Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a

.clang-format

@@ -1,166 +0,0 @@
----
-Language:        Cpp
-BasedOnStyle:  Google
-AccessModifierOffset: -1
-AlignAfterOpenBracket: Align
-AlignConsecutiveMacros: false
-AlignConsecutiveAssignments: false
-AlignConsecutiveDeclarations: false
-AlignEscapedNewlines: Left
-AlignOperands:   true
-AlignTrailingComments: true
-AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: Never
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: Inline
-AllowShortLambdasOnASingleLine: All
-AllowShortIfStatementsOnASingleLine: Never
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: true
-AlwaysBreakTemplateDeclarations: Yes
-BinPackArguments: true
-BinPackParameters: true
-BraceWrapping:
-  AfterCaseLabel:  false
-  AfterClass:      false
-  AfterControlStatement: false
-  AfterEnum:       false
-  AfterFunction:   false
-  AfterNamespace:  false
-  AfterObjCDeclaration: false
-  AfterStruct:     false
-  AfterUnion:      false
-  AfterExternBlock: false
-  BeforeCatch:     false
-  BeforeElse:      false
-  IndentBraces:    false
-  SplitEmptyFunction: true
-  SplitEmptyRecord: true
-  SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: None
-BreakBeforeBraces: Attach
-BreakBeforeInheritanceComma: false
-BreakInheritanceList: BeforeColon
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeColon
-BreakAfterJavaFieldAnnotations: false
-BreakStringLiterals: true
-ColumnLimit:     80
-CommentPragmas:  '^ IWYU pragma:'
-CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
-ConstructorInitializerIndentWidth: 4
-ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-DeriveLineEnding: true
-DerivePointerAlignment: false
-DisableFormat:   false
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: true
-ForEachMacros:
-  - foreach
-  - Q_FOREACH
-  - BOOST_FOREACH
-IncludeBlocks:   Regroup
-IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '^<.*\.h>'
-    Priority:        1
-    SortPriority:    0
-  - Regex:           '^<.*'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '.*'
-    Priority:        3
-    SortPriority:    0
-IncludeIsMainRegex: '([-_](test|unittest))?$'
-IncludeIsMainSourceRegex: ''
-IndentCaseLabels: true
-IndentGotoLabels: true
-IndentPPDirectives: None
-IndentWidth:     2
-IndentWrappedFunctionNames: false
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
-KeepEmptyLinesAtTheStartOfBlocks: false
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCBinPackProtocolList: Never
-ObjCBlockIndentWidth: 2
-ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakAssignment: 2
-PenaltyBreakBeforeFirstCallParameter: 1
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakString: 1000
-PenaltyBreakTemplateDeclaration: 10
-PenaltyExcessCharacter: 1000000
-PenaltyReturnTypeOnItsOwnLine: 200
-PointerAlignment: Left
-RawStringFormats:
-  - Language:        Cpp
-    Delimiters:
-      - cc
-      - CC
-      - cpp
-      - Cpp
-      - CPP
-      - 'c++'
-      - 'C++'
-    CanonicalDelimiter: ''
-    BasedOnStyle:    google
-  - Language:        TextProto
-    Delimiters:
-      - pb
-      - PB
-      - proto
-      - PROTO
-    EnclosingFunctions:
-      - EqualsProto
-      - EquivToProto
-      - PARSE_PARTIAL_TEXT_PROTO
-      - PARSE_TEST_PROTO
-      - PARSE_TEXT_PROTO
-      - ParseTextOrDie
-      - ParseTextProtoOrDie
-    CanonicalDelimiter: ''
-    BasedOnStyle:    google
-ReflowComments:  true
-SortIncludes:    false
-SortUsingDeclarations: true
-SpaceAfterCStyleCast: false
-SpaceAfterLogicalNot: false
-SpaceAfterTemplateKeyword: true
-SpaceBeforeAssignmentOperators: true
-SpaceBeforeCpp11BracedList: false
-SpaceBeforeCtorInitializerColon: true
-SpaceBeforeInheritanceColon: true
-SpaceBeforeParens: ControlStatements
-SpaceBeforeRangeBasedForLoopColon: true
-SpaceInEmptyBlock: false
-SpaceInEmptyParentheses: false
-SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
-SpacesInConditionalStatement: false
-SpacesInContainerLiterals: true
-SpacesInCStyleCastParentheses: false
-SpacesInParentheses: false
-SpacesInSquareBrackets: false
-SpaceBeforeSquareBrackets: false
-Standard:        c++17
-StatementMacros:
-  - Q_UNUSED
-  - QT_REQUIRE_VERSION
-TabWidth:        8
-UseTab:          Never
-...

.clang-tidy

@@ -1,75 +0,0 @@
-Checks:
-  'bugprone-assert-side-effect,
-  bugprone-bool-pointer-implicit-conversion,
-  bugprone-copy-constructor-init,
-  bugprone-dangling-handle,
-  bugprone-dynamic-static-initializers,
-  bugprone-forward-declaration-namespace,
-  bugprone-forwarding-reference-overload,
-  bugprone-inaccurate-erase,
-  bugprone-incorrect-roundings,
-  bugprone-integer-division,
-  bugprone-lambda-function-name,
-  bugprone-misplaced-operator-in-strlen-in-alloc,
-  bugprone-misplaced-widening-cast,
-  bugprone-move-forwarding-reference,
-  bugprone-multiple-statement-macro,
-  bugprone-parent-virtual-call,
-  bugprone-posix-return,
-  bugprone-sizeof-container,
-  bugprone-sizeof-expression,
-  bugprone-spuriously-wake-up-functions,
-  bugprone-string-constructor,
-  bugprone-string-integer-assignment,
-  bugprone-string-literal-with-embedded-nul,
-  bugprone-suspicious-enum-usage,
-  bugprone-suspicious-include,
-  bugprone-suspicious-memset-usage,
-  bugprone-suspicious-missing-comma,
-  bugprone-suspicious-semicolon,
-  bugprone-suspicious-string-compare,
-  bugprone-throw-keyword-missing,
-  bugprone-too-small-loop-variable,
-  bugprone-undefined-memory-manipulation,
-  bugprone-undelegated-constructor,
-  bugprone-unhandled-self-assignment,
-  bugprone-unused-raii,
-  bugprone-virtual-near-miss,
-  cert-dcl58-cpp,
-  cert-err52-cpp,
-  cert-err60-cpp,
-  cert-mem57-cpp,
-  cert-oop57-cpp,
-  cert-oop58-cpp,
-  clang-diagnostic-*,
-  -clang-diagnostic-deprecated-declarations,
-  -clang-diagnostic-#warnings,
-  -clang-diagnostic-pedantic,
-  clang-analyzer-*,
-  cppcoreguidelines-slicing,
-  google-build-namespaces,
-  google-explicit-constructor,
-  google-global-names-in-headers,
-  google-readability-avoid-underscore-in-googletest-name,
-  google-readability-casting,
-  google-runtime-operator,
-  llvm-twine-local,
-  misc-definitions-in-headers,
-  misc-misplaced-const,
-  misc-new-delete-overloads,
-  misc-non-copyable-objects,
-  modernize-avoid-bind,
-  modernize-concat-nested-namespaces,
-  modernize-make-shared,
-  modernize-make-unique,
-  modernize-pass-by-value,
-  modernize-use-default-member-init,
-  modernize-use-noexcept,
-  modernize-use-nullptr,
-  modernize-use-override,
-  modernize-use-using,
-  readability-braces-around-statements'
-FormatStyle: file
-CheckOptions:
-  - key: bugprone-dangling-handle
-    value: 'wpi::StringRef;wpi::Twine'

.gitattributes

@@ -1,4 +0,0 @@
-*.gradle text eol=lf
-*.java text eol=lf
-*.md text eol=lf
-*.xml text eol=lf

.github/CODEOWNERS

@@ -1,38 +0,0 @@
-# Lines starting with '#' are comments.
-# Each line is a file pattern followed by one or more owners.
-
-# More details are here: https://help.github.com/articles/about-codeowners/
-
-# The '*' pattern is global owners.
-
-# Order is important. The last matching pattern has the most precedence.
-
-# The folders are ordered as a tree: by depth then alphabetically.
-# This should make it easy to add new rules without breaking existing ones.
-
-# Global rule:
-*  @wpilibsuite/wpilib
-
-/cameraserver/  @wpilibsuite/camera-server
-
-/cscore/  @wpilibsuite/camera-server
-
-/hal/  @wpilibsuite/hardware
-/hal/src/main/java/**/sim/  @wpilibsuite/simulation
-/hal/src/main/native/include/mockdata/  @wpilibsuite/simulation
-/hal/src/main/native/include/simulation/  @wpilibsuite/simulation
-/hal/src/main/native/sim/  @wpilibsuite/simulation
-
-/ntcore/  @wpilibsuite/network-tables
-
-/simulation/  @wpilibsuite/simulation
-
-/wpilibNewCommands/  @wpilibsuite/commandbased
-
-/wpilibOldCommands/  @wpilibsuite/commandbased
-
-/wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
-
-/wpilibjExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
-
-/wpiutil/  @PeterJohnson

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,31 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve
-title: ''
-labels: bug
-assignees: ''
-
----
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**To Reproduce**
-Steps to reproduce the behavior:
-1. ...
-2. ...
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Screenshots**
-If applicable, add screenshots to help explain your problem.
-
-**Desktop (please complete the following information):**
- - WPILib Version: [e.g. 2021.3.1]
- - OS: [e.g. Windows 11]
- - Java version [e.g. 1.10.2]
- - C++ version [e.g. 17]
-
-**Additional context**
-Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -1,20 +0,0 @@
----
-name: Feature request
-about: Suggest an idea for this project
-title: ''
-labels: enhancement
-assignees: ''
-
----
-
-**Is your feature request related to a problem? Please describe.**
-A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
-
-**Describe the solution you'd like**
-A clear and concise description of what you want to happen.
-
-**Describe alternatives you've considered**
-A clear and concise description of any alternative solutions or features you've considered.
-
-**Additional context**
-Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -1,20 +0,0 @@
----
-name: Question
-about: Ask about features or parts of this project
-title: ''
-labels: ''
-assignees: ''
-
----
-
-**Describe the question you have.**
-A clear and concise description of what you want clarification on.
-
-**Describe the reason for your confusion.**
-A clear and concise description of why the question requires clarification and what's confusing.
-
-**Is your question related to a problem? Please describe.**
-A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
-
-**Additional context**
-Add any other context or screenshots about the question here.

.github/workflows/cmake.yml

@@ -1,65 +0,0 @@
-name: CMake
-
-on: [pull_request, push]
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            name: Linux
-            container: wpilib/roborio-cross-ubuntu:2022-20.04
-            flags: ""
-          - os: macOS-11
-            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
-      - 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)
-      - name: test
-        working-directory: build
-        run: ctest --output-on-failure
-
-  build-vcpkg:
-    name: "Build - Windows"
-    runs-on: windows-2019
-    steps:
-      - uses: actions/checkout@v2
-      - name: Prepare vcpkg
-        uses: lukka/run-vcpkg@v7
-        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
-        run: ctest -C "Debug" --output-on-failure
-        working-directory: ${{ runner.workspace }}/build

.github/workflows/documentation.yml

@@ -1,60 +0,0 @@
-name: Documentation
-
-on: [push, workflow_dispatch]
-
-env:
-  BASE_PATH: allwpilib/docs
-
-jobs:
-  publish:
-    name: "Documentation - Publish"
-    runs-on: ubuntu-latest
-    if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 13
-      - name: Install libclang-9
-        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
-      - name: Set environment variables (Development)
-        run: |
-          echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
-        if: github.ref == 'refs/heads/main'
-      - name: Set environment variables (Tag)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
-      - name: Set environment variables (Release)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
-      - name: Build with Gradle
-        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.4.1
-        with:
-          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy Java 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
-        with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/javadoc
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/java
-      - name: Deploy C++ 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
-        with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/doxygen/html
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/cpp

.github/workflows/gazebo.yml

@@ -1,15 +0,0 @@
-name: Gazebo
-
-on: [pull_request, push]
-
-jobs:
-  build:
-    name: "Build"
-    runs-on: ubuntu-latest
-    container: wpilib/gazebo-ubuntu:18.04
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-      - name: Build with Gradle
-        run: ./gradlew simulation:frc_gazebo_plugins:build simulation:halsim_gazebo:build -PbuildServer -PforceGazebo

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

@@ -1,10 +0,0 @@
-name: "Validate Gradle Wrapper"
-on: [pull_request, push]
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - uses: gradle/wrapper-validation-action@v1

.github/workflows/gradle.yml

@@ -1,164 +0,0 @@
-name: Gradle
-
-on: [pull_request, push]
-
-jobs:
-  build-docker:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/roborio-cross-ubuntu:2022-18.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:10-18.04
-            artifact-name: Raspbian
-            build-options: "-Ponlylinuxraspbian"
-          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
-            artifact-name: Aarch64
-            build-options: "-Ponlylinuxaarch64bionic"
-          - container: wpilib/ubuntu-base:18.04
-            artifact-name: Linux
-            build-options: "-Dorg.gradle.jvmargs=-Xmx2g"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-latest
-    container: ${{ matrix.container }}
-    steps:
-      - uses: actions/checkout@v2
-        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 }}
-      - uses: actions/upload-artifact@v2
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
-
-  build-host:
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 10.14
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - 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
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-          architecture: ${{ matrix.architecture }}
-      - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v1
-        with:
-          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
-          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
-          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 3600
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        shell: bash
-        if: startsWith(github.ref, 'refs/tags/v')
-      - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - uses: actions/upload-artifact@v2
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
-
-  build-documentation:
-    name: "Build - Documentation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 13
-      - name: Install libclang-9
-        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
-      - name: 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 docs:zipDocs -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - uses: actions/upload-artifact@v2
-        with:
-          name: Documentation
-          path: docs/build/outputs
-
-  combine:
-    name: Combine
-    needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v2
-        with:
-          path: combiner/products/build/allOutputs
-      - name: Flatten Artifacts
-        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
-      - name: Check version number exists
-        run: |
-          cat combiner/products/build/allOutputs/version.txt
-          test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 11
-      - name: Combine
-        if: |
-          !startsWith(github.ref, 'refs/tags/v') &&
-          github.ref != 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
-      - name: Combine (Master)
-        if: |
-          github.repository_owner == 'wpilibsuite' &&
-          github.ref == 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
-        env:
-          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (Release)
-        if: |
-          github.repository_owner == 'wpilibsuite' &&
-          startsWith(github.ref, 'refs/tags/v')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
-        env:
-          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
-        with:
-          name: Maven
-          path: ~/releases

.github/workflows/lint-format.yml

@@ -1,100 +0,0 @@
-name: Lint and Format
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-jobs:
-  wpiformat:
-    name: "wpiformat"
-    runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2022-20.04
-    steps:
-      - uses: actions/checkout@v2
-      - 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 3.8
-        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
-        run: wpiformat -clang 12
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v2
-        with:
-          name: wpiformat fixes
-          path: wpiformat-fixes.patch
-        if: ${{ failure() }}
-  tidy:
-    name: "clang-tidy"
-    runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2022-20.04
-    steps:
-      - uses: actions/checkout@v2
-      - 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 3.8
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.8
-      - name: Install clang-tidy
-        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-tidy-12 clang-format-12
-      - name: Install wpiformat
-        run: pip3 install wpiformat
-      - name: Create compile_commands.json
-        run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
-      - name: List changed files
-        run: wpiformat -list-changed-files
-      - name: Run clang-tidy
-        run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
-  javaformat:
-    name: "Java format"
-    runs-on: ubuntu-latest
-    container: wpilib/ubuntu-base:18.04
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-      - name: Run Java format
-        run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > javaformat-fixes.patch
-        if: ${{ failure() }}
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v1
-        with:
-          java-version: 13
-      - name: Install libclang-9
-        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
-      - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/sanitizers.yml

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

.gitignore

@@ -1,77 +1,21 @@
-# WPIlib Specific
-
-dependency-reduced-pom.xml
-doxygen.log
-build*/
-!buildSrc/
-
-# Created by the jenkins test script
-test-reports
-
-# IntelliJ
-*.iml
-*.ipr
-*.iws
-.idea/
-out/
-
-# Created by http://www.gitignore.io
-
-### Linux ###
+wpilibc/build/
+hal/build/
+networktables/cpp/build/
+build/
+networktables/OutlineViewer/nbproject/private
 *~
+target/
+dist/
+bin/
+.project
+.cproject
+.settings/
+.classpath
+**/dependency-reduced-pom.xml
 
-# KDE directory preferences
-.directory
-
-
-### Windows ###
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-
-### OSX ###
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Icon must end with two \r
-Icon
-
-
-# Thumbnails
-._*
-
-# Files that might appear on external disk
-.Spotlight-V100
-.Trashes
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
-
-
-### Java ###
+#Java File extentions
 *.class
 
-# Mobile Tools for Java (J2ME)
-.mtj.tmp/
-
 # Package Files #
 *.jar
 *.war
@@ -79,155 +23,3 @@ Temporary Items
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
-
-
-### C++ ###
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Compiled Dynamic libraries
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
-### Maven ###
-target/
-pom.xml.tag
-pom.xml.releaseBackup
-pom.xml.versionsBackup
-pom.xml.next
-release.properties
-
-
-### CMake ###
-CMakeCache.txt
-CMakeFiles
-cmake_install.cmake
-install_manifest.txt
-
-
-### Gradle ###
-.gradle
-build/
-
-# Ignore Gradle GUI config
-gradle-app.setting
-
-
-### Vagrant ###
-.vagrant/
-
-
-### Eclipse ###
-*.pydevproject
-.metadata
-.gradle
-bin/
-tmp/
-*.tmp
-*.bak
-*.swp
-*~.nib
-local.properties
-.settings/
-.loadpath
-
-### Python ###
-*.pyc
-__pycache__
-
-# Gradle wrapper
-!gradle-wrapper.jar
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-# sbteclipse plugin
-.target
-
-# TeXlipse plugin
-.texlipse
-
-#catkin stuff
-package.xml
-
-# Doxygen stuff
-NO
-
-# Simulation folder stuff
-!simulation/install_resources/*
-
-# VSCode
-.vscode/
-
-#classpaths and projects
-.project
-.classpath
-
-#Visual Studio
-# User-specific files
-*.suo
-*.user
-*.userosscache
-*.sln.docstates
-
-# Visual C++ cache files
-ipch/
-*.aps
-*.ncb
-*.opendb
-*.opensdf
-*.cachefile
-*.VC.db
-*.VC.VC.opendb
-*.VC.db-shm
-*.VC.db-wal
-
-*.sln
-*.vcxproj
-*.vcxproj.filters
-
-# Visual Studio 2015 cache/options directory
-.vs/
-
-# compile_commands
-compile_commands.json
-
-# clang configuration and clangd cache
-.clang
-.clangd/
-.cache/
-
-imgui.ini
-
-# Bazel
-/.ijwb/
-/bazel-*
-user.bazelrc
-coverage_report/

.gitreview

@@ -0,0 +1,5 @@
+[gerrit]
+host=usfirst.collab.net
+port=29418
+project=allwpilib
+defaultbranch=master

.styleguide

@@ -1,47 +0,0 @@
-cppHeaderFileInclude {
-  \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  \.patch$
-  gradlew
-}
-
-generatedFileExclude {
-  FRCNetComm\.java$
-  simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
-  fieldImages/src/main/native/resources/
-}
-
-repoRootNameOverride {
-  wpilib
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^cameraserver/
-  ^cscore
-  ^drake/
-  ^fmt/
-  ^hal/
-  ^imgui
-  ^implot
-  ^mockdata/
-  ^networktables/
-  ^ntcore
-  ^opencv2/
-  ^support/
-  ^units/
-  ^unsupported/
-  ^vision/
-  ^wpi/
-  ^wpigui
-  ^wpimath/
-}

.styleguide-license

@@ -1,3 +0,0 @@
-// 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.

.wpilib/wpilib_preferences.json

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

Building.md

@@ -0,0 +1,29 @@
+Building everything requires Maven
+mvn package -DembeddedJDKHome=/home/patrick/Downloads/arm-jdk1.7.0_45/
+TODO... Explain maven....
+TODO.. how to import into eclipse correctly...
+
+Building C++ only
+------------------
+
+C++ requires cmake if not run from maven, and is much faster. 
+Make a new directory and then run:
+```
+mkdir build && cd build
+cmake .. -DCMAKE_TOOLCHAIN_FILE=../arm-toolchain.cmake
+make # multicore add -j(num of cpu cores + 1), so -j3 on dual core for faster compile
+make install DESTDIR=/some/dir/you/want/to/put/all/headers/and/libs #optional
+``
+
+Alternatively, if you like IDEs, you can import it directly into QtDeveloper, or a number of other IDEs such as Code::Blocks or Eclipse. See CMake documentation for details.
+Eclipse demo:
+```
+cd ..
+mkdir build && cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=../allwpilib/arm-toolchain.cmake .. -G "Eclipse CDT4 - Unix Makefiles"
+```
+and then import that directory into eclipse. Eclipse will detect a CDT project and standard tools will work.
+
+GCC versions
+------------
+Update arm-toolchain.cmake if the triplet changes (eg using Ubuntu repo arm compiler is arm-linux-gnueabi) or in a non-standard location. Currently it assumes that the compiler is on the path.

CMakeLists.txt

@@ -1,299 +1,13 @@
-# Disable in-source builds to prevent source tree corruption.
-if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
-  message(FATAL_ERROR "
-FATAL: In-source builds are not allowed.
-       You should create a separate directory for build files.
-")
-endif()
+cmake_minimum_required(VERSION 2.8)
+project(All-WPILib)
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
+SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
-if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
-    set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
-    set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
-endif()
-
-project(allwpilib)
-cmake_minimum_required(VERSION 3.3.0)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
-
-message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
-
-set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
-
-INCLUDE(CPack)
-
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
-set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
-set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${WPILIB_BINARY_DIR}/jar)
-
-# use, i.e. don't skip the full RPATH for the build tree
-SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
-
-# when building, don't use the install RPATH already
-# (but later on when installing)
-SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/wpilib/lib")
-
-# add the automatically determined parts of the RPATH
-# which point to directories outside the build tree to the install RPATH
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
-# the RPATH to be used when installing, but only if it's not a system directory
-LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/wpilib/lib" isSystemDir)
-IF("${isSystemDir}" STREQUAL "-1")
-   SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/wpilib/lib")
-ENDIF("${isSystemDir}" STREQUAL "-1")
-
-# Options for building certain parts of the repo. Everything is built by default.
-option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
-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)
-option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
-
-# Options for external HAL.
-option(WITH_EXTERNAL_HAL "Use a separately built HAL" OFF)
-set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
-
-# Options for using a package manager (vcpkg) for certain dependencies.
-option(USE_VCPKG_FMTLIB "Use vcpkg fmtlib" OFF)
-option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
-option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
-
-# Options for installation.
-option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
-
-# Options for location of OpenCV Java.
-set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
-
-# Set default build type to release with debug info (i.e. release mode optimizations
-# are performed, but debug info still exists).
-if (NOT CMAKE_BUILD_TYPE)
-    set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
-endif()
-
-# We always want flat install with MSVC.
-if (MSVC)
-  set(WITH_FLAT_INSTALL ON)
-endif()
-
-if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "
-FATAL: Cannot build static libs with Java enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITH_JAVA=OFF
-")
-endif()
-
-if (WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "
-FATAL: Cannot build static libs with simulation modules enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITH_SIMULATION_MODULES=OFF
-")
-endif()
-
-if (NOT WITH_JAVA OR NOT WITH_CSCORE)
-    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        message(WARNING "
-WARNING: OpenCV Java dir set but java is not enabled!
-It will be ignored.
-")
-    endif()
-endif()
-
-if (NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
-    message(FATAL_ERROR "
-FATAL: Cannot build simulation modules with wpilib disabled.
-       Enable wpilib by setting WITH_WPILIB=ON
-")
-endif()
-
-if (NOT WITH_WPIMATH AND WITH_WPILIB)
-    message(FATAL_ERROR "
-FATAL: Cannot build wpilib without wpimath.
-       Enable wpimath by setting WITH_WPIMATH=ON
-")
-endif()
-
-set( wpilib_dest wpilib)
-set( include_dest wpilib/include )
-set( main_lib_dest wpilib/lib )
-set( java_lib_dest wpilib/java )
-set( jni_lib_dest wpilib/jni )
-
-if (WITH_FLAT_INSTALL)
-    set (wpilib_config_dir ${wpilib_dest})
-else()
-    set (wpilib_config_dir share/wpilib)
-endif()
-
-if (USE_VCPKG_LIBUV)
-set (LIBUV_VCPKG_REPLACE "find_package(unofficial-libuv CONFIG)")
-endif()
-
-if (USE_VCPKG_EIGEN)
-set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
-endif()
-
-find_package(LIBSSH 0.7.1)
-
-if (WITH_FLAT_INSTALL)
-set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
-set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
-set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
-set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
-set(WPIMATH_DEP_REPLACE "include($\{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(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
-set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
-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 \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
-set(SELF_DIR "$\{SELF_DIR\}")
-
-get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-
-if(isMultiConfig)
-    if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
-    endif()
-    if(NOT "Tsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Tsan)
-    endif()
-    if(NOT "Ubsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
-    endif()
-else()
-    set(allowedBuildTypes Asan Tsan Ubsan Debug Release RelWithDebInfo MinSizeRel)
-    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
-
-    if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
-        message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
-    endif()
-endif()
-
-set(CMAKE_C_FLAGS_ASAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Asan build type or configuration." FORCE)
-
-set(CMAKE_CXX_FLAGS_ASAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Asan build type or configuration." FORCE)
-
-set(CMAKE_EXE_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
-    "Linker flags to be used to create executables for Asan build type." FORCE)
-
-set(CMAKE_SHARED_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
-    "Linker lags to be used to create shared libraries for Asan build type." FORCE)
-
-set(CMAKE_C_FLAGS_TSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Tsan build type or configuration." FORCE)
-
-set(CMAKE_CXX_FLAGS_TSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Tsan build type or configuration." FORCE)
-
-set(CMAKE_EXE_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
-    "Linker flags to be used to create executables for Tsan build type." FORCE)
-
-set(CMAKE_SHARED_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
-    "Linker lags to be used to create shared libraries for Tsan build type." FORCE)
-
-set(CMAKE_C_FLAGS_UBSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Ubsan build type or configuration." FORCE)
-
-set(CMAKE_CXX_FLAGS_UBSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Ubsan build type or configuration." FORCE)
-
-set(CMAKE_EXE_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all" CACHE STRING
-    "Linker flags to be used to create executables for Ubsan build type." FORCE)
-
-set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined" CACHE STRING
-    "Linker lags to be used to create shared libraries for Ubsan build type." FORCE)
-
-if (WITH_TESTS)
-    enable_testing()
-    add_subdirectory(googletest)
-    include(GoogleTest)
-endif()
-
-add_subdirectory(wpiutil)
-add_subdirectory(ntcore)
-
-if (WITH_WPIMATH)
-    add_subdirectory(wpimath)
-endif()
-
-if (WITH_GUI)
-    add_subdirectory(fieldImages)
-    add_subdirectory(imgui)
-    add_subdirectory(wpigui)
-    add_subdirectory(glass)
-    add_subdirectory(outlineviewer)
-    if (LIBSSH_FOUND)
-        add_subdirectory(roborioteamnumbersetter)
-    endif()
-endif()
-
-if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
-    set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
-    add_subdirectory(hal)
-endif()
-
-if (WITH_CSCORE)
-    set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
-    set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
-    add_subdirectory(cscore)
-    add_subdirectory(cameraserver)
-endif()
-
-if (WITH_WPILIB)
-    set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
-    add_subdirectory(wpilibj)
-    add_subdirectory(wpilibc)
-    add_subdirectory(wpilibNewCommands)
-    if (WITH_OLD_COMMANDS)
-        add_subdirectory(wpilibOldCommands)
-    endif()
-    if (WITH_EXAMPLES)
-        add_subdirectory(wpilibcExamples)
-    endif()
-    add_subdirectory(myRobot)
-endif()
-
-if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
-    add_subdirectory(simulation)
-endif()
-
-configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})
+file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
+get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
+get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
+get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
+add_subdirectory(hal)
+add_subdirectory(networktables/cpp)
+add_subdirectory(wpilibc)

CODE_OF_CONDUCT.md

@@ -1,131 +0,0 @@
-# Contributor Covenant Code of Conduct
-
-## Our Pledge
-
-We as members, contributors, and leaders pledge to make participation in our
-community a harassment-free experience for everyone, regardless of age, body
-size, visible or invisible disability, ethnicity, sex characteristics, gender
-identity and expression, level of experience, education, socio-economic status,
-nationality, personal appearance, race, religion, or sexual identity
-and orientation.
-
-We pledge to act and interact in ways that contribute to an open, welcoming,
-diverse, inclusive, and healthy community.
-
-## Our Standards
-
-Examples of behavior that contributes to a positive environment for our
-community include:
-
-* Exhibiting Gracious Professionalism® at all times. Gracious Professionalism
-  is a way of doing things that encourages high-quality work, emphasizes the
-  value of others, and respects individuals and the community.
-* Demonstrating empathy and kindness toward other people
-* Being respectful of differing opinions, viewpoints, and experiences
-* Giving and gracefully accepting constructive feedback
-* Accepting responsibility and apologizing to those affected by our mistakes,
-  and learning from the experience
-* Focusing on what is best not just for us as individuals, but for the
-  overall community
-
-Examples of unacceptable behavior include:
-
-* The use of sexualized language or imagery, and sexual attention or
-  advances of any kind
-* Trolling, insulting or derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or email
-  address, without their explicit permission
-* Other conduct which could reasonably be considered inappropriate in a
-  professional setting
-
-## Enforcement Responsibilities
-
-Community leaders are responsible for clarifying and enforcing our standards of
-acceptable behavior and will take appropriate and fair corrective action in
-response to any behavior that they deem inappropriate, threatening, offensive,
-or harmful.
-
-Community leaders have the right and responsibility to remove, edit, or reject
-comments, commits, code, wiki edits, issues, and other contributions that are
-not aligned to this Code of Conduct, and will communicate reasons for moderation
-decisions when appropriate.
-
-## Scope
-
-This Code of Conduct applies within all community spaces, and also applies when
-an individual is officially representing the community in public spaces.
-Examples of representing our community include using an official e-mail address,
-posting via an official social media account, or acting as an appointed
-representative at an online or offline event.
-
-## Enforcement
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be
-reported to the community leaders responsible for enforcement at
-[conduct@wpilib.org](mailto:conduct@wpilib.org).
-All complaints will be reviewed and investigated promptly and fairly.
-
-All community leaders are obligated to respect the privacy and security of the
-reporter of any incident.
-
-## Enforcement Guidelines
-
-Community leaders will follow these Community Impact Guidelines in determining
-the consequences for any action they deem in violation of this Code of Conduct:
-
-### 1. Correction
-
-**Community Impact**: Use of inappropriate language or other behavior deemed
-unprofessional or unwelcome in the community.
-
-**Consequence**: A private, written warning from community leaders, providing
-clarity around the nature of the violation and an explanation of why the
-behavior was inappropriate. A public apology may be requested.
-
-### 2. Warning
-
-**Community Impact**: A violation through a single incident or series
-of actions.
-
-**Consequence**: A warning with consequences for continued behavior. No
-interaction with the people involved, including unsolicited interaction with
-those enforcing the Code of Conduct, for a specified period of time. This
-includes avoiding interactions in community spaces as well as external channels
-like social media. Violating these terms may lead to a temporary or
-permanent ban.
-
-### 3. Temporary Ban
-
-**Community Impact**: A serious violation of community standards, including
-sustained inappropriate behavior.
-
-**Consequence**: A temporary ban from any sort of interaction or public
-communication with the community for a specified period of time. No public or
-private interaction with the people involved, including unsolicited interaction
-with those enforcing the Code of Conduct, is allowed during this period.
-Violating these terms may lead to a permanent ban.
-
-### 4. Permanent Ban
-
-**Community Impact**: Demonstrating a pattern of violation of community
-standards, including sustained inappropriate behavior, harassment of an
-individual, or aggression toward or disparagement of classes of individuals.
-
-**Consequence**: A permanent ban from any sort of public interaction within
-the community.
-
-## Attribution
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage],
-version 2.0, available at
-https://www.contributor-covenant.org/version/2/0/code_of_conduct.html.
-
-Community Impact Guidelines were inspired by [Mozilla's code of conduct
-enforcement ladder](https://github.com/mozilla/diversity).
-
-[homepage]: https://www.contributor-covenant.org
-
-For answers to common questions about this code of conduct, see the FAQ at
-https://www.contributor-covenant.org/faq. Translations are available at
-https://www.contributor-covenant.org/translations.

CONTRIBUTING.md

@@ -1,58 +0,0 @@
-# Contributing to WPILib
-
-So you want to contribute your changes back to WPILib. Great! We have a few contributing rules that will help you make sure your changes will be accepted into the project. Please remember to follow the rules in the [code of conduct](https://github.com/wpilibsuite/allwpilib/blob/main/CODE_OF_CONDUCT.md), and behave with Gracious Professionalism.
-
-- [General Contribution Rules](#general-contribution-rules)
-- [What to Contribute](#what-to-contribute)
-- [Coding Guidelines](#coding-guidelines)
-- [Submitting Changes](#submitting-changes)
-    - [Pull Request Format](#pull-request-format)
-    - [Merge Process](#merge-process)
-- [Licensing](#licensing)
-
-## General Contribution Rules
-
-- Everything in the library must work for the 3000+ teams that will be using it.
-- We need to be able to maintain submitted changes, even if you are no longer working on the project.
-- Tool suite changes must be generally useful to a broad range of teams
-- Excluding bug fixes, changes in one language generally need to have corresponding changes in other languages.
-    - Some features, such the addition of C++11 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only.
-    - Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
-- Changes should have tests.
-- Code should be well documented.
-    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [frc-docs repository](https://github.com/wpilibsuite/frc-docs) for more information.
-
-## What to Contribute
-
-- Bug reports and fixes
-    - We will generally accept bug fixes without too much question. If they are only implemented for one language, we will implement them for any other necessary languages. Bug reports are also welcome, please submit them to our GitHub issue tracker.
-- While we do welcome improvements to the API, there are a few important rules to consider:
-    - Features must be added to both WPILibC and WPILibJ, with rare exceptions.
-    - During competition season, we will not merge any new feature additions. We want to ensure that the API is stable during the season to help minimize issues for teams.
-    - Ask about large changes before spending a bunch of time on them! You can create a new issue on our GitHub tracker for feature request/discussion and talk about it with us there.
-    - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
-    - Features in WPILib should be broadly applicable to all teams. Anything that is team specific should not be submitted.
-    - As a rule, we are happy with the general structure of WPILib. We are not interested in major rewrites of all of WPILib. We are open to talking about ideas, but backwards compatibility is very important for WPILib, so be sure to keep this in mind when proposing major changes.
-    - Generally speaking, we do not accept code for specific sensors. We have to be able to test the sensor in hardware on the WPILib test bed. Additionally, hardware availability for teams is important. Therefore, as a general rule, the library only directly supports hardware that is in the Kit of Parts. If you are a company interested in getting a sensor into the Kit of Parts, please contact FIRST directly at frcparts@firstinspires.org.
-
-## 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.
-
-While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
-
-When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.
-
-## Submitting Changes
-
-### Pull Request Format
-
-Changes should be submitted as a Pull Request against the main branch of WPILib. For most changes, commits will be squashed upon merge. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. We may ask you to break a PR into multiple standalone PRs or commits for rebase within one PR to separate unrelated changes. No change will be merged unless it is up to date with the current main branch. We do this to make sure that the git history isn't too cluttered.
-
-### Merge Process
-
-When you first submit changes, GitHub Actions will attempt to run `./gradlew check` on your change. If this fails, you will need to fix any issues that it sees. Once Actions passes, we will begin the review process in more earnest. One or more WPILib team members will review your change. This will be a back-and-forth process with the WPILib team and the greater community. Once we are satisfied that your change is ready, we will allow our hosted instance to test it. This will run the full gamut of checks, including integration tests on actual hardware. Once all tests have passed and the team is satisfied, we will merge your change into the WPILib repository.
-
-## Licensing
-
-By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](LICENSE.md).

LICENSE.md

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2022 FIRST and other WPILib contributors
-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 FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST 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.

MAINTAINERS.md

@@ -1,27 +0,0 @@
-## Publishing Third Party Dependencies
-Currently the 3rd party deps are imgui, opencv, and google test
-
-For publishing these dependencies, the version needs to be manually updated in the publish.gradle file of their respective repository.
-Then, in the azure build for the dependency you want to build for, manually start a pipeline build (As of current, this is the `Run Pipeline` button).
-A variable needs to be added called `RUN_AZURE_ARTIFACTORY_RELEASE`, with a value of `true`. Then when the pipeline gets started, the final build outputs will be updated to artifactory.
-
-To use newer versions of C++ dependencies, in `shared/config.gradle`, update the version related to the specific dependency.
-For Java dependencies, there is likely a file related to the specific dependency in the shared folder. Update the version in there.
-
-Note, changing artifact locations (This includes changing the artifact year currently, I have an issue open to change this) requires updating the `native-utils` plugin
-
-## Publishing allwpilib
-allwpilib publishes to the development repo on every push to main. To publish a release build, upload a new tag, and a release will automatically be built and published.
-
-## Publishing desktop tools
-Desktop tools publish to the development repo on every push to main. To publish a release build, upload a new tag, and a release will automatically be built and published.
-
-## Publishing VS Code
-Before publishing, make sure to update the gradlerio version in `vscode-wpilib/resources/gradle/version.txt` Also make sure the gradle wrapper version matches the wrapper required by gradlerio.
-Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub. For publishing to the marketplace, you need a Microsoft account and to be added as a maintainer.
-
-## Publishing GradleRIO
-Before publishing, make sure to update the version in build.gradle. Publishing must happen locally, using the command `./gradlew publishPlugin`. This does require your API key for publishing to be set.
-
-## Building the installer
-Update the GradleRIO version in gradle.properties, and in the scripts folder in vscode, update the vscode extension. Then push, it will build the installer on azure.

MavenArtifacts.md

@@ -1,155 +0,0 @@
-# WPILib Maven Artifacts
-
-WPILib publishes its built artifacts to our Maven server for use by downstream projects. This document explains these locations, and the meanings of artifact names, classifiers, and versions.
-
-## Repositories
-We provide two repositories. These repositories are:
-
-* (Release)     https://frcmaven.wpi.edu/artifactory/release/
-* (Development) https://frcmaven.wpi.edu/artifactory/development/
-
-The release repository is where official WPILib releases are pushed.
-The development repository is where development releases of every commit to [main](https://github.com/wpilibsuite/allwpilib/tree/main) is pushed.
-
-## Artifact classifiers
-We provide two base types of artifacts.
-
-The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier.
-
-The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). The `-sources` and `-headers` classifiers contain the sources and headers respecively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifer combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
-
-## Artifact Names
-
-WPILib builds four different types of artifacts.
-
-##### C++ Only Libraries
-When we publish C++ only libraries, they are published with the base artifact name as their artifact name, with a `-cpp` extension. All dependencies for the library are linked as shared libraries to the binary.
-
-
-Example:
-```
-edu.wpi.first.wpilibc:wpilibc-cpp:version:classifier@zip
-```
-
-#### Java Only Libraries
-When we publish Java only libraries, they are published with the base artifact name as their artifact name, with a `-java` extension.
-
-Example:
-```
-edu.wpi.first.wpilibj:wpilibj-java:version
-```
-
-#### C++/Java Libraries without JNI
-For libraries that are both C++ and Java, but without a JNI component, the C++ component is published with the `basename-cpp` artifact name, and the Java component is published with the `basename-java` artifact name.
-
-Example:
-```
-edu.wpi.first.wpiutil:wpiutil-cpp:version:classifier@zip (C++)
-edu.wpi.first.wpiutil:wpiutil-java:version (Java)
-```
-
-#### C++/Java Libraries with JNI
-For libraries that are both C++ and Java with a JNI component there are three different artifact names. For Java, the component is published as `basename-java`. For C++, the `basename-cpp` artifact contains the C++ artifacts with all dependencies linked as shared libraries to the binary. These binaries DO contain the JNI entry points. The `basename-jni` artifact contains identical C++ binaries to the `-cpp` artifact, however all of its dependencies are statically linked, and only the JNI and C entry points are exported.
-
-The `-jni` artifact should only be used in cases where you want to create a self contained Java application where the native artifacts are embedded in the jar. Note in an extraction scenario, extending off of the library is never supported, which is why the C++ entry points are not exposed. The name of the library is randomly generated during extraction. For pretty much all cases, and if you ever want to extend from a native library, you should use the `-cpp` artifacts. GradleRIO uses the `-cpp` artifacts for all platforms, even desktop, for this reason.
-
-Example:
-```
-edu.wpi.first.ntcore:ntcore-cpp:version:classifier@zip (C++)
-edu.wpi.first.ntcore:ntcore-jni:version:classifier (JNI jar library)
-edu.wpi.first.ntcore:ntcore-java:version (Java)
-```
-
-## Provided Artifacts
-This repository provides the following artifacts. Below each artifact is its dependencies. Note if ever using the `-jni` artifacts, no dependencies are needed for native binaries.
-
-For C++, if building with static dependencies, the listed order should be the link order in your linker.
-
-All artifacts are based at `edu.wpi.first.artifactname` in the repository.
-
-* wpiutil
-
-* wpigui
-  * imgui
-
-* ntcore
-  * wpiutil
-
-* wpimath
-  * wpiutil
-
-* glass/libglass
-  * wpiutil
-  * wpimath
-  * wpigui
-
-* glass/libglassnt
-  * wpiutil
-  * ntcore
-  * wpimath
-  * wpigui
-
-* hal
-  * wpiutil
-
-* halsim
-  * wpiutil
-  * ntcore
-  * wpimath
-  * wpigui
-  * libglass
-  * libglassnt
-
-* cscore
-  * opencv
-  * wpiutil
-
-* cameraserver
-  * ntcore
-  * cscore
-  * opencv
-  * wpiutil
-
-* wpilibj
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpiutil
-
-* wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpimath
-  * wpiutil
-
-* wpilibNewCommands
-  * wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpimath
-  * wpiutil
-
-* wpilibOldCommands
-  * wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpiutil
-
-
-### Third Party Artifacts
-
-This repository provides the builds of the following third party software.
-
-All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
-
-* googletest
-* imgui
-* opencv
-* libssh

OtherVersions.md

@@ -1,93 +0,0 @@
-# Installing Development Builds
-
-This article contains instructions on building projects using a development build and a local WPILib build.
-
-**Note:** This only applies to Java/C++ teams.
-
-## Development Build
-
-Development builds are the per-commit build hosted everytime a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
-
-In order to build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version.
-
-```groovy
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.+'
-wpi.versions.wpimathVersion = 'YEAR.+
-```
-
-The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
-
-Java
-```groovy
-plugins {
-  id "java"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2022.+'
-wpi.versions.wpimathVersion = '2022.+'
-```
-
-C++
-```groovy
-plugins {
-  id "cpp"
-  id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2022.+'
-wpi.versions.wpimathVersion = '2022.+'
-```
-
-## Local Build
-
-Building with a local build is very similar to building with a development build. Ensure you have built and published WPILib by following the instructions attached [here](https://github.com/wpilibsuite/allwpilib#building-wpilib). Next, find the ``build.gradle`` file in your robot project and open it. Then, add the following code below the plugin section and replace ``YEAR`` with the year of the local version.
-
-Java
-```groovy
-plugins {
-  id "java"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
-```
-
-C++
-```groovy
-plugins {
-  id "cpp"
-  id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
-```
-
-# roboRIO Development
-
-This repo contains a myRobot project built in way to do full project development without needing to do a full publish into GradleRIO. These also only require building the minimum amount of binaries for the roboRIO, so the builds are much faster as well.
-
-The setup only works if the roboRIO is USB connected. If an alternate IP address is preferred, the `address` block in myRobot\build.gradle can be changed to point to another address.
-
-The following 3 tasks can be used for deployment:
-* `:myRobot:deployShared` deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
-* `:myRobot:deployStatic` deploys the C++ project with all dependencies statically linked.
-* `:myRobot:deployJava` deploys the Java project and all required dependencies. Also installs the JRE if not currently installed.
-
-Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
-
-From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.

README-CMAKE.md

@@ -1,151 +0,0 @@
-# WPILib CMake Support
-
-WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although it is supported on Windows, these docs will only go over Linux builds.
-
-## Libraries that get built
-* wpiutil
-* ntcore
-* cscore
-* cameraserver
-* hal
-* wpilib
-* halsim
-* wpigui
-* wpimath
-
-By default, all libraries except for the HAL and WPILib get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs.
-
-## Prerequisites
-
-The most common prerequisite is going to be OpenCV. OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
-
-In addition, if you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
-
-If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
-
-## Build Options
-
-The following build options are available:
-
-* `WITH_JAVA` (ON Default)
-  * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
-* `WITH_SHARED_LIBS` (ON Default)
-  * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
-* `WITH_TESTS` (ON Default)
-  * This option will build C++ unit tests. These can be run via `make test`.
-* `WITH_CSCORE` (ON Default)
-  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is off, the OpenCV build requirement is removed.
-* `WITH_WPIMATH` (ON Default)
-  * This option will build the wpimath library. This option must be on to build wpilib.
-* `WITH_WPILIB` (ON Default)
-  * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
-* `WITH_SIMULATION_MODULES` (ON Default)
-  * This option will build simulation modules, including wpigui and the HALSim plugins.
-* `WITH_EXTERNAL_HAL` (OFF Default)
-  * TODO
-* `EXTERNAL_HAL_FILE`
-  * TODO
-* `OPENCV_JAVA_INSTALL_DIR`
-  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
-
-## Build Setup
-
-The WPILib CMake build does not allow in source builds. Because the `build` directory is used by Gradle, we recommend a `build-cmake` directory in the root. This folder is included in the gitignore.
-
-Once you have a build folder, run CMake configuration in that build directory with the following command.
-
-```
-cmake path/to/allwpilib/root
-```
-
-If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake` command. This will check for any dependencies. If everything works properly this will succeed. If not, please check out the troubleshooting section for help.
-
-If you want, you can also use `ccmake` in order to visually set these properties as well. [Here](https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html) is the link to the documentation for that program.
-
-## Building
-
-Once you have cmake setup. run `make` from the directory you configured CMake in. This will build all libraries possible. If you have a multicore system, we recommend running `make` with multiple jobs. The usual rule of thumb is 1.5x the number of cores you have. To run a multiple job build, run the following command with x being the number of jobs you want.
-
-```
-make -jx
-```
-
-The `ninja` generator is also supported, and can be enabled by passing `-GNinja` to the initial `cmake` command.
-
-## Installing
-
-After build, the easiest way to use the libraries is to install them. Run the following command to install the libraries. This will install them so that they can be used from external cmake projects.
-
-```
-sudo make install
-```
-
-## Using the installed libraries for C++.
-
-Using the libraries from C++ is the easiest way to use the built libraries.
-
-To do so, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
-
-```
-cmake_minimum_required(VERSION 3.5)
-project(vision_app) # Project Name Here
-
-find_package(wpilib REQUIRED)
-
-add_executable(my_vision_app main.cpp) # executable name as first parameter
-target_link_libraries(my_vision_app cameraserver ntcore cscore wpiutil)
-```
-
-If you are using them, `wpilibc` and `hal` should be added before the `cameraserver` declaration in the `target_link_libraries` function.
-
-Add a `main.cpp` file to contain your code, and create a build folder. Move into the build folder, and run
-
-```
-cmake /path/to/folder/containing/CMakeLists
-```
-
-After that, run `make`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
-
-
-## Using the installed libraries for Java
-TODO
-
-## Troubleshooting
-Below are some common issues that are run into when building.
-
-#### Missing OpenCV
-
-If you are missing OpenCV, you will get an error message similar to this.
-
-```
-CMake Error at cscore/CMakeLists.txt:3 (find_package):
-  By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
-  asked CMake to find a package configuration file provided by "OpenCV", but
-  CMake did not find one.
-
-  Could not find a package configuration file provided by "OpenCV" with any
-  of the following names:
-
-    OpenCVConfig.cmake
-    opencv-config.cmake
-
-  Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
-  "OpenCV_DIR" to a directory containing one of the above files.  If "OpenCV"
-  provides a separate development package or SDK, be sure it has been
-  installed.
-```
-
-If you get that, you need make sure opencv was installed, and then reattempt to configure. If that doesn't work, set the `OpenCV_DIR` variable to the directory where you built OpenCV.
-
-#### Missing Java
-
-If you are missing Java, you will get a message like the following.
-```
-CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
-  Could NOT find Java (missing: Java_JAVA_EXECUTABLE Java_JAR_EXECUTABLE
-  Java_JAVAC_EXECUTABLE Java_JAVAH_EXECUTABLE Java_JAVADOC_EXECUTABLE)
-```
-
-If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
-
-In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.

README.md

@@ -1,160 +0,0 @@
-# WPILib Project
-
-![CI](https://github.com/wpilibsuite/allwpilib/workflows/CI/badge.svg)
-[![C++ Documentation](https://img.shields.io/badge/documentation-c%2B%2B-blue)](https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/)
-[![Java Documentation](https://img.shields.io/badge/documentation-java-orange)](https://first.wpi.edu/wpilib/allwpilib/docs/development/java/)
-
-Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.
-
-- [WPILib Project](#wpilib-project)
-  - [WPILib Mission](#wpilib-mission)
-- [Building WPILib](#building-wpilib)
-  - [Requirements](#requirements)
-  - [Setup](#setup)
-  - [Building](#building)
-    - [Faster builds](#faster-builds)
-    - [Using Development Builds](#using-development-builds)
-    - [Custom toolchain location](#custom-toolchain-location)
-    - [Gazebo simulation](#gazebo-simulation)
-    - [Formatting/linting with wpiformat](#formattinglinting-with-wpiformat)
-    - [CMake](#cmake)
-  - [Publishing](#publishing)
-  - [Structure and Organization](#structure-and-organization)
-- [Contributing to WPILib](#contributing-to-wpilib)
-
-## WPILib Mission
-
-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).
-
-# 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.
-
-## Requirements
-
-- [JDK 11](https://adoptopenjdk.net/)
-    - Note that the JRE is insufficient; the full JDK is required
-    - On Ubuntu, run `sudo apt install openjdk-11-jdk`
-    - On Windows, install the JDK 11 .msi from the link above
-    - On macOS, install the JDK 11 .pkg from the link above
-- C++ compiler
-    - On Linux, install GCC 8 or greater
-    - On Windows, install [Visual Studio Community 2022 or 2019](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS, install the Xcode command-line build tools via `xcode-select --install`
-- ARM compiler toolchain
-    - Run `./gradlew installRoboRioToolchain` after cloning this repository
-    - If the WPILib installer was used, this toolchain is already installed
-- Raspberry Pi toolchain (optional)
-    - Run `./gradlew installRaspbianToolchain` after cloning this repository
-
-## Setup
-
-Clone the WPILib repository and follow the instructions above for installing any required tooling.
-
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
-
-## Building
-
-All build steps are executed using the Gradle wrapper, `gradlew`. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is `build`. This will build all the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:
-
-```bash
-./gradlew build
-```
-
-To build a specific subproject, such as WPILibC, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use `:subproject_name:task_name` with the Gradle wrapper. For example, building just WPILibC:
-
-```bash
-./gradlew :wpilibc:build
-```
-
-The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change in the HAL and then run `./gradlew :wpilibc:build`, the HAL will be rebuilt, then WPILibC.
-
-There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
-
-If opening from a fresh clone, generated java dependencies will not exist. Most IDEs will not run the generation tasks, which will cause lots of IDE errors. Manually run `./gradlew compileJava` from a terminal to run all the compile tasks, and then refresh your IDE's configuration (In VS Code open settings.gradle and save).
-
-### Faster builds
-
-`./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
-
-`./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`.
-
-`./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
-
-### Using Development Builds
-
-Please read the documentation available [here](OtherVersions.md)
-
-### Custom toolchain location
-
-If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
-
-```bash
-./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin
-```
-
-### Gazebo simulation
-
-If you also want to force building Gazebo simulation support, add -PforceGazebo. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of Gazebo should work, even on Windows if you build Gazebo from source. Correct means CMake needs to be able to find gazebo-config.cmake. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
-
-```bash
-./gradlew build -PforceGazebo
-```
-
-If you prefer to use CMake directly, the you can still do so.
-The common CMake tasks are wpilibcSim, frc_gazebo_plugins, and gz_msgs
-
-```bash
-mkdir build #run this in the root of allwpilib
-cd build
-cmake ..
-make
-```
-
-
-### Formatting/linting
-
-#### wpiformat
-
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
-
-#### Java Code Quality Tools
-
-The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./gradlew javaFormat`. SpotBugs can be run via the `spotbugsMain`, `spotbugsTest`, and `spotbugsDev` tasks. These tools will all be run automatically by the `build` task. To disable this behavior, pass the `-PskipJavaFormat` flag.
-
-If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
-
-### CMake
-
-CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).
-
-## Publishing
-
-If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:
-
-- development - The default repo.
-- beta - Publishes to ~/releases/maven/beta.
-- stable - Publishes to ~/releases/maven/stable.
-- release - Publishes to ~/releases/maven/release.
-
-The maven artifacts are described in [MavenArtifacts.md](MavenArtifacts.md)
-
-## Structure and Organization
-
-The main WPILib code you're probably looking for is in WPILibJ and WPILibC. Those directories are split into shared, sim, and athena. Athena contains the WPILib code meant to run on your roboRIO. Sim is WPILib code meant to run on your computer with Gazebo, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).
-
-The Simulation directory contains extra simulation tools and libraries, such as gz_msgs and JavaGazebo. See sub-directories for more information.
-
-The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
-
-The hal directory contains more C++ code meant to run on the roboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.
-
-The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
-
-The [styleguide repository](https://github.com/wpilibsuite/styleguide) contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document [here](CONTRIBUTING.md#coding-guidelines).
-
-# Contributing to WPILib
-
-See [CONTRIBUTING.md](CONTRIBUTING.md).

ThirdPartyNotices.txt

@@ -1,971 +0,0 @@
-==============================================================================
-Copyrights and Licenses for Third Party Software Distributed with WPILib
-==============================================================================
-The WPILib software contains code written by third parties.  The copyrights,
-license, and restrictions which apply to each piece of software is included
-later in this file and/or inside of the individual applicable source files.
-
-The disclaimer of warranty in the WPILib license above applies to all code in
-WPILib, and nothing in any of the other licenses gives permission to use the
-names of FIRST nor the names of the WPILib contributors to endorse or promote
-products derived from this software.
-
-The following pieces of software have additional or alternate copyrights,
-licenses, and/or restrictions:
-
-Program               Locations
--------               ---------
-RoboRIO Libraries     ni-libraries
-Google Test           gtest
-LLVM                  wpiutil/src/main/native/include/wpi/{various files}
-                      wpiutil/src/main/native/cpp/llvm/
-                      wpiutil/src/main/native/cpp/leb128.cpp
-                      wpiutil/src/test/native/cpp/leb128Test.cpp
-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/
-fmtlib                wpiutil/src/main/native/fmtlib/
-sigslot               wpiutil/src/main/native/include/wpi/Signal.h
-                      wpiutil/src/test/native/cpp/sigslot/
-tcpsockets            wpiutil/src/main/native/cpp/TCP{Stream,Connector,Acceptor}.cpp
-                      wpiutil/src/main/native/include/wpi/TCP*.h
-MPack                 wpiutil/src/main/native/include/mpack.h
-                      wpiutil/src/main/native/cpp/mpack.cpp
-Bootstrap             wpiutil/src/main/native/resources/bootstrap-*
-CoreUI                wpiutil/src/main/native/resources/coreui-*
-Feather Icons         wpiutil/src/main/native/resources/feather-*
-jQuery                wpiutil/src/main/native/resources/jquery-*
-popper.js             wpiutil/src/main/native/resources/popper-*
-units                 wpimath/src/main/native/include/units/
-Eigen                 wpimath/src/main/native/eigeninclude/
-                      wpimath/src/main/native/include/unsupported/
-StackWalker           wpiutil/src/main/native/windows/StackWalker.*
-TCB span              wpiutil/src/main/native/include/wpi/span.h
-                      wpiutil/src/test/native/cpp/span/
-GHC filesystem        wpiutil/src/main/native/include/wpi/ghc/
-Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
-                      wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
-                      wpilibc/src/main/native/include/spline/SplineParameterizer.h
-                      wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
-                      wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
-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
-
-
-==============================================================================
-Google Test License
-==============================================================================
-Copyright 2008, Google Inc.
-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.
-
-
-==============================================================================
-LLVM Release License
-==============================================================================
-University of Illinois/NCSA
-Open Source License
-
-Copyright (c) 2003-2017 University of Illinois at Urbana-Champaign.
-All rights reserved.
-
-Developed by:
-
-    LLVM Team
-
-    University of Illinois at Urbana-Champaign
-
-    http://llvm.org
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of
-this software and associated documentation files (the "Software"), to deal with
-the Software without restriction, including without limitation the rights to
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
-of the Software, and to permit persons to whom the Software is furnished to do
-so, subject to the following conditions:
-
-    * Redistributions of source code must retain the above copyright notice,
-      this list of conditions and the following disclaimers.
-
-    * Redistributions in binary form must reproduce the above copyright notice,
-      this list of conditions and the following disclaimers in the
-      documentation and/or other materials provided with the distribution.
-
-    * Neither the names of the LLVM Team, University of Illinois at
-      Urbana-Champaign, nor the names of its contributors may be used to
-      endorse or promote products derived from this Software without specific
-      prior written permission.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
-FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL THE
-CONTRIBUTORS 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 WITH THE
-SOFTWARE.
-
-
-==============================================================================
-JSON for Modern C++ License
-==============================================================================
-
-    __ _____ _____ _____
- __|  |   __|     |   | |  JSON for Modern C++
-|  |  |__   |  |  | | | |  version 2.1.1
-|_____|_____|_____|_|___|  https://github.com/nlohmann/json
-
-Licensed under the MIT License <http://opensource.org/licenses/MIT>.
-Copyright (c) 2013-2017 Niels Lohmann <http://nlohmann.me>.
-
-Permission is hereby  granted, free of charge, to any  person obtaining a copy
-of this software and associated  documentation files (the "Software"), to deal
-in the Software  without restriction, including without  limitation the rights
-to  use, copy,  modify, merge,  publish, distribute,  sublicense, and/or  sell
-copies  of  the Software,  and  to  permit persons  to  whom  the Software  is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE  IS PROVIDED "AS  IS", WITHOUT WARRANTY  OF ANY KIND,  EXPRESS OR
-IMPLIED,  INCLUDING BUT  NOT  LIMITED TO  THE  WARRANTIES OF  MERCHANTABILITY,
-FITNESS FOR  A PARTICULAR PURPOSE AND  NONINFRINGEMENT. IN NO EVENT  SHALL THE
-AUTHORS  OR COPYRIGHT  HOLDERS  BE  LIABLE FOR  ANY  CLAIM,  DAMAGES OR  OTHER
-LIABILITY, WHETHER IN AN ACTION OF  CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE  OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-==============================================================================
-libuv License
-==============================================================================
-Copyright Joyent, Inc. and other Node contributors. All rights reserved.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to
-deal in the Software without restriction, including without limitation the
-rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
-sell copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
-IN THE SOFTWARE.
-
-
-==============================================================================
-sigslot License
-==============================================================================
-Sigslot, a signal-slot library
-
-https://github.com/palacaze/sigslot
-
-MIT License
-
-Copyright (c) 2017 Pierre-Antoine Lacaze
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-==============================================================================
-tcpsockets License
-==============================================================================
-Copyright (c) 2013 [Vic Hargrave - http://vichargrave.com]
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-    http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
-
-
-==============================================================================
-MPacks License
-==============================================================================
-The MIT License (MIT)
-
-Copyright (c) 2015-2021 Nicholas Fraser and the MPack authors
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-==============================================================================
-Bootstrap License
-==============================================================================
-Copyright (c) 2011-2018 Twitter, Inc.
-Copyright (c) 2011-2018 The Bootstrap Authors
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-
-==============================================================================
-CoreUI License
-==============================================================================
-Copyright (c) 2018 creativeLabs tukasz Holeczek.
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-
-==============================================================================
-Feather Icons License
-==============================================================================
-Copyright (c) 2013-2017 Cole Bemis
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-==============================================================================
-jQuery License
-==============================================================================
-Copyright JS Foundation and other contributors, https://js.foundation/
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-
-==============================================================================
-popper.js License
-==============================================================================
-Copyright (c) 2016 Federico Zivolo and contributors
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of
-this software and associated documentation files (the "Software"), to deal in
-the Software without restriction, including without limitation the rights to
-use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
-of the Software, and to permit persons to whom the Software is furnished to do
-so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-=============
-units License
-=============
-The MIT License (MIT)
-
-Copyright (c) 2016 Nic Holthaus
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-
-=============
-Eigen license
-=============
-Mozilla Public License Version 2.0
-==================================
-
-1. Definitions
---------------
-
-1.1. "Contributor"
-    means each individual or legal entity that creates, contributes to
-    the creation of, or owns Covered Software.
-
-1.2. "Contributor Version"
-    means the combination of the Contributions of others (if any) used
-    by a Contributor and that particular Contributor's Contribution.
-
-1.3. "Contribution"
-    means Covered Software of a particular Contributor.
-
-1.4. "Covered Software"
-    means Source Code Form to which the initial Contributor has attached
-    the notice in Exhibit A, the Executable Form of such Source Code
-    Form, and Modifications of such Source Code Form, in each case
-    including portions thereof.
-
-1.5. "Incompatible With Secondary Licenses"
-    means
-
-    (a) that the initial Contributor has attached the notice described
-        in Exhibit B to the Covered Software; or
-
-    (b) that the Covered Software was made available under the terms of
-        version 1.1 or earlier of the License, but not also under the
-        terms of a Secondary License.
-
-1.6. "Executable Form"
-    means any form of the work other than Source Code Form.
-
-1.7. "Larger Work"
-    means a work that combines Covered Software with other material, in
-    a separate file or files, that is not Covered Software.
-
-1.8. "License"
-    means this document.
-
-1.9. "Licensable"
-    means having the right to grant, to the maximum extent possible,
-    whether at the time of the initial grant or subsequently, any and
-    all of the rights conveyed by this License.
-
-1.10. "Modifications"
-    means any of the following:
-
-    (a) any file in Source Code Form that results from an addition to,
-        deletion from, or modification of the contents of Covered
-        Software; or
-
-    (b) any new file in Source Code Form that contains any Covered
-        Software.
-
-1.11. "Patent Claims" of a Contributor
-    means any patent claim(s), including without limitation, method,
-    process, and apparatus claims, in any patent Licensable by such
-    Contributor that would be infringed, but for the grant of the
-    License, by the making, using, selling, offering for sale, having
-    made, import, or transfer of either its Contributions or its
-    Contributor Version.
-
-1.12. "Secondary License"
-    means either the GNU General Public License, Version 2.0, the GNU
-    Lesser General Public License, Version 2.1, the GNU Affero General
-    Public License, Version 3.0, or any later versions of those
-    licenses.
-
-1.13. "Source Code Form"
-    means the form of the work preferred for making modifications.
-
-1.14. "You" (or "Your")
-    means an individual or a legal entity exercising rights under this
-    License. For legal entities, "You" includes any entity that
-    controls, is controlled by, or is under common control with You. For
-    purposes of this definition, "control" means (a) the power, direct
-    or indirect, to cause the direction or management of such entity,
-    whether by contract or otherwise, or (b) ownership of more than
-    fifty percent (50%) of the outstanding shares or beneficial
-    ownership of such entity.
-
-2. License Grants and Conditions
---------------------------------
-
-2.1. Grants
-
-Each Contributor hereby grants You a world-wide, royalty-free,
-non-exclusive license:
-
-(a) under intellectual property rights (other than patent or trademark)
-    Licensable by such Contributor to use, reproduce, make available,
-    modify, display, perform, distribute, and otherwise exploit its
-    Contributions, either on an unmodified basis, with Modifications, or
-    as part of a Larger Work; and
-
-(b) under Patent Claims of such Contributor to make, use, sell, offer
-    for sale, have made, import, and otherwise transfer either its
-    Contributions or its Contributor Version.
-
-2.2. Effective Date
-
-The licenses granted in Section 2.1 with respect to any Contribution
-become effective for each Contribution on the date the Contributor first
-distributes such Contribution.
-
-2.3. Limitations on Grant Scope
-
-The licenses granted in this Section 2 are the only rights granted under
-this License. No additional rights or licenses will be implied from the
-distribution or licensing of Covered Software under this License.
-Notwithstanding Section 2.1(b) above, no patent license is granted by a
-Contributor:
-
-(a) for any code that a Contributor has removed from Covered Software;
-    or
-
-(b) for infringements caused by: (i) Your and any other third party's
-    modifications of Covered Software, or (ii) the combination of its
-    Contributions with other software (except as part of its Contributor
-    Version); or
-
-(c) under Patent Claims infringed by Covered Software in the absence of
-    its Contributions.
-
-This License does not grant any rights in the trademarks, service marks,
-or logos of any Contributor (except as may be necessary to comply with
-the notice requirements in Section 3.4).
-
-2.4. Subsequent Licenses
-
-No Contributor makes additional grants as a result of Your choice to
-distribute the Covered Software under a subsequent version of this
-License (see Section 10.2) or under the terms of a Secondary License (if
-permitted under the terms of Section 3.3).
-
-2.5. Representation
-
-Each Contributor represents that the Contributor believes its
-Contributions are its original creation(s) or it has sufficient rights
-to grant the rights to its Contributions conveyed by this License.
-
-2.6. Fair Use
-
-This License is not intended to limit any rights You have under
-applicable copyright doctrines of fair use, fair dealing, or other
-equivalents.
-
-2.7. Conditions
-
-Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
-in Section 2.1.
-
-3. Responsibilities
--------------------
-
-3.1. Distribution of Source Form
-
-All distribution of Covered Software in Source Code Form, including any
-Modifications that You create or to which You contribute, must be under
-the terms of this License. You must inform recipients that the Source
-Code Form of the Covered Software is governed by the terms of this
-License, and how they can obtain a copy of this License. You may not
-attempt to alter or restrict the recipients' rights in the Source Code
-Form.
-
-3.2. Distribution of Executable Form
-
-If You distribute Covered Software in Executable Form then:
-
-(a) such Covered Software must also be made available in Source Code
-    Form, as described in Section 3.1, and You must inform recipients of
-    the Executable Form how they can obtain a copy of such Source Code
-    Form by reasonable means in a timely manner, at a charge no more
-    than the cost of distribution to the recipient; and
-
-(b) You may distribute such Executable Form under the terms of this
-    License, or sublicense it under different terms, provided that the
-    license for the Executable Form does not attempt to limit or alter
-    the recipients' rights in the Source Code Form under this License.
-
-3.3. Distribution of a Larger Work
-
-You may create and distribute a Larger Work under terms of Your choice,
-provided that You also comply with the requirements of this License for
-the Covered Software. If the Larger Work is a combination of Covered
-Software with a work governed by one or more Secondary Licenses, and the
-Covered Software is not Incompatible With Secondary Licenses, this
-License permits You to additionally distribute such Covered Software
-under the terms of such Secondary License(s), so that the recipient of
-the Larger Work may, at their option, further distribute the Covered
-Software under the terms of either this License or such Secondary
-License(s).
-
-3.4. Notices
-
-You may not remove or alter the substance of any license notices
-(including copyright notices, patent notices, disclaimers of warranty,
-or limitations of liability) contained within the Source Code Form of
-the Covered Software, except that You may alter any license notices to
-the extent required to remedy known factual inaccuracies.
-
-3.5. Application of Additional Terms
-
-You may choose to offer, and to charge a fee for, warranty, support,
-indemnity or liability obligations to one or more recipients of Covered
-Software. However, You may do so only on Your own behalf, and not on
-behalf of any Contributor. You must make it absolutely clear that any
-such warranty, support, indemnity, or liability obligation is offered by
-You alone, and You hereby agree to indemnify every Contributor for any
-liability incurred by such Contributor as a result of warranty, support,
-indemnity or liability terms You offer. You may include additional
-disclaimers of warranty and limitations of liability specific to any
-jurisdiction.
-
-4. Inability to Comply Due to Statute or Regulation
----------------------------------------------------
-
-If it is impossible for You to comply with any of the terms of this
-License with respect to some or all of the Covered Software due to
-statute, judicial order, or regulation then You must: (a) comply with
-the terms of this License to the maximum extent possible; and (b)
-describe the limitations and the code they affect. Such description must
-be placed in a text file included with all distributions of the Covered
-Software under this License. Except to the extent prohibited by statute
-or regulation, such description must be sufficiently detailed for a
-recipient of ordinary skill to be able to understand it.
-
-5. Termination
---------------
-
-5.1. The rights granted under this License will terminate automatically
-if You fail to comply with any of its terms. However, if You become
-compliant, then the rights granted under this License from a particular
-Contributor are reinstated (a) provisionally, unless and until such
-Contributor explicitly and finally terminates Your grants, and (b) on an
-ongoing basis, if such Contributor fails to notify You of the
-non-compliance by some reasonable means prior to 60 days after You have
-come back into compliance. Moreover, Your grants from a particular
-Contributor are reinstated on an ongoing basis if such Contributor
-notifies You of the non-compliance by some reasonable means, this is the
-first time You have received notice of non-compliance with this License
-from such Contributor, and You become compliant prior to 30 days after
-Your receipt of the notice.
-
-5.2. If You initiate litigation against any entity by asserting a patent
-infringement claim (excluding declaratory judgment actions,
-counter-claims, and cross-claims) alleging that a Contributor Version
-directly or indirectly infringes any patent, then the rights granted to
-You by any and all Contributors for the Covered Software under Section
-2.1 of this License shall terminate.
-
-5.3. In the event of termination under Sections 5.1 or 5.2 above, all
-end user license agreements (excluding distributors and resellers) which
-have been validly granted by You or Your distributors under this License
-prior to termination shall survive termination.
-
-************************************************************************
-*                                                                      *
-*  6. Disclaimer of Warranty                                           *
-*  -------------------------                                           *
-*                                                                      *
-*  Covered Software is provided under this License on an "as is"       *
-*  basis, without warranty of any kind, either expressed, implied, or  *
-*  statutory, including, without limitation, warranties that the       *
-*  Covered Software is free of defects, merchantable, fit for a        *
-*  particular purpose or non-infringing. The entire risk as to the     *
-*  quality and performance of the Covered Software is with You.        *
-*  Should any Covered Software prove defective in any respect, You     *
-*  (not any Contributor) assume the cost of any necessary servicing,   *
-*  repair, or correction. This disclaimer of warranty constitutes an   *
-*  essential part of this License. No use of any Covered Software is   *
-*  authorized under this License except under this disclaimer.         *
-*                                                                      *
-************************************************************************
-
-************************************************************************
-*                                                                      *
-*  7. Limitation of Liability                                          *
-*  --------------------------                                          *
-*                                                                      *
-*  Under no circumstances and under no legal theory, whether tort      *
-*  (including negligence), contract, or otherwise, shall any           *
-*  Contributor, or anyone who distributes Covered Software as          *
-*  permitted above, be liable to You for any direct, indirect,         *
-*  special, incidental, or consequential damages of any character      *
-*  including, without limitation, damages for lost profits, loss of    *
-*  goodwill, work stoppage, computer failure or malfunction, or any    *
-*  and all other commercial damages or losses, even if such party      *
-*  shall have been informed of the possibility of such damages. This   *
-*  limitation of liability shall not apply to liability for death or   *
-*  personal injury resulting from such party's negligence to the       *
-*  extent applicable law prohibits such limitation. Some               *
-*  jurisdictions do not allow the exclusion or limitation of           *
-*  incidental or consequential damages, so this exclusion and          *
-*  limitation may not apply to You.                                    *
-*                                                                      *
-************************************************************************
-
-8. Litigation
--------------
-
-Any litigation relating to this License may be brought only in the
-courts of a jurisdiction where the defendant maintains its principal
-place of business and such litigation shall be governed by laws of that
-jurisdiction, without reference to its conflict-of-law provisions.
-Nothing in this Section shall prevent a party's ability to bring
-cross-claims or counter-claims.
-
-9. Miscellaneous
-----------------
-
-This License represents the complete agreement concerning the subject
-matter hereof. If any provision of this License is held to be
-unenforceable, such provision shall be reformed only to the extent
-necessary to make it enforceable. Any law or regulation which provides
-that the language of a contract shall be construed against the drafter
-shall not be used to construe this License against a Contributor.
-
-10. Versions of the License
----------------------------
-
-10.1. New Versions
-
-Mozilla Foundation is the license steward. Except as provided in Section
-10.3, no one other than the license steward has the right to modify or
-publish new versions of this License. Each version will be given a
-distinguishing version number.
-
-10.2. Effect of New Versions
-
-You may distribute the Covered Software under the terms of the version
-of the License under which You originally received the Covered Software,
-or under the terms of any subsequent version published by the license
-steward.
-
-10.3. Modified Versions
-
-If you create software not governed by this License, and you want to
-create a new license for such software, you may create and use a
-modified version of this License if you rename the license and remove
-any references to the name of the license steward (except to note that
-such modified license differs from this License).
-
-10.4. Distributing Source Code Form that is Incompatible With Secondary
-Licenses
-
-If You choose to distribute Source Code Form that is Incompatible With
-Secondary Licenses under the terms of this version of the License, the
-notice described in Exhibit B of this License must be attached.
-
-Exhibit A - Source Code Form License Notice
--------------------------------------------
-
-  This Source Code Form is subject to the terms of the Mozilla Public
-  License, v. 2.0. If a copy of the MPL was not distributed with this
-  file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-If it is not possible or desirable to put the notice in a particular
-file, then You may include the notice in a location (such as a LICENSE
-file in a relevant directory) where a recipient would be likely to look
-for such a notice.
-
-You may add additional accurate notices of copyright ownership.
-
-Exhibit B - "Incompatible With Secondary Licenses" Notice
----------------------------------------------------------
-
-  This Source Code Form is "Incompatible With Secondary Licenses", as
-  defined by the Mozilla Public License, v. 2.0.
-
-
-===================
-StackWalker License
-===================
-Copyright (c) 2005-2013, Jochen Kalmbach
-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 Jochen Kalmbach 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.
-
-
-================
-Team 254 Library
-================
-MIT License
-
-Copyright (c) 2018 Team 254
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
-=============
-Drake Library
-=============
-All components of Drake are licensed under the BSD 3-Clause License
-shown below. Where noted in the source code, some portions may
-be subject to other permissive, non-viral licenses.
-
-Copyright 2012-2016 Robot Locomotion Group @ CSAIL
-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
-the Massachusetts Institute of Technology 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
-HOLDER 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.
-
-=====================
-Portable File Dialogs
-=====================
-Copyright © 2018—2020 Sam Hocevar <sam@hocevar.net>
-
-This library is free software. It comes without any warranty, to
-the extent permitted by applicable law. You can redistribute it
-and/or modify it under the terms of the Do What the **** You Want
-to Public License, Version 2, as published by the WTFPL Task Force.
-See http://www.wtfpl.net/ for more details.
-
-======================
-Boost Software License
-======================
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-
-======
-fmtlib
-======
-Copyright (c) 2012 - present, Victor Zverovich
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
---- Optional exception to the license ---
-
-As an exception, if, as a result of your compiling your source code, portions
-of this Software are embedded into a machine-executable object form of such
-source code, you may redistribute such embedded portions in such object form
-without including the above copyright and permission notices.
-
-==============
-GHC filesystem
-==============
-Copyright (c) 2018, Steffen Schümann <s.schuemann@pobox.com>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

arm-toolchain.cmake

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8)
+INCLUDE(CMakeForceCompiler)
+set(ARM_PREFIX arm-none-linux-gnueabi)
+set(CMAKE_SYSTEM_NAME Linux)
+CMAKE_FORCE_CXX_COMPILER(${ARM_PREFIX}-g++ GNU)
+CMAKE_FORCE_C_COMPILER(${ARM_PREFIX}-gcc GNU)
+set(CMAKE_CXX_FLAGS "-march=armv7-a -mcpu=cortex-a9 -mfloat-abi=softfp -Wall -Wno-psabi" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g" CACHE STRING "" FORCE) # still want debugging for release?
+SET(CMAKE_FIND_ROOT_PATH $ENV{USER_HOME}/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/arm-none-linux-gnueabi/libc)

azure-pipelines-testbench.yaml

@@ -1,91 +0,0 @@
-# Testing steps for real hardware
-
-trigger:
-  batch: true
-  branches:
-    include:
-      - master
-
-stages:
-  - stage: Build
-    jobs:
-      - job: IntegrationTests
-        displayName: Integration Tests
-        pool:
-          vmImage: 'ubuntu-latest'
-
-        container:
-          image: wpilib/roborio-cross-ubuntu:2022-18.04
-
-        timeoutInMinutes: 0
-
-        steps:
-          - task: Gradle@2
-            condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-            inputs:
-              workingDirectory: ""
-              gradleWrapperFile: "gradlew"
-              gradleOptions: "-Xmx3072m"
-              publishJUnitResults: false
-              testResultsFiles: "**/TEST-*.xml"
-              tasks: "copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput"
-              options: "-Ponlylinuxathena -PbuildServer -PskipJavaFormat"
-
-          - task: PublishPipelineArtifact@0
-            inputs:
-              artifactName: "Integration Tests"
-              targetPath: "build/integrationTestFiles"
-
-  - stage: TestBench
-    displayName: Test Bench
-    jobs:
-      - job: Cpp
-        displayName: C++
-        pool: RoboRioConnections
-        timeoutInMinutes: 30
-        workspace:
-          clean: all
-        steps:
-          - task: DownloadPipelineArtifact@0
-            inputs:
-              artifactName: "Integration Tests"
-              targetPath: "build/integrationTestFiles"
-
-          - task: ShellScript@2
-            displayName: Run C++ Tests
-            inputs:
-              scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
-              args: 'cpp -A "--gtest_output=xml:/home/admin/testResults/cppreport.xml"'
-
-          - task: PublishTestResults@2
-            displayName: Publish C++ Test Results
-            inputs:
-              testResultsFormat: "JUnit"
-              testResultsFiles: "*.xml"
-              testRunTitle: "C++ Test Report"
-              searchFolder: "$(System.DefaultWorkingDirectory)/test-reports"
-
-      - job: Java
-        pool: RoboRioConnections
-        timeoutInMinutes: 30
-        workspace:
-          clean: all
-        steps:
-          - task: DownloadPipelineArtifact@0
-            inputs:
-              artifactName: "Integration Tests"
-              targetPath: "build/integrationTestFiles"
-
-          - task: ShellScript@2
-            displayName: Run Java Tests
-            inputs:
-              scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
-              args: "java"
-
-          - task: PublishTestResults@2
-            displayName: Publish Java Test Results
-            inputs:
-              testResultsFormat: "JUnit"
-              testResultsFiles: "*.xml"
-              testRunTitle: "Java Test Report"
-              searchFolder: "$(System.DefaultWorkingDirectory)/test-reports"

build.gradle

@@ -1,151 +0,0 @@
-import edu.wpi.first.toolchain.*
-
-buildscript {
-    repositories {
-        mavenCentral()
-    }
-    dependencies {
-        classpath 'com.hubspot.jinjava:jinjava:2.6.0'
-    }
-}
-
-plugins {
-    id 'base'
-    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.1.0'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-    id 'edu.wpi.first.NativeUtils' apply false
-    id 'edu.wpi.first.GradleJni' version '1.0.0'
-    id 'edu.wpi.first.GradleVsCode'
-    id 'idea'
-    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
-}
-
-wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
-wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
-
-allprojects {
-    repositories {
-        mavenCentral()
-    }
-    if (project.hasProperty('releaseMode')) {
-        wpilibRepositories.addAllReleaseRepositories(it)
-    } else {
-        wpilibRepositories.addAllDevelopmentRepositories(it)
-    }
-}
-
-buildScan {
-    termsOfServiceUrl = 'https://gradle.com/terms-of-service'
-    termsOfServiceAgree = 'yes'
-
-    publishAlways()
-}
-
-ext.licenseFile = files("$rootDir/LICENSE.md", "$rootDir/ThirdPartyNotices.txt")
-
-if (project.hasProperty("publishVersion")) {
-    wpilibVersioning.version.set(project.publishVersion)
-}
-
-wpilibVersioning.version.finalizeValue()
-
-def outputsFolder = file("$buildDir/allOutputs")
-
-def versionFile = file("$outputsFolder/version.txt")
-
-task outputVersions() {
-    description = 'Prints the versions of wpilib to a file for use by the downstream packaging project'
-    group = 'Build'
-    outputs.files(versionFile)
-
-    doFirst {
-        buildDir.mkdir()
-        outputsFolder.mkdir()
-    }
-
-    doLast {
-        versionFile.write wpilibVersioning.version.get()
-    }
-}
-
-task libraryBuild() {}
-
-build.dependsOn outputVersions
-
-task copyAllOutputs(type: Copy) {
-    destinationDir outputsFolder
-}
-
-build.dependsOn copyAllOutputs
-copyAllOutputs.dependsOn outputVersions
-
-ext.addTaskToCopyAllOutputs = { task ->
-    copyAllOutputs.dependsOn task
-    copyAllOutputs.inputs.file task.archivePath
-    copyAllOutputs.from task.archivePath
-}
-
-subprojects {
-    apply plugin: 'eclipse'
-    apply plugin: 'idea'
-
-    def subproj = it
-
-    plugins.withType(NativeComponentPlugin) {
-        subproj.apply plugin: MultiBuilds
-    }
-
-    apply from: "${rootDir}/shared/java/javastyle.gradle"
-
-    // Disables doclint in java 8.
-    if (JavaVersion.current().isJava8Compatible()) {
-        tasks.withType(Javadoc) {
-            if (project.name != "docs") {
-                options.addStringOption('Xdoclint:none', '-quiet')
-            }
-        }
-    }
-
-    // Enables UTF-8 support in Javadoc
-    tasks.withType(Javadoc) {
-        options.addStringOption("charset", "utf-8")
-        options.addStringOption("docencoding", "utf-8")
-        options.addStringOption("encoding", "utf-8")
-    }
-
-    // Sign outputs with Developer ID
-    if (project.hasProperty("developerID")) {
-        tasks.withType(AbstractLinkTask) { task ->
-            // Don't sign any executables because codesign complains
-            // about relative rpath.
-            if (!(task instanceof LinkExecutable)) {
-                doLast {
-                    // Get path to binary.
-                    String path = task.getLinkedFile().getAsFile().get().getAbsolutePath()
-                    exec {
-                        workingDir rootDir
-                        def args = [
-                            "sh",
-                            "-c",
-                            "codesign --force --strict --timestamp --options=runtime " +
-                            "--verbose -s ${project.findProperty("developerID")} ${path}"
-                        ]
-                        commandLine args
-                    }
-                }
-            }
-        }
-    }
-}
-
-ext.getCurrentArch = {
-    return NativePlatforms.desktop
-}
-
-wrapper {
-    gradleVersion = '7.3.3'
-}

buildSrc/build.gradle

@@ -1,9 +0,0 @@
-repositories {
-    maven {
-        url "https://plugins.gradle.org/m2/"
-        mavenLocal()
-    }
-}
-dependencies {
-    implementation "edu.wpi.first:native-utils:2022.7.1"
-}

buildSrc/src/main/groovy/DisableBuildingGTest.groovy

@@ -1,70 +0,0 @@
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import edu.wpi.first.toolchain.ToolchainExtension
-import org.gradle.model.Mutate;
-import org.gradle.api.plugins.ExtensionContainer;
-import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.NativeExecutableBinarySpec
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.BinaryContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
-import groovy.transform.CompileStatic;
-import groovy.transform.CompileDynamic
-import org.gradle.nativeplatform.BuildTypeContainer
-
-@CompileStatic
-class DisableBuildingGTest implements Plugin<Project> {
-  @CompileStatic
-  public void apply(Project project) {
-
-  }
-
-  @CompileStatic
-  static class Rules extends RuleSource {
-    @CompileDynamic
-    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
-        binary.buildable = false
-    }
-
-    @Validate
-    @CompileStatic
-    // TODO: Move this to tc plugin
-    void disableCrossTests(BinaryContainer binaries, ExtensionContainer extContainer) {
-        final ToolchainExtension ext = extContainer.getByType(ToolchainExtension.class);
-
-        for (GoogleTestTestSuiteBinarySpec binary : binaries.withType(GoogleTestTestSuiteBinarySpec.class)) {
-            if (ext.getCrossCompilers().findByName(binary.getTargetPlatform().getName()) != null) {
-              setBuildableFalseDynamically(binary)
-            }
-        }
-    }
-  }
-}

buildSrc/src/main/groovy/ExtraTasks.groovy

@@ -1,88 +0,0 @@
-import java.io.ByteArrayOutputStream;
-import java.io.File;
-import java.io.IOException;
-import java.lang.reflect.Field;
-import java.nio.file.Files;
-import java.util.ArrayList;
-import java.util.List;
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import org.gradle.model.Mutate;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.test.tasks.RunTestExecutable;
-import org.gradle.platform.base.BinaryContainer;
-import groovy.transform.CompileStatic;
-
-@CompileStatic
-class ExtraTasks implements Plugin<Project> {
-    @CompileStatic
-    public void apply(Project project) {
-
-    }
-
-    @CompileStatic
-    static class Rules extends RuleSource {
-        @Mutate
-        @CompileStatic
-        void createNativeCompileTask(ModelMap<Task> tasks, BinaryContainer binaries) {
-            tasks.create('compileCpp', Task) { oTask ->
-                def task = (Task) oTask
-                task.group = 'build'
-                task.description = 'Uber task to compile all native code for this project'
-                binaries.each { binary ->
-                    if (binary instanceof NativeBinarySpec && binary.buildable) {
-                        binary.tasks.withType(AbstractNativeSourceCompileTask) { compileTask ->
-                            task.dependsOn compileTask
-                        }
-                    }
-                }
-            }
-        }
-
-        @Mutate
-        @CompileStatic
-        void createNativeTestTask(ModelMap<Task> tasks, BinaryContainer binaries) {
-            tasks.create('testCpp', Task) { oTask ->
-                def task = (Task) oTask
-                task.group = 'build'
-                task.description = 'Uber task to run all native tests for project'
-                binaries.each { binary ->
-                    if (binary instanceof GoogleTestTestSuiteBinarySpec && binary.buildable) {
-                        binary.tasks.withType(RunTestExecutable) { testTask ->
-                            task.dependsOn testTask
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

buildSrc/src/main/groovy/MultiBuilds.groovy

@@ -1,74 +0,0 @@
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import edu.wpi.first.toolchain.ToolchainExtension
-import org.gradle.model.Mutate;
-import org.gradle.api.plugins.ExtensionContainer;
-import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.test.tasks.RunTestExecutable
-import org.gradle.nativeplatform.NativeExecutableBinarySpec
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.BinaryContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
-import groovy.transform.CompileStatic;
-import groovy.transform.CompileDynamic
-import org.gradle.nativeplatform.BuildTypeContainer
-
-@CompileStatic
-class MultiBuilds implements Plugin<Project> {
-  @CompileStatic
-  public void apply(Project project) {
-
-  }
-
-  @CompileStatic
-  static class Rules extends RuleSource {
-    @CompileDynamic
-    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
-        binary.buildable = false
-    }
-
-
-    @Mutate
-    @CompileStatic
-    void disableReleaseGoogleTest(BinaryContainer binaries, ProjectLayout projectLayout) {
-      def project = (Project) projectLayout.projectIdentifier
-      if (project.hasProperty('testRelease')) {
-        return
-      }
-      binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
-        GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
-        if (spec.buildType.name == 'release') {
-          Rules.setBuildableFalseDynamically(spec)
-        }
-      }
-    }
-  }
-}

buildSrc/src/main/groovy/SingleNativeBuild.groovy

@@ -1,172 +0,0 @@
-import java.io.ByteArrayOutputStream;
-import java.io.File;
-import java.io.IOException;
-import java.lang.reflect.Field;
-import java.nio.file.Files;
-import java.util.ArrayList;
-import java.util.List;
-
-import org.gradle.api.tasks.Delete
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.tasks.Copy;
-import org.gradle.api.file.CopySpec;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import org.gradle.model.Mutate;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.nativeplatform.tasks.CreateStaticLibrary;
-import org.gradle.nativeplatform.tasks.AbstractLinkTask;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.BinaryContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
-import groovy.transform.CompileStatic;
-import edu.wpi.first.nativeutils.exports.ExportsGenerationTask
-
-@CompileStatic
-class SingleNativeBuild implements Plugin<Project> {
-    @CompileStatic
-    public void apply(Project project) {
-
-    }
-
-    @CompileStatic
-    static class Rules extends RuleSource {
-        @Mutate
-        @CompileStatic
-        void removeMacSystemIncludes(ModelMap<Task> tasks, BinaryContainer binaries) {
-            binaries.each {
-                if (!(it instanceof NativeBinarySpec)) {
-                    return
-                }
-                NativeBinarySpec nativeBin = (NativeBinarySpec)it
-                if (nativeBin.targetPlatform.operatingSystem.isMacOsX()) {
-                    nativeBin.tasks.withType(AbstractNativeSourceCompileTask) { AbstractNativeSourceCompileTask compileTask->
-                        compileTask.getSystemIncludes().setFrom()
-                    }
-                }
-            }
-        }
-
-        @Mutate
-        @CompileStatic
-        void setupSingleNativeBuild(ModelMap<Task> tasks, ComponentSpecContainer components, BinaryContainer binaryContainer, ProjectLayout projectLayout) {
-            Project project = (Project) projectLayout.projectIdentifier;
-
-            def nativeName = project.extensions.extraProperties.get('nativeName')
-
-            NativeLibrarySpec base = null
-            def subs = []
-            components.each { component ->
-                if (component.name == "${nativeName}Base") {
-                    base = (NativeLibrarySpec) component
-                } else if (component.name == "${nativeName}" || component.name == "${nativeName}JNI" || component.name == "${nativeName}JNICvStatic") {
-                    subs << component
-                }
-            }
-            Delete deleteObjects = null
-            if (project.hasProperty('buildServer')) {
-                deleteObjects = project.tasks.create('deleteObjects', Delete)
-                project.tasks.named('build').configure { Task t ->
-                    t.dependsOn deleteObjects
-                    return
-                }
-            }
-            subs.each {
-                ((NativeLibrarySpec) it).binaries.each { oBinary ->
-                    if (oBinary.buildable == false) {
-                        return
-                    }
-                    NativeBinarySpec binary = (NativeBinarySpec) oBinary
-                    NativeBinarySpec baseBin = null
-                    base.binaries.each { oTmpBaseBin ->
-                        if (oTmpBaseBin.buildable == false) {
-                            return
-                        }
-                        def tmpBaseBin = (NativeBinarySpec) oTmpBaseBin
-                        if (tmpBaseBin.targetPlatform.name == binary.targetPlatform.name &&
-                                tmpBaseBin.buildType == binary.buildType) {
-                            baseBin = tmpBaseBin
-                        }
-                    }
-
-                    if (binary instanceof StaticLibraryBinarySpec) {
-                        File intoDir = ((CreateStaticLibrary)((StaticLibraryBinarySpec)binary).tasks.createStaticLib).outputFile.get().asFile.parentFile
-                        File fromDir = ((CreateStaticLibrary)((StaticLibraryBinarySpec)baseBin).tasks.createStaticLib).outputFile.get().asFile.parentFile
-
-                        def copyBasePdbName = "copyBasePdbFor" + binary.buildTask.name
-                        def copyTask = project.tasks.register(copyBasePdbName, Copy) { Copy t ->
-                            t.from (fromDir)
-                            t.include '*.pdb'
-                            t.into intoDir
-
-                            t.dependsOn (((StaticLibraryBinarySpec)baseBin).tasks.createStaticLib)
-                        }
-                        ((CreateStaticLibrary)((StaticLibraryBinarySpec)binary).tasks.createStaticLib).dependsOn(copyTask)
-
-                    }
-
-                    baseBin.tasks.withType(AbstractNativeSourceCompileTask) { oCompileTask ->
-                        def compileTask = (AbstractNativeSourceCompileTask) oCompileTask
-                        if (binary instanceof SharedLibraryBinarySpec) {
-                            def sBinary = (SharedLibraryBinarySpec) binary
-                            ObjectFilesToBinary link = (ObjectFilesToBinary) sBinary.tasks.link
-                            ExportsGenerationTask exportsTask = binary.tasks.withType(ExportsGenerationTask)[0]
-                            if (exportsTask != null) {
-                                exportsTask.dependsOn compileTask
-                            }
-                            link.dependsOn compileTask
-                            link.inputs.dir compileTask.objectFileDir
-                            def tree = project.fileTree(compileTask.objectFileDir)
-                            tree.include '**/*.o'
-                            tree.include '**/*.obj'
-                            link.source tree
-                            if (project.hasProperty('buildServer')) {
-                                deleteObjects.dependsOn link
-                                deleteObjects.delete tree
-                            }
-                        } else if (binary instanceof StaticLibraryBinarySpec) {
-                            def sBinary = (StaticLibraryBinarySpec) binary
-                            ObjectFilesToBinary assemble = (ObjectFilesToBinary) sBinary.tasks.createStaticLib
-                            assemble.dependsOn compileTask
-                            assemble.inputs.dir compileTask.objectFileDir
-                            def tree = project.fileTree(compileTask.objectFileDir)
-                            tree.include '**/*.o'
-                            tree.include '**/*.obj'
-                            assemble.source tree
-                            if (project.hasProperty('buildServer')) {
-                                deleteObjects.dependsOn assemble
-                                deleteObjects.delete tree
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

buildSrc/src/main/groovy/WPIJREArtifact.groovy

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

cameraserver/.styleguide

@@ -1,25 +0,0 @@
-cppHeaderFileInclude {
-  \.h$
-  \.inc$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-repoRootNameOverride {
-  cameraserver
-}
-
-includeOtherLibs {
-  ^fmt/
-  ^hal/
-  ^networktables/
-  ^opencv2/
-  ^support/
-  ^wpi/
-}
-
-includeGuardRoots {
-  cameraserver/src/main/native/include/
-}

cameraserver/CMakeLists.txt

@@ -1,70 +0,0 @@
-project(cameraserver)
-
-include(CompileWarnings)
-include(AddTest)
-
-find_package( OpenCV REQUIRED )
-
-# Java bindings
-if (WITH_JAVA)
-    find_package(Java REQUIRED)
-    include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
-
-    #find java files, copy them locally
-
-    set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
-
-    find_file(OPENCV_JAR_FILE NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin NO_DEFAULT_PATH)
-
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-
-    add_jar(cameraserver_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar cscore_jar ntcore_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cameraserver)
-
-    get_property(CAMERASERVER_JAR_FILE TARGET cameraserver_jar PROPERTY JAR_FILE)
-    install(FILES ${CAMERASERVER_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET cameraserver_jar PROPERTY FOLDER "java")
-
-endif()
-
-file(GLOB_RECURSE
-    cameraserver_native_src src/main/native/cpp/*.cpp)
-add_library(cameraserver ${cameraserver_native_src})
-set_target_properties(cameraserver PROPERTIES DEBUG_POSTFIX "d")
-target_include_directories(cameraserver PUBLIC
-                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-                            $<INSTALL_INTERFACE:${include_dest}/cameraserver>)
-wpilib_target_warnings(cameraserver)
-target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})
-
-set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
-
-install(TARGETS cameraserver EXPORT cameraserver DESTINATION "${main_lib_dest}")
-install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")
-
-if (WITH_JAVA AND MSVC)
-    install(TARGETS cameraserver RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-endif()
-
-if (WITH_FLAT_INSTALL)
-    set (cameraserver_config_dir ${wpilib_dest})
-else()
-    set (cameraserver_config_dir share/cameraserver)
-endif()
-
-configure_file(cameraserver-config.cmake.in ${WPILIB_BINARY_DIR}/cameraserver-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
-install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})
-
-file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
-add_executable(multiCameraServer ${multiCameraServer_src})
-wpilib_target_warnings(multiCameraServer)
-target_link_libraries(multiCameraServer cameraserver)
-
-set_property(TARGET multiCameraServer PROPERTY FOLDER "examples")
-
-if (WITH_TESTS)
-    wpilib_add_test(cameraserver src/test/native/cpp)
-    target_link_libraries(cameraserver_test cameraserver gtest)
-endif()

cameraserver/build.gradle

@@ -1,95 +0,0 @@
-ext {
-    nativeName = 'cameraserver'
-    devMain = 'edu.wpi.first.cameraserver.DevMain'
-}
-
-evaluationDependsOn(':ntcore')
-evaluationDependsOn(':cscore')
-evaluationDependsOn(':hal')
-
-apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
-
-dependencies {
-    implementation project(':wpiutil')
-    implementation project(':ntcore')
-    implementation project(':cscore')
-    devImplementation project(':wpiutil')
-    devImplementation project(':ntcore')
-    devImplementation project(':cscore')
-}
-
-ext {
-    sharedCvConfigs = [cameraserver    : [],
-        cameraserverBase: [],
-        cameraserverDev : [],
-        cameraserverTest: []]
-    staticCvConfigs = [:]
-    useJava = true
-    useCpp = true
-}
-
-apply from: "${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',
-            '_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'
-        ]
-    }
-}
-
-model {
-    components {}
-    binaries {
-        all {
-            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
-                return
-            }
-            lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
-            lib project: ':cscore', library: 'cscore', linkage: 'shared'
-            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-        }
-    }
-    tasks {
-        def c = $.components
-        def found = false
-        def systemArch = getCurrentArch()
-        c.each {
-            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
-                it.binaries.each {
-                    if (!found) {
-                        def arch = it.targetPlatform.name
-                        if (arch == systemArch) {
-                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
-
-                            found = true
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

cameraserver/cameraserver-config.cmake.in

@@ -1,9 +0,0 @@
-include(CMakeFindDependencyMacro)
-@FILENAME_DEP_REPLACE@
-@WPIUTIL_DEP_REPLACE@
-@NTCORE_DEP_REPLACE@
-@CSCORE_DEP_REPLACE@
-find_dependency(OpenCV)
-
-@FILENAME_DEP_REPLACE@
-include(${SELF_DIR}/cameraserver.cmake)

cameraserver/multiCameraServer/build.gradle

@@ -1,62 +0,0 @@
-plugins {
-    id 'java'
-    id 'application'
-    id 'cpp'
-    id 'visual-studio'
-}
-
-apply plugin: 'edu.wpi.first.NativeUtils'
-
-apply from: "${rootDir}/shared/config.gradle"
-
-ext {
-    staticCvConfigs = [multiCameraServerCpp: []]
-    useJava = true
-    useCpp = true
-    skipDev = true
-}
-
-apply from: "${rootDir}/shared/opencv.gradle"
-
-mainClassName = 'edu.wpi.Main'
-
-apply plugin: 'com.github.johnrengelman.shadow'
-
-repositories {
-    mavenCentral()
-}
-
-dependencies {
-    implementation 'com.google.code.gson:gson:2.8.9'
-
-    implementation project(':wpiutil')
-    implementation project(':ntcore')
-    implementation project(':cscore')
-    implementation project(':cameraserver')
-}
-
-model {
-    components {
-        multiCameraServerCpp(NativeExecutableSpec) {
-            targetBuildTypes 'release'
-            sources {
-                cpp {
-                    source {
-                        srcDirs = ['src/main/native/cpp']
-                        includes = ['**/*.cpp']
-                    }
-                    exportedHeaders {
-                        srcDirs = ['src/main/native/include']
-                        includes = ['**/*.h']
-                    }
-                }
-            }
-            binaries.all { binary ->
-                lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
-                lib project: ':ntcore', library: 'ntcore', linkage: 'static'
-                lib project: ':cscore', library: 'cscore', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            }
-        }
-    }
-}

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

@@ -1,195 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi;
-
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-import com.google.gson.JsonArray;
-import com.google.gson.JsonElement;
-import com.google.gson.JsonObject;
-import com.google.gson.JsonParser;
-import edu.wpi.first.cameraserver.CameraServer;
-import edu.wpi.first.cscore.VideoSource;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import java.io.IOException;
-import java.nio.file.Files;
-import java.nio.file.Paths;
-import java.util.ArrayList;
-import java.util.List;
-
-/*
-  JSON format:
-  {
-      "team": <team number>,
-      "ntmode": <"client" or "server", "client" if unspecified>
-      "cameras": [
-          {
-              "name": <camera name>
-              "path": <path, e.g. "/dev/video0">
-              "pixel format": <"MJPEG", "YUYV", etc>   // optional
-              "width": <video mode width>              // optional
-              "height": <video mode height>            // optional
-              "fps": <video mode fps>                  // optional
-              "brightness": <percentage brightness>    // optional
-              "white balance": <"auto", "hold", value> // optional
-              "exposure": <"auto", "hold", value>      // optional
-              "properties": [                          // optional
-                  {
-                      "name": <property name>
-                      "value": <property value>
-                  }
-              ]
-          }
-      ]
-  }
-*/
-
-public final class Main {
-  private static String configFile = "/boot/frc.json";
-
-  @SuppressWarnings("MemberName")
-  public static class CameraConfig {
-    public String name;
-    public String path;
-    public JsonObject config;
-  }
-
-  private static int team;
-  private static boolean server;
-  private static List<CameraConfig> cameras = new ArrayList<>();
-
-  private Main() {}
-
-  /** Report parse error. */
-  public static void parseError(String str) {
-    System.err.println("config error in '" + configFile + "': " + str);
-  }
-
-  /** Read single camera configuration. */
-  public static boolean readCameraConfig(JsonObject config) {
-    CameraConfig cam = new CameraConfig();
-
-    // name
-    JsonElement nameElement = config.get("name");
-    if (nameElement == null) {
-      parseError("could not read camera name");
-      return false;
-    }
-    cam.name = nameElement.getAsString();
-
-    // path
-    JsonElement pathElement = config.get("path");
-    if (pathElement == null) {
-      parseError("camera '" + cam.name + "': could not read path");
-      return false;
-    }
-    cam.path = pathElement.getAsString();
-
-    cam.config = config;
-
-    cameras.add(cam);
-    return true;
-  }
-
-  /** Read configuration file. */
-  public static boolean readConfig() {
-    // parse file
-    JsonElement top;
-    try {
-      top = new JsonParser().parse(Files.newBufferedReader(Paths.get(configFile)));
-    } catch (IOException ex) {
-      System.err.println("could not open '" + configFile + "': " + ex);
-      return false;
-    }
-
-    // top level must be an object
-    if (!top.isJsonObject()) {
-      parseError("must be JSON object");
-      return false;
-    }
-    JsonObject obj = top.getAsJsonObject();
-
-    // team number
-    JsonElement teamElement = obj.get("team");
-    if (teamElement == null) {
-      parseError("could not read team number");
-      return false;
-    }
-    team = teamElement.getAsInt();
-
-    // ntmode (optional)
-    if (obj.has("ntmode")) {
-      String str = obj.get("ntmode").getAsString();
-      if ("client".equalsIgnoreCase(str)) {
-        server = false;
-      } else if ("server".equalsIgnoreCase(str)) {
-        server = true;
-      } else {
-        parseError("could not understand ntmode value '" + str + "'");
-      }
-    }
-
-    // cameras
-    JsonElement camerasElement = obj.get("cameras");
-    if (camerasElement == null) {
-      parseError("could not read cameras");
-      return false;
-    }
-    JsonArray cameras = camerasElement.getAsJsonArray();
-    for (JsonElement camera : cameras) {
-      if (!readCameraConfig(camera.getAsJsonObject())) {
-        return false;
-      }
-    }
-
-    return true;
-  }
-
-  /** Start running the camera. */
-  public static void startCamera(CameraConfig config) {
-    System.out.println("Starting camera '" + config.name + "' on " + config.path);
-    VideoSource camera = CameraServer.startAutomaticCapture(config.name, config.path);
-
-    Gson gson = new GsonBuilder().create();
-
-    camera.setConfigJson(gson.toJson(config.config));
-  }
-
-  /** Main. */
-  public static void main(String... args) {
-    if (args.length > 0) {
-      configFile = args[0];
-    }
-
-    // read configuration
-    if (!readConfig()) {
-      return;
-    }
-
-    // start NetworkTables
-    NetworkTableInstance ntinst = NetworkTableInstance.getDefault();
-    if (server) {
-      System.out.println("Setting up NetworkTables server");
-      ntinst.startServer();
-    } else {
-      System.out.println("Setting up NetworkTables client for team " + team);
-      ntinst.startClientTeam(team);
-    }
-
-    // start cameras
-    for (CameraConfig camera : cameras) {
-      startCamera(camera);
-    }
-
-    // loop forever
-    for (; ; ) {
-      try {
-        Thread.sleep(10000);
-      } catch (InterruptedException ex) {
-        return;
-      }
-    }
-  }
-}

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -1,197 +0,0 @@
-// 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 <cstdio>
-#include <string>
-#include <string_view>
-#include <vector>
-
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/StringExtras.h>
-#include <wpi/fmt/raw_ostream.h>
-#include <wpi/json.h>
-#include <wpi/raw_istream.h>
-#include <wpi/raw_ostream.h>
-
-#include "cameraserver/CameraServer.h"
-
-/*
-   JSON format:
-   {
-       "team": <team number>,
-       "ntmode": <"client" or "server", "client" if unspecified>
-       "cameras": [
-           {
-               "name": <camera name>
-               "path": <path, e.g. "/dev/video0">
-               "pixel format": <"MJPEG", "YUYV", etc>   // optional
-               "width": <video mode width>              // optional
-               "height": <video mode height>            // optional
-               "fps": <video mode fps>                  // optional
-               "brightness": <percentage brightness>    // optional
-               "white balance": <"auto", "hold", value> // optional
-               "exposure": <"auto", "hold", value>      // optional
-               "properties": [                          // optional
-                   {
-                       "name": <property name>
-                       "value": <property value>
-                   }
-               ]
-           }
-       ]
-   }
- */
-
-#ifdef __RASPBIAN__
-static const char* configFile = "/boot/frc.json";
-#else
-static const char* configFile = "frc.json";
-#endif
-
-namespace {
-
-unsigned int team;
-bool server = false;
-
-struct CameraConfig {
-  std::string name;
-  std::string path;
-  wpi::json config;
-};
-
-std::vector<CameraConfig> cameras;
-
-wpi::raw_ostream& ParseError() {
-  return wpi::errs() << "config error in '" << configFile << "': ";
-}
-
-bool ReadCameraConfig(const wpi::json& config) {
-  CameraConfig c;
-
-  // name
-  try {
-    c.name = config.at("name").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    ParseError() << "could not read camera name: " << e.what() << '\n';
-    return false;
-  }
-
-  // path
-  try {
-    c.path = config.at("path").get<std::string>();
-  } catch (const wpi::json::exception& e) {
-    ParseError() << "camera '" << c.name
-                 << "': could not read path: " << e.what() << '\n';
-    return false;
-  }
-
-  c.config = config;
-
-  cameras.emplace_back(std::move(c));
-  return true;
-}
-
-bool ReadConfig() {
-  // open config file
-  std::error_code ec;
-  wpi::raw_fd_istream is(configFile, ec);
-  if (ec) {
-    wpi::errs() << "could not open '" << configFile << "': " << ec.message()
-                << '\n';
-    return false;
-  }
-
-  // parse file
-  wpi::json j;
-  try {
-    j = wpi::json::parse(is);
-  } catch (const wpi::json::parse_error& e) {
-    fmt::print(ParseError(), "byte {}: {}\n", e.byte, e.what());
-    return false;
-  }
-
-  // top level must be an object
-  if (!j.is_object()) {
-    ParseError() << "must be JSON object\n";
-    return false;
-  }
-
-  // team number
-  try {
-    team = j.at("team").get<unsigned int>();
-  } catch (const wpi::json::exception& e) {
-    ParseError() << "could not read team number: " << e.what() << '\n';
-    return false;
-  }
-
-  // ntmode (optional)
-  if (j.count("ntmode") != 0) {
-    try {
-      auto str = j.at("ntmode").get<std::string>();
-      if (wpi::equals_lower(str, "client")) {
-        server = false;
-      } else if (wpi::equals_lower(str, "server")) {
-        server = true;
-      } else {
-        ParseError() << "could not understand ntmode value '" << str << "'\n";
-      }
-    } catch (const wpi::json::exception& e) {
-      ParseError() << "could not read ntmode: " << e.what() << '\n';
-    }
-  }
-
-  // cameras
-  try {
-    for (auto&& camera : j.at("cameras")) {
-      if (!ReadCameraConfig(camera)) {
-        return false;
-      }
-    }
-  } catch (const wpi::json::exception& e) {
-    ParseError() << "could not read cameras: " << e.what() << '\n';
-    return false;
-  }
-
-  return true;
-}
-
-void StartCamera(const CameraConfig& config) {
-  fmt::print("Starting camera '{}' on {}\n", config.name, config.path);
-  auto camera =
-      frc::CameraServer::StartAutomaticCapture(config.name, config.path);
-
-  camera.SetConfigJson(config.config);
-}
-}  // namespace
-
-int main(int argc, char* argv[]) {
-  if (argc >= 2) {
-    configFile = argv[1];
-  }
-
-  // read configuration
-  if (!ReadConfig()) {
-    return EXIT_FAILURE;
-  }
-
-  // start NetworkTables
-  auto ntinst = nt::NetworkTableInstance::GetDefault();
-  if (server) {
-    std::puts("Setting up NetworkTables server");
-    ntinst.StartServer();
-  } else {
-    fmt::print("Setting up NetworkTables client for team {}\n", team);
-    ntinst.StartClientTeam(team);
-  }
-
-  // start cameras
-  for (auto&& camera : cameras) {
-    StartCamera(camera);
-  }
-
-  // loop forever
-  for (;;) {
-    std::this_thread::sleep_for(std::chrono::seconds(10));
-  }
-}

cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java

@@ -1,11 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.cameraserver;
-
-public final class DevMain {
-  public static void main(String[] args) {}
-
-  private DevMain() {}
-}

cameraserver/src/dev/native/cpp/main.cpp

@@ -1,5 +0,0 @@
-// 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.
-
-int main() {}

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

@@ -1,840 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.cameraserver;
-
-import edu.wpi.first.cscore.AxisCamera;
-import edu.wpi.first.cscore.CameraServerJNI;
-import edu.wpi.first.cscore.CvSink;
-import edu.wpi.first.cscore.CvSource;
-import edu.wpi.first.cscore.MjpegServer;
-import edu.wpi.first.cscore.UsbCamera;
-import edu.wpi.first.cscore.VideoEvent;
-import edu.wpi.first.cscore.VideoException;
-import edu.wpi.first.cscore.VideoListener;
-import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
-import edu.wpi.first.cscore.VideoProperty;
-import edu.wpi.first.cscore.VideoSink;
-import edu.wpi.first.cscore.VideoSource;
-import edu.wpi.first.networktables.EntryListenerFlags;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.Objects;
-import java.util.concurrent.atomic.AtomicInteger;
-
-/**
- * Singleton class for creating and keeping camera servers. Also publishes camera information to
- * NetworkTables.
- */
-@SuppressWarnings("PMD.UnusedPrivateField")
-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<>();
-  private static final Map<String, VideoSink> m_sinks = new HashMap<>();
-  private static final Map<Integer, NetworkTable> m_tables =
-      new HashMap<>(); // indexed by source handle
-  // source handle indexed by sink handle
-  private static final Map<Integer, Integer> m_fixedSources = new HashMap<>();
-  private static final NetworkTable m_publishTable =
-      NetworkTableInstance.getDefault().getTable(kPublishName);
-
-  // We publish sources to NetworkTables using the following structure:
-  // "/CameraPublisher/{Source.Name}/" - root
-  // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
-  // - "streams" (string array): URLs that can be used to stream data
-  // - "description" (string): Description of the source
-  // - "connected" (boolean): Whether source is connected
-  // - "mode" (string): Current video mode
-  // - "modes" (string array): Available video modes
-  // - "Property/{Property}" - Property values
-  // - "PropertyInfo/{Property}" - Property supporting information
-
-  // Listener for video events
-  private static final VideoListener m_videoListener =
-      new VideoListener(
-          event -> {
-            switch (event.kind) {
-              case kSourceCreated:
-                {
-                  // Create subtable for the camera
-                  NetworkTable table = m_publishTable.getSubTable(event.name);
-                  m_tables.put(event.sourceHandle, table);
-                  table.getEntry("source").setString(makeSourceValue(event.sourceHandle));
-                  table
-                      .getEntry("description")
-                      .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
-                  table
-                      .getEntry("connected")
-                      .setBoolean(CameraServerJNI.isSourceConnected(event.sourceHandle));
-                  table
-                      .getEntry("streams")
-                      .setStringArray(getSourceStreamValues(event.sourceHandle));
-                  try {
-                    VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
-                    table.getEntry("mode").setDefaultString(videoModeToString(mode));
-                    table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-                  } catch (VideoException ignored) {
-                    // Do nothing. Let the other event handlers update this if there is an error.
-                  }
-                  break;
-                }
-              case kSourceDestroyed:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    table.getEntry("source").setString("");
-                    table.getEntry("streams").setStringArray(new String[0]);
-                    table.getEntry("modes").setStringArray(new String[0]);
-                  }
-                  break;
-                }
-              case kSourceConnected:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    // update the description too (as it may have changed)
-                    table
-                        .getEntry("description")
-                        .setString(CameraServerJNI.getSourceDescription(event.sourceHandle));
-                    table.getEntry("connected").setBoolean(true);
-                  }
-                  break;
-                }
-              case kSourceDisconnected:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    table.getEntry("connected").setBoolean(false);
-                  }
-                  break;
-                }
-              case kSourceVideoModesUpdated:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
-                  }
-                  break;
-                }
-              case kSourceVideoModeChanged:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    table.getEntry("mode").setString(videoModeToString(event.mode));
-                  }
-                  break;
-                }
-              case kSourcePropertyCreated:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    putSourcePropertyValue(table, event, true);
-                  }
-                  break;
-                }
-              case kSourcePropertyValueUpdated:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    putSourcePropertyValue(table, event, false);
-                  }
-                  break;
-                }
-              case kSourcePropertyChoicesUpdated:
-                {
-                  NetworkTable table = m_tables.get(event.sourceHandle);
-                  if (table != null) {
-                    try {
-                      String[] choices =
-                          CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-                      table
-                          .getEntry("PropertyInfo/" + event.name + "/choices")
-                          .setStringArray(choices);
-                    } catch (VideoException ignored) {
-                      // ignore
-                    }
-                  }
-                  break;
-                }
-              case kSinkSourceChanged:
-              case kSinkCreated:
-              case kSinkDestroyed:
-              case kNetworkInterfacesChanged:
-                {
-                  m_addresses = CameraServerJNI.getNetworkInterfaces();
-                  updateStreamValues();
-                  break;
-                }
-              default:
-                break;
-            }
-          },
-          0x4fff,
-          true);
-
-  private static final int m_tableListener =
-      NetworkTableInstance.getDefault()
-          .addEntryListener(
-              kPublishName + "/",
-              event -> {
-                String relativeKey = event.name.substring(kPublishName.length() + 1);
-
-                // get source (sourceName/...)
-                int subKeyIndex = relativeKey.indexOf('/');
-                if (subKeyIndex == -1) {
-                  return;
-                }
-                String sourceName = relativeKey.substring(0, subKeyIndex);
-                VideoSource source = m_sources.get(sourceName);
-                if (source == null) {
-                  return;
-                }
-
-                // get subkey
-                relativeKey = relativeKey.substring(subKeyIndex + 1);
-
-                // handle standard names
-                String propName;
-                if ("mode".equals(relativeKey)) {
-                  // reset to current mode
-                  event.getEntry().setString(videoModeToString(source.getVideoMode()));
-                  return;
-                } else if (relativeKey.startsWith("Property/")) {
-                  propName = relativeKey.substring(9);
-                } else if (relativeKey.startsWith("RawProperty/")) {
-                  propName = relativeKey.substring(12);
-                } else {
-                  return; // ignore
-                }
-
-                // everything else is a property
-                VideoProperty property = source.getProperty(propName);
-                switch (property.getKind()) {
-                  case kNone:
-                    return;
-                  case kBoolean:
-                    // reset to current setting
-                    event.getEntry().setBoolean(property.get() != 0);
-                    return;
-                  case kInteger:
-                  case kEnum:
-                    // reset to current setting
-                    event.getEntry().setDouble(property.get());
-                    return;
-                  case kString:
-                    // reset to current setting
-                    event.getEntry().setString(property.getString());
-                    return;
-                  default:
-                    return;
-                }
-              },
-              EntryListenerFlags.kImmediate | EntryListenerFlags.kUpdate);
-  private static int m_nextPort = kBasePort;
-  private static String[] m_addresses = new String[0];
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static String makeSourceValue(int source) {
-    switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
-      case kUsb:
-        return "usb:" + CameraServerJNI.getUsbCameraPath(source);
-      case kHttp:
-        {
-          String[] urls = CameraServerJNI.getHttpCameraUrls(source);
-          if (urls.length > 0) {
-            return "ip:" + urls[0];
-          } else {
-            return "ip:";
-          }
-        }
-      case kCv:
-        return "cv:";
-      default:
-        return "unknown:";
-    }
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static String makeStreamValue(String address, int port) {
-    return "mjpg:http://" + address + ":" + port + "/?action=stream";
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static synchronized String[] getSinkStreamValues(int sink) {
-    // Ignore all but MjpegServer
-    if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
-      return new String[0];
-    }
-
-    // Get port
-    int port = CameraServerJNI.getMjpegServerPort(sink);
-
-    // Generate values
-    ArrayList<String> values = new ArrayList<>(m_addresses.length + 1);
-    String listenAddress = CameraServerJNI.getMjpegServerListenAddress(sink);
-    if (!listenAddress.isEmpty()) {
-      // If a listen address is specified, only use that
-      values.add(makeStreamValue(listenAddress, port));
-    } else {
-      // Otherwise generate for hostname and all interface addresses
-      values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
-      for (String addr : m_addresses) {
-        if ("127.0.0.1".equals(addr)) {
-          continue; // ignore localhost
-        }
-        values.add(makeStreamValue(addr, port));
-      }
-    }
-
-    return values.toArray(new String[0]);
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static synchronized String[] getSourceStreamValues(int source) {
-    // Ignore all but HttpCamera
-    if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
-        != VideoSource.Kind.kHttp) {
-      return new String[0];
-    }
-
-    // Generate values
-    String[] values = CameraServerJNI.getHttpCameraUrls(source);
-    for (int j = 0; j < values.length; j++) {
-      values[j] = "mjpg:" + values[j];
-    }
-
-    if (CameraServerSharedStore.getCameraServerShared().isRoboRIO()) {
-      // Look to see if we have a passthrough server for this source
-      // Only do this on the roboRIO
-      for (VideoSink i : m_sinks.values()) {
-        int sink = i.getHandle();
-        int sinkSource = CameraServerJNI.getSinkSource(sink);
-        if (source == sinkSource
-            && VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink))
-                == VideoSink.Kind.kMjpeg) {
-          // Add USB-only passthrough
-          String[] finalValues = Arrays.copyOf(values, values.length + 1);
-          int port = CameraServerJNI.getMjpegServerPort(sink);
-          finalValues[values.length] = makeStreamValue("172.22.11.2", port);
-          return finalValues;
-        }
-      }
-    }
-
-    return values;
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static synchronized void updateStreamValues() {
-    // Over all the sinks...
-    for (VideoSink i : m_sinks.values()) {
-      int sink = i.getHandle();
-
-      // Get the source's subtable (if none exists, we're done)
-      int source =
-          Objects.requireNonNullElseGet(
-              m_fixedSources.get(sink), () -> CameraServerJNI.getSinkSource(sink));
-
-      if (source == 0) {
-        continue;
-      }
-      NetworkTable table = m_tables.get(source);
-      if (table != null) {
-        // Don't set stream values if this is a HttpCamera passthrough
-        if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
-            == VideoSource.Kind.kHttp) {
-          continue;
-        }
-
-        // Set table value
-        String[] values = getSinkStreamValues(sink);
-        if (values.length > 0) {
-          table.getEntry("streams").setStringArray(values);
-        }
-      }
-    }
-
-    // Over all the sources...
-    for (VideoSource i : m_sources.values()) {
-      int source = i.getHandle();
-
-      // Get the source's subtable (if none exists, we're done)
-      NetworkTable table = m_tables.get(source);
-      if (table != null) {
-        // Set table value
-        String[] values = getSourceStreamValues(source);
-        if (values.length > 0) {
-          table.getEntry("streams").setStringArray(values);
-        }
-      }
-    }
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static String pixelFormatToString(PixelFormat pixelFormat) {
-    switch (pixelFormat) {
-      case kMJPEG:
-        return "MJPEG";
-      case kYUYV:
-        return "YUYV";
-      case kRGB565:
-        return "RGB565";
-      case kBGR:
-        return "BGR";
-      case kGray:
-        return "Gray";
-      default:
-        return "Unknown";
-    }
-  }
-
-  /// Provide string description of video mode.
-  /// The returned string is "{width}x{height} {format} {fps} fps".
-  @SuppressWarnings("MissingJavadocMethod")
-  private static String videoModeToString(VideoMode mode) {
-    return mode.width
-        + "x"
-        + mode.height
-        + " "
-        + pixelFormatToString(mode.pixelFormat)
-        + " "
-        + mode.fps
-        + " fps";
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static String[] getSourceModeValues(int sourceHandle) {
-    VideoMode[] modes = CameraServerJNI.enumerateSourceVideoModes(sourceHandle);
-    String[] modeStrings = new String[modes.length];
-    for (int i = 0; i < modes.length; i++) {
-      modeStrings[i] = videoModeToString(modes[i]);
-    }
-    return modeStrings;
-  }
-
-  @SuppressWarnings("MissingJavadocMethod")
-  private static void putSourcePropertyValue(NetworkTable table, VideoEvent event, boolean isNew) {
-    String name;
-    String infoName;
-    if (event.name.startsWith("raw_")) {
-      name = "RawProperty/" + event.name;
-      infoName = "RawPropertyInfo/" + event.name;
-    } else {
-      name = "Property/" + event.name;
-      infoName = "PropertyInfo/" + event.name;
-    }
-
-    NetworkTableEntry entry = table.getEntry(name);
-    try {
-      switch (event.propertyKind) {
-        case kBoolean:
-          if (isNew) {
-            entry.setDefaultBoolean(event.value != 0);
-          } else {
-            entry.setBoolean(event.value != 0);
-          }
-          break;
-        case kInteger:
-        case kEnum:
-          if (isNew) {
-            entry.setDefaultDouble(event.value);
-            table
-                .getEntry(infoName + "/min")
-                .setDouble(CameraServerJNI.getPropertyMin(event.propertyHandle));
-            table
-                .getEntry(infoName + "/max")
-                .setDouble(CameraServerJNI.getPropertyMax(event.propertyHandle));
-            table
-                .getEntry(infoName + "/step")
-                .setDouble(CameraServerJNI.getPropertyStep(event.propertyHandle));
-            table
-                .getEntry(infoName + "/default")
-                .setDouble(CameraServerJNI.getPropertyDefault(event.propertyHandle));
-          } else {
-            entry.setDouble(event.value);
-          }
-          break;
-        case kString:
-          if (isNew) {
-            entry.setDefaultString(event.valueStr);
-          } else {
-            entry.setString(event.valueStr);
-          }
-          break;
-        default:
-          break;
-      }
-    } catch (VideoException ignored) {
-      // ignore
-    }
-  }
-
-  private CameraServer() {}
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * <p>You should call this method to see a camera feed on the dashboard. If you also want to
-   * perform vision processing on the roboRIO, use getVideo() to get access to the camera images.
-   *
-   * <p>The first time this overload is called, it calls {@link #startAutomaticCapture(int)} with
-   * device 0, creating a camera named "USB Camera 0". Subsequent calls increment the device number
-   * (e.g. 1, 2, etc).
-   *
-   * @return The USB camera capturing images.
-   */
-  public static UsbCamera startAutomaticCapture() {
-    UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * <p>This overload calls {@link #startAutomaticCapture(String, int)} with a name of "USB Camera
-   * {dev}".
-   *
-   * @param dev The device number of the camera interface
-   * @return The USB camera capturing images.
-   */
-  public static UsbCamera startAutomaticCapture(int dev) {
-    UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * @param name The name to give the camera
-   * @param dev The device number of the camera interface
-   * @return The USB camera capturing images.
-   */
-  public static UsbCamera startAutomaticCapture(String name, int dev) {
-    UsbCamera camera = new UsbCamera(name, dev);
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * @param name The name to give the camera
-   * @param path The device path (e.g. "/dev/video0") of the camera
-   * @return The USB camera capturing images.
-   */
-  public static UsbCamera startAutomaticCapture(String name, String path) {
-    UsbCamera camera = new UsbCamera(name, path);
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Start automatically capturing images to send to the dashboard from an existing camera.
-   *
-   * @param camera Camera
-   * @return The MJPEG server serving images from the given camera.
-   */
-  public static MjpegServer startAutomaticCapture(VideoSource camera) {
-    addCamera(camera);
-    MjpegServer server = addServer("serve_" + camera.getName());
-    server.setSource(camera);
-    return server;
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @return The Axis camera capturing images.
-   */
-  public static AxisCamera addAxisCamera(String host) {
-    return addAxisCamera("Axis Camera", host);
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
-   *
-   * @param hosts Array of Camera host IPs/DNS names
-   * @return The Axis camera capturing images.
-   */
-  public static AxisCamera addAxisCamera(String[] hosts) {
-    return addAxisCamera("Axis Camera", hosts);
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @return The Axis camera capturing images.
-   */
-  public static AxisCamera addAxisCamera(String name, String host) {
-    AxisCamera camera = new AxisCamera(name, host);
-    // Create a passthrough MJPEG server for USB access
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param hosts Array of Camera host IPs/DNS names
-   * @return The Axis camera capturing images.
-   */
-  public static AxisCamera addAxisCamera(String name, String[] hosts) {
-    AxisCamera camera = new AxisCamera(name, hosts);
-    // Create a passthrough MJPEG server for USB access
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Adds a virtual camera for switching between two streams. Unlike the other addCamera methods,
-   * this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object
-   * can be used to switch the actual source of the stream.
-   *
-   * @param name The name to give the camera
-   * @return The MJPEG server serving images from the given camera.
-   */
-  public static MjpegServer addSwitchedCamera(String name) {
-    // create a dummy CvSource
-    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
-    MjpegServer server = startAutomaticCapture(source);
-    synchronized (CameraServer.class) {
-      m_fixedSources.put(server.getHandle(), source.getHandle());
-    }
-
-    return server;
-  }
-
-  /**
-   * Get OpenCV access to the primary camera feed. This allows you to get images from the camera for
-   * image processing on the roboRIO.
-   *
-   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
-   * or addServer().
-   *
-   * @return OpenCV sink for the primary camera feed
-   */
-  public static CvSink getVideo() {
-    VideoSource source;
-    synchronized (CameraServer.class) {
-      if (m_primarySourceName == null) {
-        throw new VideoException("no camera available");
-      }
-      source = m_sources.get(m_primarySourceName);
-    }
-    if (source == null) {
-      throw new VideoException("no camera available");
-    }
-    return getVideo(source);
-  }
-
-  /**
-   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
-   * image processing on the roboRIO.
-   *
-   * @param camera Camera (e.g. as returned by startAutomaticCapture).
-   * @return OpenCV sink for the specified camera
-   */
-  public static CvSink getVideo(VideoSource camera) {
-    String name = "opencv_" + camera.getName();
-
-    synchronized (CameraServer.class) {
-      VideoSink sink = m_sinks.get(name);
-      if (sink != null) {
-        VideoSink.Kind kind = sink.getKind();
-        if (kind != VideoSink.Kind.kCv) {
-          throw new VideoException("expected OpenCV sink, but got " + kind);
-        }
-        return (CvSink) sink;
-      }
-    }
-
-    CvSink newsink = new CvSink(name);
-    newsink.setSource(camera);
-    addServer(newsink);
-    return newsink;
-  }
-
-  /**
-   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
-   * image processing on the roboRIO.
-   *
-   * @param name Camera name
-   * @return OpenCV sink for the specified camera
-   */
-  public static CvSink getVideo(String name) {
-    VideoSource source;
-    synchronized (CameraServer.class) {
-      source = m_sources.get(name);
-      if (source == null) {
-        throw new VideoException("could not find camera " + name);
-      }
-    }
-    return getVideo(source);
-  }
-
-  /**
-   * Create a MJPEG stream with OpenCV input. This can be called to pass custom annotated images to
-   * the dashboard.
-   *
-   * @param name Name to give the stream
-   * @param width Width of the image being sent
-   * @param height Height of the image being sent
-   * @return OpenCV source for the MJPEG stream
-   */
-  public static CvSource putVideo(String name, int width, int height) {
-    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height, 30);
-    startAutomaticCapture(source);
-    return source;
-  }
-
-  /**
-   * Adds a MJPEG server at the next available port.
-   *
-   * @param name Server name
-   * @return The MJPEG server
-   */
-  public static MjpegServer addServer(String name) {
-    int port;
-    synchronized (CameraServer.class) {
-      port = m_nextPort;
-      m_nextPort++;
-    }
-    return addServer(name, port);
-  }
-
-  /**
-   * Adds a MJPEG server.
-   *
-   * @param name Server name
-   * @param port Server port
-   * @return The MJPEG server
-   */
-  public static MjpegServer addServer(String name, int port) {
-    MjpegServer server = new MjpegServer(name, port);
-    addServer(server);
-    return server;
-  }
-
-  /**
-   * Adds an already created server.
-   *
-   * @param server Server
-   */
-  public static void addServer(VideoSink server) {
-    synchronized (CameraServer.class) {
-      m_sinks.put(server.getName(), server);
-    }
-  }
-
-  /**
-   * Removes a server by name.
-   *
-   * @param name Server name
-   */
-  public static void removeServer(String name) {
-    synchronized (CameraServer.class) {
-      m_sinks.remove(name);
-    }
-  }
-
-  /**
-   * Get server for the primary camera feed.
-   *
-   * <p>This is only valid to call after a camera feed has been added with startAutomaticCapture()
-   * or addServer().
-   *
-   * @return The server for the primary camera feed
-   */
-  public static VideoSink getServer() {
-    synchronized (CameraServer.class) {
-      if (m_primarySourceName == null) {
-        throw new VideoException("no camera available");
-      }
-      return getServer("serve_" + m_primarySourceName);
-    }
-  }
-
-  /**
-   * Gets a server by name.
-   *
-   * @param name Server name
-   * @return The server
-   */
-  public static VideoSink getServer(String name) {
-    synchronized (CameraServer.class) {
-      return m_sinks.get(name);
-    }
-  }
-
-  /**
-   * Adds an already created camera.
-   *
-   * @param camera Camera
-   */
-  public static void addCamera(VideoSource camera) {
-    String name = camera.getName();
-    synchronized (CameraServer.class) {
-      if (m_primarySourceName == null) {
-        m_primarySourceName = name;
-      }
-      m_sources.put(name, camera);
-    }
-  }
-
-  /**
-   * Removes a camera by name.
-   *
-   * @param name Camera name
-   */
-  public static void removeCamera(String name) {
-    synchronized (CameraServer.class) {
-      m_sources.remove(name);
-    }
-  }
-}

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

@@ -1,51 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.cameraserver;
-
-public interface CameraServerShared {
-  /**
-   * get the main thread id func.
-   *
-   * @return the robotMainThreadId
-   */
-  Long getRobotMainThreadId();
-
-  /**
-   * Report an error to the driver station.
-   *
-   * @param error the error to set
-   */
-  void reportDriverStationError(String error);
-
-  /**
-   * Report an video server usage.
-   *
-   * @param id the usage id
-   */
-  void reportVideoServer(int id);
-
-  /**
-   * Report a usb camera usage.
-   *
-   * @param id the usage id
-   */
-  void reportUsbCamera(int id);
-
-  /**
-   * Report an axis camera usage.
-   *
-   * @param id the usage id
-   */
-  void reportAxisCamera(int id);
-
-  /**
-   * Get if running on a roboRIO.
-   *
-   * @return true if on roboRIO
-   */
-  default boolean isRoboRIO() {
-    return false;
-  }
-}

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

@@ -1,50 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.cameraserver;
-
-public final class CameraServerSharedStore {
-  private static CameraServerShared cameraServerShared;
-
-  private CameraServerSharedStore() {}
-
-  /**
-   * Get the CameraServerShared object.
-   *
-   * @return The CameraServerSharedObject
-   */
-  public static synchronized CameraServerShared getCameraServerShared() {
-    if (cameraServerShared == null) {
-      cameraServerShared =
-          new CameraServerShared() {
-            @Override
-            public void reportVideoServer(int id) {}
-
-            @Override
-            public void reportUsbCamera(int id) {}
-
-            @Override
-            public void reportDriverStationError(String error) {}
-
-            @Override
-            public void reportAxisCamera(int id) {}
-
-            @Override
-            public Long getRobotMainThreadId() {
-              return null;
-            }
-          };
-    }
-    return cameraServerShared;
-  }
-
-  /**
-   * Set the CameraServerShared object.
-   *
-   * @param shared The CameraServerShared object.
-   */
-  public static synchronized void setCameraServerShared(CameraServerShared shared) {
-    cameraServerShared = shared;
-  }
-}

cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java

@@ -1,24 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.vision;
-
-import org.opencv.core.Mat;
-
-/**
- * A vision pipeline is responsible for running a group of OpenCV algorithms to extract data from an
- * image.
- *
- * @see VisionRunner
- * @see VisionThread
- */
-public interface VisionPipeline {
-  /**
-   * Processes the image input and sets the result objects. Implementations should make these
-   * objects accessible.
-   *
-   * @param image The image to process.
-   */
-  void process(Mat image);
-}

cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java

@@ -1,121 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.vision;
-
-import edu.wpi.first.cameraserver.CameraServerSharedStore;
-import edu.wpi.first.cscore.CvSink;
-import edu.wpi.first.cscore.VideoSource;
-import org.opencv.core.Mat;
-
-/**
- * A vision runner is a convenient wrapper object to make it easy to run vision pipelines from robot
- * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
- * take snapshots of the pipeline's outputs.
- *
- * @see VisionPipeline
- * @see VisionThread
- * @see <a href="package-summary.html">vision</a>
- */
-public class VisionRunner<P extends VisionPipeline> {
-  private final CvSink m_cvSink = new CvSink("VisionRunner CvSink");
-  private final P m_pipeline;
-  private final Mat m_image = new Mat();
-  private final Listener<? super P> m_listener;
-  private volatile boolean m_enabled = true;
-
-  /**
-   * Listener interface for a callback that should run after a pipeline has processed its input.
-   *
-   * @param <P> the type of the pipeline this listener is for
-   */
-  @FunctionalInterface
-  public interface Listener<P extends VisionPipeline> {
-    /**
-     * Called when the pipeline has run. This shouldn't take much time to run because it will delay
-     * later calls to the pipeline's {@link VisionPipeline#process process} method. Copying the
-     * outputs and code that uses the copies should be <i>synchronized</i> on the same mutex to
-     * prevent multiple threads from reading and writing to the same memory at the same time.
-     *
-     * @param pipeline the vision pipeline that ran
-     */
-    void copyPipelineOutputs(P pipeline);
-  }
-
-  /**
-   * Creates a new vision runner. It will take images from the {@code videoSource}, send them to the
-   * {@code pipeline}, and call the {@code listener} when the pipeline has finished to alert user
-   * code when it is safe to access the pipeline's outputs.
-   *
-   * @param videoSource the video source to use to supply images for the pipeline
-   * @param pipeline the vision pipeline to run
-   * @param listener a function to call after the pipeline has finished running
-   */
-  public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> listener) {
-    this.m_pipeline = pipeline;
-    this.m_listener = listener;
-    m_cvSink.setSource(videoSource);
-  }
-
-  /**
-   * Runs the pipeline one time, giving it the next image from the video source specified in the
-   * constructor. This will block until the source either has an image or throws an error. If the
-   * source successfully supplied a frame, the pipeline's image input will be set, the pipeline will
-   * run, and the listener specified in the constructor will be called to notify it that the
-   * pipeline ran.
-   *
-   * <p>This method is exposed to allow teams to add additional functionality or have their own ways
-   * to run the pipeline. Most teams, however, should just use {@link #runForever} in its own thread
-   * using a {@link VisionThread}.
-   */
-  public void runOnce() {
-    Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
-
-    if (id != null && Thread.currentThread().getId() == id) {
-      throw new IllegalStateException(
-          "VisionRunner.runOnce() cannot be called from the main robot thread");
-    }
-    runOnceInternal();
-  }
-
-  private void runOnceInternal() {
-    long frameTime = m_cvSink.grabFrame(m_image);
-    if (frameTime == 0) {
-      // There was an error, report it
-      String error = m_cvSink.getError();
-      CameraServerSharedStore.getCameraServerShared().reportDriverStationError(error);
-    } else {
-      // No errors, process the image
-      m_pipeline.process(m_image);
-      m_listener.copyPipelineOutputs(m_pipeline);
-    }
-  }
-
-  /**
-   * A convenience method that calls {@link #runOnce()} in an infinite loop. This must be run in a
-   * dedicated thread, and cannot be used in the main robot thread because it will freeze the robot
-   * program.
-   *
-   * <p><strong>Do not call this method directly from the main thread.</strong>
-   *
-   * @throws IllegalStateException if this is called from the main robot thread
-   * @see VisionThread
-   */
-  public void runForever() {
-    Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
-
-    if (id != null && Thread.currentThread().getId() == id) {
-      throw new IllegalStateException(
-          "VisionRunner.runForever() cannot be called from the main robot thread");
-    }
-    while (m_enabled && !Thread.interrupted()) {
-      runOnceInternal();
-    }
-  }
-
-  /** Stop a RunForever() loop. */
-  public void stop() {
-    m_enabled = false;
-  }
-}

cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java

@@ -1,42 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.vision;
-
-import edu.wpi.first.cscore.VideoSource;
-
-/**
- * A vision thread is a special thread that runs a vision pipeline. It is a <i>daemon</i> thread; it
- * does not prevent the program from exiting when all other non-daemon threads have finished
- * running.
- *
- * @see VisionPipeline
- * @see VisionRunner
- * @see Thread#setDaemon(boolean)
- */
-public class VisionThread extends Thread {
-  /**
-   * Creates a vision thread that continuously runs a {@link VisionPipeline}.
-   *
-   * @param visionRunner the runner for a vision pipeline
-   */
-  public VisionThread(VisionRunner<?> visionRunner) {
-    super(visionRunner::runForever, "WPILib Vision Thread");
-    setDaemon(true);
-  }
-
-  /**
-   * Creates a new vision thread that continuously runs the given vision pipeline. This is
-   * equivalent to {@code new VisionThread(new VisionRunner<>(videoSource, pipeline, listener))}.
-   *
-   * @param videoSource the source for images the pipeline should process
-   * @param pipeline the pipeline to run
-   * @param listener the listener to copy outputs from the pipeline after it runs
-   * @param <P> the type of the pipeline
-   */
-  public <P extends VisionPipeline> VisionThread(
-      VideoSource videoSource, P pipeline, VisionRunner.Listener<? super P> listener) {
-    this(new VisionRunner<>(videoSource, pipeline, listener));
-  }
-}

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

@@ -1,85 +0,0 @@
-// 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.
-
-/**
- * Classes in the {@code edu.wpi.first.vision} package are designed to simplify using OpenCV vision
- * processing code from a robot program.
- *
- * <p>An example use case for grabbing a yellow tote from 2015 in autonomous: <br>
- *
- * <pre><code>
- * public class Robot extends IterativeRobot
- *     implements VisionRunner.Listener&lt;MyFindTotePipeline&gt; {
- *
- *      // A USB camera connected to the roboRIO.
- *      private {@link edu.wpi.first.cscore.VideoSource VideoSource} usbCamera;
- *
- *      // A vision pipeline. This could be handwritten or generated by GRIP.
- *      // This has to implement {@link edu.wpi.first.vision.VisionPipeline}.
- *      // For this example, assume that it's perfect and will always see the tote.
- *      private MyFindTotePipeline findTotePipeline;
- *      private {@link edu.wpi.first.vision.VisionThread} findToteThread;
- *
- *      // The object to synchronize on to make sure the vision thread doesn't
- *      // write to variables the main thread is using.
- *      private final Object visionLock = new Object();
- *
- *      // The pipeline outputs we want
- *      private boolean pipelineRan = false; // lets us know when the pipeline has actually run
- *      private double angleToTote = 0;
- *      private double distanceToTote = 0;
- *
- *     {@literal @}Override
- *      public void {@link edu.wpi.first.vision.VisionRunner.Listener#copyPipelineOutputs
- *          copyPipelineOutputs(MyFindTotePipeline pipeline)} {
- *          synchronized (visionLock) {
- *              // Take a snapshot of the pipeline's output because
- *              // it may have changed the next time this method is called!
- *              this.pipelineRan = true;
- *              this.angleToTote = pipeline.getAngleToTote();
- *              this.distanceToTote = pipeline.getDistanceToTote();
- *          }
- *      }
- *
- *     {@literal @}Override
- *      public void robotInit() {
- *          usbCamera = CameraServer.startAutomaticCapture(0);
- *          findTotePipeline = new MyFindTotePipeline();
- *          findToteThread = new VisionThread(usbCamera, findTotePipeline, this);
- *      }
- *
- *     {@literal @}Override
- *      public void autonomousInit() {
- *          findToteThread.start();
- *      }
- *
- *     {@literal @}Override
- *      public void autonomousPeriodic() {
- *          double angle;
- *          double distance;
- *          synchronized (visionLock) {
- *              if (!pipelineRan) {
- *                  // Wait until the pipeline has run
- *                  return;
- *              }
- *              // Copy the outputs to make sure they're all from the same run
- *              angle = this.angleToTote;
- *              distance = this.distanceToTote;
- *          }
- *          if (!aimedAtTote()) {
- *              turnToAngle(angle);
- *          } else if (!droveToTote()) {
- *              driveDistance(distance);
- *          } else if (!grabbedTote()) {
- *              grabTote();
- *          } else {
- *              // Tote was grabbed and we're done!
- *              return;
- *          }
- *      }
- *
- * }
- * </code></pre>
- */
-package edu.wpi.first.vision;

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

@@ -1,742 +0,0 @@
-// 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 "cameraserver/CameraServer.h"
-
-#include <atomic>
-#include <vector>
-
-#include <fmt/format.h>
-#include <networktables/NetworkTable.h>
-#include <networktables/NetworkTableInstance.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SmallString.h>
-#include <wpi/StringExtras.h>
-#include <wpi/StringMap.h>
-#include <wpi/mutex.h>
-
-#include "cameraserver/CameraServerShared.h"
-#include "ntcore_cpp.h"
-
-using namespace frc;
-
-static constexpr char const* kPublishName = "/CameraPublisher";
-
-namespace {
-struct Instance {
-  Instance();
-  std::shared_ptr<nt::NetworkTable> GetSourceTable(CS_Source source);
-  std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
-  std::vector<std::string> GetSourceStreamValues(CS_Source source);
-  void UpdateStreamValues();
-
-  wpi::mutex m_mutex;
-  std::atomic<int> m_defaultUsbDevice{0};
-  std::string m_primarySourceName;
-  wpi::StringMap<cs::VideoSource> m_sources;
-  wpi::StringMap<cs::VideoSink> m_sinks;
-  wpi::DenseMap<CS_Sink, CS_Source> m_fixedSources;
-  wpi::DenseMap<CS_Source, std::shared_ptr<nt::NetworkTable>> m_tables;
-  std::shared_ptr<nt::NetworkTable> m_publishTable{
-      nt::NetworkTableInstance::GetDefault().GetTable(kPublishName)};
-  cs::VideoListener m_videoListener;
-  int m_tableListener;
-  int m_nextPort{CameraServer::kBasePort};
-  std::vector<std::string> m_addresses;
-};
-}  // namespace
-
-static Instance& GetInstance() {
-  static Instance instance;
-  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;
-  buf.clear();
-  switch (cs::GetSourceKind(source, &status)) {
-    case CS_SOURCE_USB: {
-      std::string_view prefix{"usb:"};
-      buf.append(prefix.begin(), prefix.end());
-      auto path = cs::GetUsbCameraPath(source, &status);
-      buf.append(path.begin(), path.end());
-      break;
-    }
-    case CS_SOURCE_HTTP: {
-      std::string_view prefix{"ip:"};
-      buf.append(prefix.begin(), prefix.end());
-      auto urls = cs::GetHttpCameraUrls(source, &status);
-      if (!urls.empty()) {
-        buf.append(urls[0].begin(), urls[0].end());
-      }
-      break;
-    }
-    case CS_SOURCE_CV:
-      return "cv:";
-    default:
-      return "unknown:";
-  }
-
-  return {buf.begin(), buf.size()};
-}
-
-static std::string MakeStreamValue(std::string_view address, int port) {
-  return fmt::format("mjpg:http://{}:{}/?action=stream", address, port);
-}
-
-std::shared_ptr<nt::NetworkTable> Instance::GetSourceTable(CS_Source source) {
-  std::scoped_lock lock(m_mutex);
-  return m_tables.lookup(source);
-}
-
-std::vector<std::string> Instance::GetSinkStreamValues(CS_Sink sink) {
-  CS_Status status = 0;
-
-  // Ignore all but MjpegServer
-  if (cs::GetSinkKind(sink, &status) != CS_SINK_MJPEG) {
-    return {};
-  }
-
-  // Get port
-  int port = cs::GetMjpegServerPort(sink, &status);
-
-  // Generate values
-  std::vector<std::string> values;
-  auto listenAddress = cs::GetMjpegServerListenAddress(sink, &status);
-  if (!listenAddress.empty()) {
-    // If a listen address is specified, only use that
-    values.emplace_back(MakeStreamValue(listenAddress, port));
-  } else {
-    // Otherwise generate for hostname and all interface addresses
-    values.emplace_back(MakeStreamValue(cs::GetHostname() + ".local", port));
-
-    for (const auto& addr : m_addresses) {
-      if (addr == "127.0.0.1") {
-        continue;  // ignore localhost
-      }
-      values.emplace_back(MakeStreamValue(addr, port));
-    }
-  }
-
-  return values;
-}
-
-std::vector<std::string> Instance::GetSourceStreamValues(CS_Source source) {
-  CS_Status status = 0;
-
-  // Ignore all but HttpCamera
-  if (cs::GetSourceKind(source, &status) != CS_SOURCE_HTTP) {
-    return {};
-  }
-
-  // Generate values
-  auto values = cs::GetHttpCameraUrls(source, &status);
-  for (auto& value : values) {
-    value = "mjpg:" + value;
-  }
-
-#ifdef __FRC_ROBORIO__
-  // Look to see if we have a passthrough server for this source
-  // Only do this on the roboRIO
-  for (const auto& i : m_sinks) {
-    CS_Sink sink = i.second.GetHandle();
-    CS_Source sinkSource = cs::GetSinkSource(sink, &status);
-    if (source == sinkSource &&
-        cs::GetSinkKind(sink, &status) == CS_SINK_MJPEG) {
-      // Add USB-only passthrough
-      int port = cs::GetMjpegServerPort(sink, &status);
-      values.emplace_back(MakeStreamValue("172.22.11.2", port));
-      break;
-    }
-  }
-#endif
-
-  // Set table value
-  return values;
-}
-
-void Instance::UpdateStreamValues() {
-  std::scoped_lock lock(m_mutex);
-  // Over all the sinks...
-  for (const auto& i : m_sinks) {
-    CS_Status status = 0;
-    CS_Sink sink = i.second.GetHandle();
-
-    // Get the source's subtable (if none exists, we're done)
-    CS_Source source = m_fixedSources.lookup(sink);
-    if (source == 0) {
-      source = cs::GetSinkSource(sink, &status);
-    }
-    if (source == 0) {
-      continue;
-    }
-    auto table = m_tables.lookup(source);
-    if (table) {
-      // Don't set stream values if this is a HttpCamera passthrough
-      if (cs::GetSourceKind(source, &status) == CS_SOURCE_HTTP) {
-        continue;
-      }
-
-      // Set table value
-      auto values = GetSinkStreamValues(sink);
-      if (!values.empty()) {
-        table->GetEntry("streams").SetStringArray(values);
-      }
-    }
-  }
-
-  // Over all the sources...
-  for (const auto& i : m_sources) {
-    CS_Source source = i.second.GetHandle();
-
-    // Get the source's subtable (if none exists, we're done)
-    auto table = m_tables.lookup(source);
-    if (table) {
-      // Set table value
-      auto values = GetSourceStreamValues(source);
-      if (!values.empty()) {
-        table->GetEntry("streams").SetStringArray(values);
-      }
-    }
-  }
-}
-
-static std::string PixelFormatToString(int pixelFormat) {
-  switch (pixelFormat) {
-    case cs::VideoMode::PixelFormat::kMJPEG:
-      return "MJPEG";
-    case cs::VideoMode::PixelFormat::kYUYV:
-      return "YUYV";
-    case cs::VideoMode::PixelFormat::kRGB565:
-      return "RGB565";
-    case cs::VideoMode::PixelFormat::kBGR:
-      return "BGR";
-    case cs::VideoMode::PixelFormat::kGray:
-      return "Gray";
-    default:
-      return "Unknown";
-  }
-}
-
-static std::string VideoModeToString(const cs::VideoMode& mode) {
-  return fmt::format("{}x{} {} {} fps", mode.width, mode.height,
-                     PixelFormatToString(mode.pixelFormat), mode.fps);
-}
-
-static std::vector<std::string> GetSourceModeValues(int source) {
-  std::vector<std::string> rv;
-  CS_Status status = 0;
-  for (const auto& mode : cs::EnumerateSourceVideoModes(source, &status)) {
-    rv.emplace_back(VideoModeToString(mode));
-  }
-  return rv;
-}
-
-static void PutSourcePropertyValue(nt::NetworkTable* table,
-                                   const cs::VideoEvent& event, bool isNew) {
-  std::string_view namePrefix;
-  std::string_view infoPrefix;
-  if (wpi::starts_with(event.name, "raw_")) {
-    namePrefix = "RawProperty";
-    infoPrefix = "RawPropertyInfo";
-  } else {
-    namePrefix = "Property";
-    infoPrefix = "PropertyInfo";
-  }
-
-  wpi::SmallString<64> buf;
-  CS_Status status = 0;
-  nt::NetworkTableEntry entry =
-      table->GetEntry(fmt::format("{}/{}", namePrefix, event.name));
-  switch (event.propertyKind) {
-    case CS_PROP_BOOLEAN:
-      if (isNew) {
-        entry.SetDefaultBoolean(event.value != 0);
-      } else {
-        entry.SetBoolean(event.value != 0);
-      }
-      break;
-    case CS_PROP_INTEGER:
-    case CS_PROP_ENUM:
-      if (isNew) {
-        entry.SetDefaultDouble(event.value);
-        table->GetEntry(fmt::format("{}/{}/min", infoPrefix, event.name))
-            .SetDouble(cs::GetPropertyMin(event.propertyHandle, &status));
-        table->GetEntry(fmt::format("{}/{}/max", infoPrefix, event.name))
-            .SetDouble(cs::GetPropertyMax(event.propertyHandle, &status));
-        table->GetEntry(fmt::format("{}/{}/step", infoPrefix, event.name))
-            .SetDouble(cs::GetPropertyStep(event.propertyHandle, &status));
-        table->GetEntry(fmt::format("{}/{}/default", infoPrefix, event.name))
-            .SetDouble(cs::GetPropertyDefault(event.propertyHandle, &status));
-      } else {
-        entry.SetDouble(event.value);
-      }
-      break;
-    case CS_PROP_STRING:
-      if (isNew) {
-        entry.SetDefaultString(event.valueStr);
-      } else {
-        entry.SetString(event.valueStr);
-      }
-      break;
-    default:
-      break;
-  }
-}
-
-Instance::Instance() {
-  // We publish sources to NetworkTables using the following structure:
-  // "/CameraPublisher/{Source.Name}/" - root
-  // - "source" (string): Descriptive, prefixed with type (e.g. "usb:0")
-  // - "streams" (string array): URLs that can be used to stream data
-  // - "description" (string): Description of the source
-  // - "connected" (boolean): Whether source is connected
-  // - "mode" (string): Current video mode
-  // - "modes" (string array): Available video modes
-  // - "Property/{Property}" - Property values
-  // - "PropertyInfo/{Property}" - Property supporting information
-
-  // Listener for video events
-  m_videoListener = cs::VideoListener{
-      [=](const cs::VideoEvent& event) {
-        CS_Status status = 0;
-        switch (event.kind) {
-          case cs::VideoEvent::kSourceCreated: {
-            // Create subtable for the camera
-            auto table = m_publishTable->GetSubTable(event.name);
-            {
-              std::scoped_lock lock(m_mutex);
-              m_tables.insert(std::make_pair(event.sourceHandle, table));
-            }
-            wpi::SmallString<64> buf;
-            table->GetEntry("source").SetString(
-                MakeSourceValue(event.sourceHandle, buf));
-            wpi::SmallString<64> descBuf;
-            table->GetEntry("description")
-                .SetString(cs::GetSourceDescription(event.sourceHandle, descBuf,
-                                                    &status));
-            table->GetEntry("connected")
-                .SetBoolean(cs::IsSourceConnected(event.sourceHandle, &status));
-            table->GetEntry("streams").SetStringArray(
-                GetSourceStreamValues(event.sourceHandle));
-            auto mode = cs::GetSourceVideoMode(event.sourceHandle, &status);
-            table->GetEntry("mode").SetDefaultString(VideoModeToString(mode));
-            table->GetEntry("modes").SetStringArray(
-                GetSourceModeValues(event.sourceHandle));
-            break;
-          }
-          case cs::VideoEvent::kSourceDestroyed: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("source").SetString("");
-              table->GetEntry("streams").SetStringArray(
-                  std::vector<std::string>{});
-              table->GetEntry("modes").SetStringArray(
-                  std::vector<std::string>{});
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourceConnected: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              // update the description too (as it may have changed)
-              wpi::SmallString<64> descBuf;
-              table->GetEntry("description")
-                  .SetString(cs::GetSourceDescription(event.sourceHandle,
-                                                      descBuf, &status));
-              table->GetEntry("connected").SetBoolean(true);
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourceDisconnected: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("connected").SetBoolean(false);
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourceVideoModesUpdated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("modes").SetStringArray(
-                  GetSourceModeValues(event.sourceHandle));
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourceVideoModeChanged: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("mode").SetString(VideoModeToString(event.mode));
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourcePropertyCreated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              PutSourcePropertyValue(table.get(), event, true);
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourcePropertyValueUpdated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              PutSourcePropertyValue(table.get(), event, false);
-            }
-            break;
-          }
-          case cs::VideoEvent::kSourcePropertyChoicesUpdated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              auto choices =
-                  cs::GetEnumPropertyChoices(event.propertyHandle, &status);
-              table
-                  ->GetEntry(fmt::format("PropertyInfo/{}/choices", event.name))
-                  .SetStringArray(choices);
-            }
-            break;
-          }
-          case cs::VideoEvent::kSinkSourceChanged:
-          case cs::VideoEvent::kSinkCreated:
-          case cs::VideoEvent::kSinkDestroyed:
-          case cs::VideoEvent::kNetworkInterfacesChanged: {
-            m_addresses = cs::GetNetworkInterfaces();
-            UpdateStreamValues();
-            break;
-          }
-          default:
-            break;
-        }
-      },
-      0x4fff, true};
-
-  // Listener for NetworkTable events
-  // We don't currently support changing settings via NT due to
-  // synchronization issues, so just update to current setting if someone
-  // else tries to change it.
-  wpi::SmallString<64> buf;
-  m_tableListener = nt::NetworkTableInstance::GetDefault().AddEntryListener(
-      fmt::format("{}/", kPublishName),
-      [=](const nt::EntryNotification& event) {
-        auto relativeKey = wpi::drop_front(
-            event.name, std::string_view{kPublishName}.size() + 1);
-
-        // get source (sourceName/...)
-        auto subKeyIndex = relativeKey.find('/');
-        if (subKeyIndex == std::string_view::npos) {
-          return;
-        }
-        auto sourceName = wpi::slice(relativeKey, 0, subKeyIndex);
-        auto sourceIt = m_sources.find(sourceName);
-        if (sourceIt == m_sources.end()) {
-          return;
-        }
-
-        // get subkey
-        relativeKey.remove_prefix(subKeyIndex + 1);
-
-        // handle standard names
-        std::string_view propName;
-        nt::NetworkTableEntry entry{event.entry};
-        if (relativeKey == "mode") {
-          // reset to current mode
-          entry.SetString(VideoModeToString(sourceIt->second.GetVideoMode()));
-          return;
-        } else if (wpi::starts_with(relativeKey, "Property/")) {
-          propName = wpi::substr(relativeKey, 9);
-        } else if (wpi::starts_with(relativeKey, "RawProperty/")) {
-          propName = wpi::substr(relativeKey, 12);
-        } else {
-          return;  // ignore
-        }
-
-        // everything else is a property
-        auto property = sourceIt->second.GetProperty(propName);
-        switch (property.GetKind()) {
-          case cs::VideoProperty::kNone:
-            return;
-          case cs::VideoProperty::kBoolean:
-            entry.SetBoolean(property.Get() != 0);
-            return;
-          case cs::VideoProperty::kInteger:
-          case cs::VideoProperty::kEnum:
-            entry.SetDouble(property.Get());
-            return;
-          case cs::VideoProperty::kString:
-            entry.SetString(property.GetString());
-            return;
-          default:
-            return;
-        }
-      },
-      NT_NOTIFY_IMMEDIATE | NT_NOTIFY_UPDATE);
-}
-
-cs::UsbCamera CameraServer::StartAutomaticCapture() {
-  cs::UsbCamera camera =
-      StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
-  cs::UsbCamera camera{fmt::format("USB Camera {}", dev), dev};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
-                                                  int dev) {
-  cs::UsbCamera camera{name, dev};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
-                                                  std::string_view path) {
-  cs::UsbCamera camera{name, path};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view host) {
-  return AddAxisCamera("Axis Camera", host);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(const char* host) {
-  return AddAxisCamera("Axis Camera", host);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
-  return AddAxisCamera("Axis Camera", host);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(wpi::span<const std::string> hosts) {
-  return AddAxisCamera("Axis Camera", hosts);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           std::string_view host) {
-  cs::AxisCamera camera{name, host};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           const char* host) {
-  cs::AxisCamera camera{name, host};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           const std::string& host) {
-  cs::AxisCamera camera{name, host};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           wpi::span<const std::string> hosts) {
-  cs::AxisCamera camera{name, hosts};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
-  // create a dummy CvSource
-  cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
-  cs::MjpegServer server = StartAutomaticCapture(source);
-  ::GetInstance().m_fixedSources[server.GetHandle()] = source.GetHandle();
-
-  return server;
-}
-
-cs::MjpegServer CameraServer::StartAutomaticCapture(
-    const cs::VideoSource& camera) {
-  AddCamera(camera);
-  auto server = AddServer(fmt::format("serve_{}", camera.GetName()));
-  server.SetSource(camera);
-  return server;
-}
-
-cs::CvSink CameraServer::GetVideo() {
-  auto& inst = ::GetInstance();
-  cs::VideoSource source;
-  {
-    auto csShared = GetCameraServerShared();
-    std::scoped_lock lock(inst.m_mutex);
-    if (inst.m_primarySourceName.empty()) {
-      csShared->SetCameraServerError("no camera available");
-      return cs::CvSink{};
-    }
-    auto it = inst.m_sources.find(inst.m_primarySourceName);
-    if (it == inst.m_sources.end()) {
-      csShared->SetCameraServerError("no camera available");
-      return cs::CvSink{};
-    }
-    source = it->second;
-  }
-  return GetVideo(std::move(source));
-}
-
-cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
-  auto& inst = ::GetInstance();
-  wpi::SmallString<64> name{"opencv_"};
-  name += camera.GetName();
-
-  {
-    std::scoped_lock lock(inst.m_mutex);
-    auto it = inst.m_sinks.find(name);
-    if (it != inst.m_sinks.end()) {
-      auto kind = it->second.GetKind();
-      if (kind != cs::VideoSink::kCv) {
-        auto csShared = GetCameraServerShared();
-        csShared->SetCameraServerError("expected OpenCV sink, but got {}",
-                                       kind);
-        return cs::CvSink{};
-      }
-      return *static_cast<cs::CvSink*>(&it->second);
-    }
-  }
-
-  cs::CvSink newsink{name.str()};
-  newsink.SetSource(camera);
-  AddServer(newsink);
-  return newsink;
-}
-
-cs::CvSink CameraServer::GetVideo(std::string_view name) {
-  auto& inst = ::GetInstance();
-  cs::VideoSource source;
-  {
-    std::scoped_lock lock(inst.m_mutex);
-    auto it = inst.m_sources.find(name);
-    if (it == inst.m_sources.end()) {
-      auto csShared = GetCameraServerShared();
-      csShared->SetCameraServerError("could not find camera {}", name);
-      return cs::CvSink{};
-    }
-    source = it->second;
-  }
-  return GetVideo(source);
-}
-
-cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
-                                    int height) {
-  cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
-  StartAutomaticCapture(source);
-  return source;
-}
-
-cs::MjpegServer CameraServer::AddServer(std::string_view name) {
-  auto& inst = ::GetInstance();
-  int port;
-  {
-    std::scoped_lock lock(inst.m_mutex);
-    port = inst.m_nextPort++;
-  }
-  return AddServer(name, port);
-}
-
-cs::MjpegServer CameraServer::AddServer(std::string_view name, int port) {
-  cs::MjpegServer server{name, port};
-  AddServer(server);
-  return server;
-}
-
-void CameraServer::AddServer(const cs::VideoSink& server) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.m_mutex);
-  inst.m_sinks.try_emplace(server.GetName(), server);
-}
-
-void CameraServer::RemoveServer(std::string_view name) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.m_mutex);
-  inst.m_sinks.erase(name);
-}
-
-cs::VideoSink CameraServer::GetServer() {
-  auto& inst = ::GetInstance();
-  std::string name;
-  {
-    std::scoped_lock lock(inst.m_mutex);
-    if (inst.m_primarySourceName.empty()) {
-      auto csShared = GetCameraServerShared();
-      csShared->SetCameraServerError("no camera available");
-      return cs::VideoSink{};
-    }
-    name = fmt::format("serve_{}", inst.m_primarySourceName);
-  }
-  return GetServer(name);
-}
-
-cs::VideoSink CameraServer::GetServer(std::string_view name) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.m_mutex);
-  auto it = inst.m_sinks.find(name);
-  if (it == inst.m_sinks.end()) {
-    auto csShared = GetCameraServerShared();
-    csShared->SetCameraServerError("could not find server {}", name);
-    return cs::VideoSink{};
-  }
-  return it->second;
-}
-
-void CameraServer::AddCamera(const cs::VideoSource& camera) {
-  auto& inst = ::GetInstance();
-  std::string name = camera.GetName();
-  std::scoped_lock lock(inst.m_mutex);
-  if (inst.m_primarySourceName.empty()) {
-    inst.m_primarySourceName = name;
-  }
-  inst.m_sources.try_emplace(name, camera);
-}
-
-void CameraServer::RemoveCamera(std::string_view name) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.m_mutex);
-  inst.m_sources.erase(name);
-}
-
-void CameraServer::SetSize(int size) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.m_mutex);
-  if (inst.m_primarySourceName.empty()) {
-    return;
-  }
-  auto it = inst.m_sources.find(inst.m_primarySourceName);
-  if (it == inst.m_sources.end()) {
-    return;
-  }
-  if (size == kSize160x120) {
-    it->second.SetResolution(160, 120);
-  } else if (size == kSize320x240) {
-    it->second.SetResolution(320, 240);
-  } else if (size == kSize640x480) {
-    it->second.SetResolution(640, 480);
-  }
-}

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -1,45 +0,0 @@
-// 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 "cameraserver/CameraServerShared.h"
-
-#include <wpi/mutex.h>
-
-namespace {
-class DefaultCameraServerShared : public frc::CameraServerShared {
- public:
-  void ReportUsbCamera(int id) override {}
-  void ReportAxisCamera(int id) override {}
-  void ReportVideoServer(int id) override {}
-  void SetCameraServerErrorV(fmt::string_view format,
-                             fmt::format_args args) override {}
-  void SetVisionRunnerErrorV(fmt::string_view format,
-                             fmt::format_args args) override {}
-  void ReportDriverStationErrorV(fmt::string_view format,
-                                 fmt::format_args args) override {}
-  std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
-    return std::make_pair(std::thread::id(), false);
-  }
-};
-}  // namespace
-
-static std::unique_ptr<frc::CameraServerShared> cameraServerShared = nullptr;
-static wpi::mutex setLock;
-
-namespace frc {
-CameraServerShared* GetCameraServerShared() {
-  std::unique_lock lock(setLock);
-  if (!cameraServerShared) {
-    cameraServerShared = std::make_unique<DefaultCameraServerShared>();
-  }
-  return cameraServerShared.get();
-}
-}  // namespace frc
-
-extern "C" {
-void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared) {
-  std::unique_lock lock(setLock);
-  cameraServerShared.reset(shared);
-}
-}  // extern "C"

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -1,58 +0,0 @@
-// 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 "vision/VisionRunner.h"
-
-#include <thread>
-
-#include <opencv2/core/mat.hpp>
-
-#include "cameraserver/CameraServerShared.h"
-
-using namespace frc;
-
-VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource)
-    : m_image(std::make_unique<cv::Mat>()),
-      m_cvSink("VisionRunner CvSink"),
-      m_enabled(true) {
-  m_cvSink.SetSource(videoSource);
-}
-
-// Located here and not in header due to cv::Mat forward declaration.
-VisionRunnerBase::~VisionRunnerBase() = default;
-
-void VisionRunnerBase::RunOnce() {
-  auto csShared = frc::GetCameraServerShared();
-  auto res = csShared->GetRobotMainThreadId();
-  if (res.second && (std::this_thread::get_id() == res.first)) {
-    csShared->SetVisionRunnerError(
-        "VisionRunner::RunOnce() cannot be called from the main robot thread");
-    return;
-  }
-  auto frameTime = m_cvSink.GrabFrame(*m_image);
-  if (frameTime == 0) {
-    auto error = m_cvSink.GetError();
-    csShared->ReportDriverStationError(error.c_str());
-  } else {
-    DoProcess(*m_image);
-  }
-}
-
-void VisionRunnerBase::RunForever() {
-  auto csShared = frc::GetCameraServerShared();
-  auto res = csShared->GetRobotMainThreadId();
-  if (res.second && (std::this_thread::get_id() == res.first)) {
-    csShared->SetVisionRunnerError(
-        "VisionRunner::RunForever() cannot be called from the main robot "
-        "thread");
-    return;
-  }
-  while (m_enabled) {
-    RunOnce();
-  }
-}
-
-void VisionRunnerBase::Stop() {
-  m_enabled = false;
-}

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

@@ -1,296 +0,0 @@
-// 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 <stdint.h>
-
-#include <string>
-#include <string_view>
-
-#include <wpi/deprecated.h>
-#include <wpi/span.h>
-
-#include "cscore.h"
-#include "cscore_cv.h"
-
-namespace frc {
-
-/**
- * Singleton class for creating and keeping camera servers.
- *
- * Also publishes camera information to NetworkTables.
- */
-class CameraServer {
- public:
-  static constexpr uint16_t kBasePort = 1181;
-  static constexpr int kSize640x480 = 0;
-  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.
-   *
-   * You should call this method to see a camera feed on the dashboard. If you
-   * also want to perform vision processing on the roboRIO, use getVideo() to
-   * get access to the camera images.
-   *
-   * The first time this overload is called, it calls StartAutomaticCapture()
-   * with device 0, creating a camera named "USB Camera 0".  Subsequent calls
-   * increment the device number (e.g. 1, 2, etc).
-   */
-  static cs::UsbCamera StartAutomaticCapture();
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * This overload calls StartAutomaticCapture() with a name of "USB Camera
-   * {dev}".
-   *
-   * @param dev The device number of the camera interface
-   */
-  static cs::UsbCamera StartAutomaticCapture(int dev);
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * @param name The name to give the camera
-   * @param dev  The device number of the camera interface
-   */
-  static cs::UsbCamera StartAutomaticCapture(std::string_view name, int dev);
-
-  /**
-   * Start automatically capturing images to send to the dashboard.
-   *
-   * @param name The name to give the camera
-   * @param path The device path (e.g. "/dev/video0") of the camera
-   */
-  static cs::UsbCamera StartAutomaticCapture(std::string_view name,
-                                             std::string_view path);
-
-  /**
-   * Start automatically capturing images to send to the dashboard from
-   * an existing camera.
-   *
-   * @param camera Camera
-   */
-  static cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   */
-  static cs::AxisCamera AddAxisCamera(std::string_view host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   */
-  static cs::AxisCamera AddAxisCamera(const char* host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   */
-  static cs::AxisCamera AddAxisCamera(const std::string& host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param hosts Array of Camera host IPs/DNS names
-   */
-  static cs::AxisCamera AddAxisCamera(wpi::span<const std::string> hosts);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param hosts Array of Camera host IPs/DNS names
-   */
-  template <typename T>
-  static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   */
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      std::string_view host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   */
-  static cs::AxisCamera AddAxisCamera(std::string_view name, const char* host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   */
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      const std::string& host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param hosts Array of Camera host IPs/DNS names
-   */
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      wpi::span<const std::string> hosts);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param hosts Array of Camera host IPs/DNS names
-   */
-  template <typename T>
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      std::initializer_list<T> hosts);
-
-  /**
-   * Adds a virtual camera for switching between two streams.  Unlike the
-   * other addCamera methods, this returns a VideoSink rather than a
-   * VideoSource.  Calling SetSource() on the returned object can be used
-   * to switch the actual source of the stream.
-   */
-  static cs::MjpegServer AddSwitchedCamera(std::string_view name);
-
-  /**
-   * Get OpenCV access to the primary camera feed.  This allows you to
-   * get images from the camera for image processing on the roboRIO.
-   *
-   * <p>This is only valid to call after a camera feed has been added
-   * with startAutomaticCapture() or addServer().
-   */
-  static cs::CvSink GetVideo();
-
-  /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
-   *
-   * @param camera Camera (e.g. as returned by startAutomaticCapture).
-   */
-  static cs::CvSink GetVideo(const cs::VideoSource& camera);
-
-  /**
-   * Get OpenCV access to the specified camera.  This allows you to get
-   * images from the camera for image processing on the roboRIO.
-   *
-   * @param name Camera name
-   */
-  static cs::CvSink GetVideo(std::string_view name);
-
-  /**
-   * Create a MJPEG stream with OpenCV input. This can be called to pass custom
-   * annotated images to the dashboard.
-   *
-   * @param name Name to give the stream
-   * @param width Width of the image being sent
-   * @param height Height of the image being sent
-   */
-  static cs::CvSource PutVideo(std::string_view name, int width, int height);
-
-  /**
-   * Adds a MJPEG server at the next available port.
-   *
-   * @param name Server name
-   */
-  static cs::MjpegServer AddServer(std::string_view name);
-
-  /**
-   * Adds a MJPEG server.
-   *
-   * @param name Server name
-   * @param port Port number
-   */
-  static cs::MjpegServer AddServer(std::string_view name, int port);
-
-  /**
-   * Adds an already created server.
-   *
-   * @param server Server
-   */
-  static void AddServer(const cs::VideoSink& server);
-
-  /**
-   * Removes a server by name.
-   *
-   * @param name Server name
-   */
-  static void RemoveServer(std::string_view name);
-
-  /**
-   * Get server for the primary camera feed.
-   *
-   * This is only valid to call after a camera feed has been added with
-   * StartAutomaticCapture() or AddServer().
-   */
-  static cs::VideoSink GetServer();
-
-  /**
-   * Gets a server by name.
-   *
-   * @param name Server name
-   */
-  static cs::VideoSink GetServer(std::string_view name);
-
-  /**
-   * Adds an already created camera.
-   *
-   * @param camera Camera
-   */
-  static void AddCamera(const cs::VideoSource& camera);
-
-  /**
-   * Removes a camera by name.
-   *
-   * @param name Camera name
-   */
-  static void RemoveCamera(std::string_view name);
-
-  /**
-   * Sets the size of the image to use. Use the public kSize constants to set
-   * the correct mode, or set it directly on a camera and call the appropriate
-   * StartAutomaticCapture method.
-   *
-   * @deprecated Use SetResolution on the UsbCamera returned by
-   *             StartAutomaticCapture() instead.
-   * @param size The size to use
-   */
-  static void SetSize(int size);
-
- private:
-  CameraServer() = default;
-};
-
-}  // namespace frc
-
-#include "cameraserver/CameraServer.inc"

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

@@ -1,31 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include "cameraserver/CameraServer.h"
-
-namespace frc {
-
-template <typename T>
-inline cs::AxisCamera CameraServer::AddAxisCamera(
-    std::initializer_list<T> hosts) {
-  return AddAxisCamera("Axis Camera", hosts);
-}
-
-template <typename T>
-inline cs::AxisCamera CameraServer::AddAxisCamera(
-    std::string_view name, std::initializer_list<T> hosts) {
-  std::vector<std::string> vec;
-  vec.reserve(hosts.size());
-  for (const auto& host : hosts) {
-    vec.emplace_back(host);
-  }
-  return AddAxisCamera(name, vec);
-}
-
-}  // namespace frc

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

@@ -1,53 +0,0 @@
-// 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 <thread>
-#include <utility>
-
-#include <fmt/format.h>
-
-namespace frc {
-class CameraServerShared {
- public:
-  virtual ~CameraServerShared() = default;
-  virtual void ReportUsbCamera(int id) = 0;
-  virtual void ReportAxisCamera(int id) = 0;
-  virtual void ReportVideoServer(int id) = 0;
-  virtual void SetCameraServerErrorV(fmt::string_view format,
-                                     fmt::format_args args) = 0;
-  virtual void SetVisionRunnerErrorV(fmt::string_view format,
-                                     fmt::format_args args) = 0;
-  virtual void ReportDriverStationErrorV(fmt::string_view format,
-                                         fmt::format_args args) = 0;
-  virtual std::pair<std::thread::id, bool> GetRobotMainThreadId() const = 0;
-
-  template <typename S, typename... Args>
-  inline void SetCameraServerError(const S& format, Args&&... args) {
-    SetCameraServerErrorV(format,
-                          fmt::make_args_checked<Args...>(format, args...));
-  }
-
-  template <typename S, typename... Args>
-  inline void SetVisionRunnerError(const S& format, Args&&... args) {
-    SetVisionRunnerErrorV(format,
-                          fmt::make_args_checked<Args...>(format, args...));
-  }
-
-  template <typename S, typename... Args>
-  inline void ReportDriverStationError(const S& format, Args&&... args) {
-    ReportDriverStationErrorV(format,
-                              fmt::make_args_checked<Args...>(format, args...));
-  }
-};
-
-CameraServerShared* GetCameraServerShared();
-}  // namespace frc
-
-extern "C" {
-// Takes ownership
-void CameraServer_SetCameraServerShared(frc::CameraServerShared* shared);
-}  // extern "C"

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

@@ -1,29 +0,0 @@
-// 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
-
-namespace cv {
-class Mat;
-}  // namespace cv
-
-namespace frc {
-
-/**
- * A vision pipeline is responsible for running a group of OpenCV algorithms to
- * extract data from an image.
- *
- * @see VisionRunner
- */
-class VisionPipeline {
- public:
-  virtual ~VisionPipeline() = default;
-
-  /**
-   * Processes the image input and sets the result objects. Implementations
-   * should make these objects accessible.
-   */
-  virtual void Process(cv::Mat& mat) = 0;
-};
-}  // namespace frc

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

@@ -1,97 +0,0 @@
-// 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 <memory>
-
-#include "cscore.h"
-#include "cscore_cv.h"
-#include "vision/VisionPipeline.h"
-
-namespace frc {
-
-/**
- * Non-template base class for VisionRunner.
- */
-class VisionRunnerBase {
- public:
-  /**
-   * Creates a new vision runner. It will take images from the {@code
-   * videoSource}, and call the virtual DoProcess() method.
-   *
-   * @param videoSource the video source to use to supply images for the
-   *                    pipeline
-   */
-  explicit VisionRunnerBase(cs::VideoSource videoSource);
-
-  ~VisionRunnerBase();
-
-  VisionRunnerBase(const VisionRunnerBase&) = delete;
-  VisionRunnerBase& operator=(const VisionRunnerBase&) = delete;
-
-  /**
-   * Runs the pipeline one time, giving it the next image from the video source
-   * specified in the constructor. This will block until the source either has
-   * an image or throws an error. If the source successfully supplied a frame,
-   * the pipeline's image input will be set, the pipeline will run, and the
-   * listener specified in the constructor will be called to notify it that the
-   * pipeline ran. This must be run in a dedicated thread, and cannot be used in
-   * the main robot thread because it will freeze the robot program.
-   *
-   * <p>This method is exposed to allow teams to add additional functionality or
-   * have their own ways to run the pipeline. Most teams, however, should just
-   * use RunForever() in its own thread using a std::thread.</p>
-   */
-  void RunOnce();
-
-  /**
-   * A convenience method that calls runOnce() in an infinite loop. This must be
-   * run in a dedicated thread, and cannot be used in the main robot thread
-   * because it will freeze the robot program.
-   *
-   * <strong>Do not call this method directly from the main thread.</strong>
-   */
-  void RunForever();
-
-  /**
-   * Stop a RunForever() loop.
-   */
-  void Stop();
-
- protected:
-  virtual void DoProcess(cv::Mat& image) = 0;
-
- private:
-  std::unique_ptr<cv::Mat> m_image;
-  cs::CvSink m_cvSink;
-  std::atomic_bool m_enabled;
-};
-
-/**
- * A vision runner is a convenient wrapper object to make it easy to run vision
- * pipelines from robot code. The easiest way to use this is to run it in a
- * std::thread and use the listener to take snapshots of the pipeline's outputs.
- *
- * @see VisionPipeline
- */
-template <typename T>
-class VisionRunner : public VisionRunnerBase {
- public:
-  VisionRunner(cs::VideoSource videoSource, T* pipeline,
-               std::function<void(T&)> listener);
-  virtual ~VisionRunner() = default;
-
- protected:
-  void DoProcess(cv::Mat& image) override;
-
- private:
-  T* m_pipeline;
-  std::function<void(T&)> m_listener;
-};
-}  // namespace frc
-
-#include "VisionRunner.inc"

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

@@ -1,34 +0,0 @@
-// 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 "vision/VisionRunner.h"
-
-namespace frc {
-
-/**
- * Creates a new vision runner. It will take images from the {@code
- * videoSource}, send them to the {@code pipeline}, and call the {@code
- * listener} when the pipeline has finished to alert user code when it is safe
- * to access the pipeline's outputs.
- *
- * @param videoSource The video source to use to supply images for the pipeline
- * @param pipeline    The vision pipeline to run
- * @param listener    A function to call after the pipeline has finished running
- */
-template <typename T>
-VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,
-                              std::function<void(T&)> listener)
-    : VisionRunnerBase(videoSource),
-      m_pipeline(pipeline),
-      m_listener(listener) {}
-
-template <typename T>
-void VisionRunner<T>::DoProcess(cv::Mat& image) {
-  m_pipeline->Process(image);
-  m_listener(*m_pipeline);
-}
-
-}  // namespace frc

cameraserver/src/test/native/cpp/main.cpp

@@ -1,7 +0,0 @@
-// 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.
-
-int main() {
-  return 0;
-}

cmake/.gitignore

@@ -0,0 +1,2 @@
+*~
+target/

cmake/modules/AddTest.cmake

@@ -1,14 +0,0 @@
-include(CompileWarnings)
-
-macro(wpilib_add_test name srcdir)
-    file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
-    add_executable(${name}_test ${test_src})
-    wpilib_target_warnings(${name}_test)
-    if (BUILD_SHARED_LIBS)
-        target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
-    endif()
-    if (MSVC)
-        target_compile_options(${name}_test PRIVATE /wd4101 /wd4251)
-    endif()
-    add_test(NAME ${name} COMMAND ${name}_test)
-endmacro()

cmake/modules/CompileWarnings.cmake

@@ -1,7 +0,0 @@
-macro(wpilib_target_warnings target)
-    if(NOT MSVC)
-        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
-    else()
-        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX)
-    endif()
-endmacro()

cmake/modules/FindLIBSSH.cmake

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

cmake/modules/GenResources.cmake

@@ -1,26 +0,0 @@
-set(SCRIPTS_DIR "${CMAKE_CURRENT_LIST_DIR}/../scripts")
-MACRO(GENERATE_RESOURCES inputDir outputDir prefix namespace outputFiles)
-  FILE(GLOB inputFiles ${inputDir}/*)
-  SET(${outputFiles})
-  FOREACH(input ${inputFiles})
-    GET_FILENAME_COMPONENT(inputBase ${input} NAME)
-    IF("${inputBase}" MATCHES "^\\.")
-      CONTINUE()
-    ENDIF()
-    SET(output "${outputDir}/${inputBase}.cpp")
-    LIST(APPEND ${outputFiles} "${output}")
-
-    ADD_CUSTOM_COMMAND(
-      OUTPUT ${output}
-      COMMAND ${CMAKE_COMMAND}
-        "-Dinput=${input}"
-        "-Doutput=${output}"
-        "-Dprefix=${prefix}"
-        "-Dnamespace=${namespace}"
-        -P "${SCRIPTS_DIR}/GenResource.cmake"
-      MAIN_DEPENDENCY ${input}
-      DEPENDS ${SCRIPTS_DIR}/GenResource.cmake
-      VERBATIM
-    )
-  ENDFOREACH()
-ENDMACRO()

cmake/modules/LinkMacOSGUI.cmake

@@ -1,5 +0,0 @@
-macro(wpilib_link_macos_gui target)
-    if (APPLE)
-        set_target_properties(${target} PROPERTIES LINK_FLAGS "-framework Metal -framework QuartzCore")
-    endif()
-endmacro()

cmake/modules/SubDirList.cmake

@@ -1,17 +0,0 @@
-MACRO(SUBDIR_LIST result curdir)
-  FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
-  SET(dirlist "")
-  FOREACH(child ${children})
-    IF(IS_DIRECTORY ${curdir}/${child})
-      LIST(APPEND dirlist ${child})
-    ENDIF()
-  ENDFOREACH()
-  SET(${result} ${dirlist})
-ENDMACRO()
-
-MACRO(ADD_ALL_SUBDIRECTORIES curdir)
-  SUBDIR_LIST (_SUBPROJECTS ${curdir})
-  FOREACH (dir ${_SUBPROJECTS})
-    ADD_SUBDIRECTORY (${dir})
-  ENDFOREACH ()
-ENDMACRO()

cmake/pom.xml

@@ -0,0 +1,151 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+	<modelVersion>4.0.0</modelVersion>
+	<groupId>edu.wpi.first.wpilib.cmake</groupId>
+	<artifactId>cpp-root</artifactId>
+	<version>1.0.0</version>
+	<packaging>pom</packaging>
+	<profiles>
+		<profile>
+			<id>unix-properties</id>
+			<properties>
+				<cmakeGenerator>Unix Makefiles</cmakeGenerator>
+			</properties>
+			<activation>
+				<os>
+					<family>unix</family>
+				</os>
+			</activation>
+		</profile>
+		<profile>
+			<id>MAC-properties</id>
+			<properties>
+				<cmakeGenerator>Unix Makefiles</cmakeGenerator>
+			</properties>
+			<activation>
+				<os>
+					<family>mac</family>
+				</os>
+			</activation>
+		</profile>
+		<profile>
+			<id>windows-properties</id>
+			<properties>
+				<cmakeGenerator>MSYS Makefiles</cmakeGenerator>
+			</properties>
+			<activation>
+				<os>
+					<family>windows</family>
+				</os>
+			</activation>
+		</profile>
+	</profiles>
+	<build>
+		<plugins>
+			<plugin>
+				<groupId>com.googlecode.cmake-maven-project</groupId>
+				<artifactId>cmake-maven-plugin</artifactId>
+				<version>2.8.11-b4</version>
+				<executions>
+					<execution>
+						<id>cmake</id>
+						<phase>generate-resources</phase>
+						<goals>
+							<goal>generate</goal>
+						</goals>
+						<configuration>
+							<options>
+								<option>-DCMAKE_TOOLCHAIN_FILE=../../../arm-toolchain.cmake</option>
+								<option>-DCMAKE_INSTALL_PREFIX=target-root</option>
+							</options>
+						</configuration>
+					</execution>
+					<execution>
+						<id>cmake2</id>
+						<phase>generate-resources</phase>
+						<goals>
+							<goal>compile</goal>
+						</goals>
+						<configuration>
+							<target>install</target>
+						</configuration>
+					</execution>
+				</executions>
+				<configuration>
+					<sourcePath>..</sourcePath>
+					<targetPath>${project.build.directory}/cmake</targetPath>
+					<projectDirectory>${project.build.directory}/cmake</projectDirectory>
+					<generator>${cmakeGenerator}</generator>
+					<buildType>release</buildType>
+				</configuration>
+			</plugin>
+			<plugin>
+				<groupId>org.apache.maven.plugins</groupId>
+				<artifactId>maven-antrun-plugin</artifactId>
+				<version>1.7</version>
+				<executions>
+					<!-- Set time stamp and version properties. -->
+					<execution>
+						<id>set-version-info</id>
+						<goals>
+							<goal>run</goal>
+						</goals>
+						<phase>process-sources</phase>
+						<configuration>
+							<target>
+								<tstamp>
+									<format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
+								</tstamp>
+								<tstamp>
+									<format property="version-info" pattern="yyyy.MMdd.HHmmss"/>
+								</tstamp>
+								<property name="version" value="${version-info}.${build-number}"/>
+							</target>
+							<exportAntProperties>true</exportAntProperties>
+						</configuration>
+					</execution>
+					<!-- Unzip the include files for cpp.zip. -->
+					<execution>
+						<id>unzip-cpp-includes</id>
+						<phase>compile</phase>
+						<goals>
+							<goal>run</goal>
+						</goals>
+						<configuration>
+							<target>
+								<echo file="${project.build.directory}/cmake/target-root/so.properties">cpp-sos=${version-info}</echo>
+								<zip destfile="${project.build.directory}/${project.build.finalName}.zip" basedir="${project.build.directory}/cmake/target-root" />
+							</target>
+						</configuration>
+					</execution>
+				</executions>
+			</plugin>
+			      <plugin>
+        <groupId>org.codehaus.mojo</groupId>
+        <artifactId>build-helper-maven-plugin</artifactId>
+        <version>1.2</version>
+        <executions>
+        <execution>
+						<id>zip-cpp-includes</id>
+						<phase>compile</phase>
+						<goals>
+							<goal>attach-artifact</goal>
+						</goals>
+            <configuration>
+              <artifacts>
+                <artifact>
+                  <file>${project.build.directory}/${project.build.finalName}.zip</file>
+                  <type>zip</type>
+                </artifact>
+                <artifact>
+                  <file>${project.build.directory}/cmake/target-root/lib/libHALAthena.a</file>
+                  <type>a</type>
+                </artifact>
+              </artifacts>
+            </configuration>
+          </execution>
+        </executions>
+      </plugin>
+    </plugins>
+	</build>
+</project>

cmake/run-cpp-tests.sh

@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+# Temporary method to deploy C++ integration tests to the RoboRIO
+
+if [ $(which sshpass) ]
+then
+	# Send stderr to /dev/null - the only thing printed to it is the login prompt
+	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram java 2> /dev/null
+	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin 2> /dev/null
+	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $* 2> /dev/null
+else
+	ssh admin@10.1.90.2 killall FRCUserProgram
+	scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
+	ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
+fi
+
+
+

cmake/scripts/GenResource.cmake

@@ -1,23 +0,0 @@
-# Parameters: input output prefix namespace
-FILE(READ ${input} fileHex HEX)
-STRING(LENGTH "${fileHex}" fileHexSize)
-MATH(EXPR fileSize "${fileHexSize} / 2")
-
-GET_FILENAME_COMPONENT(inputBase ${input} NAME)
-STRING(REGEX REPLACE "[^a-zA-Z0-9]" "_" funcName "${inputBase}")
-SET(funcName "GetResource_${funcName}")
-
-FILE(WRITE "${output}" "#include <stddef.h>\n#include <string_view>\nextern \"C\" {\nstatic const unsigned char contents[] = {")
-
-STRING(REGEX MATCHALL ".." outputData "${fileHex}")
-STRING(REGEX REPLACE ";" ", 0x" outputData "${outputData}")
-FILE(APPEND "${output}" " 0x${outputData} };\n")
-FILE(APPEND "${output}" "const unsigned char* ${prefix}${funcName}(size_t* len) {\n  *len = ${fileSize};\n  return contents;\n}\n}\n")
-
-IF(NOT namespace STREQUAL "")
-  FILE(APPEND "${output}" "namespace ${namespace} {\n")
-ENDIF()
-FILE(APPEND "${output}" "std::string_view ${funcName}() {\n  return std::string_view(reinterpret_cast<const char*>(contents), ${fileSize});\n}\n")
-IF(NOT namespace STREQUAL "")
-  FILE(APPEND "${output}" "}\n")
-ENDIF()

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

@@ -1,4 +0,0 @@
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-frc2022-linux-gnueabi" CACHE STRING "GNU compiler triple")
-set(SOFTFP yes)
-include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")

cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake

@@ -1,98 +0,0 @@
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-raspbian10-linux-gnueabi" CACHE STRING "GNU compiler triple")
-
-if(COMMAND toolchain_save_config)
-  return() # prevent recursive call
-endif()
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_VERSION 1)
-if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
-  set(CMAKE_SYSTEM_PROCESSOR arm)
-else()
-  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
-endif()
-
-include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
-
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
-  set(FLOAT_ABI_SUFFIX "")
-  if(NOT SOFTFP)
-    set(FLOAT_ABI_SUFFIX "hf")
-  endif()
-endif()
-
-if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
-  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
-endif()
-
-if(NOT DEFINED CMAKE_C_COMPILER)
-  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_CXX_COMPILER)
-  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_LINKER)
-  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
-else()
-  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
-endif()
-if(NOT DEFINED CMAKE_AR)
-  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
-else()
-  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
-endif()
-
-if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
-  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
-endif()
-
-if(NOT DEFINED CMAKE_CXX_FLAGS)
-  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
-  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
-  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
-
-  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
-  endif()
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
-    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  endif()
-  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
-  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
-  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
-else()
-  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
-endif()
-
-if(USE_NEON)
-  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
-  set(ENABLE_NEON TRUE)
-elseif(USE_VFPV3)
-  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
-  set(ENABLE_VFPV3 TRUE)
-endif()
-
-set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
-
-if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
-  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
-endif()
-
-set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
-    ARM_LINUX_SYSROOT
-    ENABLE_NEON
-    ENABLE_VFPV3
-    CUDA_TOOLKIT_ROOT_DIR
-)
-toolchain_save_config()

cmake/toolchains/arm.toolchain.cmake

@@ -1,97 +0,0 @@
-if(COMMAND toolchain_save_config)
-  return() # prevent recursive call
-endif()
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_VERSION 1)
-if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
-  set(CMAKE_SYSTEM_PROCESSOR arm)
-else()
-  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
-endif()
-
-include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
-
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
-  set(FLOAT_ABI_SUFFIX "")
-  if(NOT SOFTFP)
-    set(FLOAT_ABI_SUFFIX "hf")
-  endif()
-endif()
-
-if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
-  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
-endif()
-
-if(NOT DEFINED CMAKE_C_COMPILER)
-  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_CXX_COMPILER)
-  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_LINKER)
-  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
-else()
-  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
-endif()
-if(NOT DEFINED CMAKE_AR)
-  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
-else()
-  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
-endif()
-
-if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
-  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
-endif()
-
-if(NOT DEFINED CMAKE_CXX_FLAGS)
-  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
-  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
-  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
-
-  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(CMAKE_CXX_FLAGS           "-mthumb ${CMAKE_CXX_FLAGS}")
-    set(CMAKE_C_FLAGS             "-mthumb ${CMAKE_C_FLAGS}")
-    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
-  endif()
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
-    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  endif()
-  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
-  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
-  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
-else()
-  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
-endif()
-
-if(USE_NEON)
-  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
-  set(ENABLE_NEON TRUE)
-elseif(USE_VFPV3)
-  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
-  set(ENABLE_VFPV3 TRUE)
-endif()
-
-set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
-
-if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
-  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
-endif()
-
-set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
-    ARM_LINUX_SYSROOT
-    ENABLE_NEON
-    ENABLE_VFPV3
-    CUDA_TOOLKIT_ROOT_DIR
-)
-toolchain_save_config()

cmake/toolchains/gnu.toolchain.cmake

@@ -1,134 +0,0 @@
-cmake_minimum_required(VERSION 2.8)
-
-# load settings in case of "try compile"
-set(TOOLCHAIN_CONFIG_FILE "${WPILIB_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
-get_property(__IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE)
-if(__IN_TRY_COMPILE)
-  include("${CMAKE_CURRENT_SOURCE_DIR}/../toolchain.config.cmake" OPTIONAL) # WPILIB_BINARY_DIR is different
-  macro(toolchain_save_config)
-    # nothing
-  endmacro()
-else()
-  macro(toolchain_save_config)
-    set(__config "#message(\"Load TOOLCHAIN config...\")\n")
-    get_cmake_property(__variableNames VARIABLES)
-    set(__vars_list ${ARGN})
-    list(APPEND __vars_list
-        ${TOOLCHAIN_CONFIG_VARS}
-        CMAKE_SYSTEM_NAME
-        CMAKE_SYSTEM_VERSION
-        CMAKE_SYSTEM_PROCESSOR
-        CMAKE_C_COMPILER
-        CMAKE_CXX_COMPILER
-        CMAKE_C_FLAGS
-        CMAKE_CXX_FLAGS
-        CMAKE_SHARED_LINKER_FLAGS
-        CMAKE_MODULE_LINKER_FLAGS
-        CMAKE_EXE_LINKER_FLAGS
-        CMAKE_SKIP_RPATH
-        CMAKE_FIND_ROOT_PATH
-        GCC_COMPILER_VERSION
-    )
-    foreach(__var ${__variableNames})
-      foreach(_v ${__vars_list})
-        if("x${__var}" STREQUAL "x${_v}")
-          if(${__var} MATCHES " ")
-            set(__config "${__config}set(${__var} \"${${__var}}\")\n")
-          else()
-            set(__config "${__config}set(${__var} ${${__var}})\n")
-          endif()
-        endif()
-      endforeach()
-    endforeach()
-    if(EXISTS "${TOOLCHAIN_CONFIG_FILE}")
-      file(READ "${TOOLCHAIN_CONFIG_FILE}" __config_old)
-    endif()
-    if("${__config_old}" STREQUAL "${__config}")
-      # nothing
-    else()
-      #message("Update TOOLCHAIN config: ${__config}")
-      file(WRITE "${TOOLCHAIN_CONFIG_FILE}" "${__config}")
-    endif()
-    unset(__config)
-    unset(__config_old)
-    unset(__vars_list)
-    unset(__variableNames)
-  endmacro()
-endif() # IN_TRY_COMPILE
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_LIBRARY)
-  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_INCLUDE)
-  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_PACKAGE)
-  set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_PROGRAM)
-  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-endif()
-
-macro(__cmake_find_root_save_and_reset)
-  foreach(v
-      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
-      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-  )
-    set(__save_${v} ${${v}})
-    set(${v} NEVER)
-  endforeach()
-endmacro()
-
-macro(__cmake_find_root_restore)
-  foreach(v
-      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
-      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-  )
-    set(${v} ${__save_${v}})
-    unset(__save_${v})
-  endforeach()
-endmacro()
-
-
-# macro to find programs on the host OS
-macro(find_host_program)
- __cmake_find_root_save_and_reset()
- if(CMAKE_HOST_WIN32)
-  SET(WIN32 1)
-  SET(UNIX)
- elseif(CMAKE_HOST_APPLE)
-  SET(APPLE 1)
-  SET(UNIX)
- endif()
- find_program(${ARGN})
- SET(WIN32)
- SET(APPLE)
- SET(UNIX 1)
- __cmake_find_root_restore()
-endmacro()
-
-# macro to find packages on the host OS
-macro(find_host_package)
- __cmake_find_root_save_and_reset()
- if(CMAKE_HOST_WIN32)
-  SET(WIN32 1)
-  SET(UNIX)
- elseif(CMAKE_HOST_APPLE)
-  SET(APPLE 1)
-  SET(UNIX)
- endif()
- find_package(${ARGN})
- SET(WIN32)
- SET(APPLE)
- SET(UNIX 1)
- __cmake_find_root_restore()
-endmacro()
-
-set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")

crossConnIntegrationTests/build.gradle

@@ -1,119 +0,0 @@
-import org.gradle.language.base.internal.ProjectLayout
-import edu.wpi.first.deployutils.deploy.target.RemoteTarget
-import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
-import edu.wpi.first.deployutils.deploy.artifact.*
-import org.gradle.internal.os.OperatingSystem
-
-apply plugin: 'cpp'
-apply plugin: 'visual-studio'
-apply plugin: 'edu.wpi.first.NativeUtils'
-apply plugin: ExtraTasks
-
-apply plugin: 'edu.wpi.first.DeployUtils'
-
-apply from: '../shared/config.gradle'
-
-ext {
-    sharedCvConfigs = [crossConnIntegrationTests: []]
-    staticCvConfigs = [:]
-    useJava = false
-    useCpp = true
-    staticGtestConfigs = [crossConnIntegrationTests: []]
-}
-
-apply from: "${rootDir}/shared/opencv.gradle"
-
-apply from: "${rootDir}/shared/googletest.gradle"
-
-deploy {
-    targets {
-        roborio(RemoteTarget) {
-            directory = '/home/admin'
-            maxChannels = 4
-            locations {
-                ssh(SshDeployLocation) {
-                    address = "172.22.11.2"
-                    user = 'admin'
-                    password = ''
-                    ipv6 = false
-                }
-            }
-
-            artifacts {
-                all {
-                    predeploy << { ctx ->
-                        ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
-                    }
-                    postdeploy << { ctx ->
-                        ctx.execute("sync")
-                        ctx.execute("ldconfig")
-                    }
-                }
-
-                crossConnIntegrationTests(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
-                    postdeploy << { ctx ->
-                        ctx.execute('chmod +x crossConnIntegrationTests')
-                    }
-                }
-            }
-        }
-    }
-}
-
-model {
-    components {
-        crossConnIntegrationTests(NativeExecutableSpec) {
-            targetBuildTypes 'debug'
-            nativeUtils.useRequiredLibrary(it, 'googletest_static')
-            binaries.all { binary ->
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                    if (binary.buildType.name == 'debug') {
-                        deploy.targets.roborio.artifacts.crossConnIntegrationTests.binary = binary
-                    }
-
-                    binary.sources {
-                        athenaCpp(CppSourceSet) {
-                            source {
-                                srcDirs = ['src/main/native/cpp']
-                                includes = ['**/*.cpp']
-                            }
-                            exportedHeaders {
-                                srcDirs = ['src/main/native/include']
-                                includes = ['**/*.h']
-                            }
-                        }
-                    }
-                    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: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
-                    }
-                } else {
-                    binary.sources {
-                        simCpp(CppSourceSet) {
-                            source {
-                                srcDirs 'src/main/native/dt'
-                                includes = ['**/*.cpp']
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-}
-
-tasks.register('deployTests') {
-    try {
-        dependsOn tasks.named('deployCrossConnIntegrationTestsLibrariesRoborio')
-        dependsOn tasks.named('deployCrossConnIntegrationTestsRoborio')
-    } catch (ignored) {
-    }
-}

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

@@ -1,112 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/AnalogInput.h>
-#include <hal/AnalogOutput.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(AnalogCrossTest, AnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  AnalogInputHandle input{param.first, &status};
-  ASSERT_EQ(0, status);
-  AnalogOutputHandle output{param.second, &status};
-  ASSERT_EQ(0, status);
-
-  for (double i = 0; i < 5; i += 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-
-  for (double i = 5; i > 0; i -= 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-}
-
-TEST(AnalogInputTest, AllocateAll) {
-  wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogInputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogInputTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogInputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogInputTest, OverAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogInputTest, UnderAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, AllocateAll) {
-  wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogOutputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogOutputTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogOutputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogOutputTest, OverAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, UnderAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTests, AnalogCrossTest,
-                         ::testing::ValuesIn(AnalogCrossConnects));

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

@@ -1,101 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/DIO.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class DIOTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(DIOTest, DIOCross) {
-  auto param = GetParam();
-  int32_t status = 0;
-  DIOHandle first{param.first, false, &status};
-  ASSERT_EQ(0, status);
-  DIOHandle second{param.second, true, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(first, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(first, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_FALSE(HAL_GetDIO(second, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(first, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(second, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIODirection(first, true, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetDIODirection(second, false, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(second, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(first, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(second, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(first, &status));
-  ASSERT_EQ(0, status);
-}
-
-TEST(DIOTest, AllocateAll) {
-  wpi::SmallVector<DIOHandle, 32> dioHandles;
-  for (int i = 0; i < HAL_GetNumDigitalChannels(); i++) {
-    int32_t status = 0;
-    dioHandles.emplace_back(i, true, &status);
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(DIOTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  DIOHandle handle(0, true, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  DIOHandle handle2(0, true, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(DIOTest, OverAllocateFails) {
-  int32_t status = 0;
-  DIOHandle handle(HAL_GetNumDigitalChannels(), true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(DIOTest, UnderAllocateFails) {
-  int32_t status = 0;
-  DIOHandle handle(-1, true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(DIOTest, CrossAllocationFails) {
-  int32_t status = 0;
-  PWMHandle pwmHandle(10, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-  DIOHandle handle(10, true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTests, DIOTest,
-                         ::testing::ValuesIn(DIOCrossConnects));

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

@@ -1,51 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/HAL.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(DutyCycleTest, DutyCycle) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-
-  DIOHandle dioHandle{param.second, true, &status};
-  ASSERT_EQ(0, status);
-
-  DutyCycleHandle dutyCycle{dioHandle, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
-  ASSERT_EQ(0, status);
-
-  // Sleep enough time for the frequency to converge
-  usleep(3500000);
-
-  ASSERT_NEAR(1000 / 5.05,
-              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
-
-  // TODO measure output
-}
-
-INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
-                         ::testing::ValuesIn(PWMCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/Main.cpp

@@ -1,10 +0,0 @@
-// 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 "gtest/gtest.h"
-
-int main(int argc, char** argv) {
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

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

@@ -1,357 +0,0 @@
-// 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 <atomic>
-#include <thread>
-
-#include <hal/DMA.h>
-#include <hal/HAL.h>
-#include <wpi/SmallVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/priority_mutex.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class PWMTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-void TestTimingDMA(int squelch, std::pair<int, int> param) {
-  // Initialize DMA
-  int32_t status = 0;
-  DMAHandle dmaHandle(&status);
-  ASSERT_NE(dmaHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
-
-  unsigned int checkPeriod = 0;
-  switch (squelch) {
-    case (0):
-      checkPeriod = 5050;
-      break;
-    case (1):
-      checkPeriod = 10100;
-      break;
-    case (3):
-      checkPeriod = 20200;
-      break;
-  }
-
-  status = 0;
-  DIOHandle dioHandle(param.second, true, &status);
-  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
-
-  HAL_AddDMADigitalSource(dmaHandle, dioHandle, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetDMAExternalTrigger(dmaHandle, dioHandle,
-                            HAL_AnalogTriggerType::HAL_Trigger_kInWindow, true,
-                            true, &status);
-  ASSERT_EQ(0, status);
-
-  // Loop to test 5 speeds
-  for (unsigned int testWidth = 1000; testWidth < 2100; testWidth += 250) {
-    HAL_StartDMA(dmaHandle, 1024, &status);
-    ASSERT_EQ(0, status);
-
-    while (true) {
-      int32_t remaining = 0;
-      HAL_DMASample testSample;
-      HAL_ReadDMA(dmaHandle, &testSample, 0.01, &remaining, &status);
-      if (remaining == 0) {
-        break;
-      }
-    }
-
-    HAL_SetPWMSpeed(pwmHandle, (testWidth - 1000) / 1000.0, &status);
-
-    constexpr const int kSampleCount = 15;
-    HAL_DMASample dmaSamples[kSampleCount];
-    int readCount = 0;
-    while (readCount < kSampleCount) {
-      status = 0;
-      int32_t remaining = 0;
-      HAL_DMAReadStatus readStatus = HAL_ReadDMA(
-          dmaHandle, &dmaSamples[readCount], 1.0, &remaining, &status);
-      ASSERT_EQ(0, status);
-      ASSERT_EQ(HAL_DMAReadStatus::HAL_DMA_OK, readStatus);
-      readCount++;
-    }
-
-    HAL_SetPWMSpeed(pwmHandle, 0, &status);
-    HAL_StopDMA(dmaHandle, &status);
-
-    // Find first rising edge
-    int startIndex = 4;
-    while (startIndex < 6) {
-      status = 0;
-      auto value = HAL_GetDMASampleDigitalSource(&dmaSamples[startIndex],
-                                                 dioHandle, &status);
-      ASSERT_EQ(0, status);
-      if (value)
-        break;
-      startIndex++;
-    }
-    ASSERT_LT(startIndex, 6);
-
-    // Check that samples alternate
-    bool previous = false;
-    int iterationCount = 0;
-    for (int i = startIndex; i < startIndex + 8; i++) {
-      auto value =
-          HAL_GetDMASampleDigitalSource(&dmaSamples[i], dioHandle, &status);
-      ASSERT_EQ(0, status);
-      ASSERT_NE(previous, value);
-      previous = !previous;
-      iterationCount++;
-    }
-    ASSERT_EQ(iterationCount, 8);
-    iterationCount = 0;
-
-    // Check width between samples
-    for (int i = startIndex; i < startIndex + 8; i += 2) {
-      auto width = HAL_GetDMASampleTime(&dmaSamples[i + 1], &status) -
-                   HAL_GetDMASampleTime(&dmaSamples[i], &status);
-      ASSERT_NEAR(testWidth, width, 10);
-      iterationCount++;
-    }
-    ASSERT_EQ(iterationCount, 4);
-    iterationCount = 0;
-
-    // Check period between samples
-    for (int i = startIndex; i < startIndex + 6; i += 2) {
-      auto period = HAL_GetDMASampleTime(&dmaSamples[i + 2], &status) -
-                    HAL_GetDMASampleTime(&dmaSamples[i], &status);
-      ASSERT_NEAR(checkPeriod, period, 10);
-      iterationCount++;
-    }
-    ASSERT_EQ(iterationCount, 3);
-  }
-}
-
-struct InterruptCheckData {
-  wpi::SmallVector<uint64_t, 8> risingStamps;
-  wpi::SmallVector<uint64_t, 8> fallingStamps;
-  wpi::priority_mutex mutex;
-  wpi::condition_variable cond;
-  HAL_InterruptHandle handle;
-};
-
-// TODO switch this to DMA
-void TestTiming(int squelch, std::pair<int, int> param) {
-  // Initialize interrupt
-  int32_t status = 0;
-  InterruptHandle interruptHandle(&status);
-  // Ensure we have a valid interrupt handle
-  ASSERT_NE(interruptHandle, HAL_kInvalidHandle);
-
-  status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
-
-  unsigned int checkPeriod = 0;
-  switch (squelch) {
-    case (0):
-      checkPeriod = 5050;
-      break;
-    case (1):
-      checkPeriod = 10100;
-      break;
-    case (3):
-      checkPeriod = 20200;
-      break;
-  }
-
-  status = 0;
-  DIOHandle dioHandle(param.second, true, &status);
-  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
-
-  InterruptCheckData interruptData;
-  interruptData.handle = interruptHandle;
-
-  // Can use any type for the interrupt handle
-  HAL_RequestInterrupts(interruptHandle, dioHandle,
-                        HAL_AnalogTriggerType::HAL_Trigger_kInWindow, &status);
-
-  HAL_SetInterruptUpSourceEdge(interruptHandle, true, true, &status);
-
-  // Loop to test 5 speeds
-  for (unsigned int i = 1000; i < 2100; i += 250) {
-    interruptData.risingStamps.clear();
-    interruptData.fallingStamps.clear();
-
-    std::atomic_bool runThread{true};
-
-    status = 0;
-    std::thread interruptThread([&]() {
-      while (runThread) {
-        int32_t threadStatus = 0;
-        auto mask =
-            HAL_WaitForInterrupt(interruptHandle, 5, true, &threadStatus);
-
-        if ((mask & 0x100) == 0x100 && interruptData.risingStamps.size() == 0 &&
-            interruptData.fallingStamps.size() == 0) {
-          // Falling edge at start of tracking. Skip
-          continue;
-        }
-
-        int32_t status = 0;
-        if ((mask & 0x1) == 0x1) {
-          auto ts = HAL_ReadInterruptRisingTimestamp(interruptHandle, &status);
-          // Rising Edge
-          interruptData.risingStamps.push_back(ts);
-        } else if ((mask & 0x100) == 0x100) {
-          auto ts = HAL_ReadInterruptFallingTimestamp(interruptHandle, &status);
-          // Falling Edge
-          interruptData.fallingStamps.push_back(ts);
-        }
-
-        if (interruptData.risingStamps.size() >= 4 &&
-            interruptData.fallingStamps.size() >= 4) {
-          interruptData.cond.notify_all();
-          runThread = false;
-          break;
-        }
-      }
-    });
-
-    // Ensure our interrupt actually got created correctly.
-    ASSERT_EQ(status, 0);
-    HAL_SetPWMSpeed(pwmHandle, (i - 1000) / 1000.0, &status);
-    ASSERT_EQ(status, 0);
-    {
-      std::unique_lock<wpi::priority_mutex> lock(interruptData.mutex);
-      // Wait for lock
-      // TODO: Add Timeout
-      auto timeout = interruptData.cond.wait_for(lock, std::chrono::seconds(2));
-      if (timeout == std::cv_status::timeout) {
-        runThread = false;
-        if (interruptThread.joinable()) {
-          interruptThread.join();
-        }
-        ASSERT_TRUE(false);  // Exit test as failure on timeout
-      }
-    }
-
-    HAL_SetPWMRaw(pwmHandle, 0, &status);
-
-    // Ensure our interrupts have the proper counts
-    ASSERT_EQ(interruptData.risingStamps.size(),
-              interruptData.fallingStamps.size());
-
-    ASSERT_GT(interruptData.risingStamps.size(), 0u);
-
-    ASSERT_EQ(interruptData.risingStamps.size() % 2, 0u);
-    ASSERT_EQ(interruptData.fallingStamps.size() % 2, 0u);
-
-    for (size_t j = 0; j < interruptData.risingStamps.size(); j++) {
-      uint64_t width =
-          interruptData.fallingStamps[j] - interruptData.risingStamps[j];
-      ASSERT_NEAR(width, i, 10);
-    }
-
-    for (unsigned int j = 0; j < interruptData.risingStamps.size() - 1; j++) {
-      uint64_t period =
-          interruptData.risingStamps[j + 1] - interruptData.risingStamps[j];
-      ASSERT_NEAR(period, checkPeriod, 10);
-    }
-    runThread = false;
-    if (interruptThread.joinable()) {
-      interruptThread.join();
-    }
-  }
-}
-
-TEST_P(PWMTest, Timing4x) {
-  auto param = GetParam();
-  TestTiming(3, param);
-}
-
-TEST_P(PWMTest, Timing2x) {
-  auto param = GetParam();
-  TestTiming(1, param);
-}
-
-TEST_P(PWMTest, Timing1x) {
-  auto param = GetParam();
-  TestTiming(0, param);
-}
-
-TEST_P(PWMTest, TimingDMA4x) {
-  auto param = GetParam();
-  TestTimingDMA(3, param);
-}
-
-TEST_P(PWMTest, TimingDMA2x) {
-  auto param = GetParam();
-  TestTimingDMA(1, param);
-}
-
-TEST_P(PWMTest, TimingDMA1x) {
-  auto param = GetParam();
-  TestTimingDMA(0, param);
-}
-
-TEST(PWMTest, AllocateAll) {
-  wpi::SmallVector<PWMHandle, 21> pwmHandles;
-  for (int i = 0; i < HAL_GetNumPWMChannels(); i++) {
-    int32_t status = 0;
-    pwmHandles.emplace_back(PWMHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(PWMTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  PWMHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  PWMHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(PWMTest, OverAllocateFails) {
-  int32_t status = 0;
-  PWMHandle handle(HAL_GetNumPWMChannels(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(PWMTest, UnderAllocateFails) {
-  int32_t status = 0;
-  PWMHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(PWMTest, CrossAllocationFails) {
-  int32_t status = 0;
-  DIOHandle dioHandle(10, true, &status);
-  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-  PWMHandle handle(10, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-INSTANTIATE_TEST_SUITE_P(PWMCrossConnectTests, PWMTest,
-                         ::testing::ValuesIn(PWMCrossConnects));

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

@@ -1,50 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/AnalogInput.h>
-#include <hal/Relay.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(RelayAnalogTest, RelayAnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  RelayHandle relay{param.first, true, &status};
-  ASSERT_EQ(0, status);
-  AnalogInputHandle analog{param.second, &status};
-  ASSERT_EQ(0, status);
-  AnalogTriggerHandle trigger{analog, &status};
-  ASSERT_EQ(0, status);
-  HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-}
-
-INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTests, RelayAnalogTest,
-                         ::testing::ValuesIn(RelayAnalogCrossConnects));

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

@@ -1,104 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <hal/Relay.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
-
-using namespace hlt;
-
-class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
-
-TEST_P(RelayDigitalTest, RelayCross) {
-  auto param = GetParam();
-  int32_t status = 0;
-  RelayHandle fwd{param.Relay, true, &status};
-  ASSERT_EQ(0, status);
-  RelayHandle rev{param.Relay, false, &status};
-  ASSERT_EQ(0, status);
-  DIOHandle fwdInput{param.FwdDio, true, &status};
-  ASSERT_EQ(0, status);
-  DIOHandle revInput{param.RevDio, true, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, false, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_FALSE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, false, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_TRUE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, true, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_FALSE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, true, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_TRUE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-}
-
-TEST(RelayDigitalTest, AllocateAll) {
-  wpi::SmallVector<RelayHandle, 32> relayHandles;
-  for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
-    int32_t status = 0;
-    relayHandles.emplace_back(i / 2, i % 2, &status);
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(RelayDigitalTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  RelayHandle handle(0, true, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  RelayHandle handle2(0, true, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(RelayDigitalTest, OverAllocateFails) {
-  int32_t status = 0;
-  RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(RelayDigitalTest, UnderAllocateFails) {
-  int32_t status = 0;
-  RelayHandle handle(-1, true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest,
-                         ::testing::ValuesIn(RelayCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/TestEnvironment.cpp

@@ -1,71 +0,0 @@
-// 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 <cstdlib>
-#include <thread>
-
-#include <fmt/core.h>
-#include <hal/HAL.h>
-
-#include "gtest/gtest.h"
-#include "mockds/MockDS.h"
-
-using namespace std::chrono_literals;
-
-class TestEnvironment : public testing::Environment {
-  bool m_alreadySetUp = false;
-  MockDS m_mockDS;
-
- public:
-  TestEnvironment() {
-    // Only set up once. This allows gtest_repeat to be used to automatically
-    // repeat tests.
-    if (m_alreadySetUp) {
-      return;
-    }
-    m_alreadySetUp = true;
-
-    if (!HAL_Initialize(500, 0)) {
-      fmt::print(stderr, "FATAL ERROR: HAL could not be initialized\n");
-      std::exit(-1);
-    }
-
-    m_mockDS.Start();
-
-    // This sets up the network communications library to enable the driver
-    // station. After starting network coms, it will loop until the driver
-    // station returns that the robot is enabled, to ensure that tests will be
-    // able to run on the hardware.
-    HAL_ObserveUserProgramStarting();
-
-    fmt::print("Started coms\n");
-
-    int enableCounter = 0;
-
-    auto checkEnabled = []() {
-      HAL_ControlWord controlWord;
-      std::memset(&controlWord, 0, sizeof(controlWord));
-      HAL_GetControlWord(&controlWord);
-      return controlWord.enabled && controlWord.dsAttached;
-    };
-    while (!checkEnabled()) {
-      if (enableCounter > 50) {
-        // Robot did not enable properly after 5 seconds.
-        // Force exit
-        fmt::print(stderr, " Failed to enable. Aborting\n");
-        std::terminate();
-      }
-
-      std::this_thread::sleep_for(100ms);
-
-      fmt::print("Waiting for enable: {}\n", enableCounter++);
-    }
-    std::this_thread::sleep_for(500ms);
-  }
-
-  ~TestEnvironment() override { m_mockDS.Stop(); }
-};
-
-testing::Environment* const environment =
-    testing::AddGlobalTestEnvironment(new TestEnvironment);

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

@@ -1,86 +0,0 @@
-// 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 "MockDS.h"
-
-#include <stdint.h>
-
-#include <string_view>
-
-#include <fmt/core.h>
-#include <hal/cpp/fpga_clock.h>
-#include <wpi/Logger.h>
-#include <wpi/SmallVector.h>
-#include <wpi/UDPClient.h>
-
-static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
-                       const char* msg) {
-  if (level == 20) {
-    fmt::print(stderr, "DS: {}\n", msg);
-    return;
-  }
-
-  std::string_view levelmsg;
-  if (level >= 50) {
-    levelmsg = "CRITICAL";
-  } else if (level >= 40) {
-    levelmsg = "ERROR";
-  } else if (level >= 30) {
-    levelmsg = "WARNING";
-  } else {
-    return;
-  }
-  fmt::print(stderr, "DS: {}: {} ({}:{})\n", levelmsg, msg, file, line);
-}
-
-static void generateEnabledDsPacket(wpi::SmallVectorImpl<uint8_t>& data,
-                                    uint16_t sendCount) {
-  data.clear();
-  data.push_back(sendCount >> 8);
-  data.push_back(sendCount);
-  data.push_back(0x01);  // general data tag
-  data.push_back(0x04);  // teleop enabled
-  data.push_back(0x10);  // normal data request
-  data.push_back(0x00);  // red 1 station
-}
-
-void MockDS::Start() {
-  if (m_active) {
-    return;
-  }
-  m_active = true;
-  m_thread = std::thread([&]() {
-    wpi::Logger logger(LoggerFunc);
-    wpi::UDPClient client(logger);
-    client.start();
-    auto timeout_time = hal::fpga_clock::now();
-    int initCount = 0;
-    uint16_t sendCount = 0;
-    wpi::SmallVector<uint8_t, 8> data;
-    while (m_active) {
-      // Keep 20ms intervals, and increase time to next interval
-      auto current = hal::fpga_clock::now();
-      while (timeout_time <= current) {
-        timeout_time += std::chrono::milliseconds(20);
-      }
-      std::this_thread::sleep_until(timeout_time);
-      generateEnabledDsPacket(data, sendCount++);
-      // ~10 disabled packets are required to make the robot actually enable
-      // 1 is definitely not enough.
-      if (initCount < 10) {
-        initCount++;
-        data[3] = 0;
-      }
-      client.send(data, "127.0.0.1", 1110);
-    }
-    client.shutdown();
-  });
-}
-
-void MockDS::Stop() {
-  m_active = false;
-  if (m_thread.joinable()) {
-    m_thread.join();
-  }
-}

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

@@ -1,23 +0,0 @@
-// 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 <thread>
-
-class MockDS {
- public:
-  MockDS() = default;
-  ~MockDS() { Stop(); }
-  MockDS(const MockDS& other) = delete;
-  MockDS& operator=(const MockDS& other) = delete;
-
-  void Start();
-  void Stop();
-
- private:
-  std::thread m_thread;
-  std::atomic_bool m_active{false};
-};

crossConnIntegrationTests/src/main/native/dt/Main.cpp

@@ -1,5 +0,0 @@
-// 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.
-
-int main() {}

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

@@ -1,62 +0,0 @@
-// 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 <array>
-#include <utility>
-
-namespace hlt {
-
-constexpr static std::array<std::pair<int, int>, 22> DIOCrossConnects{
-    std::pair{20, 25},
-    std::pair{19, 24},
-    std::pair{17, 13},
-    std::pair{16, 12},
-    std::pair{15, 11},
-    std::pair{14, 10},
-    std::pair{26, 2},
-    std::pair{27, 1},
-    std::pair{28, 0},
-    std::pair{29, 3},
-    std::pair{30, 4},
-
-    // Opposite direction
-    std::pair{25, 20},
-    std::pair{24, 19},
-    std::pair{13, 17},
-    std::pair{12, 16},
-    std::pair{11, 15},
-    std::pair{10, 14},
-    std::pair{2, 26},
-    std::pair{1, 27},
-    std::pair{0, 28},
-    std::pair{3, 29},
-    std::pair{4, 30},
-};
-
-// PWM on left, DIO on right
-constexpr static std::array<std::pair<int, int>, 2> PWMCrossConnects{
-    std::pair{0, 18},
-    std::pair{16, 25},
-};
-
-// FWD only, relay on left
-constexpr static std::array<std::pair<int, int>, 2> RelayAnalogCrossConnects{
-    std::pair{2, 0}, std::pair{3, 1}};
-
-struct RelayCross {
-  int Relay;
-  int FwdDio;
-  int RevDio;
-};
-
-constexpr static std::array<RelayCross, 1> RelayCrossConnects{
-    RelayCross{0, 23, 22}};
-
-// input on left
-constexpr static std::array<std::pair<int, int>, 2> AnalogCrossConnects{
-    std::pair{2, 0}, std::pair{4, 1}};
-
-}  // namespace hlt

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

@@ -1,200 +0,0 @@
-// 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 <hal/DMA.h>
-#include <hal/DutyCycle.h>
-#include <hal/HAL.h>
-
-namespace hlt {
-
-struct InterruptHandle {
- public:
-  explicit InterruptHandle(int32_t* status) {
-    handle = HAL_InitializeInterrupts(status);
-  }
-  InterruptHandle(const InterruptHandle&) = delete;
-  InterruptHandle operator=(const InterruptHandle&) = delete;
-
-  InterruptHandle(InterruptHandle&&) = default;
-  InterruptHandle& operator=(InterruptHandle&&) = default;
-
-  ~InterruptHandle() { HAL_CleanInterrupts(handle); }
-
-  operator HAL_InterruptHandle() const { return handle; }
-
- private:
-  HAL_InterruptHandle handle = 0;
-};
-
-struct DMAHandle {
- public:
-  explicit DMAHandle(int32_t* status) { handle = HAL_InitializeDMA(status); }
-  DMAHandle(const DMAHandle&) = delete;
-  DMAHandle operator=(const DMAHandle&) = delete;
-
-  DMAHandle(DMAHandle&&) = default;
-  DMAHandle& operator=(DMAHandle&&) = default;
-
-  ~DMAHandle() { HAL_FreeDMA(handle); }
-
-  operator HAL_DMAHandle() const { return handle; }
-
- private:
-  HAL_DMAHandle handle = 0;
-};
-
-struct AnalogInputHandle {
- public:
-  AnalogInputHandle(int32_t port, int32_t* status) {
-    handle = HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr, status);
-  }
-  AnalogInputHandle(const AnalogInputHandle&) = delete;
-  AnalogInputHandle operator=(const AnalogInputHandle&) = delete;
-
-  AnalogInputHandle(AnalogInputHandle&&) = default;
-  AnalogInputHandle& operator=(AnalogInputHandle&&) = default;
-
-  ~AnalogInputHandle() { HAL_FreeAnalogInputPort(handle); }
-
-  operator HAL_AnalogInputHandle() const { return handle; }
-
- private:
-  HAL_AnalogInputHandle handle = 0;
-};
-
-struct AnalogOutputHandle {
- public:
-  AnalogOutputHandle(int32_t port, int32_t* status) {
-    handle = HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr, status);
-  }
-  AnalogOutputHandle(const AnalogOutputHandle&) = delete;
-  AnalogOutputHandle operator=(const AnalogOutputHandle&) = delete;
-
-  AnalogOutputHandle(AnalogOutputHandle&&) = default;
-  AnalogOutputHandle& operator=(AnalogOutputHandle&&) = default;
-
-  ~AnalogOutputHandle() { HAL_FreeAnalogOutputPort(handle); }
-
-  operator HAL_AnalogOutputHandle() const { return handle; }
-
- private:
-  HAL_AnalogOutputHandle handle = 0;
-};
-
-struct AnalogTriggerHandle {
- public:
-  explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status) {
-    handle = HAL_InitializeAnalogTrigger(port, status);
-  }
-  AnalogTriggerHandle(const AnalogTriggerHandle&) = delete;
-  AnalogTriggerHandle operator=(const AnalogTriggerHandle&) = delete;
-
-  AnalogTriggerHandle(AnalogTriggerHandle&&) = default;
-  AnalogTriggerHandle& operator=(AnalogTriggerHandle&&) = default;
-
-  ~AnalogTriggerHandle() {
-    int32_t status = 0;
-    HAL_CleanAnalogTrigger(handle, &status);
-  }
-
-  operator HAL_AnalogTriggerHandle() const { return handle; }
-
- private:
-  HAL_AnalogTriggerHandle handle = 0;
-};
-
-struct DutyCycleHandle {
- public:
-  DutyCycleHandle(HAL_DigitalHandle port, int32_t* status) {
-    handle = HAL_InitializeDutyCycle(
-        port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status);
-  }
-  DutyCycleHandle(const DutyCycleHandle&) = delete;
-  DutyCycleHandle operator=(const DutyCycleHandle&) = delete;
-
-  DutyCycleHandle(DutyCycleHandle&&) = default;
-  DutyCycleHandle& operator=(DutyCycleHandle&&) = default;
-
-  ~DutyCycleHandle() { HAL_FreeDutyCycle(handle); }
-
-  operator HAL_DutyCycleHandle() const { return handle; }
-
- private:
-  HAL_DutyCycleHandle handle = 0;
-};
-
-struct DIOHandle {
- public:
-  DIOHandle() {}
-  DIOHandle(const DIOHandle&) = delete;
-  DIOHandle operator=(const DIOHandle&) = delete;
-
-  DIOHandle(DIOHandle&&) = default;
-  DIOHandle& operator=(DIOHandle&&) = default;
-
-  DIOHandle(int32_t port, HAL_Bool input, int32_t* status) {
-    handle = HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status);
-  }
-
-  ~DIOHandle() { HAL_FreeDIOPort(handle); }
-
-  operator HAL_DigitalHandle() const { return handle; }
-
- private:
-  HAL_DigitalHandle handle = 0;
-};
-
-struct PWMHandle {
- public:
-  PWMHandle() {}
-  PWMHandle(const PWMHandle&) = delete;
-  PWMHandle operator=(const PWMHandle&) = delete;
-
-  PWMHandle(PWMHandle&&) = default;
-  PWMHandle& operator=(PWMHandle&&) = default;
-
-  PWMHandle(int32_t port, int32_t* status) {
-    handle = HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status);
-  }
-
-  ~PWMHandle() {
-    int32_t status = 0;
-    HAL_FreePWMPort(handle, &status);
-  }
-
-  operator HAL_DigitalHandle() const { return handle; }
-
- private:
-  HAL_DigitalHandle handle = 0;
-};
-
-struct RelayHandle {
- public:
-  RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status) {
-    handle = HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status);
-  }
-  RelayHandle(const RelayHandle&) = delete;
-  RelayHandle operator=(const RelayHandle&) = delete;
-
-  RelayHandle(RelayHandle&&) = default;
-  RelayHandle& operator=(RelayHandle&&) = default;
-
-  ~RelayHandle() { HAL_FreeRelayPort(handle); }
-
-  operator HAL_RelayHandle() const { return handle; }
-
- private:
-  HAL_RelayHandle handle = 0;
-};
-
-#define ASSERT_LAST_ERROR_STATUS(status, x)                          \
-  do {                                                               \
-    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
-    const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
-    ASSERT_EQ(status, x);                                            \
-  } while (0)
-
-}  // namespace hlt

cscore/.styleguide

@@ -1,39 +0,0 @@
-cHeaderFileInclude {
-  _c\.h$
-}
-
-cppHeaderFileInclude {
-  (?<!_c)\.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-licenseUpdateExclude {
-  src/main/native/cpp/default_init_allocator\.h$
-}
-
-includeGuardRoots {
-  cscore/src/main/native/cpp/
-  cscore/src/main/native/include/
-  cscore/src/main/native/linux/
-  cscore/src/main/native/osx/
-  cscore/src/main/native/windows/
-  cscore/src/main/test/native/cpp/
-}
-
-repoRootNameOverride {
-  cscore
-}
-
-includeOtherLibs {
-  ^fmt/
-  ^opencv2/
-  ^support/
-  ^tcpsockets/
-  ^wpi/
-}

cscore/CMakeLists.txt

@@ -1,150 +0,0 @@
-project(cscore)
-
-include(SubDirList)
-include(CompileWarnings)
-include(AddTest)
-include(LinkMacOSGUI)
-
-find_package( OpenCV REQUIRED )
-
-file(GLOB
-    cscore_native_src src/main/native/cpp/*.cpp)
-file(GLOB cscore_linux_src src/main/native/linux/*.cpp)
-file(GLOB cscore_osx_src src/main/native/osx/*.cpp)
-file(GLOB cscore_windows_src src/main/native/windows/*.cpp)
-
-add_library(cscore ${cscore_native_src})
-set_target_properties(cscore PROPERTIES DEBUG_POSTFIX "d")
-
-if(NOT MSVC)
-    if (APPLE)
-        target_sources(cscore PRIVATE ${cscore_osx_src})
-    else()
-        target_sources(cscore PRIVATE ${cscore_linux_src})
-    endif()
-else()
-    target_sources(cscore PRIVATE ${cscore_windows_src})
-    target_compile_definitions(cscore PUBLIC -DNOMINMAX)
-    target_compile_definitions(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
-endif()
-
-target_include_directories(cscore PUBLIC
-                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-                            $<INSTALL_INTERFACE:${include_dest}/cscore>)
-target_include_directories(cscore PRIVATE src/main/native/cpp)
-wpilib_target_warnings(cscore)
-target_link_libraries(cscore PUBLIC wpiutil ${OpenCV_LIBS})
-
-set_property(TARGET cscore PROPERTY FOLDER "libraries")
-
-install(TARGETS cscore EXPORT cscore DESTINATION "${main_lib_dest}")
-install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")
-
-if (WITH_FLAT_INSTALL)
-    set (cscore_config_dir ${wpilib_dest})
-else()
-    set (cscore_config_dir share/cscore)
-endif()
-
-configure_file(cscore-config.cmake.in ${WPILIB_BINARY_DIR}/cscore-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/cscore-config.cmake DESTINATION ${cscore_config_dir})
-install(EXPORT cscore DESTINATION ${cscore_config_dir})
-
-SUBDIR_LIST(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
-foreach(example ${cscore_examples})
-    file(GLOB cscore_example_src examples/${example}/*.cpp)
-    unset(add_libs)
-    if(${example} STREQUAL "usbviewer")
-        if(TARGET wpigui)
-            set(add_libs wpigui)
-        else()
-            unset(cscore_example_src)
-        endif()
-    endif()
-    if(cscore_example_src)
-        add_executable(cscore_${example} ${cscore_example_src})
-        wpilib_target_warnings(cscore_${example})
-
-        if (${example} STREQUAL "usbviewer")
-            wpilib_link_macos_gui(cscore_${example})
-        endif()
-
-        target_link_libraries(cscore_${example} cscore ${add_libs})
-        set_property(TARGET cscore_${example} PROPERTY FOLDER "examples")
-    endif()
-endforeach()
-
-# Java bindings
-if (WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
-    include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
-
-    #find java files, copy them locally
-
-    if("${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
-    endif()
-
-    find_file(OPENCV_JAR_FILE NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/share/java NO_DEFAULT_PATH)
-    find_file(OPENCV_JNI_FILE NAMES libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.so
-                                    libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dylib
-                                    opencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
-                                    PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/bin/Release ${OpenCV_INSTALL_PATH}/bin/Debug ${OpenCV_INSTALL_PATH}/lib ${OpenCV_INSTALL_PATH}/lib/jni NO_DEFAULT_PATH)
-
-    file(GLOB
-        cscore_jni_src src/main/native/cpp/jni/CameraServerJNI.cpp)
-
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-    set(CMAKE_JNI_TARGET true)
-
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-        add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore)
-    else()
-        add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore GENERATE_NATIVE_HEADERS cscore_jni_headers)
-    endif()
-
-    get_property(CSCORE_JAR_FILE TARGET cscore_jar PROPERTY JAR_FILE)
-    install(FILES ${CSCORE_JAR_FILE} DESTINATION "${java_lib_dest}")
-    install(FILES ${OPENCV_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    if (MSVC)
-        install(FILES ${OPENCV_JNI_FILE} DESTINATION "${jni_lib_dest}")
-
-        foreach(cvFile ${OpenCV_LIBS})
-            find_file(${cvFile}Loc NAMES ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
-                              PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/bin/Release ${OpenCV_INSTALL_PATH}/bin/Debug ${OpenCV_INSTALL_PATH}/lib NO_DEFAULT_PATH)
-            install(FILES ${${cvFile}Loc} DESTINATION "${jni_lib_dest}")
-        endforeach()
-    endif()
-
-    set_property(TARGET cscore_jar PROPERTY FOLDER "java")
-
-    add_library(cscorejni ${cscore_jni_src})
-    wpilib_target_warnings(cscorejni)
-    target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})
-
-    set_property(TARGET cscorejni PROPERTY FOLDER "libraries")
-
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        target_include_directories(cscorejni PRIVATE ${JNI_INCLUDE_DIRS})
-        target_include_directories(cscorejni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    else()
-        target_link_libraries(cscorejni PRIVATE cscore_jni_headers)
-    endif()
-    add_dependencies(cscorejni cscore_jar)
-
-    if (MSVC)
-        install(TARGETS cscorejni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-    endif()
-
-    install(TARGETS cscorejni EXPORT cscorejni DESTINATION "${main_lib_dest}")
-
-endif()
-
-if (WITH_TESTS)
-    wpilib_add_test(cscore src/test/native/cpp)
-    target_link_libraries(cscore_test cscore gmock)
-endif()

cscore/build.gradle

@@ -1,237 +0,0 @@
-import org.gradle.internal.os.OperatingSystem
-
-ext {
-    nativeName = 'cscore'
-    devMain = 'edu.wpi.cscore.DevMain'
-}
-
-// Removed because having the objective-cpp plugin added breaks
-// embedded tools and its toolchain check. It causes an obj-cpp
-// source set to be added to all binaries, even cross binaries
-// with no support.
-// if (OperatingSystem.current().isMacOsX()) {
-//     apply plugin: 'objective-cpp'
-// }
-
-apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-
-model {
-    components {
-        cscoreJNICvStatic(JniNativeLibrarySpec) {
-            baseName = 'cscorejnicvstatic'
-
-            enableCheckTask true
-            javaCompileTasks << compileJava
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
-
-            sources {
-                cpp {
-                    source {
-                        srcDirs 'src/main/native/cpp'
-                        include '**/jni/*.cpp'
-                    }
-                    exportedHeaders {
-                        srcDir 'src/main/native/include'
-                        include '**/*.h'
-                    }
-
-                }
-            }
-            binaries.all {
-                if (it instanceof StaticLibraryBinarySpec) {
-                    it.buildable = false
-                    return
-                }
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-
-                if (it.targetPlatform.operatingSystem.linux) {
-                    it.linker.args '-Wl,--version-script=' + file('src/main/native/LinuxSymbolScript.txt')
-                } else if (it.targetPlatform.operatingSystem.macOsX) {
-                    it.linker.args '-exported_symbols_list'
-                    it.linker.args file('src/main/native/MacSymbolScript.txt').toString()
-                }
-            }
-        }
-    }
-}
-
-
-ext {
-    sharedCvConfigs = [cscore    : [],
-        cscoreBase: [],
-        cscoreDev : [],
-        cscoreTest: [],
-        cscoreJNIShared: []]
-    staticCvConfigs = [cscoreJNI: [],
-        cscoreJNICvStatic: []]
-    useJava = true
-    useCpp = true
-    cvStaticBuild = true
-    splitSetup = {
-        if (it.targetPlatform.operatingSystem.isMacOsX()) {
-            it.sources {
-                // macObjCpp(ObjectiveCppSourceSet) {
-                //     source {
-                //         srcDirs = ['src/main/native/objcpp']
-                //         include '**/*.mm'
-                //     }
-                //     exportedHeaders {
-                //         srcDirs 'src/main/native/include'
-                //         include '**/*.h'
-                //     }
-                // }
-                cscoreMacCpp(CppSourceSet) {
-                    source {
-                        srcDirs 'src/main/native/osx'
-                        include '**/*.cpp'
-                    }
-                    exportedHeaders {
-                        srcDirs 'src/main/native/include', 'src/main/native/cpp'
-                        include '**/*.h'
-                    }
-                }
-            }
-        } else if (it.targetPlatform.operatingSystem.isLinux()) {
-            it.sources {
-                cscoreLinuxCpp(CppSourceSet) {
-                    source {
-                        srcDirs 'src/main/native/linux'
-                        include '**/*.cpp'
-                    }
-                    exportedHeaders {
-                        srcDirs 'src/main/native/include', 'src/main/native/cpp'
-                        include '**/*.h'
-                    }
-                }
-            }
-        } else if (it.targetPlatform.operatingSystem.isWindows()) {
-            it.sources {
-                cscoreWindowsCpp(CppSourceSet) {
-                    source {
-                        srcDirs 'src/main/native/windows'
-                        include '**/*.cpp'
-                    }
-                    exportedHeaders {
-                        srcDirs 'src/main/native/include', 'src/main/native/cpp'
-                        include '**/*.h'
-                    }
-                }
-            }
-        }
-    }
-}
-
-def examplesMap = [:];
-
-File examplesTree = file("$projectDir/examples")
-examplesTree.list(new FilenameFilter() {
-            @Override
-            public boolean accept(File current, String name) {
-                return new File(current, name).isDirectory();
-            }
-        }).each {
-            sharedCvConfigs.put(it, [])
-            examplesMap.put(it, [])
-        }
-
-apply from: "${rootDir}/shared/opencv.gradle"
-
-Action<List<String>> symbolFilter = { symbols ->
-    symbols.removeIf({ !it.startsWith('CS_') })
-} as Action<List<String>>;
-
-nativeUtils.exportsConfigs {
-    cscore {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
-        x64ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
-    }
-    cscoreJNI {
-        x86SymbolFilter = symbolFilter
-        x64SymbolFilter = symbolFilter
-    }
-    cscoreJNICvStatic {
-        x86SymbolFilter = symbolFilter
-        x64SymbolFilter = symbolFilter
-    }
-}
-
-model {
-    components {
-        examplesMap.each { key, value ->
-            if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
-                    "${key}"(NativeExecutableSpec) {
-                        targetBuildTypes 'debug'
-                        binaries.all {
-                            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                            lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                            lib library: 'cscore', linkage: 'shared'
-                            nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                            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
-                            }
-                            if (it.targetPlatform.operatingSystem.isWindows()) {
-                                it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
-                            } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
-                                it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
-                            } else {
-                                it.linker.args << '-lX11'
-                            }
-                        }
-                        sources {
-                            cpp {
-                                source {
-                                    srcDirs 'examples/' + "${key}"
-                                    include '**/*.cpp'
-                                }
-                            }
-                        }
-                    }
-                }
-            } else {
-                "${key}"(NativeExecutableSpec) {
-                    targetBuildTypes 'debug'
-                    binaries.all {
-                        lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                        lib library: 'cscore', linkage: 'shared'
-                    }
-                    sources {
-                        cpp {
-                            source {
-                                srcDirs 'examples/' + "${key}"
-                                include '**/*.cpp'
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

cscore/cscore-config.cmake.in

@@ -1,7 +0,0 @@
-include(CMakeFindDependencyMacro)
-@FILENAME_DEP_REPLACE@
-@WPIUTIL_DEP_REPLACE@
-find_dependency(OpenCV)
-
-@FILENAME_DEP_REPLACE@
-include(${SELF_DIR}/cscore.cmake)

cscore/examples/enum_usb/enum_usb.cpp

@@ -1,78 +0,0 @@
-// 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 <cstdio>
-
-#include <fmt/format.h>
-
-#include "cscore.h"
-
-int main() {
-  CS_Status status = 0;
-
-  for (const auto& caminfo : cs::EnumerateUsbCameras(&status)) {
-    fmt::print("{}: {} ({})\n", caminfo.dev, caminfo.path, caminfo.name);
-    if (!caminfo.otherPaths.empty()) {
-      std::puts("Other device paths:");
-      for (auto&& path : caminfo.otherPaths) {
-        fmt::print("  {}\n", path);
-      }
-    }
-
-    cs::UsbCamera camera{"usbcam", caminfo.dev};
-
-    std::puts("Properties:");
-    for (const auto& prop : camera.EnumerateProperties()) {
-      fmt::print("  {}", prop.GetName());
-      switch (prop.GetKind()) {
-        case cs::VideoProperty::kBoolean:
-          fmt::print(" (bool): value={} default={}", prop.Get(),
-                     prop.GetDefault());
-          break;
-        case cs::VideoProperty::kInteger:
-          fmt::print(" (int): value={} min={} max={} step={} default={}",
-                     prop.Get(), prop.GetMin(), prop.GetMax(), prop.GetStep(),
-                     prop.GetDefault());
-          break;
-        case cs::VideoProperty::kString:
-          fmt::print(" (string): {}", prop.GetString());
-          break;
-        case cs::VideoProperty::kEnum: {
-          fmt::print(" (enum): value={}", prop.Get());
-          auto choices = prop.GetChoices();
-          for (size_t i = 0; i < choices.size(); ++i) {
-            if (!choices[i].empty()) {
-              fmt::print("\n    {}: {}", i, choices[i]);
-            }
-          }
-          break;
-        }
-        default:
-          break;
-      }
-      std::fputc('\n', stdout);
-    }
-
-    std::puts("Video Modes:");
-    for (const auto& mode : camera.EnumerateVideoModes()) {
-      const char* pixelFormat;
-      switch (mode.pixelFormat) {
-        case cs::VideoMode::kMJPEG:
-          pixelFormat = "MJPEG";
-          break;
-        case cs::VideoMode::kYUYV:
-          pixelFormat = "YUYV";
-          break;
-        case cs::VideoMode::kRGB565:
-          pixelFormat = "RGB565";
-          break;
-        default:
-          pixelFormat = "Unknown";
-          break;
-      }
-      fmt::print("  PixelFormat:{} Width:{} Height:{} FPS:{}\n", pixelFormat,
-                 mode.width, mode.height, mode.fps);
-    }
-  }
-}

cscore/examples/httpcvstream/httpcvstream.cpp

@@ -1,35 +0,0 @@
-// 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 <cstdio>
-
-#include <fmt/core.h>
-#include <opencv2/core/core.hpp>
-
-#include "cscore.h"
-#include "cscore_cv.h"
-
-int main() {
-  cs::HttpCamera camera{"httpcam", "http://localhost:8081/?action=stream"};
-  camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
-  cs::CvSink cvsink{"cvsink"};
-  cvsink.SetSource(camera);
-  cs::CvSource cvsource{"cvsource", cs::VideoMode::kMJPEG, 320, 240, 30};
-  cs::MjpegServer cvMjpegServer{"cvhttpserver", 8083};
-  cvMjpegServer.SetSource(cvsource);
-
-  cv::Mat test;
-  cv::Mat flip;
-  for (;;) {
-    uint64_t time = cvsink.GrabFrame(test);
-    if (time == 0) {
-      fmt::print("error: {}\n", cvsink.GetError());
-      continue;
-    }
-    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
-               test.size().height);
-    cv::flip(test, flip, 0);
-    cvsource.PutFrame(flip);
-  }
-}

cscore/examples/settings/settings.cpp

@@ -1,105 +0,0 @@
-// 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 <chrono>
-#include <cstdio>
-#include <thread>
-
-#include <fmt/format.h>
-#include <wpi/StringExtras.h>
-
-#include "cscore.h"
-
-int main(int argc, char** argv) {
-  if (argc < 2) {
-    std::fputs("Usage: settings camera [prop val] ... -- [prop val]...\n",
-               stderr);
-    std::fputs("  Example: settings 1 brightness 30 raw_contrast 10\n", stderr);
-    return 1;
-  }
-
-  int id;
-  if (auto v = wpi::parse_integer<int>(argv[1], 10)) {
-    id = v.value();
-  } else {
-    std::fputs("Expected number for camera\n", stderr);
-    return 2;
-  }
-
-  cs::UsbCamera camera{"usbcam", id};
-
-  // Set prior to connect
-  int arg = 2;
-  std::string_view propName;
-  for (; arg < argc && std::string_view{argv[arg]} != "--"; ++arg) {
-    if (propName.empty()) {
-      propName = argv[arg];
-    } else {
-      std::string_view propVal{argv[arg]};
-      if (auto v = wpi::parse_integer<int>(propVal, 10)) {
-        camera.GetProperty(propName).Set(v.value());
-      } else {
-        camera.GetProperty(propName).SetString(propVal);
-      }
-      propName = {};
-    }
-  }
-  if (arg < argc && std::string_view{argv[arg]} == "--") {
-    ++arg;
-  }
-
-  // Wait to connect
-  while (!camera.IsConnected()) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(10));
-  }
-
-  // Set rest
-  propName = {};
-  for (; arg < argc; ++arg) {
-    if (propName.empty()) {
-      propName = argv[arg];
-    } else {
-      std::string_view propVal{argv[arg]};
-      if (auto v = wpi::parse_integer<int>(propVal, 10)) {
-        camera.GetProperty(propName).Set(v.value());
-      } else {
-        camera.GetProperty(propName).SetString(propVal);
-      }
-      propName = {};
-    }
-  }
-
-  // Print settings
-  std::puts("Properties:");
-  for (const auto& prop : camera.EnumerateProperties()) {
-    fmt::print("  {}", prop.GetName());
-    switch (prop.GetKind()) {
-      case cs::VideoProperty::kBoolean:
-        fmt::print(" (bool): value={} default={}", prop.Get(),
-                   prop.GetDefault());
-        break;
-      case cs::VideoProperty::kInteger:
-        fmt::print(" (int): value={} min={} max={} step={} default={}",
-                   prop.Get(), prop.GetMin(), prop.GetMax(), prop.GetStep(),
-                   prop.GetDefault());
-        break;
-      case cs::VideoProperty::kString:
-        fmt::print(" (string): {}", prop.GetString());
-        break;
-      case cs::VideoProperty::kEnum: {
-        fmt::print(" (enum): value={}", prop.Get());
-        auto choices = prop.GetChoices();
-        for (size_t i = 0; i < choices.size(); ++i) {
-          if (!choices[i].empty()) {
-            fmt::print("\n    {}: {}", i, choices[i]);
-          }
-        }
-        break;
-      }
-      default:
-        break;
-    }
-    std::fputc('\n', stdout);
-  }
-}