28,6 @@ class CameraServer {
   static constexpr int kSize320x240 = 1;
   static constexpr int kSize160x120 = 2;
 
-  /**
-   * Get the CameraServer instance.
-   * @deprecated Use the static methods
-   */
-  WPI_DEPRECATED("Use static methods")
-  static CameraServer* GetInstance();
-
   /**
    * Start automatically capturing images to send to the dashboard.
    *

cmake/modules/CompileWarnings.cmake

@@ -1,7 +1,7 @@
 macro(wpilib_target_warnings target)
     if(NOT MSVC)
-        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
+        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter ${WPILIB_TARGET_WARNINGS})
     else()
-        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX)
+        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /WX /D_CRT_SECURE_NO_WARNINGS ${WPILIB_TARGET_WARNINGS})
     endif()
 endmacro()

cmake/modules/FindLIBSSH.cmake

@@ -110,7 +110,7 @@ else()
     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
+    find_package_handle_standard_args(LIBSSH FOUND_VAR LIBSSH_FOUND
         REQUIRED_VARS LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES
         VERSION_VAR LIBSSH_VERSION)
 endif()

cmake/toolchains/gnu.toolchain.cmake

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.3.0)
 
 # load settings in case of "try compile"
 set(TOOLCHAIN_CONFIG_FILE "${WPILIB_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")

crossConnIntegrationTests/build.gradle

@@ -84,13 +84,9 @@ model {
                             }
                         }
                     }
-                    binary.tasks.withType(CppCompile) {
-                        cppCompiler.args "-Wno-missing-field-initializers"
-                        cppCompiler.args "-Wno-unused-variable"
-                        cppCompiler.args "-Wno-error=deprecated-declarations"
-                    }
                     project(':hal').addHalDependency(binary, 'shared')
                     project(':hal').addHalJniDependency(binary)
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')

crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.cpp

@@ -12,7 +12,7 @@
 #include <hal/cpp/fpga_clock.h>
 #include <wpi/Logger.h>
 #include <wpi/SmallVector.h>
-#include <wpi/UDPClient.h>
+#include <wpinet/UDPClient.h>
 
 static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
                        const char* msg) {

crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h

@@ -194,6 +194,7 @@ struct RelayHandle {
   do {                                                               \
     ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
     const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
+    static_cast<void>(lastErrorMessageInMacro);                      \
     ASSERT_EQ(status, x);                                            \
   } while (0)
 

cscore/.styleguide

@@ -36,4 +36,5 @@ includeOtherLibs {
   ^support/
   ^tcpsockets/
   ^wpi/
+  ^wpinet/
 }

cscore/CMakeLists.txt

@@ -33,7 +33,7 @@ target_include_directories(cscore PUBLIC
                             $<INSTALL_INTERFACE:${include_dest}/cscore>)
 target_include_directories(cscore PRIVATE src/main/native/cpp)
 wpilib_target_warnings(cscore)
-target_link_libraries(cscore PUBLIC wpiutil ${OpenCV_LIBS})
+target_link_libraries(cscore PUBLIC wpinet wpiutil ${OpenCV_LIBS})
 
 set_property(TARGET cscore PROPERTY FOLDER "libraries")
 

cscore/build.gradle

@@ -45,6 +45,7 @@ model {
                     return
                 }
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
 
                 if (it.targetPlatform.operatingSystem.linux) {
                     it.linker.args '-Wl,--version-script=' + file('src/main/native/LinuxSymbolScript.txt')
@@ -55,6 +56,15 @@ model {
             }
         }
     }
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+        }
+    }
 }
 
 
@@ -144,19 +154,6 @@ Action<List<String>> symbolFilter = { symbols ->
 
 nativeUtils.exportsConfigs {
     cscore {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
         x64ExcludeSymbols = [
             '_CT??_R0?AV_System_error',
             '_CT??_R0?AVexception',
@@ -172,11 +169,9 @@ nativeUtils.exportsConfigs {
         ]
     }
     cscoreJNI {
-        x86SymbolFilter = symbolFilter
         x64SymbolFilter = symbolFilter
     }
     cscoreJNICvStatic {
-        x86SymbolFilter = symbolFilter
         x64SymbolFilter = symbolFilter
     }
 }
@@ -190,6 +185,7 @@ model {
                         targetBuildTypes 'debug'
                         binaries.all {
                             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             nativeUtils.useRequiredLibrary(it, 'imgui_static')
@@ -220,6 +216,7 @@ model {
                     targetBuildTypes 'debug'
                     binaries.all {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                        lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
                     }
                     sources {

cscore/src/main/native/cpp/HttpCameraImpl.cpp

@@ -6,8 +6,8 @@
 
 #include <wpi/MemAlloc.h>
 #include <wpi/StringExtras.h>
-#include <wpi/TCPConnector.h>
 #include <wpi/timestamp.h>
+#include <wpinet/TCPConnector.h>
 
 #include "Handle.h"
 #include "Instance.h"

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

@@ -14,12 +14,12 @@
 #include <thread>
 #include <vector>
 
-#include <wpi/HttpUtil.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringMap.h>
 #include <wpi/condition_variable.h>
 #include <wpi/raw_istream.h>
 #include <wpi/span.h>
+#include <wpinet/HttpUtil.h>
 
 #include "SourceImpl.h"
 #include "cscore_cpp.h"

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

@@ -8,8 +8,8 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/EventLoopRunner.h>
 #include <wpi/Logger.h>
+#include <wpinet/EventLoopRunner.h>
 
 #include "Log.h"
 #include "NetworkListener.h"

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

@@ -7,13 +7,13 @@
 #include <chrono>
 
 #include <fmt/format.h>
-#include <wpi/HttpUtil.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
-#include <wpi/TCPAcceptor.h>
 #include <wpi/fmt/raw_ostream.h>
-#include <wpi/raw_socket_istream.h>
-#include <wpi/raw_socket_ostream.h>
+#include <wpinet/HttpUtil.h>
+#include <wpinet/TCPAcceptor.h>
+#include <wpinet/raw_socket_istream.h>
+#include <wpinet/raw_socket_ostream.h>
 
 #include "Handle.h"
 #include "Instance.h"

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

@@ -12,13 +12,13 @@
 #include <thread>
 #include <vector>
 
-#include <wpi/NetworkAcceptor.h>
-#include <wpi/NetworkStream.h>
 #include <wpi/SafeThread.h>
 #include <wpi/SmallVector.h>
 #include <wpi/raw_istream.h>
 #include <wpi/raw_ostream.h>
-#include <wpi/raw_socket_ostream.h>
+#include <wpinet/NetworkAcceptor.h>
+#include <wpinet/NetworkStream.h>
+#include <wpinet/raw_socket_ostream.h>
 
 #include "SinkImpl.h"
 

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

@@ -5,8 +5,8 @@
 #include "cscore_cpp.h"
 
 #include <wpi/SmallString.h>
-#include <wpi/hostname.h>
 #include <wpi/json.h>
+#include <wpinet/hostname.h>
 
 #include "Handle.h"
 #include "Instance.h"

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

@@ -4,10 +4,10 @@
 
 #include "UsbCameraListener.h"
 
-#include <wpi/EventLoopRunner.h>
 #include <wpi/StringExtras.h>
-#include <wpi/uv/FsEvent.h>
-#include <wpi/uv/Timer.h>
+#include <wpinet/EventLoopRunner.h>
+#include <wpinet/uv/FsEvent.h>
+#include <wpinet/uv/Timer.h>
 
 #include "Notifier.h"
 

datalogtool/.styleguide

@@ -0,0 +1,29 @@
+cppHeaderFileInclude {
+  \.h$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+generatedFileExclude {
+  src/main/native/resources/
+  src/main/native/win/datalogtool.ico
+  src/main/native/mac/datalogtool.icns
+}
+
+repoRootNameOverride {
+  datalogtool
+}
+
+includeOtherLibs {
+  ^GLFW
+  ^fmt/
+  ^glass/
+  ^imgui
+  ^portable-file-dialog
+  ^wpi/
+  ^wpigui
+}

datalogtool/CMakeLists.txt

@@ -0,0 +1,29 @@
+project(datalogtool)
+
+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 DLT dlt datalogtool_resources_src)
+
+file(GLOB datalogtool_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
+
+if (WIN32)
+    set(datalogtool_rc src/main/native/win/datalogtool.rc)
+elseif(APPLE)
+    set(MACOSX_BUNDLE_ICON_FILE datalogtool.icns)
+    set(APP_ICON_MACOSX src/main/native/mac/datalogtool.icns)
+    set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
+endif()
+
+add_executable(datalogtool ${datalogtool_src} ${datalogtool_resources_src} ${datalogtool_rc} ${APP_ICON_MACOSX})
+wpilib_link_macos_gui(datalogtool)
+target_link_libraries(datalogtool libglass ${LIBSSH_LIBRARIES})
+target_include_directories(datalogtool PRIVATE ${LIBSSH_INCLUDE_DIRS})
+
+if (WIN32)
+    set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)
+elseif(APPLE)
+    set_target_properties(datalogtool PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "datalogTool")
+endif()

datalogtool/Info.plist

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleName</key>
+	<string>datalogTool</string>
+	<key>CFBundleExecutable</key>
+	<string>datalogtool</string>
+	<key>CFBundleDisplayName</key>
+	<string>datalogTool</string>
+	<key>CFBundleIdentifier</key>
+	<string>edu.wpi.first.tools.datalogTool</string>
+	<key>CFBundleIconFile</key>
+	<string>datalogtool.icns</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleSupportedPlatforms</key>
+	<array>
+		<string>MacOSX</string>
+	</array>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleShortVersionString</key>
+	<string>2021</string>
+	<key>CFBundleVersion</key>
+	<string>2021</string>
+	<key>LSMinimumSystemVersion</key>
+	<string>10.11</string>
+	<key>NSHighResolutionCapable</key>
+	<true/>
+</dict>
+</plist>

datalogtool/build.gradle

@@ -0,0 +1,134 @@
+import org.gradle.internal.os.OperatingSystem
+
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+
+    description = "roboRIO Team Number Setter"
+
+    apply plugin: 'cpp'
+    apply plugin: 'c'
+    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 = 'datalogtool'
+    }
+
+    apply from: "${rootDir}/shared/resources.gradle"
+    apply from: "${rootDir}/shared/config.gradle"
+
+    def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
+    def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
+
+    nativeUtils {
+        nativeDependencyContainer {
+            libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
+                groupId = "edu.wpi.first.thirdparty.frc2022"
+                artifactId = "libssh"
+                headerClassifier = "headers"
+                sourceClassifier = "sources"
+                ext = "zip"
+                version = '0.95-1'
+                targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
+            }
+        }
+    }
+
+    task generateCppVersion() {
+        description = 'Generates the wpilib version class'
+        group = 'WPILib'
+
+        outputs.file wpilibVersionFileOutput
+        inputs.file wpilibVersionFileInput
+
+        if (wpilibVersioning.releaseMode) {
+            outputs.upToDateWhen { false }
+        }
+
+        // We follow a simple set of checks to determine whether we should generate a new version file:
+        // 1. If the release type is not development, we generate a new version file
+        // 2. If there is no generated version number, we generate a new version file
+        // 3. If there is a generated build number, and the release type is development, then we will
+        //    only generate if the publish task is run.
+        doLast {
+            def version = wpilibVersioning.version.get()
+            println "Writing version ${version} to $wpilibVersionFileOutput"
+
+            if (wpilibVersionFileOutput.exists()) {
+                wpilibVersionFileOutput.delete()
+            }
+            def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
+            wpilibVersionFileOutput.write(read)
+        }
+    }
+
+    gradle.taskGraph.addTaskExecutionGraphListener { graph ->
+        def willPublish = graph.hasTask(publish)
+        if (willPublish) {
+            generateCppVersion.outputs.upToDateWhen { false }
+        }
+    }
+
+    def generateTask = createGenerateResourcesTask('main', 'DLT', 'dlt', project)
+
+    project(':').libraryBuild.dependsOn build
+    tasks.withType(CppCompile) {
+        dependsOn generateTask
+        dependsOn generateCppVersion
+    }
+
+    model {
+        components {
+            // By default, a development executable will be generated. This is to help the case of
+            // testing specific functionality of the library.
+            "${nativeName}"(NativeExecutableSpec) {
+                baseName = 'datalogtool'
+                sources {
+                    cpp {
+                        source {
+                            srcDirs 'src/main/native/cpp', "$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'
+                            }
+                        }
+                    }
+                }
+                binaries.all {
+                    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
+                    }
+                    it.cppCompiler.define("LIBSSH_STATIC")
+                    lib project: ':glass', library: 'glass', linkage: 'static'
+                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                    lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    nativeUtils.useRequiredLibrary(it, 'imgui_static', 'libssh')
+                    if (it.targetPlatform.operatingSystem.isWindows()) {
+                        it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+                        it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'
+                    } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+                        it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                        it.linker.args << '-framework' << 'Kerberos'
+                    } else {
+                        it.linker.args << '-lX11'
+                    }
+                }
+            }
+        }
+    }
+
+    apply from: 'publish.gradle'
+}

datalogtool/publish.gradle

@@ -0,0 +1,107 @@
+apply plugin: 'maven-publish'
+
+def baseArtifactId = 'DataLogTool'
+def artifactGroupId = 'edu.wpi.first.tools'
+def zipBaseName = '_GROUP_edu_wpi_first_tools_ID_DataLogTool_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+model {
+    tasks {
+        // Create the run task.
+        $.components.datalogtool.binaries.each { bin ->
+            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+                Task run = project.tasks.create("run", Exec) {
+                    commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
+                }
+                run.dependsOn bin.tasks.install
+            }
+        }
+    }
+    publishing {
+        def dataLogToolTaskList = []
+        $.components.each { component ->
+            component.binaries.each { binary ->
+                if (binary in NativeExecutableBinarySpec && binary.component.name.contains("datalogtool")) {
+                    if (binary.buildable && (binary.name.contains('Release') || binary.name.contains('release'))) {
+                        // We are now in the binary that we want.
+                        // This is the default application path for the ZIP task.
+                        def applicationPath = binary.executable.file
+                        def icon = file("$project.projectDir/src/main/native/mac/datalogtool.icns")
+
+                        // Create the macOS bundle.
+                        def bundleTask = project.tasks.create("bundleDataLogToolOsxApp", Copy) {
+                            description("Creates a macOS application bundle for DataLogTool")
+                            from(file("$project.projectDir/Info.plist"))
+                            into(file("$project.buildDir/outputs/bundles/DataLogTool.app/Contents"))
+                            into("MacOS") { with copySpec { from binary.executable.file } }
+                            into("Resources") { with copySpec { from icon } }
+
+                            doLast {
+                                if (project.hasProperty("developerID")) {
+                                    // Get path to binary.
+                                    exec {
+                                        workingDir rootDir
+                                        def args = [
+                                            "sh",
+                                            "-c",
+                                            "codesign --force --strict --deep " +
+                                            "--timestamp --options=runtime " +
+                                            "--verbose -s ${project.findProperty("developerID")} " +
+                                            "$project.buildDir/outputs/bundles/DataLogTool.app/"
+                                        ]
+                                        commandLine args
+                                    }
+                                }
+                            }
+                        }
+
+                        // Reset the application path if we are creating a bundle.
+                        if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            project.build.dependsOn bundleTask
+                        }
+
+                        // Create the ZIP.
+                        def task = project.tasks.create("copyDataLogToolExecutable", Zip) {
+                            description("Copies the DataLogTool executable to the outputs directory.")
+                            destinationDirectory = outputsFolder
+
+                            archiveBaseName = '_M_' + zipBaseName
+                            duplicatesStrategy = 'exclude'
+                            classifier = nativeUtils.getPublishClassifier(binary)
+
+                            from(licenseFile) {
+                                into '/'
+                            }
+
+                            from(applicationPath)
+                            into(nativeUtils.getPlatformPath(binary))
+                        }
+
+                        if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+                            bundleTask.dependsOn binary.tasks.link
+                            task.dependsOn(bundleTask)
+                        }
+
+                        task.dependsOn binary.tasks.link
+                        dataLogToolTaskList.add(task)
+                        project.build.dependsOn task
+                        project.artifacts { task }
+                        addTaskToCopyAllOutputs(task)
+                    }
+                }
+            }
+        }
+
+        publications {
+            datalogtool(MavenPublication) {
+                dataLogToolTaskList.each { artifact it }
+
+                artifactId = baseArtifactId
+                groupId = artifactGroupId
+                version wpilibVersioning.version.get()
+            }
+        }
+    }
+}

datalogtool/src/main/generate/WPILibVersion.cpp.in

@@ -0,0 +1,7 @@
+/*
+ * Autogenerated file! Do not manually edit this file. This version is regenerated
+ * any time the publish task is run, or when this file is deleted.
+ */
+const char* GetWPILibVersion() {
+  return "${wpilib_version}";
+}

datalogtool/src/main/native/cpp/App.cpp

@@ -0,0 +1,156 @@
+// 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 "App.h"
+
+#include <libssh/libssh.h>
+
+#include <memory>
+#include <string_view>
+
+#define IMGUI_DEFINE_MATH_OPERATORS
+
+#include <glass/Context.h>
+#include <glass/MainMenuBar.h>
+#include <glass/Storage.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <wpigui.h>
+
+#include "Downloader.h"
+#include "Exporter.h"
+
+namespace gui = wpi::gui;
+
+const char* GetWPILibVersion();
+
+namespace dlt {
+std::string_view GetResource_dlt_16_png();
+std::string_view GetResource_dlt_32_png();
+std::string_view GetResource_dlt_48_png();
+std::string_view GetResource_dlt_64_png();
+std::string_view GetResource_dlt_128_png();
+std::string_view GetResource_dlt_256_png();
+std::string_view GetResource_dlt_512_png();
+}  // namespace dlt
+
+bool gShutdown = false;
+
+static std::unique_ptr<Downloader> gDownloader;
+static bool* gDownloadVisible;
+static float gDefaultScale = 1.0;
+
+void SetNextWindowPos(const ImVec2& pos, ImGuiCond cond, const ImVec2& pivot) {
+  if ((cond & ImGuiCond_FirstUseEver) != 0) {
+    ImGui::SetNextWindowPos(pos * gDefaultScale, cond, pivot);
+  } else {
+    ImGui::SetNextWindowPos(pos, cond, pivot);
+  }
+}
+
+void SetNextWindowSize(const ImVec2& size, ImGuiCond cond) {
+  if ((cond & ImGuiCond_FirstUseEver) != 0) {
+    ImGui::SetNextWindowSize(size * gDefaultScale, cond);
+  } else {
+    ImGui::SetNextWindowPos(size, cond);
+  }
+}
+
+static void DisplayDownload() {
+  if (!*gDownloadVisible) {
+    return;
+  }
+  SetNextWindowPos(ImVec2{0, 250}, ImGuiCond_FirstUseEver);
+  SetNextWindowSize(ImVec2{375, 260}, ImGuiCond_FirstUseEver);
+  if (ImGui::Begin("Download", gDownloadVisible)) {
+    if (!gDownloader) {
+      gDownloader = std::make_unique<Downloader>(
+          glass::GetStorageRoot().GetChild("download"));
+    }
+    gDownloader->Display();
+  }
+  ImGui::End();
+}
+
+static void DisplayMainMenu() {
+  ImGui::BeginMainMenuBar();
+
+  static glass::MainMenuBar mainMenu;
+  mainMenu.WorkspaceMenu();
+  gui::EmitViewMenu();
+
+  if (ImGui::BeginMenu("Window")) {
+    ImGui::MenuItem("Download", nullptr, gDownloadVisible);
+    ImGui::EndMenu();
+  }
+
+  bool about = false;
+  if (ImGui::BeginMenu("Info")) {
+    if (ImGui::MenuItem("About")) {
+      about = true;
+    }
+    ImGui::EndMenu();
+  }
+
+  ImGui::EndMainMenuBar();
+
+  if (about) {
+    ImGui::OpenPopup("About");
+  }
+  if (ImGui::BeginPopupModal("About")) {
+    ImGui::Text("Datalog Tool");
+    ImGui::Separator();
+    ImGui::Text("v%s", GetWPILibVersion());
+    ImGui::Separator();
+    ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+    if (ImGui::Button("Close")) {
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+  }
+}
+
+static void DisplayGui() {
+  DisplayMainMenu();
+  DisplayInputFiles();
+  DisplayEntries();
+  DisplayOutput(glass::GetStorageRoot().GetChild("output"));
+  DisplayDownload();
+}
+
+void Application(std::string_view saveDir) {
+  ssh_init();
+
+  gui::CreateContext();
+  glass::CreateContext();
+
+  // Add icons
+  gui::AddIcon(dlt::GetResource_dlt_16_png());
+  gui::AddIcon(dlt::GetResource_dlt_32_png());
+  gui::AddIcon(dlt::GetResource_dlt_48_png());
+  gui::AddIcon(dlt::GetResource_dlt_64_png());
+  gui::AddIcon(dlt::GetResource_dlt_128_png());
+  gui::AddIcon(dlt::GetResource_dlt_256_png());
+  gui::AddIcon(dlt::GetResource_dlt_512_png());
+
+  glass::SetStorageName("datalogtool");
+  glass::SetStorageDir(saveDir.empty() ? gui::GetPlatformSaveFileDir()
+                                       : saveDir);
+
+  gui::AddWindowScaler([](float scale) { gDefaultScale = scale; });
+  gui::AddLateExecute(DisplayGui);
+  gui::Initialize("Datalog Tool", 925, 510);
+
+  gDownloadVisible =
+      &glass::GetStorageRoot().GetChild("download").GetBool("visible", true);
+
+  gui::Main();
+
+  gShutdown = true;
+  glass::DestroyContext();
+  gui::DestroyContext();
+
+  gDownloader.reset();
+  ssh_finalize();
+}

datalogtool/src/main/native/cpp/App.h

@@ -4,10 +4,8 @@
 
 #pragma once
 
-#include <frc/buttons/Trigger.h>
+#include <imgui.h>
 
-class ReplaceMeTrigger : public frc::Trigger {
- public:
-  ReplaceMeTrigger();
-  bool Get() override;
-};
+void SetNextWindowPos(const ImVec2& pos, ImGuiCond cond = 0,
+                      const ImVec2& pivot = ImVec2(0, 0));
+void SetNextWindowSize(const ImVec2& size, ImGuiCond cond = 0);

datalogtool/src/main/native/cpp/DataLogThread.cpp

@@ -0,0 +1,72 @@
+// 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 "DataLogThread.h"
+
+#include <fmt/format.h>
+
+DataLogThread::~DataLogThread() {
+  if (m_thread.joinable()) {
+    m_active = false;
+    m_thread.join();
+  }
+}
+
+void DataLogThread::ReadMain() {
+  for (auto record : m_reader) {
+    if (!m_active) {
+      break;
+    }
+    ++m_numRecords;
+    if (record.IsStart()) {
+      wpi::log::StartRecordData data;
+      if (record.GetStartData(&data)) {
+        std::scoped_lock lock{m_mutex};
+        if (m_entries.find(data.entry) != m_entries.end()) {
+          fmt::print("...DUPLICATE entry ID, overriding\n");
+        }
+        m_entries[data.entry] = data;
+        m_entryNames.emplace(data.name, data);
+        sigEntryAdded(data);
+      } else {
+        fmt::print("Start(INVALID)\n");
+      }
+    } else if (record.IsFinish()) {
+      int entry;
+      if (record.GetFinishEntry(&entry)) {
+        std::scoped_lock lock{m_mutex};
+        auto it = m_entries.find(entry);
+        if (it == m_entries.end()) {
+          fmt::print("...ID not found\n");
+        } else {
+          m_entries.erase(it);
+        }
+      } else {
+        fmt::print("Finish(INVALID)\n");
+      }
+    } else if (record.IsSetMetadata()) {
+      wpi::log::MetadataRecordData data;
+      if (record.GetSetMetadataData(&data)) {
+        std::scoped_lock lock{m_mutex};
+        auto it = m_entries.find(data.entry);
+        if (it == m_entries.end()) {
+          fmt::print("...ID not found\n");
+        } else {
+          it->second.metadata = data.metadata;
+          auto nameIt = m_entryNames.find(it->second.name);
+          if (nameIt != m_entryNames.end()) {
+            nameIt->second.metadata = data.metadata;
+          }
+        }
+      } else {
+        fmt::print("SetMetadata(INVALID)\n");
+      }
+    } else if (record.IsControl()) {
+      fmt::print("Unrecognized control record\n");
+    }
+  }
+
+  sigDone();
+  m_done = true;
+}

datalogtool/src/main/native/cpp/DataLogThread.h

@@ -0,0 +1,71 @@
+// 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 <atomic>
+#include <functional>
+#include <map>
+#include <string>
+#include <string_view>
+#include <thread>
+#include <utility>
+
+#include <wpi/DataLogReader.h>
+#include <wpi/DenseMap.h>
+#include <wpi/Signal.h>
+#include <wpi/mutex.h>
+
+class DataLogThread {
+ public:
+  explicit DataLogThread(wpi::log::DataLogReader reader)
+      : m_reader{std::move(reader)}, m_thread{[=] { ReadMain(); }} {}
+  ~DataLogThread();
+
+  bool IsDone() const { return m_done; }
+  std::string_view GetBufferIdentifier() const {
+    return m_reader.GetBufferIdentifier();
+  }
+  unsigned int GetNumRecords() const { return m_numRecords; }
+  unsigned int GetNumEntries() const {
+    std::scoped_lock lock{m_mutex};
+    return m_entryNames.size();
+  }
+
+  // Passes wpi::log::StartRecordData to func
+  template <typename T>
+  void ForEachEntryName(T&& func) {
+    std::scoped_lock lock{m_mutex};
+    for (auto&& kv : m_entryNames) {
+      func(kv.second);
+    }
+  }
+
+  wpi::log::StartRecordData GetEntry(std::string_view name) const {
+    std::scoped_lock lock{m_mutex};
+    auto it = m_entryNames.find(name);
+    if (it == m_entryNames.end()) {
+      return {};
+    }
+    return it->second;
+  }
+
+  const wpi::log::DataLogReader& GetReader() const { return m_reader; }
+
+  // note: these are called on separate thread
+  wpi::sig::Signal_mt<const wpi::log::StartRecordData&> sigEntryAdded;
+  wpi::sig::Signal_mt<> sigDone;
+
+ private:
+  void ReadMain();
+
+  wpi::log::DataLogReader m_reader;
+  mutable wpi::mutex m_mutex;
+  std::atomic_bool m_active{true};
+  std::atomic_bool m_done{false};
+  std::atomic<unsigned int> m_numRecords{0};
+  std::map<std::string, wpi::log::StartRecordData, std::less<>> m_entryNames;
+  wpi::DenseMap<int, wpi::log::StartRecordData> m_entries;
+  std::thread m_thread;
+};

datalogtool/src/main/native/cpp/Downloader.cpp

@@ -0,0 +1,393 @@
+// 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 "Downloader.h"
+
+#include <libssh/sftp.h>
+
+#ifdef _WIN32
+#include <fcntl.h>
+#include <io.h>
+#else
+#include <sys/fcntl.h>
+#endif
+
+#include <algorithm>
+#include <filesystem>
+
+#include <fmt/format.h>
+#include <glass/Storage.h>
+#include <imgui.h>
+#include <imgui_stdlib.h>
+#include <portable-file-dialogs.h>
+#include <wpi/StringExtras.h>
+#include <wpi/fs.h>
+
+#include "Sftp.h"
+
+Downloader::Downloader(glass::Storage& storage)
+    : m_serverTeam{storage.GetString("serverTeam")},
+      m_remoteDir{storage.GetString("remoteDir", "/home/lvuser")},
+      m_username{storage.GetString("username", "lvuser")},
+      m_localDir{storage.GetString("localDir")},
+      m_deleteAfter{storage.GetBool("deleteAfter", true)},
+      m_thread{[this] { ThreadMain(); }} {}
+
+Downloader::~Downloader() {
+  {
+    std::scoped_lock lock{m_mutex};
+    m_state = kExit;
+  }
+  m_cv.notify_all();
+  m_thread.join();
+}
+
+void Downloader::DisplayConnect() {
+  // IP or Team Number text box
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 12);
+  ImGui::InputText("Team Number / Address", &m_serverTeam);
+
+  // Username/password
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 12);
+  ImGui::InputText("Username", &m_username);
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 12);
+  ImGui::InputText("Password", &m_password, ImGuiInputTextFlags_Password);
+
+  // Connect button
+  if (ImGui::Button("Connect")) {
+    m_state = kConnecting;
+    m_cv.notify_all();
+  }
+}
+
+void Downloader::DisplayDisconnectButton() {
+  if (ImGui::Button("Disconnect")) {
+    m_state = kDisconnecting;
+    m_cv.notify_all();
+  }
+}
+
+void Downloader::DisplayRemoteDirSelector() {
+  ImGui::SameLine();
+  if (ImGui::Button("Refresh")) {
+    m_state = kGetFiles;
+    m_cv.notify_all();
+  }
+
+  // Remote directory text box
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 20);
+  if (ImGui::InputText("Remote Dir", &m_remoteDir,
+                       ImGuiInputTextFlags_EnterReturnsTrue)) {
+    m_state = kGetFiles;
+    m_cv.notify_all();
+  }
+
+  // List directories
+  for (auto&& dir : m_dirList) {
+    if (ImGui::Selectable(dir.c_str())) {
+      if (dir == "..") {
+        if (wpi::ends_with(m_remoteDir, '/')) {
+          m_remoteDir.resize(m_remoteDir.size() - 1);
+        }
+        m_remoteDir = wpi::rsplit(m_remoteDir, '/').first;
+        if (m_remoteDir.empty()) {
+          m_remoteDir = "/";
+        }
+      } else {
+        if (!wpi::ends_with(m_remoteDir, '/')) {
+          m_remoteDir += '/';
+        }
+        m_remoteDir += dir;
+      }
+      m_state = kGetFiles;
+      m_cv.notify_all();
+    }
+  }
+}
+
+void Downloader::DisplayLocalDirSelector() {
+  // Local directory text / select button
+  if (ImGui::Button("Select Download Folder...")) {
+    m_localDirSelector =
+        std::make_unique<pfd::select_folder>("Select Download Folder");
+  }
+  ImGui::TextUnformatted(m_localDir.c_str());
+
+  // Delete after download (checkbox)
+  ImGui::Checkbox("Delete after download", &m_deleteAfter);
+
+  // Download button
+  if (!m_localDir.empty()) {
+    if (ImGui::Button("Download")) {
+      m_state = kDownload;
+      m_cv.notify_all();
+    }
+  }
+}
+
+size_t Downloader::DisplayFiles() {
+  // List of files (multi-select) (changes to progress bar for downloading)
+  size_t fileCount = 0;
+  if (ImGui::BeginTable(
+          "files", 3,
+          ImGuiTableFlags_Borders | ImGuiTableFlags_SizingStretchProp)) {
+    ImGui::TableSetupColumn("File");
+    ImGui::TableSetupColumn("Size");
+    ImGui::TableSetupColumn("Download");
+    ImGui::TableHeadersRow();
+    for (auto&& download : m_downloadList) {
+      if ((m_state == kDownload || m_state == kDownloadDone) &&
+          !download.enabled) {
+        continue;
+      }
+
+      ++fileCount;
+
+      ImGui::TableNextRow();
+      ImGui::TableNextColumn();
+      ImGui::TextUnformatted(download.name.c_str());
+      ImGui::TableNextColumn();
+      auto sizeText = fmt::format("{}", download.size);
+      ImGui::TextUnformatted(sizeText.c_str());
+      ImGui::TableNextColumn();
+      if (m_state == kDownload || m_state == kDownloadDone) {
+        if (!download.status.empty()) {
+          ImGui::TextUnformatted(download.status.c_str());
+        } else {
+          ImGui::ProgressBar(download.complete);
+        }
+      } else {
+        auto checkboxLabel = fmt::format("##{}", download.name);
+        ImGui::Checkbox(checkboxLabel.c_str(), &download.enabled);
+      }
+    }
+    ImGui::EndTable();
+  }
+
+  return fileCount;
+}
+
+void Downloader::Display() {
+  if (m_localDirSelector && m_localDirSelector->ready(0)) {
+    m_localDir = m_localDirSelector->result();
+    m_localDirSelector.reset();
+  }
+
+  std::scoped_lock lock{m_mutex};
+
+  if (!m_error.empty()) {
+    ImGui::TextUnformatted(m_error.c_str());
+  }
+
+  switch (m_state) {
+    case kDisconnected:
+      DisplayConnect();
+      break;
+    case kConnecting:
+      DisplayDisconnectButton();
+      ImGui::Text("Connecting to %s...", m_serverTeam.c_str());
+      break;
+    case kDisconnecting:
+      ImGui::TextUnformatted("Disconnecting...");
+      break;
+    case kConnected:
+    case kGetFiles:
+      DisplayDisconnectButton();
+      DisplayRemoteDirSelector();
+      if (DisplayFiles() > 0) {
+        DisplayLocalDirSelector();
+      }
+      break;
+    case kDownload:
+    case kDownloadDone:
+      DisplayDisconnectButton();
+      DisplayFiles();
+      if (m_state == kDownloadDone) {
+        if (ImGui::Button("Download complete!")) {
+          m_state = kGetFiles;
+          m_cv.notify_all();
+        }
+      }
+      break;
+    default:
+      break;
+  }
+}
+
+void Downloader::ThreadMain() {
+  std::unique_ptr<sftp::Session> session;
+
+  static constexpr size_t kBufSize = 32 * 1024;
+  std::unique_ptr<uint8_t[]> copyBuf = std::make_unique<uint8_t[]>(kBufSize);
+
+  std::unique_lock lock{m_mutex};
+  while (m_state != kExit) {
+    State prev = m_state;
+    m_cv.wait(lock, [&] { return m_state != prev; });
+    m_error.clear();
+    try {
+      switch (m_state) {
+        case kConnecting:
+          if (auto team = wpi::parse_integer<unsigned int>(m_serverTeam, 10)) {
+            // team number
+            session = std::make_unique<sftp::Session>(
+                fmt::format("roborio-{}-frc.local", team.value()), 22,
+                m_username, m_password);
+          } else {
+            session = std::make_unique<sftp::Session>(m_serverTeam, 22,
+                                                      m_username, m_password);
+          }
+          lock.unlock();
+          try {
+            session->Connect();
+          } catch (...) {
+            lock.lock();
+            throw;
+          }
+          lock.lock();
+          // FALLTHROUGH
+        case kGetFiles: {
+          std::string dir = m_remoteDir;
+          std::vector<sftp::Attributes> fileList;
+          lock.unlock();
+          try {
+            fileList = session->ReadDir(dir);
+          } catch (sftp::Exception& ex) {
+            lock.lock();
+            if (ex.err == SSH_FX_OK || ex.err == SSH_FX_CONNECTION_LOST) {
+              throw;
+            }
+            m_error = ex.what();
+            m_dirList.clear();
+            m_downloadList.clear();
+            m_state = kConnected;
+            break;
+          }
+          std::sort(
+              fileList.begin(), fileList.end(),
+              [](const auto& l, const auto& r) { return l.name < r.name; });
+          lock.lock();
+
+          m_dirList.clear();
+          m_downloadList.clear();
+          for (auto&& attr : fileList) {
+            if (attr.type == SSH_FILEXFER_TYPE_DIRECTORY) {
+              if (attr.name != ".") {
+                m_dirList.emplace_back(attr.name);
+              }
+            } else if (attr.type == SSH_FILEXFER_TYPE_REGULAR &&
+                       (attr.flags & SSH_FILEXFER_ATTR_SIZE) != 0 &&
+                       wpi::ends_with(attr.name, ".wpilog")) {
+              m_downloadList.emplace_back(attr.name, attr.size);
+            }
+          }
+
+          m_state = kConnected;
+          break;
+        }
+        case kDisconnecting:
+          session.reset();
+          m_state = kDisconnected;
+          break;
+        case kDownload: {
+          for (auto&& download : m_downloadList) {
+            if (m_state != kDownload) {
+              // user aborted
+              break;
+            }
+            if (!download.enabled) {
+              continue;
+            }
+
+            auto remoteFilename = fmt::format(
+                "{}{}{}", m_remoteDir,
+                wpi::ends_with(m_remoteDir, '/') ? "" : "/", download.name);
+            auto localFilename = fs::path{m_localDir} / download.name;
+            uint64_t fileSize = download.size;
+
+            lock.unlock();
+
+            // open local file
+            std::error_code ec;
+            fs::file_t of = fs::OpenFileForWrite(localFilename, ec,
+                                                 fs::CD_CreateNew, fs::OF_None);
+            if (ec) {
+              // failed to open
+              lock.lock();
+              download.status = ec.message();
+              continue;
+            }
+            int ofd = fs::FileToFd(of, ec, fs::OF_None);
+            if (ofd == -1 || ec) {
+              // failed to convert to fd
+              lock.lock();
+              download.status = ec.message();
+              continue;
+            }
+
+            try {
+              // open remote file
+              sftp::File f = session->Open(remoteFilename, O_RDONLY, 0);
+
+              // copy in chunks
+              uint64_t total = 0;
+              while (total < fileSize) {
+                uint64_t toCopy = (std::min)(fileSize - total,
+                                             static_cast<uint64_t>(kBufSize));
+                auto copied = f.Read(copyBuf.get(), toCopy);
+                if (write(ofd, copyBuf.get(), copied) !=
+                    static_cast<int64_t>(copied)) {
+                  // error writing
+                  close(ofd);
+                  fs::remove(localFilename, ec);
+                  lock.lock();
+                  download.status = "error writing local file";
+                  goto err;
+                }
+                total += copied;
+                lock.lock();
+                download.complete = static_cast<float>(total) / fileSize;
+                lock.unlock();
+              }
+
+              // close local file
+              close(ofd);
+              ofd = -1;
+
+              // delete remote file (if enabled)
+              if (m_deleteAfter) {
+                f = sftp::File{};
+                session->Unlink(remoteFilename);
+              }
+            } catch (sftp::Exception& ex) {
+              if (ofd != -1) {
+                // close local file and delete it (due to failure)
+                close(ofd);
+                fs::remove(localFilename, ec);
+              }
+              lock.lock();
+              download.status = ex.what();
+              if (ex.err == SSH_FX_OK || ex.err == SSH_FX_CONNECTION_LOST) {
+                throw;
+              }
+              continue;
+            }
+            lock.lock();
+          err : {}
+          }
+          if (m_state == kDownload) {
+            m_state = kDownloadDone;
+          }
+          break;
+        }
+        default:
+          break;
+      }
+    } catch (sftp::Exception& ex) {
+      m_error = ex.what();
+      session.reset();
+      m_state = kDisconnected;
+    }
+  }
+}

datalogtool/src/main/native/cpp/Downloader.h

@@ -0,0 +1,78 @@
+// 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 <memory>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include <wpi/condition_variable.h>
+#include <wpi/mutex.h>
+
+namespace glass {
+class Storage;
+}  // namespace glass
+
+namespace pfd {
+class select_folder;
+}  // namespace pfd
+
+class Downloader {
+ public:
+  explicit Downloader(glass::Storage& storage);
+  ~Downloader();
+
+  void Display();
+
+ private:
+  void DisplayConnect();
+  void DisplayDisconnectButton();
+  void DisplayRemoteDirSelector();
+  void DisplayLocalDirSelector();
+  size_t DisplayFiles();
+
+  void ThreadMain();
+
+  wpi::mutex m_mutex;
+  enum State {
+    kDisconnected,
+    kConnecting,
+    kConnected,
+    kDisconnecting,
+    kGetFiles,
+    kDownload,
+    kDownloadDone,
+    kExit
+  } m_state = kDisconnected;
+  std::condition_variable m_cv;
+
+  std::string& m_serverTeam;
+  std::string& m_remoteDir;
+  std::string& m_username;
+  std::string m_password;
+
+  std::string& m_localDir;
+  std::unique_ptr<pfd::select_folder> m_localDirSelector;
+
+  bool& m_deleteAfter;
+
+  std::vector<std::string> m_dirList;
+  struct DownloadState {
+    DownloadState(std::string_view name, uint64_t size)
+        : name{name}, size{size} {}
+
+    std::string name;
+    uint64_t size;
+    bool enabled = true;
+    float complete = 0.0;
+    std::string status;
+  };
+  std::vector<DownloadState> m_downloadList;
+
+  std::string m_error;
+
+  std::thread m_thread;
+};

datalogtool/src/main/native/cpp/Exporter.cpp

@@ -0,0 +1,661 @@
+// 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 "Exporter.h"
+
+#include <atomic>
+#include <ctime>
+#include <future>
+#include <map>
+#include <memory>
+#include <set>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include <fmt/chrono.h>
+#include <fmt/format.h>
+#include <glass/Storage.h>
+#include <imgui.h>
+#include <imgui_internal.h>
+#include <imgui_stdlib.h>
+#include <portable-file-dialogs.h>
+#include <wpi/DenseMap.h>
+#include <wpi/MemoryBuffer.h>
+#include <wpi/SmallVector.h>
+#include <wpi/SpanExtras.h>
+#include <wpi/StringExtras.h>
+#include <wpi/fmt/raw_ostream.h>
+#include <wpi/fs.h>
+#include <wpi/mutex.h>
+#include <wpi/raw_ostream.h>
+
+#include "App.h"
+#include "DataLogThread.h"
+
+namespace {
+struct InputFile {
+  explicit InputFile(std::unique_ptr<DataLogThread> datalog);
+
+  InputFile(std::string_view filename, std::string_view status)
+      : filename{filename},
+        stem{fs::path{filename}.stem().string()},
+        status{status} {}
+
+  ~InputFile();
+
+  std::string filename;
+  std::string stem;
+  std::unique_ptr<DataLogThread> datalog;
+  std::string status;
+  bool highlight = false;
+};
+
+struct Entry {
+  explicit Entry(const wpi::log::StartRecordData& srd)
+      : name{srd.name}, type{srd.type}, metadata{srd.metadata} {}
+
+  std::string name;
+  std::string type;
+  std::string metadata;
+  std::set<InputFile*> inputFiles;
+  bool typeConflict = false;
+  bool metadataConflict = false;
+  bool selected = true;
+
+  // used only during export
+  int column = -1;
+};
+
+struct EntryTreeNode {
+  explicit EntryTreeNode(std::string_view name) : name{name} {}
+  std::string name;  // name of just this node
+  std::string path;  // full path if entry is nullptr
+  Entry* entry = nullptr;
+  std::vector<EntryTreeNode> children;  // children, sorted by name
+  int selected = 1;
+};
+}  // namespace
+
+static std::map<std::string, std::unique_ptr<InputFile>, std::less<>>
+    gInputFiles;
+static wpi::mutex gEntriesMutex;
+static std::map<std::string, std::unique_ptr<Entry>, std::less<>> gEntries;
+static std::vector<EntryTreeNode> gEntryTree;
+std::atomic_int gExportCount{0};
+
+// must be called with gEntriesMutex held
+static void RebuildEntryTree() {
+  gEntryTree.clear();
+  wpi::SmallVector<std::string_view, 16> parts;
+  for (auto& kv : gEntries) {
+    parts.clear();
+    // split on first : if one is present
+    auto [prefix, mainpart] = wpi::split(kv.first, ':');
+    if (mainpart.empty() || wpi::contains(prefix, '/')) {
+      mainpart = kv.first;
+    } else {
+      parts.emplace_back(prefix);
+    }
+    wpi::split(mainpart, parts, '/', -1, false);
+
+    // ignore a raw "/" key
+    if (parts.empty()) {
+      continue;
+    }
+
+    // get to leaf
+    auto nodes = &gEntryTree;
+    for (auto part : wpi::drop_back(wpi::span{parts.begin(), parts.end()})) {
+      auto it =
+          std::find_if(nodes->begin(), nodes->end(),
+                       [&](const auto& node) { return node.name == part; });
+      if (it == nodes->end()) {
+        nodes->emplace_back(part);
+        // path is from the beginning of the string to the end of the current
+        // part; this works because part is a reference to the internals of
+        // kv.first
+        nodes->back().path.assign(kv.first.data(),
+                                  part.data() + part.size() - kv.first.data());
+        it = nodes->end() - 1;
+      }
+      nodes = &it->children;
+    }
+
+    auto it = std::find_if(nodes->begin(), nodes->end(), [&](const auto& node) {
+      return node.name == parts.back();
+    });
+    if (it == nodes->end()) {
+      nodes->emplace_back(parts.back());
+      // no need to set path, as it's identical to kv.first
+      it = nodes->end() - 1;
+    }
+    it->entry = kv.second.get();
+  }
+}
+
+InputFile::InputFile(std::unique_ptr<DataLogThread> datalog_)
+    : filename{datalog_->GetBufferIdentifier()},
+      stem{fs::path{filename}.stem().string()},
+      datalog{std::move(datalog_)} {
+  datalog->sigEntryAdded.connect([this](const wpi::log::StartRecordData& srd) {
+    std::scoped_lock lock{gEntriesMutex};
+    auto it = gEntries.find(srd.name);
+    if (it == gEntries.end()) {
+      it = gEntries.emplace(srd.name, std::make_unique<Entry>(srd)).first;
+      RebuildEntryTree();
+    } else {
+      if (it->second->type != srd.type) {
+        it->second->typeConflict = true;
+      }
+      if (it->second->metadata != srd.metadata) {
+        it->second->metadataConflict = true;
+      }
+    }
+    it->second->inputFiles.emplace(this);
+  });
+}
+
+InputFile::~InputFile() {
+  if (gShutdown || !datalog) {
+    return;
+  }
+  std::scoped_lock lock{gEntriesMutex};
+  bool changed = false;
+  for (auto it = gEntries.begin(); it != gEntries.end();) {
+    it->second->inputFiles.erase(this);
+    if (it->second->inputFiles.empty()) {
+      it = gEntries.erase(it);
+      changed = true;
+    } else {
+      ++it;
+    }
+  }
+  if (changed) {
+    RebuildEntryTree();
+  }
+}
+
+static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
+  std::error_code ec;
+  auto buf = wpi::MemoryBuffer::GetFile(filename, ec);
+  std::string fn{filename};
+  if (ec) {
+    return std::make_unique<InputFile>(
+        fn, fmt::format("Could not open file: {}", ec.message()));
+  }
+
+  wpi::log::DataLogReader reader{std::move(buf)};
+  if (!reader.IsValid()) {
+    return std::make_unique<InputFile>(fn, "Not a valid datalog file");
+  }
+
+  return std::make_unique<InputFile>(
+      std::make_unique<DataLogThread>(std::move(reader)));
+}
+
+void DisplayInputFiles() {
+  static std::unique_ptr<pfd::open_file> dataFileSelector;
+
+  SetNextWindowPos(ImVec2{0, 20}, ImGuiCond_FirstUseEver);
+  SetNextWindowSize(ImVec2{375, 230}, ImGuiCond_FirstUseEver);
+  if (ImGui::Begin("Input Files")) {
+    if (ImGui::Button("Open File(s)...")) {
+      dataFileSelector = std::make_unique<pfd::open_file>(
+          "Select Data Log", "",
+          std::vector<std::string>{"DataLog Files", "*.wpilog"},
+          pfd::opt::multiselect);
+    }
+    ImGui::BeginTable(
+        "Input Files", 3,
+        ImGuiTableFlags_Borders | ImGuiTableFlags_SizingStretchProp);
+    ImGui::TableSetupColumn("File");
+    ImGui::TableSetupColumn("Status");
+    ImGui::TableSetupColumn("X", ImGuiTableColumnFlags_WidthFixed |
+                                     ImGuiTableColumnFlags_NoHeaderLabel |
+                                     ImGuiTableColumnFlags_NoHeaderWidth);
+    ImGui::TableHeadersRow();
+    for (auto it = gInputFiles.begin(); it != gInputFiles.end();) {
+      ImGui::TableNextRow();
+      ImGui::TableNextColumn();
+      if (it->second->highlight) {
+        ImGui::TableSetBgColor(ImGuiTableBgTarget_RowBg0,
+                               IM_COL32(0, 64, 0, 255));
+        it->second->highlight = false;
+      }
+      ImGui::TextUnformatted(it->first.c_str());
+      if (ImGui::IsItemHovered()) {
+        ImGui::SetTooltip("%s", it->second->filename.c_str());
+      }
+
+      ImGui::TableNextColumn();
+      if (it->second->datalog) {
+        ImGui::Text("%u records, %u entries%s",
+                    it->second->datalog->GetNumRecords(),
+                    it->second->datalog->GetNumEntries(),
+                    it->second->datalog->IsDone() ? "" : " (working)");
+      } else {
+        ImGui::TextUnformatted(it->second->status.c_str());
+      }
+
+      ImGui::TableNextColumn();
+      ImGui::PushID(it->first.c_str());
+      if (ImGui::SmallButton("X")) {
+        it = gInputFiles.erase(it);
+        gExportCount = 0;
+      } else {
+        ++it;
+      }
+      ImGui::PopID();
+    }
+    ImGui::EndTable();
+  }
+  ImGui::End();
+
+  // Load data file(s)
+  if (dataFileSelector && dataFileSelector->ready(0)) {
+    auto result = dataFileSelector->result();
+    for (auto&& filename : result) {
+      // don't allow duplicates
+      std::string stem = fs::path{filename}.stem().string();
+      auto it = gInputFiles.find(stem);
+      if (it == gInputFiles.end()) {
+        gInputFiles.emplace(std::move(stem), LoadDataLog(filename));
+        gExportCount = 0;
+      }
+    }
+    dataFileSelector.reset();
+  }
+}
+
+static bool EmitEntry(const std::string& name, Entry& entry) {
+  ImGui::TableNextColumn();
+  bool rv = ImGui::Checkbox(name.c_str(), &entry.selected);
+  if (ImGui::IsItemHovered() && gInputFiles.size() > 1) {
+    for (auto inputFile : entry.inputFiles) {
+      inputFile->highlight = true;
+    }
+  }
+
+  ImGui::TableNextColumn();
+  if (entry.typeConflict) {
+    ImGui::TextUnformatted("(Inconsistent)");
+    if (ImGui::IsItemHovered()) {
+      ImGui::BeginTooltip();
+      for (auto inputFile : entry.inputFiles) {
+        ImGui::Text(
+            "%s: %s", inputFile->stem.c_str(),
+            std::string{inputFile->datalog->GetEntry(entry.name).type}.c_str());
+      }
+      ImGui::EndTooltip();
+    }
+  } else {
+    ImGui::TextUnformatted(entry.type.c_str());
+  }
+
+  ImGui::TableNextColumn();
+  if (entry.metadataConflict) {
+    ImGui::TextUnformatted("(Inconsistent)");
+    if (ImGui::IsItemHovered()) {
+      ImGui::BeginTooltip();
+      for (auto inputFile : entry.inputFiles) {
+        ImGui::Text(
+            "%s: %s", inputFile->stem.c_str(),
+            std::string{inputFile->datalog->GetEntry(entry.name).metadata}
+                .c_str());
+      }
+      ImGui::EndTooltip();
+    }
+  } else {
+    ImGui::TextUnformatted(entry.metadata.c_str());
+  }
+  return rv;
+}
+
+static bool EmitEntryTree(std::vector<EntryTreeNode>& tree) {
+  bool rv = false;
+  for (auto&& node : tree) {
+    if (node.entry) {
+      if (EmitEntry(node.name, *node.entry)) {
+        rv = true;
+      }
+    }
+
+    if (!node.children.empty()) {
+      ImGui::TableNextColumn();
+      auto label = fmt::format("##check_{}", node.name);
+      if (node.selected == -1) {
+        ImGui::PushItemFlag(ImGuiItemFlags_MixedValue, true);
+        bool b = false;
+        if (ImGui::Checkbox(label.c_str(), &b)) {
+          node.selected = 3;  // 3 = enable group
+          rv = true;
+        }
+        ImGui::PopItemFlag();
+      } else {
+        bool b = node.selected == 1 || node.selected == 3;
+        if (ImGui::Checkbox(label.c_str(), &b)) {
+          node.selected = b ? 3 : 2;  // 2 = disable group
+          rv = true;
+        }
+      }
+      ImGui::SameLine();
+      bool open = ImGui::TreeNodeEx(node.name.c_str(),
+                                    ImGuiTreeNodeFlags_SpanFullWidth);
+      ImGui::TableNextColumn();
+      ImGui::TableNextColumn();
+      if (open) {
+        if (EmitEntryTree(node.children)) {
+          rv = true;
+        }
+        ImGui::TreePop();
+      }
+    }
+  }
+  return rv;
+}
+
+static void RefreshTreeCheckboxes(std::vector<EntryTreeNode>& tree,
+                                  int* selected) {
+  bool first = true;
+  for (auto&& node : tree) {
+    if (node.entry) {
+      if (first && *selected == -1) {
+        *selected = node.entry->selected ? 1 : 0;
+      }
+      if ((*selected == 0 && node.entry->selected) ||
+          (*selected == 1 && !node.entry->selected)) {
+        *selected = -1;             // inconsistent
+      } else if (*selected == 2) {  // disable group
+        node.entry->selected = false;
+      } else if (*selected == 3) {  // enable group
+        node.entry->selected = true;
+      }
+    }
+
+    if (!node.children.empty()) {
+      if (*selected == 2) {  // disable group
+        node.selected = 2;
+      } else if (*selected == 3) {  // enable group
+        node.selected = 3;
+      }
+      RefreshTreeCheckboxes(node.children, &node.selected);
+      if (node.selected == 2) {
+        node.selected = 0;
+      } else if (node.selected == 3) {
+        node.selected = 1;
+      }
+      if (first && *selected == -1) {
+        *selected = node.selected;
+      } else if (node.selected == -1 ||
+                 (*selected == 0 && node.selected == 1) ||
+                 (*selected == 1 && node.selected == 0)) {
+        *selected = -1;  // inconsistent
+      }
+    }
+
+    first = false;
+  }
+}
+
+void DisplayEntries() {
+  SetNextWindowPos(ImVec2{380, 20}, ImGuiCond_FirstUseEver);
+  SetNextWindowSize(ImVec2{540, 365}, ImGuiCond_FirstUseEver);
+  if (ImGui::Begin("Entries")) {
+    static bool treeView = true;
+    if (ImGui::BeginPopupContextItem()) {
+      ImGui::MenuItem("Tree View", "", &treeView);
+      ImGui::EndPopup();
+    }
+    std::scoped_lock lock{gEntriesMutex};
+    ImGui::BeginTable(
+        "Entries", 3,
+        ImGuiTableFlags_Borders | ImGuiTableFlags_SizingStretchProp);
+    ImGui::TableSetupColumn("Name");
+    ImGui::TableSetupColumn("Type");
+    ImGui::TableSetupColumn("Metadata");
+    ImGui::TableHeadersRow();
+    if (treeView) {
+      if (EmitEntryTree(gEntryTree)) {
+        int selected = -1;
+        RefreshTreeCheckboxes(gEntryTree, &selected);
+      }
+    } else {
+      for (auto&& kv : gEntries) {
+        EmitEntry(kv.first, *kv.second);
+      }
+    }
+    ImGui::EndTable();
+  }
+  ImGui::End();
+}
+
+static wpi::mutex gExportMutex;
+static std::vector<std::string> gExportErrors;
+
+static void PrintEscapedCsvString(wpi::raw_ostream& os, std::string_view str) {
+  auto s = str;
+  while (!s.empty()) {
+    std::string_view fragment;
+    std::tie(fragment, s) = wpi::split(s, '"');
+    os << fragment;
+    if (!s.empty()) {
+      os << '"' << '"';
+    }
+  }
+  if (wpi::ends_with(str, '"')) {
+    os << '"' << '"';
+  }
+}
+
+static void ValueToCsv(wpi::raw_ostream& os, const Entry& entry,
+                       const wpi::log::DataLogRecord& record) {
+  // handle systemTime specially
+  if (entry.name == "systemTime" && entry.type == "int64") {
+    int64_t val;
+    if (record.GetInteger(&val)) {
+      std::time_t timeval = val / 1000000;
+      fmt::print(os, "{:%Y-%m-%d %H:%M:%S}.{:06}", *std::localtime(&timeval),
+                 val % 1000000);
+      return;
+    }
+  } else if (entry.type == "double") {
+    double val;
+    if (record.GetDouble(&val)) {
+      fmt::print(os, "{}", val);
+      return;
+    }
+  } else if (entry.type == "int64") {
+    int64_t val;
+    if (record.GetInteger(&val)) {
+      fmt::print(os, "{}", val);
+      return;
+    }
+  } else if (entry.type == "string" || entry.type == "json") {
+    std::string_view val;
+    record.GetString(&val);
+    os << '"';
+    PrintEscapedCsvString(os, val);
+    os << '"';
+    return;
+  } else if (entry.type == "boolean") {
+    bool val;
+    if (record.GetBoolean(&val)) {
+      fmt::print(os, "{}", val);
+      return;
+    }
+  } else if (entry.type == "boolean[]") {
+    std::vector<int> val;
+    if (record.GetBooleanArray(&val)) {
+      fmt::print(os, "{}", fmt::join(val, ";"));
+      return;
+    }
+  } else if (entry.type == "double[]") {
+    std::vector<double> val;
+    if (record.GetDoubleArray(&val)) {
+      fmt::print(os, "{}", fmt::join(val, ";"));
+      return;
+    }
+  } else if (entry.type == "float[]") {
+    std::vector<float> val;
+    if (record.GetFloatArray(&val)) {
+      fmt::print(os, "{}", fmt::join(val, ";"));
+      return;
+    }
+  } else if (entry.type == "int64[]") {
+    std::vector<int64_t> val;
+    if (record.GetIntegerArray(&val)) {
+      fmt::print(os, "{}", fmt::join(val, ";"));
+      return;
+    }
+  } else if (entry.type == "string[]") {
+    std::vector<std::string_view> val;
+    if (record.GetStringArray(&val)) {
+      os << '"';
+      bool first = true;
+      for (auto&& v : val) {
+        if (!first) {
+          os << ';';
+        }
+        first = false;
+        PrintEscapedCsvString(os, v);
+      }
+      os << '"';
+      return;
+    }
+  }
+  fmt::print(os, "<invalid>");
+}
+
+static void ExportCsvFile(InputFile& f, wpi::raw_ostream& os, int style) {
+  // header
+  if (style == 0) {
+    os << "Timestamp,Name,Value\n";
+  } else if (style == 1) {
+    // scan for exported fields for this file to print header and assign columns
+    os << "Timestamp";
+    int columnNum = 0;
+    for (auto&& entry : gEntries) {
+      if (entry.second->selected &&
+          entry.second->inputFiles.find(&f) != entry.second->inputFiles.end()) {
+        os << ',' << '"';
+        PrintEscapedCsvString(os, entry.first);
+        os << '"';
+        entry.second->column = columnNum++;
+      } else {
+        entry.second->column = -1;
+      }
+    }
+    os << '\n';
+  }
+
+  wpi::DenseMap<int, Entry*> nameMap;
+  for (auto&& record : f.datalog->GetReader()) {
+    if (record.IsStart()) {
+      wpi::log::StartRecordData data;
+      if (record.GetStartData(&data)) {
+        auto it = gEntries.find(data.name);
+        if (it != gEntries.end() && it->second->selected) {
+          nameMap[data.entry] = it->second.get();
+        }
+      }
+    } else if (record.IsFinish()) {
+      int entry;
+      if (record.GetFinishEntry(&entry)) {
+        nameMap.erase(entry);
+      }
+    } else if (!record.IsControl()) {
+      auto entryIt = nameMap.find(record.GetEntry());
+      if (entryIt == nameMap.end()) {
+        continue;
+      }
+      Entry* entry = entryIt->second;
+
+      if (style == 0) {
+        fmt::print(os, "{},\"", record.GetTimestamp() / 1000000.0);
+        PrintEscapedCsvString(os, entry->name);
+        os << '"' << ',';
+        ValueToCsv(os, *entry, record);
+        os << '\n';
+      } else if (style == 1 && entry->column != -1) {
+        fmt::print(os, "{},", record.GetTimestamp() / 1000000.0);
+        for (int i = 0; i < entry->column; ++i) {
+          os << ',';
+        }
+        ValueToCsv(os, *entry, record);
+        os << '\n';
+      }
+    }
+  }
+}
+
+static void ExportCsv(std::string_view outputFolder, int style) {
+  fs::path outPath{outputFolder};
+  for (auto&& f : gInputFiles) {
+    if (f.second->datalog) {
+      std::error_code ec;
+      auto of = fs::OpenFileForWrite(
+          outPath / fs::path{f.first}.replace_extension("csv"), ec,
+          fs::CD_CreateNew, fs::OF_Text);
+      if (ec) {
+        std::scoped_lock lock{gExportMutex};
+        gExportErrors.emplace_back(
+            fmt::format("{}: {}", f.first, ec.message()));
+        ++gExportCount;
+        continue;
+      }
+      wpi::raw_fd_ostream os{fs::FileToFd(of, ec, fs::OF_Text), true};
+      ExportCsvFile(*f.second, os, style);
+    }
+    ++gExportCount;
+  }
+}
+
+void DisplayOutput(glass::Storage& storage) {
+  static std::string& outputFolder = storage.GetString("outputFolder");
+  static std::unique_ptr<pfd::select_folder> outputFolderSelector;
+
+  SetNextWindowPos(ImVec2{380, 390}, ImGuiCond_FirstUseEver);
+  SetNextWindowSize(ImVec2{540, 120}, ImGuiCond_FirstUseEver);
+  if (ImGui::Begin("Output")) {
+    if (ImGui::Button("Select Output Folder...")) {
+      outputFolderSelector =
+          std::make_unique<pfd::select_folder>("Select Output Folder");
+    }
+    ImGui::TextUnformatted(outputFolder.c_str());
+
+    static const char* const options[] = {"List", "Table"};
+    static int style = 0;
+    ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
+    ImGui::Combo("Style", &style, options,
+                 sizeof(options) / sizeof(const char*));
+
+    static std::future<void> exporter;
+    if (!gInputFiles.empty() && !outputFolder.empty() &&
+        ImGui::Button("Export CSV") &&
+        (gExportCount == 0 ||
+         gExportCount == static_cast<int>(gInputFiles.size()))) {
+      gExportCount = 0;
+      gExportErrors.clear();
+      exporter = std::async(std::launch::async, ExportCsv, outputFolder, style);
+    }
+    if (exporter.valid()) {
+      ImGui::SameLine();
+      ImGui::Text("Exported %d/%d", gExportCount.load(),
+                  static_cast<int>(gInputFiles.size()));
+    }
+    {
+      std::scoped_lock lock{gExportMutex};
+      for (auto&& err : gExportErrors) {
+        ImGui::TextUnformatted(err.c_str());
+      }
+    }
+  }
+  ImGui::End();
+
+  if (outputFolderSelector && outputFolderSelector->ready(0)) {
+    outputFolder = outputFolderSelector->result();
+    outputFolderSelector.reset();
+  }
+}

datalogtool/src/main/native/cpp/Exporter.h

@@ -4,9 +4,12 @@
 
 #pragma once
 
-#include <frc/commands/CommandGroup.h>
+namespace glass {
+class Storage;
+}  // namespace glass
 
-class ReplaceMeCommandGroup : public frc::CommandGroup {
- public:
-  ReplaceMeCommandGroup();
-};
+void DisplayInputFiles();
+void DisplayEntries();
+void DisplayOutput(glass::Storage& storage);
+
+extern bool gShutdown;

datalogtool/src/main/native/cpp/Sftp.cpp

@@ -0,0 +1,215 @@
+// 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 "Sftp.h"
+
+#include <fmt/format.h>
+
+using namespace sftp;
+
+Attributes::Attributes(sftp_attributes&& attr)
+    : name{attr->name}, flags{attr->flags}, type{attr->type}, size{attr->size} {
+  sftp_attributes_free(attr);
+}
+
+static std::string GetError(sftp_session sftp) {
+  switch (sftp_get_error(sftp)) {
+    case SSH_FX_EOF:
+      return "end of file";
+    case SSH_FX_NO_SUCH_FILE:
+      return "no such file";
+    case SSH_FX_PERMISSION_DENIED:
+      return "permission denied";
+    case SSH_FX_FAILURE:
+      return "SFTP failure";
+    case SSH_FX_BAD_MESSAGE:
+      return "SFTP bad message";
+    case SSH_FX_NO_CONNECTION:
+      return "SFTP no connection";
+    case SSH_FX_CONNECTION_LOST:
+      return "SFTP connection lost";
+    case SSH_FX_OP_UNSUPPORTED:
+      return "SFTP operation unsupported";
+    case SSH_FX_INVALID_HANDLE:
+      return "SFTP invalid handle";
+    case SSH_FX_NO_SUCH_PATH:
+      return "no such path";
+    case SSH_FX_FILE_ALREADY_EXISTS:
+      return "file already exists";
+    case SSH_FX_WRITE_PROTECT:
+      return "write protected filesystem";
+    case SSH_FX_NO_MEDIA:
+      return "no media inserted";
+    default:
+      return ssh_get_error(sftp->session);
+  }
+}
+
+Exception::Exception(sftp_session sftp)
+    : runtime_error{GetError(sftp)}, err{sftp_get_error(sftp)} {}
+
+File::~File() {
+  if (m_handle) {
+    sftp_close(m_handle);
+  }
+}
+
+Attributes File::Stat() const {
+  sftp_attributes attr = sftp_fstat(m_handle);
+  if (!attr) {
+    throw Exception{m_handle->sftp};
+  }
+  return Attributes{std::move(attr)};
+}
+
+size_t File::Read(void* buf, uint32_t count) {
+  auto rv = sftp_read(m_handle, buf, count);
+  if (rv < 0) {
+    throw Exception{m_handle->sftp};
+  }
+  return rv;
+}
+
+File::AsyncId File::AsyncReadBegin(uint32_t len) const {
+  int rv = sftp_async_read_begin(m_handle, len);
+  if (rv < 0) {
+    throw Exception{m_handle->sftp};
+  }
+  return rv;
+}
+
+size_t File::AsyncRead(void* data, uint32_t len, AsyncId id) {
+  auto rv = sftp_async_read(m_handle, data, len, id);
+  if (rv == SSH_ERROR) {
+    throw Exception{ssh_get_error(m_handle->sftp->session)};
+  }
+  if (rv == SSH_AGAIN) {
+    return 0;
+  }
+  return rv;
+}
+
+size_t File::Write(wpi::span<const uint8_t> data) {
+  auto rv = sftp_write(m_handle, data.data(), data.size());
+  if (rv < 0) {
+    throw Exception{m_handle->sftp};
+  }
+  return rv;
+}
+
+void File::Seek(uint64_t offset) {
+  if (sftp_seek64(m_handle, offset) < 0) {
+    throw Exception{m_handle->sftp};
+  }
+}
+
+uint64_t File::Tell() const {
+  return sftp_tell64(m_handle);
+}
+
+void File::Rewind() {
+  sftp_rewind(m_handle);
+}
+
+void File::Sync() {
+  if (sftp_fsync(m_handle) < 0) {
+    throw Exception{m_handle->sftp};
+  }
+}
+
+Session::Session(std::string_view host, int port, std::string_view user,
+                 std::string_view pass)
+    : m_host{host}, m_port{port}, m_username{user}, m_password{pass} {
+  // Create a new SSH session.
+  m_session = ssh_new();
+  if (!m_session) {
+    throw Exception{"The SSH session could not be allocated."};
+  }
+
+  // Set the host, user, and port.
+  ssh_options_set(m_session, SSH_OPTIONS_HOST, m_host.c_str());
+  ssh_options_set(m_session, SSH_OPTIONS_USER, m_username.c_str());
+  ssh_options_set(m_session, SSH_OPTIONS_PORT, &m_port);
+
+  // Set timeout to 3 seconds.
+  int64_t timeout = 3L;
+  ssh_options_set(m_session, SSH_OPTIONS_TIMEOUT, &timeout);
+
+  // Set other miscellaneous options.
+  ssh_options_set(m_session, SSH_OPTIONS_STRICTHOSTKEYCHECK, "no");
+}
+
+Session::~Session() {
+  if (m_sftp) {
+    sftp_free(m_sftp);
+  }
+  if (m_session) {
+    ssh_free(m_session);
+  }
+}
+
+void Session::Connect() {
+  // Connect to the server.
+  int rc = ssh_connect(m_session);
+  if (rc != SSH_OK) {
+    throw Exception{ssh_get_error(m_session)};
+  }
+
+  // Authenticate with password.
+  rc = ssh_userauth_password(m_session, nullptr, m_password.c_str());
+  if (rc != SSH_AUTH_SUCCESS) {
+    throw Exception{ssh_get_error(m_session)};
+  }
+
+  // Allocate the SFTP session.
+  m_sftp = sftp_new(m_session);
+  if (!m_sftp) {
+    throw Exception{ssh_get_error(m_session)};
+  }
+
+  // Initialize.
+  rc = sftp_init(m_sftp);
+  if (rc != SSH_OK) {
+    sftp_free(m_sftp);
+    m_sftp = nullptr;
+    throw Exception{ssh_get_error(m_session)};
+  }
+}
+
+void Session::Disconnect() {
+  if (m_sftp) {
+    sftp_free(m_sftp);
+    m_sftp = nullptr;
+  }
+  ssh_disconnect(m_session);
+}
+
+std::vector<Attributes> Session::ReadDir(const std::string& path) {
+  sftp_dir dir = sftp_opendir(m_sftp, path.c_str());
+  if (!dir) {
+    throw Exception{m_sftp};
+  }
+
+  std::vector<Attributes> rv;
+  while (sftp_attributes attr = sftp_readdir(m_sftp, dir)) {
+    rv.emplace_back(std::move(attr));
+  }
+
+  sftp_closedir(dir);
+  return rv;
+}
+
+void Session::Unlink(const std::string& filename) {
+  if (sftp_unlink(m_sftp, filename.c_str()) < 0) {
+    throw Exception{m_sftp};
+  }
+}
+
+File Session::Open(const std::string& filename, int accesstype, mode_t mode) {
+  sftp_file f = sftp_open(m_sftp, filename.c_str(), accesstype, mode);
+  if (!f) {
+    throw Exception{m_sftp};
+  }
+  return File{std::move(f)};
+}

datalogtool/src/main/native/cpp/Sftp.h

@@ -0,0 +1,144 @@
+// 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 <libssh/libssh.h>
+#include <libssh/sftp.h>
+
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include <wpi/span.h>
+
+namespace sftp {
+
+struct Attributes {
+  Attributes() = default;
+  explicit Attributes(sftp_attributes&& attr);
+
+  std::string name;
+  uint32_t flags = 0;
+  uint8_t type = 0;
+  uint64_t size = 0;
+};
+
+/**
+ * This is the exception that will be thrown if something goes wrong.
+ */
+class Exception : public std::runtime_error {
+ public:
+  explicit Exception(const std::string& msg) : std::runtime_error{msg} {}
+  explicit Exception(sftp_session sftp);
+
+  int err = 0;
+};
+
+class File {
+ public:
+  File() = default;
+  explicit File(sftp_file&& handle) : m_handle{handle} {}
+  ~File();
+
+  Attributes Stat() const;
+
+  void SetNonblocking() { sftp_file_set_nonblocking(m_handle); }
+  void SetBlocking() { sftp_file_set_blocking(m_handle); }
+
+  using AsyncId = uint32_t;
+
+  size_t Read(void* buf, uint32_t count);
+  AsyncId AsyncReadBegin(uint32_t len) const;
+  size_t AsyncRead(void* data, uint32_t len, AsyncId id);
+  size_t Write(wpi::span<const uint8_t> data);
+
+  void Seek(uint64_t offset);
+  uint64_t Tell() const;
+  void Rewind();
+
+  void Sync();
+
+  std::string_view GetName() const { return m_handle->name; }
+  uint64_t GetOffset() const { return m_handle->offset; }
+  bool IsEof() const { return m_handle->eof; }
+  bool IsNonblocking() const { return m_handle->nonblocking; }
+
+ private:
+  sftp_file m_handle{nullptr};
+};
+
+/**
+ * This class is a C++ implementation of the SshSessionController in
+ * wpilibsuite/deploy-utils. It handles connecting to an SSH server, running
+ * commands, and transferring files.
+ */
+class Session {
+ public:
+  /**
+   * Constructs a new session controller.
+   *
+   * @param host The hostname of the server to connect to.
+   * @param port The port that the sshd server is operating on.
+   * @param user The username to login as.
+   * @param pass The password for the given username.
+   */
+  Session(std::string_view host, int port, std::string_view user,
+          std::string_view pass);
+
+  /**
+   * Destroys the controller object. This also disconnects the session from the
+   * server.
+   */
+  ~Session();
+
+  /**
+   * Opens the SSH connection to the given host.
+   */
+  void Connect();
+
+  /**
+   * Disconnects the SSH connection.
+   */
+  void Disconnect();
+
+  /**
+   * Reads directory entries
+   *
+   * @param path remote path
+   * @return vector of file attributes
+   */
+  std::vector<Attributes> ReadDir(const std::string& path);
+
+  /**
+   * Unlinks (deletes) a file.
+   *
+   * @param filename filename
+   */
+  void Unlink(const std::string& filename);
+
+  /**
+   * Opens a file.
+   *
+   * @param filename filename
+   * @param accesstype O_RDONLY, O_WRONLY, or O_RDWR, combined with O_CREAT,
+   *                   O_EXCL, or O_TRUNC
+   * @param mode permissions to use if a new file is created
+   * @return File
+   */
+  File Open(const std::string& filename, int accesstype, mode_t mode);
+
+ private:
+  ssh_session m_session{nullptr};
+  sftp_session m_sftp{nullptr};
+  std::string m_host;
+
+  int m_port;
+
+  std::string m_username;
+  std::string m_password;
+};
+
+}  // namespace sftp

datalogtool/src/main/native/cpp/main.cpp

@@ -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.
+
+#include <string_view>
+
+void Application(std::string_view saveDir);
+
+#ifdef _WIN32
+int __stdcall WinMain(void* hInstance, void* hPrevInstance, char* pCmdLine,
+                      int nCmdShow) {
+  int argc = __argc;
+  char** argv = __argv;
+#else
+int main(int argc, char** argv) {
+#endif
+  std::string_view saveDir;
+  if (argc == 2) {
+    saveDir = argv[1];
+  }
+
+  Application(saveDir);
+
+  return 0;
+}

datalogtool/src/main/native/win/datalogtool.rc

@@ -0,0 +1 @@
+IDI_ICON1 ICON "datalogtool.ico"

docs/build.gradle

@@ -11,7 +11,6 @@ evaluationDependsOn(':cameraserver')
 evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
-evaluationDependsOn(':wpilibOldCommands')
 evaluationDependsOn(':wpilibNewCommands')
 
 def baseArtifactIdCpp = 'documentation'
@@ -34,7 +33,6 @@ cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':cameraserver').cppHeadersZip)
 cppProjectZips.add(project(':wpimath').cppHeadersZip)
 cppProjectZips.add(project(':wpilibc').cppHeadersZip)
-cppProjectZips.add(project(':wpilibOldCommands').cppHeadersZip)
 cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
 
 doxygen {
@@ -204,7 +202,6 @@ task generateJavaDocs(type: Javadoc) {
     source project(':wpimath').sourceSets.main.java
     source project(':wpilibj').sourceSets.main.java
     source project(':cameraserver').sourceSets.main.java
-    source project(':wpilibOldCommands').sourceSets.main.java
     source project(':wpilibNewCommands').sourceSets.main.java
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'

glass/build.gradle

@@ -69,19 +69,6 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
 
     nativeUtils.exportsConfigs {
         glass {
-            x86ExcludeSymbols = [
-                '_CT??_R0?AV_System_error',
-                '_CT??_R0?AVexception',
-                '_CT??_R0?AVfailure',
-                '_CT??_R0?AVruntime_error',
-                '_CT??_R0?AVsystem_error',
-                '_CTA5?AVfailure',
-                '_TI5?AVfailure',
-                '_CT??_R0?AVout_of_range',
-                '_CTA3?AVout_of_range',
-                '_TI3?AVout_of_range',
-                '_CT??_R0?AVbad_cast'
-            ]
             x64ExcludeSymbols = [
                 '_CT??_R0?AV_System_error',
                 '_CT??_R0?AVexception',
@@ -151,6 +138,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                     lib library: nativeName, linkage: 'static'
                     lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
@@ -189,6 +177,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     lib library: 'glassnt', linkage: 'static'
                     lib library: nativeName, linkage: 'static'
                     lib project: ':ntcore', library: 'ntcore', linkage: 'static'
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'

glass/publish.gradle

@@ -77,7 +77,7 @@ model {
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("glassApp")) {
-                    if (binary.buildable && binary.name.contains("Release")) {
+                    if (binary.buildable && (binary.name.contains('Release') || binary.name.contains('release'))) {
                         // We are now in the binary that we want.
                         // This is the default application path for the ZIP task.
                         def applicationPath = binary.executable.file
@@ -130,6 +130,14 @@ model {
                             }
 
                             from(applicationPath)
+
+                            if (binary.targetPlatform.operatingSystem.isWindows()) {
+                                def exePath = binary.executable.file.absolutePath
+                                exePath = exePath.substring(0, exePath.length() - 4)
+                                def pdbPath = new File(exePath + '.pdb')
+                                from(pdbPath)
+                            }
+
                             into(nativeUtils.getPlatformPath(binary))
                         }
 

glass/src/app/native/cpp/main.cpp

@@ -47,6 +47,26 @@ static std::unique_ptr<glass::Window> gNetworkTablesLogWindow;
 
 static glass::MainMenuBar gMainMenu;
 static bool gAbout = false;
+static bool gSetEnterKey = false;
+static bool gKeyEdit = false;
+static int* gEnterKey;
+static void (*gPrevKeyCallback)(GLFWwindow*, int, int, int, int);
+
+static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
+                                  int action, int mods) {
+  if (action == GLFW_PRESS || action == GLFW_RELEASE) {
+    if (gKeyEdit) {
+      *gEnterKey = key;
+      gKeyEdit = false;
+    } else if (*gEnterKey == key) {
+      key = GLFW_KEY_ENTER;
+    }
+  }
+
+  if (gPrevKeyCallback) {
+    gPrevKeyCallback(window, key, scancode, action, mods);
+  }
+}
 
 static void NtInitialize() {
   // update window title when connection status changes
@@ -178,6 +198,9 @@ int main(int argc, char** argv) {
 
   gMainMenu.AddMainMenu([] {
     if (ImGui::BeginMenu("View")) {
+      if (ImGui::MenuItem("Set Enter Key")) {
+        gSetEnterKey = true;
+      }
       if (ImGui::MenuItem("Reset Time")) {
         glass::ResetTime();
       }
@@ -231,9 +254,48 @@ int main(int argc, char** argv) {
       }
       ImGui::EndPopup();
     }
+
+    if (gSetEnterKey) {
+      ImGui::OpenPopup("Set Enter Key");
+      gSetEnterKey = false;
+    }
+    if (ImGui::BeginPopupModal("Set Enter Key")) {
+      ImGui::Text("Set the key to use to mean 'Enter'");
+      ImGui::Text("This is useful to edit values without the DS disabling");
+      ImGui::Separator();
+
+      ImGui::Text("Key:");
+      ImGui::SameLine();
+      char editLabel[40];
+      char nameBuf[32];
+      const char* name = glfwGetKeyName(*gEnterKey, 0);
+      if (!name) {
+        std::snprintf(nameBuf, sizeof(nameBuf), "%d", *gEnterKey);
+        name = nameBuf;
+      }
+      std::snprintf(editLabel, sizeof(editLabel), "%s###edit",
+                    gKeyEdit ? "(press key)" : name);
+      if (ImGui::SmallButton(editLabel)) {
+        gKeyEdit = true;
+      }
+      ImGui::SameLine();
+      if (ImGui::SmallButton("Reset")) {
+        *gEnterKey = GLFW_KEY_ENTER;
+      }
+
+      if (ImGui::Button("Close")) {
+        ImGui::CloseCurrentPopup();
+        gKeyEdit = false;
+      }
+      ImGui::EndPopup();
+    }
   });
 
   gui::Initialize("Glass - DISCONNECTED", 1024, 768);
+  gEnterKey = &glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
+  if (auto win = gui::GetSystemWindow()) {
+    gPrevKeyCallback = glfwSetKeyCallback(win, RemapEnterKeyCallback);
+  }
   gui::Main();
 
   gNetworkTablesSettingsWindow.reset();

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

@@ -14,7 +14,7 @@ using namespace glass;
 static const char* stations[] = {"Red 1",  "Red 2",  "Red 3",
                                  "Blue 1", "Blue 2", "Blue 3"};
 
-void glass::DisplayFMS(FMSModel* model, bool* matchTimeEnabled) {
+void glass::DisplayFMS(FMSModel* model) {
   if (!model->Exists() || model->IsReadOnly()) {
     return DisplayFMSReadOnly(model);
   }
@@ -49,10 +49,6 @@ void glass::DisplayFMS(FMSModel* model, bool* matchTimeEnabled) {
 
   // Match Time
   if (auto data = model->GetMatchTimeData()) {
-    if (matchTimeEnabled) {
-      ImGui::Checkbox("Match Time Enabled", matchTimeEnabled);
-    }
-
     double val = data->GetValue();
     ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
     if (ImGui::InputDouble("Match Time", &val, 0, 0, "%.1f",
@@ -60,9 +56,17 @@ void glass::DisplayFMS(FMSModel* model, bool* matchTimeEnabled) {
       model->SetMatchTime(val);
     }
     data->EmitDrag();
+    bool enabled = false;
+    if (auto enabledData = model->GetEnabledData()) {
+      enabled = enabledData->GetValue();
+    }
     ImGui::SameLine();
-    if (ImGui::Button("Reset")) {
-      model->SetMatchTime(0.0);
+    if (ImGui::Button("Auto") && !enabled) {
+      model->SetMatchTime(15.0);
+    }
+    ImGui::SameLine();
+    if (ImGui::Button("Teleop") && !enabled) {
+      model->SetMatchTime(135.0);
     }
   }
 

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

@@ -105,7 +105,7 @@ class PlotSeries {
   int& m_digitalBitGap;
 
   // value storage
-  static constexpr int kMaxSize = 2000;
+  static constexpr int kMaxSize = 20000;
   static constexpr double kTimeGap = 0.05;
   std::atomic<int> m_size = 0;
   std::atomic<int> m_offset = 0;
@@ -246,7 +246,7 @@ void PlotSeries::SetSource(DataSource* source) {
   m_source = source;
 
   // add initial value
-  m_data[m_size++] = ImPlotPoint{wpi::Now() * 1.0e-6, source->GetValue()};
+  AppendValue(source->GetValue(), 0);
 
   m_newValueConn = source->valueChanged.connect_connection(
       [this](double value, uint64_t time) { AppendValue(value, time); });

glass/src/lib/native/include/glass/other/FMS.h

@@ -47,7 +47,7 @@ class FMSModel : public Model {
  * @param matchTimeEnabled If not null, a checkbox is displayed for
  *                         "enable match time" linked to this value
  */
-void DisplayFMS(FMSModel* model, bool* matchTimeEnabled = nullptr);
+void DisplayFMS(FMSModel* model);
 void DisplayFMSReadOnly(FMSModel* model);
 
 }  // namespace glass

glass/src/libnt/native/include/glass/networktables/NTSpeedController.h

@@ -16,7 +16,7 @@
 namespace glass {
 class NTSpeedControllerModel : public SpeedControllerModel {
  public:
-  static constexpr const char* kType = "Speed Controller";
+  static constexpr const char* kType = "Motor Controller";
 
   explicit NTSpeedControllerModel(std::string_view path);
   NTSpeedControllerModel(NT_Inst instance, std::string_view path);

googletest/CMakeLists.txt.in

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.2)
+cmake_minimum_required(VERSION 3.3.0)
 
 project(googletest-download NONE)
 

gradle.properties

@@ -1,6 +1,6 @@
 # The --add-exports flags work around a bug with spotless and JDK 17
 # https://github.com/diffplug/spotless/issues/834
-org.gradle.jvmargs=-Xmx1g \
+org.gradle.jvmargs=-Xmx2g \
   --add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
   --add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
   --add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \

hal/build.gradle

@@ -133,19 +133,6 @@ Action<List<String>> symbolFilter = { symbols ->
 
 nativeUtils.exportsConfigs {
     hal {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
         x64ExcludeSymbols = [
             '_CT??_R0?AV_System_error',
             '_CT??_R0?AVexception',
@@ -161,7 +148,6 @@ nativeUtils.exportsConfigs {
         ]
     }
     halJNI {
-        x86SymbolFilter = symbolFilter
         x64SymbolFilter = symbolFilter
     }
 }

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

@@ -52,7 +52,7 @@ public class NotifierJNI extends JNIWrapper {
   public static native void cleanNotifier(int notifierHandle);
 
   /**
-   * Sets the notifier to wakeup the waiter in another triggerTime microseconds.
+   * Sets the notifier to wake up the waiter at triggerTime microseconds.
    *
    * @param notifierHandle Notifier handle.
    * @param triggerTime Trigger time in microseconds.

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

@@ -335,8 +335,13 @@ HAL_Bool HAL_GetCTREPCMSolenoidVoltageFault(HAL_CTREPCMHandle handle,
 
 void HAL_ClearAllCTREPCMStickyFaults(HAL_CTREPCMHandle handle,
                                      int32_t* status) {
+  auto pcm = pcmHandles->Get(handle);
+  if (pcm == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
   uint8_t controlData[] = {0, 0, 0, 0x80};
-  HAL_WriteCANPacket(handle, controlData, sizeof(controlData), Control2,
+  HAL_WriteCANPacket(pcm->canHandle, controlData, sizeof(controlData), Control2,
                      status);
 }
 
@@ -393,7 +398,7 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
       (std::min)(static_cast<uint32_t>(durMs) / 10,
                  static_cast<uint32_t>(0xFF));
   HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8,
-                              Control2, SendPeriod, status);
+                              Control3, SendPeriod, status);
 }
 
 }  // extern "C"

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

@@ -110,10 +110,15 @@ static int32_t HAL_GetControlWordInternal(HAL_ControlWord* controlWord) {
 
 static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
   MatchType_t matchType = MatchType_t::kMatchType_none;
+  info->gameSpecificMessageSize = sizeof(info->gameSpecificMessage);
   int status = FRC_NetworkCommunication_getMatchInfo(
       info->eventName, &matchType, &info->matchNumber, &info->replayNumber,
       info->gameSpecificMessage, &info->gameSpecificMessageSize);
 
+  if (info->gameSpecificMessageSize > sizeof(info->gameSpecificMessage)) {
+    info->gameSpecificMessageSize = 0;
+  }
+
   info->matchType = static_cast<HAL_MatchType>(matchType);
 
   *(std::end(info->eventName) - 1) = '\0';

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

@@ -14,7 +14,6 @@
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <iostream>
 #include <stdexcept>
 #include <string>
 #include <thread>

hal/src/main/native/athena/mockdata/MockHooks.cpp

@@ -48,4 +48,6 @@ int32_t HALSIM_RegisterSimPeriodicAfterCallback(
 
 void HALSIM_CancelSimPeriodicAfterCallback(int32_t uid) {}
 
+void HALSIM_CancelAllSimPeriodicCallbacks(void) {}
+
 }  // extern "C"

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

@@ -46,7 +46,7 @@ void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle);
 HAL_Bool HAL_CheckAnalogModule(int32_t module);
 
 /**
- * Checks that the analog output channel number is value.
+ * Checks that the analog output channel number is valid.
  * Verifies that the analog channel number is one of the legal channel numbers.
  * Channel numbers are 0-based.
  *

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

@@ -58,7 +58,7 @@ double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
                            int32_t* status);
 
 /**
- * Checks that the analog output channel number is value.
+ * Checks that the analog output channel number is valid.
  *
  * Verifies that the analog channel number is one of the legal channel numbers.
  * Channel numbers are 0-based.

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

@@ -22,7 +22,8 @@ extern "C" {
 /**
  * Initializes a CAN device.
  *
- * These follow the FIRST standard CAN layout. Link TBD
+ * These follow the FIRST standard CAN layout.
+ * https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html
  *
  * @param[in] manufacturer the can manufacturer
  * @param[in] deviceId     the device ID (0-63)

hal/src/main/native/include/hal/simulation/MockHooks.h

@@ -36,4 +36,6 @@ int32_t HALSIM_RegisterSimPeriodicAfterCallback(
     HALSIM_SimPeriodicCallback callback, void* param);
 void HALSIM_CancelSimPeriodicAfterCallback(int32_t uid);
 
+void HALSIM_CancelAllSimPeriodicCallbacks(void);
+
 }  // extern "C"

hal/src/main/native/include/hal/simulation/SimDataValue.h

@@ -87,9 +87,21 @@ template <typename T, HAL_Value (*MakeValue)(T), const char* (*GetName)(),
           T (*GetDefault)() = nullptr>
 class SimDataValue final : public impl::SimDataValueBase<T, MakeValue> {
  public:
+// FIXME: GCC 12.1 gives the false positive "the address of <GetDefault> will
+// never be NULL" because it doesn't realize the default template parameter can
+// make GetDefault nullptr. In C++20, replace "T (*GetDefault)() = nullptr" with
+// "T (*GetDefault)() = [] { return T(); }" and unconditionally call
+// GetDefault() to fix the warning.
+#if __GNUC__ >= 12
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Waddress"
+#endif  // __GNUC__ >= 12
   SimDataValue()
       : impl::SimDataValueBase<T, MakeValue>(
             GetDefault != nullptr ? GetDefault() : T()) {}
+#if __GNUC__ >= 12
+#pragma GCC diagnostic pop
+#endif  // __GNUC__ >= 12
   explicit SimDataValue(T value)
       : impl::SimDataValueBase<T, MakeValue>(value) {}
 

hal/src/main/native/sim/HAL.cpp

@@ -409,6 +409,11 @@ void HALSIM_CancelSimPeriodicAfterCallback(int32_t uid) {
   gSimPeriodicAfter.Cancel(uid);
 }
 
+void HALSIM_CancelAllSimPeriodicCallbacks(void) {
+  gSimPeriodicBefore.Reset();
+  gSimPeriodicAfter.Reset();
+}
+
 int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
                    const char* feature) {
   return 0;  // Do nothing for now

hal/src/main/native/sim/PortsInternal.h

@@ -7,6 +7,7 @@
 #include <stdint.h>
 
 namespace hal {
+constexpr int32_t kAccelerometers = 1;
 constexpr int32_t kNumAccumulators = 2;
 constexpr int32_t kNumAnalogTriggers = 8;
 constexpr int32_t kNumAnalogInputs = 8;
@@ -18,6 +19,7 @@ constexpr int32_t kNumDigitalChannels = 31;
 constexpr int32_t kNumPWMChannels = 20;
 constexpr int32_t kNumDigitalPWMOutputs = 6;
 constexpr int32_t kNumEncoders = 8;
+constexpr int32_t kI2CPorts = 2;
 constexpr int32_t kNumInterrupts = 8;
 constexpr int32_t kNumRelayChannels = 8;
 constexpr int32_t kNumRelayHeaders = kNumRelayChannels / 2;
@@ -27,8 +29,13 @@ constexpr int32_t kNumCTREPDPModules = 63;
 constexpr int32_t kNumCTREPDPChannels = 16;
 constexpr int32_t kNumREVPDHModules = 63;
 constexpr int32_t kNumREVPDHChannels = 24;
+constexpr int32_t kNumPDSimModules = kNumREVPDHModules;
+constexpr int32_t kNumPDSimChannels = kNumREVPDHChannels;
 constexpr int32_t kNumDutyCycles = 8;
 constexpr int32_t kNumAddressableLEDs = 1;
 constexpr int32_t kNumREVPHModules = 63;
 constexpr int32_t kNumREVPHChannels = 16;
+constexpr int32_t kSPIAccelerometers = 5;
+constexpr int32_t kSPIPorts = 5;
+
 }  // namespace hal

hal/src/main/native/sim/mockdata/AccelerometerData.cpp

@@ -9,7 +9,7 @@ using namespace hal;
 
 namespace hal::init {
 void InitializeAccelerometerData() {
-  static AccelerometerData sad[1];
+  static AccelerometerData sad[kAccelerometers];
   ::hal::SimAccelerometerData = sad;
 }
 }  // namespace hal::init

hal/src/main/native/sim/mockdata/DriverStationData.cpp

@@ -30,7 +30,7 @@ void DriverStationData::ResetData() {
   fmsAttached.Reset(false);
   dsAttached.Reset(true);
   allianceStationId.Reset(static_cast<HAL_AllianceStationID>(0));
-  matchTime.Reset(0.0);
+  matchTime.Reset(-1.0);
 
   {
     std::scoped_lock lock(m_joystickDataMutex);

hal/src/main/native/sim/mockdata/DriverStationDataInternal.h

@@ -126,7 +126,7 @@ class DriverStationData {
   SimDataValue<HAL_AllianceStationID, MakeAllianceStationIdValue,
                GetAllianceStationIdName>
       allianceStationId{static_cast<HAL_AllianceStationID>(0)};
-  SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{0.0};
+  SimDataValue<double, HAL_MakeDouble, GetMatchTimeName> matchTime{-1.0};
 
  private:
   SimCallbackRegistry<HAL_JoystickAxesCallback, GetJoystickAxesName>

hal/src/main/native/sim/mockdata/I2CData.cpp

@@ -9,7 +9,7 @@ using namespace hal;
 
 namespace hal::init {
 void InitializeI2CData() {
-  static I2CData sid[2];
+  static I2CData sid[kI2CPorts];
   ::hal::SimI2CData = sid;
 }
 }  // namespace hal::init

hal/src/main/native/sim/mockdata/PowerDistributionDataInternal.h

@@ -9,8 +9,6 @@
 #include "hal/simulation/SimDataValue.h"
 
 namespace hal {
-constexpr int32_t kNumPDSimModules = hal::kNumREVPDHModules;
-constexpr int32_t kNumPDSimChannels = hal::kNumREVPDHChannels;
 
 class PowerDistributionData {
   HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)

hal/src/main/native/sim/mockdata/SPIAccelerometerData.cpp

@@ -9,7 +9,7 @@ using namespace hal;
 
 namespace hal::init {
 void InitializeSPIAccelerometerData() {
-  static SPIAccelerometerData ssad[5];
+  static SPIAccelerometerData ssad[kSPIAccelerometers];
   ::hal::SimSPIAccelerometerData = ssad;
 }
 }  // namespace hal::init

hal/src/main/native/sim/mockdata/SPIData.cpp

@@ -9,7 +9,7 @@ using namespace hal;
 
 namespace hal::init {
 void InitializeSPIData() {
-  static SPIData ssd[5];
+  static SPIData ssd[kSPIPorts];
   ::hal::SimSPIData = ssd;
 }
 }  // namespace hal::init

imgui/CMakeLists.txt.in

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.2)
+cmake_minimum_required(VERSION 3.3.0)
 
 project(imgui-download NONE)
 
@@ -15,7 +15,7 @@ ExternalProject_Add(glfw3
 )
 ExternalProject_Add(gl3w
   GIT_REPOSITORY    https://github.com/skaslev/gl3w
-  GIT_TAG           3755745085ac2e865fd22270cfe9169c26640f70
+  GIT_TAG           5f8d7fd191ba22ff2b60c1106d7135bb9a335533
   SOURCE_DIR        "${CMAKE_CURRENT_BINARY_DIR}/gl3w-src"
   BINARY_DIR        "${CMAKE_CURRENT_BINARY_DIR}/gl3w-build"
   INSTALL_COMMAND   ""

msvcruntime/build.gradle

@@ -36,14 +36,6 @@ if (OperatingSystem.current().isWindows()) {
     if (runtimeVerNumber != null) {
         runtimeLocation = file("$runtimeLocation\\$runtimeVerNumber")
 
-        def x86Folder = null
-
-        file("$runtimeLocation\\x86").eachFile {
-            if (it.name.endsWith('.CRT')) {
-                x86Folder = it
-            }
-        }
-
         def x64Folder = null
 
         file("$runtimeLocation\\x64").eachFile {
@@ -52,14 +44,6 @@ if (OperatingSystem.current().isWindows()) {
             }
         }
 
-        def x86ZipTask = tasks.create('x86RuntimeZip', Zip) {
-            destinationDirectory = outputsFolder
-            archiveBaseName = zipBaseName
-            classifier = 'x86'
-
-            from x86Folder
-        }
-
         def x64ZipTask = tasks.create('x64RuntimeZip', Zip) {
             destinationDirectory = outputsFolder
             archiveBaseName = zipBaseName
@@ -68,17 +52,14 @@ if (OperatingSystem.current().isWindows()) {
             from x64Folder
         }
 
-        addTaskToCopyAllOutputs(x86ZipTask)
         addTaskToCopyAllOutputs(x64ZipTask)
 
-        build.dependsOn x86ZipTask
         build.dependsOn x64ZipTask
 
         publishing {
             publications {
 
                 runtime(MavenPublication) {
-                    artifact x86ZipTask
                     artifact x64ZipTask
 
                     artifactId = "${baseArtifactId}"

myRobot/build.gradle

@@ -36,7 +36,9 @@ mainClassName = 'frc.robot.Main'
 apply plugin: 'com.github.johnrengelman.shadow'
 
 repositories {
-    mavenCentral()
+    maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
 }
 
 dependencies {
@@ -44,10 +46,10 @@ dependencies {
     implementation project(':wpimath')
     implementation project(':hal')
     implementation project(':wpiutil')
+    implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
-    implementation project(':wpilibOldCommands')
     implementation project(':wpilibNewCommands')
 }
 
@@ -86,6 +88,9 @@ deploy {
 
                 myRobotCpp(NativeExecutableArtifact) {
                     libraryDirectory = '/usr/local/frc/third-party/lib'
+                    def excludes = getLibraryFilter().getExcludes()
+                    excludes.add('**/*.so.debug')
+                    excludes.add('**/*.so.*.debug')
                     postdeploy << { ctx ->
                         ctx.execute('chmod +x myRobotCpp')
                     }
@@ -158,7 +163,6 @@ model {
                         deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
                     }
                 }
-                lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'shared'
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
@@ -168,9 +172,11 @@ model {
                 lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
                 lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
+                lib project: ':wpinet', library: 'wpinetJNIShared', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
                 project(':hal').addHalDependency(binary, 'shared')
                 project(':hal').addHalJniDependency(binary)
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
@@ -205,7 +211,6 @@ model {
                         deploy.targets.roborio.artifacts.myRobotCppStatic.binary = binary
                     }
                 }
-                lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'static'
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'static'
@@ -213,6 +218,7 @@ model {
                 lib project: ':ntcore', library: 'ntcore', linkage: 'static'
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 project(':hal').addHalDependency(binary, 'static')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')

ntcore/.styleguide

@@ -30,4 +30,5 @@ includeOtherLibs {
   ^fmt/
   ^support/
   ^wpi/
+  ^wpinet/
 }