[build] Fix MSVC runtime archiver to grab default runtime (#4478)

* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL

* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>

.clang-tidy

@@ -53,7 +53,6 @@ Checks:
   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,
@@ -70,6 +69,3 @@ Checks:
   modernize-use-using,
   readability-braces-around-statements'
 FormatStyle: file
-CheckOptions:
-  - key: bugprone-dangling-handle
-    value: 'wpi::StringRef;wpi::Twine'

.github/workflows/cmake.yml

@@ -2,6 +2,10 @@ name: CMake
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     strategy:
@@ -10,56 +14,43 @@ jobs:
         include:
           - os: ubuntu-latest
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2022-20.04
+            container: wpilib/roborio-cross-ubuntu:2023-22.04
             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/checkout@v3
+
+      - name: Install dependencies (Linux)
+        if: runner.os == 'Linux'
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3
+
+      - name: Install opencv (macOS)
+        run: brew install opencv
+        if: runner.os == 'macOS'
+
+      - name: Set up Python 3.8 (macOS)
+        if: runner.os == 'macOS'
         uses: actions/setup-python@v2
         with:
           python-version: 3.8
+
       - name: Install jinja
         run: python -m pip install jinja2
+
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
+
       - name: build
         working-directory: build
-        run: cmake --build . -j$(nproc)
+        run: cmake --build . --parallel $(nproc)
+
       - name: test
         working-directory: build
         run: ctest --output-on-failure
-
-  build-vcpkg:
-    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/comment-command.yml

@@ -0,0 +1,57 @@
+name: Comment Commands
+on:
+  issue_comment:
+    types: [ created ]
+
+jobs:
+  wpiformat:
+    if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/wpiformat')
+    runs-on: ubuntu-latest
+    steps:
+      - name: React Rocket
+        uses: actions/github-script@v4
+        with:
+          script: |
+            const {owner, repo} = context.issue
+            github.reactions.createForIssueComment({
+              owner,
+              repo,
+              comment_id: context.payload.comment.id,
+              content: "rocket",
+            });
+      - uses: actions/checkout@v3
+        with:
+          token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Checkout PR
+        run: |
+          gh pr checkout $NUMBER
+        env:
+          GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
+          NUMBER: ${{ github.event.issue.number }}
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format
+        run: |
+          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+          sudo sh -c "echo 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo apt-get update -q
+          sudo apt-get install -y clang-format-14
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Run wpiformat
+        run: wpiformat -clang 14
+      - name: Commit
+        run: |
+          # Set credentials
+          git config user.name "github-actions[bot]"
+          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
+          # Commit
+          git commit -am "wpiformat"
+          git push

.github/workflows/documentation.yml

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

.github/workflows/gazebo.yml

@@ -2,13 +2,17 @@ name: Gazebo
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: "Build"
     runs-on: ubuntu-latest
-    container: wpilib/gazebo-ubuntu:18.04
+    container: wpilib/gazebo-ubuntu:22.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Build with Gradle

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

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

.github/workflows/gradle.yml

@@ -2,36 +2,43 @@ name: Gradle
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2022-18.04
+          - container: wpilib/roborio-cross-ubuntu:2023-22.04
             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
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:22.04
             artifact-name: Linux
-            build-options: "-Dorg.gradle.jvmargs=-Xmx2g"
+            build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-latest
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v2
         with:
           name: ${{ matrix.artifact-name }}
@@ -44,19 +51,33 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2019
-            artifact-name: Win64
+          - os: windows-2022
+            artifact-name: Win64Debug
             architecture: x64
-          - os: windows-2019
-            artifact-name: Win32
-            architecture: x86
+            task: "build"
+            build-options: "-PciDebugOnly --max-workers 1"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly --max-workers 1"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
           - os: macOS-11
             artifact-name: macOS
             architecture: x64
+            build-options: "-Pbuildalldesktop"
+            task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32
+            architecture: x86
+            task: ":ntcoreffi:build"
+            outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
@@ -81,23 +102,29 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
         if: startsWith(github.ref, 'refs/tags/v')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
       - name: Build with Gradle
-        run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ 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
+          path: ${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
@@ -109,7 +136,10 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v2
         with:
           name: Documentation
@@ -120,7 +150,7 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v2

.github/workflows/lint-format.yml

@@ -6,15 +6,19 @@ on:
     branches-ignore:
       - main
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
@@ -24,13 +28,14 @@ jobs:
           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"
+          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+          sudo sh -c "echo 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
           sudo apt-get update -q
-          sudo apt-get install -y clang-format-12
+          sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
-        run: wpiformat -clang 12
+        run: wpiformat -clang 14
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -44,11 +49,12 @@ jobs:
   tidy:
     name: "clang-tidy"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2022-20.04
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
@@ -58,9 +64,10 @@ jobs:
           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"
+          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+          sudo sh -c "echo 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
           sudo apt-get update -q
-          sudo apt-get install -y clang-tidy-12 clang-format-12
+          sudo apt-get install -y clang-tidy-14 clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
@@ -68,15 +75,19 @@ jobs:
       - 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
+        run: wpiformat -clang 14 -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
+    container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
       - name: Run Java format
         run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
       - name: Check output
@@ -88,7 +99,7 @@ jobs:
     name: "Documentation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1

.github/workflows/sanitizers.yml

@@ -2,6 +2,10 @@ name: Sanitizers
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     strategy:
@@ -11,39 +15,34 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: "-E 'wpiutil|ntcore|wpilibc'"
+            ctest-flags: "-E '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'"
+            ctest-flags: "-E '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
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
+
       - 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
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3
+
       - name: Install jinja
         run: python -m pip install jinja2
+
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.cmake-flags }} ..
+
       - name: build
         working-directory: build
-        run: cmake --build . -j$(nproc)
+        run: cmake --build . --parallel $(nproc)
+
       - name: test
         working-directory: build
         run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.github/workflows/upstream-utils.yml

@@ -0,0 +1,63 @@
+name: Upstream utils
+
+on:
+  pull_request:
+  push:
+    branches-ignore:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  update:
+    name: "Update"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.9
+      - name: Configure committer identity
+        run: |
+          git config --global user.email "you@example.com"
+          git config --global user.name "Your Name"
+      - name: Run update_drake.py
+        run: |
+          cd upstream_utils
+          ./update_drake.py
+      - name: Run update_eigen.py
+        run: |
+          cd upstream_utils
+          ./update_eigen.py
+      - name: Run update_fmt.py
+        run: |
+          cd upstream_utils
+          ./update_fmt.py
+      - name: Run update_libuv.py
+        run: |
+          cd upstream_utils
+          ./update_libuv.py
+      - name: Run update_llvm.py
+        run: |
+          cd upstream_utils
+          ./update_llvm.py
+      - name: Run update_stack_walker.py
+        run: |
+          cd upstream_utils
+          ./update_stack_walker.py
+      - name: Run update_memory.py
+        run: |
+          cd upstream_utils
+          ./update_memory.py
+      - name: Add untracked files to index so they count as changes
+        run: git add -A
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD

.styleguide

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

CMakeLists.txt

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

CONTRIBUTING.md

@@ -37,7 +37,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## Coding Guidelines
 
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 10.0 with wpiformat.
+WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 14.0 with wpiformat.
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 

MavenArtifacts.md

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

OtherVersions.md

@@ -6,9 +6,9 @@ This article contains instructions on building projects using a development buil
 
 ## 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).
+Development builds are the per-commit build hosted every time 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.
+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. It is also necessary to use a 2023 GradleRIO version, ie `2023.0.0-alpha-1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -23,13 +23,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
+  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2022.+'
-wpi.versions.wpimathVersion = '2022.+'
+wpi.versions.wpilibVersion = '2023.+'
+wpi.versions.wpimathVersion = '2023.+'
 ```
 
 C++
@@ -37,13 +37,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
+  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2022.+'
-wpi.versions.wpimathVersion = '2022.+'
+wpi.versions.wpilibVersion = '2023.+'
+wpi.versions.wpimathVersion = '2023.+'
 ```
 
 ## Local Build
@@ -54,7 +54,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
+  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false
@@ -68,7 +68,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2022.1.1"
+  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false

README.md

@@ -16,7 +16,7 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
     - [Using Development Builds](#using-development-builds)
     - [Custom toolchain location](#custom-toolchain-location)
     - [Gazebo simulation](#gazebo-simulation)
-    - [Formatting/linting with wpiformat](#formattinglinting-with-wpiformat)
+    - [Formatting/Linting](#formattinglinting)
     - [CMake](#cmake)
   - [Publishing](#publishing)
   - [Structure and Organization](#structure-and-organization)
@@ -26,6 +26,15 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
 
 The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
 
+# Quick Start
+
+Below is a list of instructions that guide you through cloning, building, publishing and using local allwpilib binaries in a robot project. This quick start is not intended as a replacement for the information further listed in this document.
+
+1. Clone the repository with `git clone https://github.com/wpilibsuite/allwpilib.git`
+2. Build the repository with `./gradlew build` or `./gradlew build --build-cache` if you have an internet connection
+3. Publish the artifacts locally by running `./gradlew publish`
+4. [Update your](OtherVersions.md) `build.gradle` [to use the artifacts](OtherVersions.md)
+
 # Building WPILib
 
 Using Gradle makes building WPILib very straightforward. It only has a few dependencies on outside tools, such as the ARM cross compiler for creating roboRIO binaries.
@@ -38,14 +47,16 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
     - On Windows, install the JDK 11 .msi from the link above
     - On macOS, install the JDK 11 .pkg from the link above
 - C++ compiler
-    - On Linux, install GCC 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 Linux, install GCC 11 or greater
+    - On Windows, install [Visual Studio Community 2022](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
+    - Run `./gradlew installArm32Toolchain` after cloning this repository
+
+On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
 ## Setup
 
@@ -79,10 +90,18 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 
 `./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests.
 
-`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibOldCommands`, `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
+`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
 
 `./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
 
+### Build Cache
+
+Run with `--build-cache` on the command-line to use the shared [build cache](https://docs.gradle.org/current/userguide/build_cache.html) artifacts generated by the continuous integration server. Example:
+
+```bash
+./gradlew build --build-cache
+```
+
 ### Using Development Builds
 
 Please read the documentation available [here](OtherVersions.md)
@@ -149,7 +168,7 @@ The Simulation directory contains extra simulation tools and libraries, such as
 
 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 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](https://github.com/wpilibsuite/ni-libraries) project.
 
 The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
 

ThirdPartyNotices.txt

@@ -17,44 +17,34 @@ 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
+LLVM                  wpiutil/src/main/native/thirdparty/llvm
+                      wpiutil/src/test/native/cpp/llvm/
+JSON for Modern C++   wpiutil/src/main/native/thirdparty/json
                       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-*
+libuv                 wpinet/src/main/native/thirdparty/libuv/
+fmtlib                wpiutil/src/main/native/thirdparty/fmtlib/
+sigslot               wpiutil/src/main/native/thirdparty/sigslot
+tcpsockets            wpinet/src/main/native/thirdparty/tcpsockets
+MPack                 wpiutil/src/main/native/thirdparty/mpack
+Bootstrap             wpinet/src/main/native/resources/bootstrap-*
+CoreUI                wpinet/src/main/native/resources/coreui-*
+Feather Icons         wpinet/src/main/native/resources/feather-*
+jQuery                wpinet/src/main/native/resources/jquery-*
+popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
-Eigen                 wpimath/src/main/native/eigeninclude/
-                      wpimath/src/main/native/include/unsupported/
+Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
 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/
+GHC filesystem        wpiutil/src/main/native/thirdparty/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
-
+Drake                 wpimath/src/main/native/thirdparty/drake/
+                      wpimath/src/test/native/cpp/drake/
+                      wpimath/src/test/native/include/drake/
+V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 
 ==============================================================================
 Google Test License
@@ -90,12 +80,247 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 ==============================================================================
-LLVM Release License
+The LLVM Project is under the Apache License v2.0 with LLVM Exceptions:
+==============================================================================
+
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+
+In addition, if you combine or link compiled forms of this Software with
+software that is licensed under the GPLv2 ("Combined Software") and if a
+court of competent jurisdiction determines that the patent provision (Section
+3), the indemnity provision (Section 9) or other Section of the License
+conflicts with the conditions of the GPLv2, you may retroactively and
+prospectively choose to deem waived or otherwise exclude such Section(s) of
+the License, but only in their entirety and only with respect to the Combined
+Software.
+
+==============================================================================
+Software from third parties included in the LLVM Project:
+==============================================================================
+The LLVM Project contains third party software which is under different license
+terms. All such code will be identified clearly using at least one of two
+mechanisms:
+1) It will be in a separate directory tree with its own `LICENSE.txt` or
+   `LICENSE` file at the top containing the specific license and restrictions
+   which apply to that software, or
+2) It will contain specific license and restriction terms at the top of every
+   file.
+
+==============================================================================
+Legacy LLVM License (https://llvm.org/docs/DeveloperPolicy.html#legacy):
 ==============================================================================
 University of Illinois/NCSA
 Open Source License
 
-Copyright (c) 2003-2017 University of Illinois at Urbana-Champaign.
+Copyright (c) 2003-2019 University of Illinois at Urbana-Champaign.
 All rights reserved.
 
 Developed by:
@@ -969,3 +1194,33 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
+
+==================
+V8 export-template
+==================
+Copyright 2014, the V8 project authors. All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+    * Neither the name of Google Inc. nor the names of its
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

azure-pipelines-testbench.yaml

@@ -15,7 +15,7 @@ stages:
           vmImage: 'ubuntu-latest'
 
         container:
-          image: wpilib/roborio-cross-ubuntu:2022-18.04
+          image: wpilib/roborio-cross-ubuntu:2023-22.04
 
         timeoutInMinutes: 0
 

build.gradle

@@ -2,7 +2,9 @@ import edu.wpi.first.toolchain.*
 
 buildscript {
     repositories {
-        mavenCentral()
+        maven {
+            url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+        }
     }
     dependencies {
         classpath 'com.hubspot.jinjava:jinjava:2.6.0'
@@ -20,8 +22,8 @@ plugins {
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '2.0.2' apply false
     id 'com.github.johnrengelman.shadow' version '7.1.2' apply false
-    id 'com.diffplug.spotless' version '6.1.2' apply false
-    id 'com.github.spotbugs' version '5.0.4' apply false
+    id 'com.diffplug.spotless' version '6.4.2' apply false
+    id 'com.github.spotbugs' version '5.0.8' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -29,7 +31,9 @@ wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
 
 allprojects {
     repositories {
-        mavenCentral()
+        maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
     }
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)
@@ -83,7 +87,12 @@ task copyAllOutputs(type: Copy) {
 build.dependsOn copyAllOutputs
 copyAllOutputs.dependsOn outputVersions
 
+def copyReleaseOnly = project.hasProperty('ciReleaseOnly')
+
 ext.addTaskToCopyAllOutputs = { task ->
+    if (copyReleaseOnly && task.name.contains('debug')) {
+        return
+    }
     copyAllOutputs.dependsOn task
     copyAllOutputs.inputs.file task.archivePath
     copyAllOutputs.from task.archivePath
@@ -99,6 +108,11 @@ subprojects {
         subproj.apply plugin: MultiBuilds
     }
 
+    plugins.withType(JavaPlugin) {
+        sourceCompatibility = 11
+        targetCompatibility = 11
+    }
+
     apply from: "${rootDir}/shared/java/javastyle.gradle"
 
     // Disables doclint in java 8.
@@ -147,5 +161,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '7.3.3'
+    gradleVersion = '7.5.1'
 }

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2022.7.1"
+    implementation "edu.wpi.first:native-utils:2023.2.7"
 }

cameraserver/build.gradle

@@ -11,9 +11,11 @@ apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
 
 dependencies {
     implementation project(':wpiutil')
+    implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
     devImplementation project(':wpiutil')
+    devImplementation project(':wpinet')
     devImplementation project(':ntcore')
     devImplementation project(':cscore')
 }
@@ -32,19 +34,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 nativeUtils.exportsConfigs {
     cameraserver {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
         x64ExcludeSymbols = [
             '_CT??_R0?AV_System_error',
             '_CT??_R0?AVexception',
@@ -68,8 +57,9 @@ model {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {
                 return
             }
-            lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+            project(':ntcore').addNtcoreDependency(it, 'shared')
             lib project: ':cscore', library: 'cscore', linkage: 'shared'
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }

cameraserver/multiCameraServer/build.gradle

@@ -23,13 +23,16 @@ mainClassName = 'edu.wpi.Main'
 apply plugin: 'com.github.johnrengelman.shadow'
 
 repositories {
-    mavenCentral()
+    maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
 }
 
 dependencies {
     implementation 'com.google.code.gson:gson:2.8.9'
 
     implementation project(':wpiutil')
+    implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
@@ -38,7 +41,6 @@ dependencies {
 model {
     components {
         multiCameraServerCpp(NativeExecutableSpec) {
-            targetBuildTypes 'release'
             sources {
                 cpp {
                     source {
@@ -53,8 +55,9 @@ model {
             }
             binaries.all { binary ->
                 lib project: ':cameraserver', library: 'cameraserver', linkage: 'static'
-                lib project: ':ntcore', library: 'ntcore', linkage: 'static'
+                project(':ntcore').addNtcoreDependency(binary, 'static')
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
             }
         }

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

@@ -175,7 +175,8 @@ public final class Main {
       ntinst.startServer();
     } else {
       System.out.println("Setting up NetworkTables client for team " + team);
-      ntinst.startClientTeam(team);
+      ntinst.setServerTeam(team);
+      ntinst.startClient4();
     }
 
     // start cameras

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

@@ -5,6 +5,7 @@
 #include <cstdio>
 #include <string>
 #include <string_view>
+#include <thread>
 #include <vector>
 
 #include <networktables/NetworkTableInstance.h>
@@ -182,7 +183,8 @@ int main(int argc, char* argv[]) {
     ntinst.StartServer();
   } else {
     fmt::print("Setting up NetworkTables client for team {}\n", team);
-    ntinst.StartClientTeam(team);
+    ntinst.StartClient4();
+    ntinst.SetServerTeam(team);
   }
 
   // start cameras

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

@@ -15,13 +15,18 @@ 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.BooleanEntry;
+import edu.wpi.first.networktables.BooleanPublisher;
+import edu.wpi.first.networktables.IntegerEntry;
+import edu.wpi.first.networktables.IntegerPublisher;
 import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.StringArrayPublisher;
+import edu.wpi.first.networktables.StringArrayTopic;
+import edu.wpi.first.networktables.StringEntry;
+import edu.wpi.first.networktables.StringPublisher;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -33,36 +38,172 @@ 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();
+  private static final class PropertyPublisher implements AutoCloseable {
+    @SuppressWarnings({"PMD.MissingBreakInSwitch", "PMD.ImplicitSwitchFallThrough", "fallthrough"})
+    PropertyPublisher(NetworkTable table, VideoEvent event) {
+      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;
+      }
+
+      try {
+        switch (event.propertyKind) {
+          case kBoolean:
+            m_booleanValueEntry = table.getBooleanTopic(name).getEntry(false);
+            m_booleanValueEntry.setDefault(event.value != 0);
+            break;
+          case kEnum:
+            m_choicesTopic = table.getStringArrayTopic(infoName + "/choices");
+            // fall through
+          case kInteger:
+            m_integerValueEntry = table.getIntegerTopic(name).getEntry(0);
+            m_minPublisher = table.getIntegerTopic(infoName + "/min").publish();
+            m_maxPublisher = table.getIntegerTopic(infoName + "/max").publish();
+            m_stepPublisher = table.getIntegerTopic(infoName + "/step").publish();
+            m_defaultPublisher = table.getIntegerTopic(infoName + "/default").publish();
+
+            m_integerValueEntry.setDefault(event.value);
+            m_minPublisher.set(CameraServerJNI.getPropertyMin(event.propertyHandle));
+            m_maxPublisher.set(CameraServerJNI.getPropertyMax(event.propertyHandle));
+            m_stepPublisher.set(CameraServerJNI.getPropertyStep(event.propertyHandle));
+            m_defaultPublisher.set(CameraServerJNI.getPropertyDefault(event.propertyHandle));
+            break;
+          case kString:
+            m_stringValueEntry = table.getStringTopic(name).getEntry("");
+            m_stringValueEntry.setDefault(event.valueStr);
+            break;
+          default:
+            break;
+        }
+      } catch (VideoException ignored) {
+        // ignore
+      }
     }
-    return server;
+
+    void update(VideoEvent event) {
+      switch (event.propertyKind) {
+        case kBoolean:
+          if (m_booleanValueEntry != null) {
+            m_booleanValueEntry.set(event.value != 0);
+          }
+          break;
+        case kInteger:
+        case kEnum:
+          if (m_integerValueEntry != null) {
+            m_integerValueEntry.set(event.value);
+          }
+          break;
+        case kString:
+          if (m_stringValueEntry != null) {
+            m_stringValueEntry.set(event.valueStr);
+          }
+          break;
+        default:
+          break;
+      }
+    }
+
+    @Override
+    public void close() throws Exception {
+      if (m_booleanValueEntry != null) {
+        m_booleanValueEntry.close();
+      }
+      if (m_integerValueEntry != null) {
+        m_integerValueEntry.close();
+      }
+      if (m_stringValueEntry != null) {
+        m_stringValueEntry.close();
+      }
+      if (m_minPublisher != null) {
+        m_minPublisher.close();
+      }
+      if (m_maxPublisher != null) {
+        m_maxPublisher.close();
+      }
+      if (m_stepPublisher != null) {
+        m_stepPublisher.close();
+      }
+      if (m_defaultPublisher != null) {
+        m_defaultPublisher.close();
+      }
+      if (m_choicesPublisher != null) {
+        m_choicesPublisher.close();
+      }
+    }
+
+    BooleanEntry m_booleanValueEntry;
+    IntegerEntry m_integerValueEntry;
+    StringEntry m_stringValueEntry;
+    IntegerPublisher m_minPublisher;
+    IntegerPublisher m_maxPublisher;
+    IntegerPublisher m_stepPublisher;
+    IntegerPublisher m_defaultPublisher;
+    StringArrayTopic m_choicesTopic;
+    StringArrayPublisher m_choicesPublisher;
+  }
+
+  private static final class SourcePublisher implements AutoCloseable {
+    SourcePublisher(NetworkTable table, int sourceHandle) {
+      this.m_table = table;
+      m_sourcePublisher = table.getStringTopic("source").publish();
+      m_descriptionPublisher = table.getStringTopic("description").publish();
+      m_connectedPublisher = table.getBooleanTopic("connected").publish();
+      m_streamsPublisher = table.getStringArrayTopic("streams").publish();
+      m_modeEntry = table.getStringTopic("mode").getEntry("");
+      m_modesPublisher = table.getStringArrayTopic("modes").publish();
+
+      m_sourcePublisher.set(makeSourceValue(sourceHandle));
+      m_descriptionPublisher.set(CameraServerJNI.getSourceDescription(sourceHandle));
+      m_connectedPublisher.set(CameraServerJNI.isSourceConnected(sourceHandle));
+      m_streamsPublisher.set(getSourceStreamValues(sourceHandle));
+
+      try {
+        VideoMode mode = CameraServerJNI.getSourceVideoMode(sourceHandle);
+        m_modeEntry.setDefault(videoModeToString(mode));
+        m_modesPublisher.set(getSourceModeValues(sourceHandle));
+      } catch (VideoException ignored) {
+        // Do nothing. Let the other event handlers update this if there is an error.
+      }
+    }
+
+    @Override
+    public void close() throws Exception {
+      m_sourcePublisher.close();
+      m_descriptionPublisher.close();
+      m_connectedPublisher.close();
+      m_streamsPublisher.close();
+      m_modeEntry.close();
+      m_modesPublisher.close();
+      for (PropertyPublisher pp : m_properties.values()) {
+        pp.close();
+      }
+    }
+
+    final NetworkTable m_table;
+    final StringPublisher m_sourcePublisher;
+    final StringPublisher m_descriptionPublisher;
+    final BooleanPublisher m_connectedPublisher;
+    final StringArrayPublisher m_streamsPublisher;
+    final StringEntry m_modeEntry;
+    final StringArrayPublisher m_modesPublisher;
+    final Map<Integer, PropertyPublisher> m_properties = new HashMap<>();
   }
 
   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 =
+  private static final Map<Integer, SourcePublisher> m_publishers =
       new HashMap<>(); // indexed by source handle
   // source handle indexed by sink handle
   private static final Map<Integer, Integer> m_fixedSources = new HashMap<>();
@@ -81,190 +222,132 @@ public final class CameraServer {
   // - "PropertyInfo/{Property}" - Property supporting information
 
   // Listener for video events
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.AvoidCatchingGenericException"})
   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.
+            synchronized (CameraServer.class) {
+              switch (event.kind) {
+                case kSourceCreated:
+                  {
+                    // Create subtable for the camera
+                    NetworkTable table = m_publishTable.getSubTable(event.name);
+                    m_publishers.put(
+                        event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
+                    break;
                   }
-                  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
+                case kSourceDestroyed:
+                  {
+                    SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
+                    if (publisher != null) {
+                      try {
+                        publisher.close();
+                      } catch (Exception e) {
+                        // ignore (nothing we can do about it)
+                      }
                     }
+                    break;
                   }
+                case kSourceConnected:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      // update the description too (as it may have changed)
+                      publisher.m_descriptionPublisher.set(
+                          CameraServerJNI.getSourceDescription(event.sourceHandle));
+                      publisher.m_connectedPublisher.set(true);
+                    }
+                    break;
+                  }
+                case kSourceDisconnected:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      publisher.m_connectedPublisher.set(false);
+                    }
+                    break;
+                  }
+                case kSourceVideoModesUpdated:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
+                    }
+                    break;
+                  }
+                case kSourceVideoModeChanged:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      publisher.m_modeEntry.set(videoModeToString(event.mode));
+                    }
+                    break;
+                  }
+                case kSourcePropertyCreated:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      publisher.m_properties.put(
+                          event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
+                    }
+                    break;
+                  }
+                case kSourcePropertyValueUpdated:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
+                      if (pp != null) {
+                        pp.update(event);
+                      }
+                    }
+                    break;
+                  }
+                case kSourcePropertyChoicesUpdated:
+                  {
+                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                    if (publisher != null) {
+                      PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
+                      if (pp != null && pp.m_choicesTopic != null) {
+                        try {
+                          String[] choices =
+                              CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+                          if (pp.m_choicesPublisher == null) {
+                            pp.m_choicesPublisher = pp.m_choicesTopic.publish();
+                          }
+                          pp.m_choicesPublisher.set(choices);
+                        } catch (VideoException ignored) {
+                          // ignore (just don't publish choices if we can't get them)
+                        }
+                      }
+                    }
+                    break;
+                  }
+                case kSinkSourceChanged:
+                case kSinkCreated:
+                case kSinkDestroyed:
+                case kNetworkInterfacesChanged:
+                  {
+                    m_addresses = CameraServerJNI.getNetworkInterfaces();
+                    updateStreamValues();
+                    break;
+                  }
+                default:
                   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")
+  /**
+   * Return URI of source with the given index.
+   *
+   * @param source Source index.
+   */
   private static String makeSourceValue(int source) {
     switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
       case kUsb:
@@ -285,12 +368,21 @@ public final class CameraServer {
     }
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Return URI of stream with the given address and port.
+   *
+   * @param address Stream IP address.
+   * @param port Stream remote port.
+   */
   private static String makeStreamValue(String address, int port) {
     return "mjpg:http://" + address + ":" + port + "/?action=stream";
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Return URI of sink stream with the given index.
+   *
+   * @param sink Sink index.
+   */
   private static synchronized String[] getSinkStreamValues(int sink) {
     // Ignore all but MjpegServer
     if (VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) != VideoSink.Kind.kMjpeg) {
@@ -320,7 +412,11 @@ public final class CameraServer {
     return values.toArray(new String[0]);
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Return list of stream source URIs for the given source index.
+   *
+   * @param source Source index.
+   */
   private static synchronized String[] getSourceStreamValues(int source) {
     // Ignore all but HttpCamera
     if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
@@ -355,7 +451,7 @@ public final class CameraServer {
     return values;
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /** Update list of stream URIs. */
   private static synchronized void updateStreamValues() {
     // Over all the sinks...
     for (VideoSink i : m_sinks.values()) {
@@ -369,8 +465,8 @@ public final class CameraServer {
       if (source == 0) {
         continue;
       }
-      NetworkTable table = m_tables.get(source);
-      if (table != null) {
+      SourcePublisher publisher = m_publishers.get(source);
+      if (publisher != null) {
         // Don't set stream values if this is a HttpCamera passthrough
         if (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))
             == VideoSource.Kind.kHttp) {
@@ -380,7 +476,7 @@ public final class CameraServer {
         // Set table value
         String[] values = getSinkStreamValues(sink);
         if (values.length > 0) {
-          table.getEntry("streams").setStringArray(values);
+          publisher.m_streamsPublisher.set(values);
         }
       }
     }
@@ -390,18 +486,18 @@ public final class CameraServer {
       int source = i.getHandle();
 
       // Get the source's subtable (if none exists, we're done)
-      NetworkTable table = m_tables.get(source);
-      if (table != null) {
+      SourcePublisher publisher = m_publishers.get(source);
+      if (publisher != null) {
         // Set table value
         String[] values = getSourceStreamValues(source);
         if (values.length > 0) {
-          table.getEntry("streams").setStringArray(values);
+          publisher.m_streamsPublisher.set(values);
         }
       }
     }
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /** Provide string description of pixel format. */
   private static String pixelFormatToString(PixelFormat pixelFormat) {
     switch (pixelFormat) {
       case kMJPEG:
@@ -419,9 +515,11 @@ public final class CameraServer {
     }
   }
 
-  /// Provide string description of video mode.
-  /// The returned string is "{width}x{height} {format} {fps} fps".
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Provide string description of video mode.
+   *
+   * <p>The returned string is "{width}x{height} {format} {fps} fps".
+   */
   private static String videoModeToString(VideoMode mode) {
     return mode.width
         + "x"
@@ -433,7 +531,11 @@ public final class CameraServer {
         + " fps";
   }
 
-  @SuppressWarnings("MissingJavadocMethod")
+  /**
+   * Get list of video modes for the given source handle.
+   *
+   * @param sourceHandle Source handle.
+   */
   private static String[] getSourceModeValues(int sourceHandle) {
     VideoMode[] modes = CameraServerJNI.enumerateSourceVideoModes(sourceHandle);
     String[] modeStrings = new String[modes.length];
@@ -443,63 +545,6 @@ public final class CameraServer {
     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() {}
 
   /**

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

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

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

@@ -8,8 +8,12 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <networktables/BooleanTopic.h>
+#include <networktables/IntegerTopic.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/StringArrayTopic.h>
+#include <networktables/StringTopic.h>
 #include <wpi/DenseMap.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
@@ -24,9 +28,42 @@ using namespace frc;
 static constexpr char const* kPublishName = "/CameraPublisher";
 
 namespace {
+
+struct Instance;
+
+struct PropertyPublisher {
+  PropertyPublisher(nt::NetworkTable& table, const cs::VideoEvent& event);
+
+  void Update(const cs::VideoEvent& event);
+
+  nt::BooleanEntry booleanValueEntry;
+  nt::IntegerEntry integerValueEntry;
+  nt::StringEntry stringValueEntry;
+  nt::IntegerPublisher minPublisher;
+  nt::IntegerPublisher maxPublisher;
+  nt::IntegerPublisher stepPublisher;
+  nt::IntegerPublisher defaultPublisher;
+  nt::StringArrayTopic choicesTopic;
+  nt::StringArrayPublisher choicesPublisher;
+};
+
+struct SourcePublisher {
+  SourcePublisher(Instance& inst, std::shared_ptr<nt::NetworkTable> table,
+                  CS_Source source);
+
+  std::shared_ptr<nt::NetworkTable> table;
+  nt::StringPublisher sourcePublisher;
+  nt::StringPublisher descriptionPublisher;
+  nt::BooleanPublisher connectedPublisher;
+  nt::StringArrayPublisher streamsPublisher;
+  nt::StringEntry modeEntry;
+  nt::StringArrayPublisher modesPublisher;
+  wpi::DenseMap<CS_Property, PropertyPublisher> properties;
+};
+
 struct Instance {
   Instance();
-  std::shared_ptr<nt::NetworkTable> GetSourceTable(CS_Source source);
+  SourcePublisher* GetPublisher(CS_Source source);
   std::vector<std::string> GetSinkStreamValues(CS_Sink sink);
   std::vector<std::string> GetSourceStreamValues(CS_Source source);
   void UpdateStreamValues();
@@ -37,7 +74,7 @@ struct Instance {
   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;
+  wpi::DenseMap<CS_Source, SourcePublisher> m_publishers;
   std::shared_ptr<nt::NetworkTable> m_publishTable{
       nt::NetworkTableInstance::GetDefault().GetTable(kPublishName)};
   cs::VideoListener m_videoListener;
@@ -45,6 +82,7 @@ struct Instance {
   int m_nextPort{CameraServer::kBasePort};
   std::vector<std::string> m_addresses;
 };
+
 }  // namespace
 
 static Instance& GetInstance() {
@@ -52,12 +90,6 @@ static Instance& GetInstance() {
   return instance;
 }
 
-CameraServer* CameraServer::GetInstance() {
-  ::GetInstance();
-  static CameraServer instance;
-  return &instance;
-}
-
 static std::string_view MakeSourceValue(CS_Source source,
                                         wpi::SmallVectorImpl<char>& buf) {
   CS_Status status = 0;
@@ -92,9 +124,13 @@ 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);
+SourcePublisher* Instance::GetPublisher(CS_Source source) {
+  auto it = m_publishers.find(source);
+  if (it != m_publishers.end()) {
+    return &it->second;
+  } else {
+    return nullptr;
+  }
 }
 
 std::vector<std::string> Instance::GetSinkStreamValues(CS_Sink sink) {
@@ -164,7 +200,6 @@ std::vector<std::string> Instance::GetSourceStreamValues(CS_Source source) {
 }
 
 void Instance::UpdateStreamValues() {
-  std::scoped_lock lock(m_mutex);
   // Over all the sinks...
   for (const auto& i : m_sinks) {
     CS_Status status = 0;
@@ -178,8 +213,7 @@ void Instance::UpdateStreamValues() {
     if (source == 0) {
       continue;
     }
-    auto table = m_tables.lookup(source);
-    if (table) {
+    if (auto publisher = GetPublisher(source)) {
       // Don't set stream values if this is a HttpCamera passthrough
       if (cs::GetSourceKind(source, &status) == CS_SOURCE_HTTP) {
         continue;
@@ -188,7 +222,7 @@ void Instance::UpdateStreamValues() {
       // Set table value
       auto values = GetSinkStreamValues(sink);
       if (!values.empty()) {
-        table->GetEntry("streams").SetStringArray(values);
+        publisher->streamsPublisher.Set(values);
       }
     }
   }
@@ -198,12 +232,11 @@ void Instance::UpdateStreamValues() {
     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) {
+    if (auto publisher = GetPublisher(source)) {
       // Set table value
       auto values = GetSourceStreamValues(source);
       if (!values.empty()) {
-        table->GetEntry("streams").SetStringArray(values);
+        publisher->streamsPublisher.Set(values);
       }
     }
   }
@@ -240,51 +273,71 @@ static std::vector<std::string> GetSourceModeValues(int source) {
   return rv;
 }
 
-static void PutSourcePropertyValue(nt::NetworkTable* table,
-                                   const cs::VideoEvent& event, bool isNew) {
-  std::string_view namePrefix;
-  std::string_view infoPrefix;
+PropertyPublisher::PropertyPublisher(nt::NetworkTable& table,
+                                     const cs::VideoEvent& event) {
+  std::string name;
+  std::string infoName;
   if (wpi::starts_with(event.name, "raw_")) {
-    namePrefix = "RawProperty";
-    infoPrefix = "RawPropertyInfo";
+    name = fmt::format("RawProperty/{}", event.name);
+    infoName = fmt::format("RawPropertyInfo/{}", event.name);
   } else {
-    namePrefix = "Property";
-    infoPrefix = "PropertyInfo";
+    name = fmt::format("Property/{}", event.name);
+    infoName = fmt::format("PropertyInfo/{}", event.name);
   }
 
-  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);
+      booleanValueEntry = table.GetBooleanTopic(name).GetEntry(false);
+      booleanValueEntry.SetDefault(event.value != 0);
+      break;
+    case CS_PROP_ENUM:
+      choicesTopic =
+          table.GetStringArrayTopic(fmt::format("{}/choices", infoName));
+      [[fallthrough]];
+    case CS_PROP_INTEGER:
+      integerValueEntry = table.GetIntegerTopic(name).GetEntry(0);
+      minPublisher =
+          table.GetIntegerTopic(fmt::format("{}/min", infoName)).Publish();
+      maxPublisher =
+          table.GetIntegerTopic(fmt::format("{}/max", infoName)).Publish();
+      stepPublisher =
+          table.GetIntegerTopic(fmt::format("{}/step", infoName)).Publish();
+      defaultPublisher =
+          table.GetIntegerTopic(fmt::format("{}/default", infoName)).Publish();
+
+      integerValueEntry.SetDefault(event.value);
+      minPublisher.Set(cs::GetPropertyMin(event.propertyHandle, &status));
+      maxPublisher.Set(cs::GetPropertyMax(event.propertyHandle, &status));
+      stepPublisher.Set(cs::GetPropertyStep(event.propertyHandle, &status));
+      defaultPublisher.Set(
+          cs::GetPropertyDefault(event.propertyHandle, &status));
+      break;
+    case CS_PROP_STRING:
+      stringValueEntry = table.GetStringTopic(name).GetEntry("");
+      stringValueEntry.SetDefault(event.valueStr);
+      break;
+    default:
+      break;
+  }
+}
+
+void PropertyPublisher::Update(const cs::VideoEvent& event) {
+  switch (event.propertyKind) {
+    case CS_PROP_BOOLEAN:
+      if (booleanValueEntry) {
+        booleanValueEntry.Set(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);
+      if (integerValueEntry) {
+        integerValueEntry.Set(event.value);
       }
       break;
     case CS_PROP_STRING:
-      if (isNew) {
-        entry.SetDefaultString(event.valueStr);
-      } else {
-        entry.SetString(event.valueStr);
+      if (stringValueEntry) {
+        stringValueEntry.Set(event.valueStr);
       }
       break;
     default:
@@ -292,6 +345,28 @@ static void PutSourcePropertyValue(nt::NetworkTable* table,
   }
 }
 
+SourcePublisher::SourcePublisher(Instance& inst,
+                                 std::shared_ptr<nt::NetworkTable> table,
+                                 CS_Source source)
+    : table{table},
+      sourcePublisher{table->GetStringTopic("source").Publish()},
+      descriptionPublisher{table->GetStringTopic("description").Publish()},
+      connectedPublisher{table->GetBooleanTopic("connected").Publish()},
+      streamsPublisher{table->GetStringArrayTopic("streams").Publish()},
+      modeEntry{table->GetStringTopic("mode").GetEntry("")},
+      modesPublisher{table->GetStringArrayTopic("modes").Publish()} {
+  CS_Status status = 0;
+  wpi::SmallString<64> buf;
+  sourcePublisher.Set(MakeSourceValue(source, buf));
+  wpi::SmallString<64> descBuf;
+  descriptionPublisher.Set(cs::GetSourceDescription(source, descBuf, &status));
+  connectedPublisher.Set(cs::IsSourceConnected(source, &status));
+  streamsPublisher.Set(inst.GetSourceStreamValues(source));
+  auto mode = cs::GetSourceVideoMode(source, &status);
+  modeEntry.SetDefault(VideoModeToString(mode));
+  modesPublisher.Set(GetSourceModeValues(source));
+}
+
 Instance::Instance() {
   // We publish sources to NetworkTables using the following structure:
   // "/CameraPublisher/{Source.Name}/" - root
@@ -306,177 +381,88 @@ Instance::Instance() {
 
   // Listener for video events
   m_videoListener = cs::VideoListener{
-      [=](const cs::VideoEvent& event) {
+      [=, this](const cs::VideoEvent& event) {
+        std::scoped_lock lock(m_mutex);
         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));
+            m_publishers.insert(
+                {event.sourceHandle,
+                 SourcePublisher{*this, table, 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>{});
-            }
+          case cs::VideoEvent::kSourceDestroyed:
+            m_publishers.erase(event.sourceHandle);
             break;
-          }
-          case cs::VideoEvent::kSourceConnected: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
+          case cs::VideoEvent::kSourceConnected:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
               // 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);
+              publisher->descriptionPublisher.Set(cs::GetSourceDescription(
+                  event.sourceHandle, descBuf, &status));
+              publisher->connectedPublisher.Set(true);
             }
             break;
-          }
-          case cs::VideoEvent::kSourceDisconnected: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("connected").SetBoolean(false);
+          case cs::VideoEvent::kSourceDisconnected:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
+              publisher->connectedPublisher.Set(false);
             }
             break;
-          }
-          case cs::VideoEvent::kSourceVideoModesUpdated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("modes").SetStringArray(
+          case cs::VideoEvent::kSourceVideoModesUpdated:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
+              publisher->modesPublisher.Set(
                   GetSourceModeValues(event.sourceHandle));
             }
             break;
-          }
-          case cs::VideoEvent::kSourceVideoModeChanged: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              table->GetEntry("mode").SetString(VideoModeToString(event.mode));
+          case cs::VideoEvent::kSourceVideoModeChanged:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
+              publisher->modeEntry.Set(VideoModeToString(event.mode));
             }
             break;
-          }
-          case cs::VideoEvent::kSourcePropertyCreated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              PutSourcePropertyValue(table.get(), event, true);
+          case cs::VideoEvent::kSourcePropertyCreated:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
+              publisher->properties.insert(
+                  {event.propertyHandle,
+                   PropertyPublisher{*publisher->table, event}});
             }
             break;
-          }
-          case cs::VideoEvent::kSourcePropertyValueUpdated: {
-            auto table = GetSourceTable(event.sourceHandle);
-            if (table) {
-              PutSourcePropertyValue(table.get(), event, false);
+          case cs::VideoEvent::kSourcePropertyValueUpdated:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
+              auto ppIt = publisher->properties.find(event.propertyHandle);
+              if (ppIt != publisher->properties.end()) {
+                ppIt->second.Update(event);
+              }
             }
             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);
+          case cs::VideoEvent::kSourcePropertyChoicesUpdated:
+            if (auto publisher = GetPublisher(event.sourceHandle)) {
+              auto ppIt = publisher->properties.find(event.propertyHandle);
+              if (ppIt != publisher->properties.end() &&
+                  ppIt->second.choicesTopic) {
+                auto choices =
+                    cs::GetEnumPropertyChoices(event.propertyHandle, &status);
+                if (!ppIt->second.choicesPublisher) {
+                  ppIt->second.choicesPublisher =
+                      ppIt->second.choicesTopic.Publish();
+                }
+                ppIt->second.choicesPublisher.Set(choices);
+              }
             }
             break;
-          }
           case cs::VideoEvent::kSinkSourceChanged:
           case cs::VideoEvent::kSinkCreated:
           case cs::VideoEvent::kSinkDestroyed:
-          case cs::VideoEvent::kNetworkInterfacesChanged: {
+          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() {
@@ -525,7 +511,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
   return AddAxisCamera("Axis Camera", host);
 }
 
-cs::AxisCamera CameraServer::AddAxisCamera(wpi::span<const std::string> hosts) {
+cs::AxisCamera CameraServer::AddAxisCamera(std::span<const std::string> hosts) {
   return AddAxisCamera("Axis Camera", hosts);
 }
 
@@ -557,7 +543,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
 }
 
 cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           wpi::span<const std::string> hosts) {
+                                           std::span<const std::string> hosts) {
   cs::AxisCamera camera{name, hosts};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -615,7 +601,7 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
       if (kind != cs::VideoSink::kCv) {
         auto csShared = GetCameraServerShared();
         csShared->SetCameraServerError("expected OpenCV sink, but got {}",
-                                       kind);
+                                       static_cast<int>(kind));
         return cs::CvSink{};
       }
       return *static_cast<cs::CvSink*>(&it->second);

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

@@ -6,12 +6,10 @@
 
 #include <stdint.h>
 
+#include <span>
 #include <string>
 #include <string_view>
 
-#include <wpi/deprecated.h>
-#include <wpi/span.h>
-
 #include "cscore.h"
 #include "cscore_cv.h"
 
@@ -29,13 +27,6 @@ class CameraServer {
   static constexpr int kSize320x240 = 1;
   static constexpr int kSize160x120 = 2;
 
-  /**
-   * Get the CameraServer instance.
-   * @deprecated Use the static methods
-   */
-  WPI_DEPRECATED("Use static methods")
-  static CameraServer* GetInstance();
-
   /**
    * Start automatically capturing images to send to the dashboard.
    *
@@ -118,7 +109,7 @@ class CameraServer {
    *
    * @param hosts Array of Camera host IPs/DNS names
    */
-  static cs::AxisCamera AddAxisCamera(wpi::span<const std::string> hosts);
+  static cs::AxisCamera AddAxisCamera(std::span<const std::string> hosts);
 
   /**
    * Adds an Axis IP camera.
@@ -163,7 +154,7 @@ class CameraServer {
    * @param hosts Array of Camera host IPs/DNS names
    */
   static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      wpi::span<const std::string> hosts);
+                                      std::span<const std::string> hosts);
 
   /**
    * Adds an Axis IP camera.

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

@@ -27,20 +27,17 @@ class CameraServerShared {
 
   template <typename S, typename... Args>
   inline void SetCameraServerError(const S& format, Args&&... args) {
-    SetCameraServerErrorV(format,
-                          fmt::make_args_checked<Args...>(format, args...));
+    SetCameraServerErrorV(format, fmt::make_format_args(args...));
   }
 
   template <typename S, typename... Args>
   inline void SetVisionRunnerError(const S& format, Args&&... args) {
-    SetVisionRunnerErrorV(format,
-                          fmt::make_args_checked<Args...>(format, args...));
+    SetVisionRunnerErrorV(format, fmt::make_format_args(args...));
   }
 
   template <typename S, typename... Args>
   inline void ReportDriverStationError(const S& format, Args&&... args) {
-    ReportDriverStationErrorV(format,
-                              fmt::make_args_checked<Args...>(format, args...));
+    ReportDriverStationErrorV(format, fmt::make_format_args(args...));
   }
 };
 

cmake/modules/CompileWarnings.cmake

@@ -1,7 +1,15 @@
 macro(wpilib_target_warnings target)
     if(NOT MSVC)
-        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations ${WPILIB_TARGET_WARNINGS})
+        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter ${WPILIB_TARGET_WARNINGS})
     else()
-        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX ${WPILIB_TARGET_WARNINGS})
+        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /WX /D_CRT_SECURE_NO_WARNINGS ${WPILIB_TARGET_WARNINGS})
+    endif()
+
+    # Suppress C++-specific OpenCV warning; C compiler rejects it with an error
+    # https://github.com/opencv/opencv/issues/20269
+    if(UNIX AND NOT APPLE)
+        target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-enum-enum-conversion>)
+    elseif(UNIX AND APPLE)
+        target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-anon-enum-enum-conversion>)
     endif()
 endmacro()

cmake/modules/FindLIBSSH.cmake

@@ -110,7 +110,7 @@ else()
     set(LIBSSH_LIBRARIES ${LIBSSH_LIBRARY} ${LIBSSH_THREADS_LIBRARY})
     mark_as_advanced(LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES)
 
-    find_package_handle_standard_args(LibSSH FOUND_VAR LIBSSH_FOUND
+    find_package_handle_standard_args(LIBSSH FOUND_VAR LIBSSH_FOUND
         REQUIRED_VARS LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES
         VERSION_VAR LIBSSH_VERSION)
 endif()

cmake/toolchains/gnu.toolchain.cmake

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

crossConnIntegrationTests/build.gradle

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

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

@@ -100,8 +100,9 @@ void TestTimingDMA(int squelch, std::pair<int, int> param) {
       auto value = HAL_GetDMASampleDigitalSource(&dmaSamples[startIndex],
                                                  dioHandle, &status);
       ASSERT_EQ(0, status);
-      if (value)
+      if (value) {
         break;
+      }
       startIndex++;
     }
     ASSERT_LT(startIndex, 6);

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

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

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

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

cscore/.styleguide

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

cscore/CMakeLists.txt

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

cscore/build.gradle

@@ -23,8 +23,8 @@ model {
             enableCheckTask true
             javaCompileTasks << compileJava
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.raspbian)
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.aarch64bionic)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
 
             sources {
                 cpp {
@@ -45,6 +45,7 @@ model {
                     return
                 }
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
 
                 if (it.targetPlatform.operatingSystem.linux) {
                     it.linker.args '-Wl,--version-script=' + file('src/main/native/LinuxSymbolScript.txt')
@@ -55,6 +56,15 @@ model {
             }
         }
     }
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+        }
+    }
 }
 
 
@@ -144,19 +154,6 @@ Action<List<String>> symbolFilter = { symbols ->
 
 nativeUtils.exportsConfigs {
     cscore {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
         x64ExcludeSymbols = [
             '_CT??_R0?AV_System_error',
             '_CT??_R0?AVexception',
@@ -172,11 +169,9 @@ nativeUtils.exportsConfigs {
         ]
     }
     cscoreJNI {
-        x86SymbolFilter = symbolFilter
         x64SymbolFilter = symbolFilter
     }
     cscoreJNICvStatic {
-        x86SymbolFilter = symbolFilter
         x64SymbolFilter = symbolFilter
     }
 }
@@ -185,15 +180,16 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
                             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                                 it.buildable = false
                                 return
                             }
@@ -220,6 +216,7 @@ model {
                     targetBuildTypes 'debug'
                     binaries.all {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                        lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
                     }
                     sources {

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

@@ -5,6 +5,7 @@
 package edu.wpi.first.cscore;
 
 /** USB camera information. */
+@SuppressWarnings("MemberName")
 public class UsbCameraInfo {
   /**
    * Create a new set of UsbCameraInfo.
@@ -28,26 +29,20 @@ public class UsbCameraInfo {
   }
 
   /** Device number (e.g. N in '/dev/videoN' on Linux). */
-  @SuppressWarnings("MemberName")
   public int dev;
 
   /** Path to device if available (e.g. '/dev/video0' on Linux). */
-  @SuppressWarnings("MemberName")
   public String path;
 
   /** Vendor/model name of the camera as provided by the USB driver. */
-  @SuppressWarnings("MemberName")
   public String name;
 
   /** Other path aliases to device (e.g. '/dev/v4l/by-id/...' etc on Linux). */
-  @SuppressWarnings("MemberName")
   public String[] otherPaths;
 
   /** USB vendor id. */
-  @SuppressWarnings("MemberName")
   public int vendorId;
 
   /** USB product id. */
-  @SuppressWarnings("MemberName")
   public int productId;
 }

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

@@ -5,6 +5,7 @@
 package edu.wpi.first.cscore;
 
 /** Video event. */
+@SuppressWarnings("MemberName")
 public class VideoEvent {
   public enum Kind {
     kUnknown(0x0000),
@@ -117,39 +118,29 @@ public class VideoEvent {
     this.listener = listener;
   }
 
-  @SuppressWarnings("MemberName")
   public Kind kind;
 
   // Valid for kSource* and kSink* respectively
-  @SuppressWarnings("MemberName")
   public int sourceHandle;
 
-  @SuppressWarnings("MemberName")
   public int sinkHandle;
 
   // Source/sink/property name
-  @SuppressWarnings("MemberName")
   public String name;
 
   // Fields for kSourceVideoModeChanged event
-  @SuppressWarnings("MemberName")
   public VideoMode mode;
 
   // Fields for kSourceProperty* events
-  @SuppressWarnings("MemberName")
   public int propertyHandle;
 
-  @SuppressWarnings("MemberName")
   public VideoProperty.Kind propertyKind;
 
-  @SuppressWarnings("MemberName")
   public int value;
 
-  @SuppressWarnings("MemberName")
   public String valueStr;
 
   // Listener that was triggered
-  @SuppressWarnings("MemberName")
   public int listener;
 
   public VideoSource getSource() {

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

@@ -64,7 +64,6 @@ public class VideoListener implements AutoCloseable {
   private static boolean s_waitQueue;
   private static final Condition s_waitQueueCond = s_lock.newCondition();
 
-  @SuppressWarnings("PMD.AvoidCatchingThrowable")
   private static void startThread() {
     s_thread =
         new Thread(

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

@@ -5,6 +5,7 @@
 package edu.wpi.first.cscore;
 
 /** Video mode. */
+@SuppressWarnings("MemberName")
 public class VideoMode {
   public enum PixelFormat {
     kUnknown(0),
@@ -62,18 +63,14 @@ public class VideoMode {
   }
 
   /** Pixel format. */
-  @SuppressWarnings("MemberName")
   public PixelFormat pixelFormat;
 
   /** Width in pixels. */
-  @SuppressWarnings("MemberName")
   public int width;
 
   /** Height in pixels. */
-  @SuppressWarnings("MemberName")
   public int height;
 
   /** Frames per second. */
-  @SuppressWarnings("MemberName")
   public int fps;
 }

cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp

@@ -88,7 +88,7 @@ int ConfigurableSourceImpl::CreateProperty(
 }
 
 void ConfigurableSourceImpl::SetEnumPropertyChoices(
-    int property, wpi::span<const std::string> choices, CS_Status* status) {
+    int property, std::span<const std::string> choices, CS_Status* status) {
   std::scoped_lock lock(m_mutex);
   auto prop = GetProperty(property);
   if (!prop) {

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

@@ -8,12 +8,11 @@
 #include <atomic>
 #include <functional>
 #include <memory>
+#include <span>
 #include <string>
 #include <string_view>
 #include <vector>
 
-#include <wpi/span.h>
-
 #include "SourceImpl.h"
 
 namespace cs {
@@ -42,7 +41,7 @@ class ConfigurableSourceImpl : public SourceImpl {
                      int maximum, int step, int defaultValue, int value,
                      std::function<void(CS_Property property)> onChange);
   void SetEnumPropertyChoices(int property,
-                              wpi::span<const std::string> choices,
+                              std::span<const std::string> choices,
                               CS_Status* status);
 
  private:

cscore/src/main/native/cpp/CvSourceImpl.cpp

@@ -139,7 +139,7 @@ CS_Property CreateSourcePropertyCallback(
 }
 
 void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
-                                  wpi::span<const std::string> choices,
+                                  std::span<const std::string> choices,
                                   CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data || (data->kind & SourceMask) == 0) {

cscore/src/main/native/cpp/Frame.cpp

@@ -523,7 +523,8 @@ Image* Frame::GetImageImpl(int width, int height,
 
   WPI_DEBUG4(Instance::GetInstance().logger,
              "converting image from {}x{} type {} to {}x{} type {}", cur->width,
-             cur->height, cur->pixelFormat, width, height, pixelFormat);
+             cur->height, static_cast<int>(cur->pixelFormat), width, height,
+             static_cast<int>(pixelFormat));
 
   // If the source image is a JPEG, we need to decode it before we can do
   // anything else with it.  Note that if the destination format is JPEG, we

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

@@ -6,8 +6,8 @@
 
 #include <wpi/MemAlloc.h>
 #include <wpi/StringExtras.h>
-#include <wpi/TCPConnector.h>
 #include <wpi/timestamp.h>
+#include <wpinet/TCPConnector.h>
 
 #include "Handle.h"
 #include "Instance.h"
@@ -75,7 +75,7 @@ void HttpCameraImpl::MonitorThreadMain() {
     std::unique_lock lock(m_mutex);
     // sleep for 1 second between checks
     m_monitorCond.wait_for(lock, std::chrono::seconds(1),
-                           [=] { return !m_active; });
+                           [=, this] { return !m_active; });
 
     if (!m_active) {
       break;
@@ -110,7 +110,8 @@ void HttpCameraImpl::StreamThreadMain() {
         m_streamConn->stream->close();
       }
       // Wait for enable
-      m_sinkEnabledCond.wait(lock, [=] { return !m_active || IsEnabled(); });
+      m_sinkEnabledCond.wait(lock,
+                             [=, this] { return !m_active || IsEnabled(); });
       if (!m_active) {
         return;
       }
@@ -329,7 +330,7 @@ void HttpCameraImpl::SettingsThreadMain() {
     wpi::HttpRequest req;
     {
       std::unique_lock lock(m_mutex);
-      m_settingsCond.wait(lock, [=] {
+      m_settingsCond.wait(lock, [=, this] {
         return !m_active || (m_prefLocation != -1 && !m_settings.empty());
       });
       if (!m_active) {
@@ -378,7 +379,7 @@ CS_HttpCameraKind HttpCameraImpl::GetKind() const {
   return m_kind;
 }
 
-bool HttpCameraImpl::SetUrls(wpi::span<const std::string> urls,
+bool HttpCameraImpl::SetUrls(std::span<const std::string> urls,
                              CS_Status* status) {
   std::vector<wpi::HttpLocation> locations;
   for (const auto& url : urls) {
@@ -572,14 +573,14 @@ CS_Source CreateHttpCamera(std::string_view name, std::string_view url,
       break;
   }
   std::string urlStr{url};
-  if (!source->SetUrls(wpi::span{&urlStr, 1}, status)) {
+  if (!source->SetUrls(std::span{&urlStr, 1}, status)) {
     return 0;
   }
   return inst.CreateSource(CS_SOURCE_HTTP, source);
 }
 
 CS_Source CreateHttpCamera(std::string_view name,
-                           wpi::span<const std::string> urls,
+                           std::span<const std::string> urls,
                            CS_HttpCameraKind kind, CS_Status* status) {
   auto& inst = Instance::GetInstance();
   if (urls.empty()) {
@@ -603,7 +604,7 @@ CS_HttpCameraKind GetHttpCameraKind(CS_Source source, CS_Status* status) {
   return static_cast<HttpCameraImpl&>(*data->source).GetKind();
 }
 
-void SetHttpCameraUrls(CS_Source source, wpi::span<const std::string> urls,
+void SetHttpCameraUrls(CS_Source source, std::span<const std::string> urls,
                        CS_Status* status) {
   if (urls.empty()) {
     *status = CS_EMPTY_VALUE;

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

@@ -9,17 +9,17 @@
 #include <functional>
 #include <initializer_list>
 #include <memory>
+#include <span>
 #include <string>
 #include <string_view>
 #include <thread>
 #include <vector>
 
-#include <wpi/HttpUtil.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringMap.h>
 #include <wpi/condition_variable.h>
 #include <wpi/raw_istream.h>
-#include <wpi/span.h>
+#include <wpinet/HttpUtil.h>
 
 #include "SourceImpl.h"
 #include "cscore_cpp.h"
@@ -55,7 +55,7 @@ class HttpCameraImpl : public SourceImpl {
   void NumSinksEnabledChanged() override;
 
   CS_HttpCameraKind GetKind() const;
-  bool SetUrls(wpi::span<const std::string> urls, CS_Status* status);
+  bool SetUrls(std::span<const std::string> urls, CS_Status* status);
   std::vector<std::string> GetUrls() const;
 
   // Property data

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

@@ -22,7 +22,9 @@ class Image {
 
  public:
 #ifndef __linux__
-  explicit Image(size_t capacity) { m_data.reserve(capacity); }
+  explicit Image(size_t capacity) {
+    m_data.reserve(capacity);
+  }
 #else
   explicit Image(size_t capacity)
       : m_data{capacity, default_init_allocator<uchar>{}} {
@@ -34,20 +36,38 @@ class Image {
   Image& operator=(const Image&) = delete;
 
   // Getters
-  operator std::string_view() const { return str(); }  // NOLINT
-  std::string_view str() const { return {data(), size()}; }
-  size_t capacity() const { return m_data.capacity(); }
+  operator std::string_view() const {  // NOLINT
+    return str();
+  }
+  std::string_view str() const {
+    return {data(), size()};
+  }
+  size_t capacity() const {
+    return m_data.capacity();
+  }
   const char* data() const {
     return reinterpret_cast<const char*>(m_data.data());
   }
-  char* data() { return reinterpret_cast<char*>(m_data.data()); }
-  size_t size() const { return m_data.size(); }
+  char* data() {
+    return reinterpret_cast<char*>(m_data.data());
+  }
+  size_t size() const {
+    return m_data.size();
+  }
 
-  const std::vector<uchar>& vec() const { return m_data; }
-  std::vector<uchar>& vec() { return m_data; }
+  const std::vector<uchar>& vec() const {
+    return m_data;
+  }
+  std::vector<uchar>& vec() {
+    return m_data;
+  }
 
-  void resize(size_t size) { m_data.resize(size); }
-  void SetSize(size_t size) { m_data.resize(size); }
+  void resize(size_t size) {
+    m_data.resize(size);
+  }
+  void SetSize(size_t size) {
+    m_data.resize(size);
+  }
 
   cv::Mat AsMat() {
     int type;
@@ -68,7 +88,9 @@ class Image {
     return cv::Mat{height, width, type, m_data.data()};
   }
 
-  cv::_InputArray AsInputArray() { return cv::_InputArray{m_data}; }
+  cv::_InputArray AsInputArray() {
+    return cv::_InputArray{m_data};
+  }
 
   bool Is(int width_, int height_) {
     return width == width_ && height == height_;
@@ -90,8 +112,12 @@ class Image {
   bool IsLarger(const Image& oth) {
     return width >= oth.width && height >= oth.height;
   }
-  bool IsSmaller(int width_, int height_) { return !IsLarger(width_, height_); }
-  bool IsSmaller(const Image& oth) { return !IsLarger(oth); }
+  bool IsSmaller(int width_, int height_) {
+    return !IsLarger(width_, height_);
+  }
+  bool IsSmaller(const Image& oth) {
+    return !IsLarger(oth);
+  }
 
  private:
   std::vector<uchar> m_data;

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

@@ -8,8 +8,8 @@
 #include <memory>
 #include <utility>
 
-#include <wpi/EventLoopRunner.h>
 #include <wpi/Logger.h>
+#include <wpinet/EventLoopRunner.h>
 
 #include "Log.h"
 #include "NetworkListener.h"
@@ -86,16 +86,16 @@ class Instance {
   void DestroySource(CS_Source handle);
   void DestroySink(CS_Sink handle);
 
-  wpi::span<CS_Source> EnumerateSourceHandles(
+  std::span<CS_Source> EnumerateSourceHandles(
       wpi::SmallVectorImpl<CS_Source>& vec) {
     return m_sources.GetAll(vec);
   }
 
-  wpi::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec) {
+  std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec) {
     return m_sinks.GetAll(vec);
   }
 
-  wpi::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
+  std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
                                           wpi::SmallVectorImpl<CS_Sink>& vec) {
     vec.clear();
     m_sinks.ForEach([&](CS_Sink sinkHandle, const SinkData& data) {

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

@@ -21,7 +21,7 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
                      Args&&... args) {
   if (logger.HasLogger() && level >= logger.min_level()) {
     NamedLogV(logger, level, file, line, name, format,
-              fmt::make_args_checked<Args...>(format, args...));
+              fmt::make_format_args(args...));
   }
 }
 

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

@@ -7,13 +7,13 @@
 #include <chrono>
 
 #include <fmt/format.h>
-#include <wpi/HttpUtil.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
-#include <wpi/TCPAcceptor.h>
 #include <wpi/fmt/raw_ostream.h>
-#include <wpi/raw_socket_istream.h>
-#include <wpi/raw_socket_ostream.h>
+#include <wpinet/HttpUtil.h>
+#include <wpinet/TCPAcceptor.h>
+#include <wpinet/raw_socket_istream.h>
+#include <wpinet/raw_socket_ostream.h>
 
 #include "Handle.h"
 #include "Instance.h"
@@ -495,7 +495,7 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
     auto kind = source.GetPropertyKind(prop);
     fmt::print(os, "\n\"name\": \"{}\"", name);
     fmt::print(os, ",\n\"id\": \"{}\"", prop);
-    fmt::print(os, ",\n\"type\": \"{}\"", kind);
+    fmt::print(os, ",\n\"type\": \"{}\"", static_cast<int>(kind));
     fmt::print(os, ",\n\"min\": \"{}\"", source.GetPropertyMin(prop, &status));
     fmt::print(os, ",\n\"max\": \"{}\"", source.GetPropertyMax(prop, &status));
     fmt::print(os, ",\n\"step\": \"{}\"",

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

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

cscore/src/main/native/cpp/PropertyContainer.cpp

@@ -27,7 +27,7 @@ int PropertyContainer::GetPropertyIndex(std::string_view name) const {
   return ndx;
 }
 
-wpi::span<int> PropertyContainer::EnumerateProperties(
+std::span<int> PropertyContainer::EnumerateProperties(
     wpi::SmallVectorImpl<int>& vec, CS_Status* status) const {
   if (!m_properties_cached && !CacheProperties(status)) {
     return {};

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

@@ -8,13 +8,13 @@
 #include <atomic>
 #include <cstddef>
 #include <memory>
+#include <span>
 #include <string>
 #include <string_view>
 #include <vector>
 
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
-#include <wpi/span.h>
 
 #include "PropertyImpl.h"
 #include "cscore_cpp.h"
@@ -33,7 +33,7 @@ class PropertyContainer {
   virtual ~PropertyContainer() = default;
 
   int GetPropertyIndex(std::string_view name) const;
-  wpi::span<int> EnumerateProperties(wpi::SmallVectorImpl<int>& vec,
+  std::span<int> EnumerateProperties(wpi::SmallVectorImpl<int>& vec,
                                      CS_Status* status) const;
   CS_PropertyKind GetPropertyKind(int property) const;
   std::string_view GetPropertyName(int property,

cscore/src/main/native/cpp/SourceImpl.cpp

@@ -76,7 +76,7 @@ Frame SourceImpl::GetCurFrame() {
 Frame SourceImpl::GetNextFrame() {
   std::unique_lock lock{m_frameMutex};
   auto oldTime = m_frame.GetTime();
-  m_frameCv.wait(lock, [=] { return m_frame.GetTime() != oldTime; });
+  m_frameCv.wait(lock, [=, this] { return m_frame.GetTime() != oldTime; });
   return m_frame;
 }
 
@@ -85,7 +85,7 @@ Frame SourceImpl::GetNextFrame(double timeout) {
   auto oldTime = m_frame.GetTime();
   if (!m_frameCv.wait_for(
           lock, std::chrono::milliseconds(static_cast<int>(timeout * 1000)),
-          [=] { return m_frame.GetTime() != oldTime; })) {
+          [=, this] { return m_frame.GetTime() != oldTime; })) {
     m_frame = Frame{*this, "timed out getting frame", wpi::Now()};
   }
   return m_frame;

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

@@ -6,12 +6,12 @@
 #define CSCORE_UNLIMITEDHANDLERESOURCE_H_
 
 #include <memory>
+#include <span>
 #include <utility>
 #include <vector>
 
 #include <wpi/SmallVector.h>
 #include <wpi/mutex.h>
-#include <wpi/span.h>
 
 namespace cs {
 
@@ -50,7 +50,7 @@ class UnlimitedHandleResource {
   std::shared_ptr<TStruct> Free(THandle handle);
 
   template <typename T>
-  wpi::span<T> GetAll(wpi::SmallVectorImpl<T>& vec);
+  std::span<T> GetAll(wpi::SmallVectorImpl<T>& vec);
 
   std::vector<std::shared_ptr<TStruct>> FreeAll();
 
@@ -151,7 +151,7 @@ UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Free(
 
 template <typename THandle, typename TStruct, int typeValue, typename TMutex>
 template <typename T>
-inline wpi::span<T>
+inline std::span<T>
 UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::GetAll(
     wpi::SmallVectorImpl<T>& vec) {
   ForEach([&](THandle handle, const TStruct& data) { vec.push_back(handle); });

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

@@ -5,8 +5,8 @@
 #include "cscore_cpp.h"
 
 #include <wpi/SmallString.h>
-#include <wpi/hostname.h>
 #include <wpi/json.h>
+#include <wpinet/hostname.h>
 
 #include "Handle.h"
 #include "Instance.h"
@@ -286,7 +286,7 @@ CS_Property GetSourceProperty(CS_Source source, std::string_view name,
   return Handle{source, property, Handle::kProperty};
 }
 
-wpi::span<CS_Property> EnumerateSourceProperties(
+std::span<CS_Property> EnumerateSourceProperties(
     CS_Source source, wpi::SmallVectorImpl<CS_Property>& vec,
     CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
@@ -398,7 +398,7 @@ std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
   return data->source->EnumerateVideoModes(status);
 }
 
-wpi::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
+std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
                                         wpi::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status) {
   auto& inst = Instance::GetInstance();
@@ -583,7 +583,7 @@ CS_Property GetSinkProperty(CS_Sink sink, std::string_view name,
   return Handle{sink, property, Handle::kSinkProperty};
 }
 
-wpi::span<CS_Property> EnumerateSinkProperties(
+std::span<CS_Property> EnumerateSinkProperties(
     CS_Sink sink, wpi::SmallVectorImpl<CS_Property>& vec, CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data) {
@@ -865,12 +865,12 @@ void Shutdown() {
 // Utility Functions
 //
 
-wpi::span<CS_Source> EnumerateSourceHandles(
+std::span<CS_Source> EnumerateSourceHandles(
     wpi::SmallVectorImpl<CS_Source>& vec, CS_Status* status) {
   return Instance::GetInstance().EnumerateSourceHandles(vec);
 }
 
-wpi::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
+std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status) {
   return Instance::GetInstance().EnumerateSinkHandles(vec);
 }

cscore/src/main/native/cpp/jni/CameraServerJNI.cpp

@@ -3,12 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <exception>
+#include <span>
 
 #include <fmt/format.h>
 #include <opencv2/core/core.hpp>
 #include <wpi/SmallString.h>
 #include <wpi/jni_util.h>
-#include <wpi/span.h>
 
 #include "cscore_cpp.h"
 #include "cscore_cv.h"
@@ -296,7 +296,7 @@ static jobject MakeJObject(JNIEnv* env, const cs::RawEvent& event) {
 }
 
 static jobjectArray MakeJObject(JNIEnv* env,
-                                wpi::span<const cs::RawEvent> arr) {
+                                std::span<const cs::RawEvent> arr) {
   jobjectArray jarr = env->NewObjectArray(arr.size(), videoEventCls, nullptr);
   if (!jarr) {
     return nullptr;

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

@@ -8,12 +8,12 @@
 #include <stdint.h>
 
 #include <functional>
+#include <span>
 #include <string>
 #include <string_view>
 #include <vector>
 
 #include <wpi/SmallVector.h>
-#include <wpi/span.h>
 
 #include "cscore_c.h"
 
@@ -203,7 +203,7 @@ CS_Source CreateUsbCameraPath(std::string_view name, std::string_view path,
 CS_Source CreateHttpCamera(std::string_view name, std::string_view url,
                            CS_HttpCameraKind kind, CS_Status* status);
 CS_Source CreateHttpCamera(std::string_view name,
-                           wpi::span<const std::string> urls,
+                           std::span<const std::string> urls,
                            CS_HttpCameraKind kind, CS_Status* status);
 CS_Source CreateCvSource(std::string_view name, const VideoMode& mode,
                          CS_Status* status);
@@ -230,7 +230,7 @@ bool IsSourceConnected(CS_Source source, CS_Status* status);
 bool IsSourceEnabled(CS_Source source, CS_Status* status);
 CS_Property GetSourceProperty(CS_Source source, std::string_view name,
                               CS_Status* status);
-wpi::span<CS_Property> EnumerateSourceProperties(
+std::span<CS_Property> EnumerateSourceProperties(
     CS_Source source, wpi::SmallVectorImpl<CS_Property>& vec,
     CS_Status* status);
 VideoMode GetSourceVideoMode(CS_Source source, CS_Status* status);
@@ -249,7 +249,7 @@ std::string GetSourceConfigJson(CS_Source source, CS_Status* status);
 wpi::json GetSourceConfigJsonObject(CS_Source source, CS_Status* status);
 std::vector<VideoMode> EnumerateSourceVideoModes(CS_Source source,
                                                  CS_Status* status);
-wpi::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
+std::span<CS_Sink> EnumerateSourceSinks(CS_Source source,
                                         wpi::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status);
 CS_Source CopySource(CS_Source source, CS_Status* status);
@@ -285,7 +285,7 @@ UsbCameraInfo GetUsbCameraInfo(CS_Source source, CS_Status* status);
  * @{
  */
 CS_HttpCameraKind GetHttpCameraKind(CS_Source source, CS_Status* status);
-void SetHttpCameraUrls(CS_Source source, wpi::span<const std::string> urls,
+void SetHttpCameraUrls(CS_Source source, std::span<const std::string> urls,
                        CS_Status* status);
 std::vector<std::string> GetHttpCameraUrls(CS_Source source, CS_Status* status);
 /** @} */
@@ -304,7 +304,7 @@ CS_Property CreateSourceProperty(CS_Source source, std::string_view name,
                                  int step, int defaultValue, int value,
                                  CS_Status* status);
 void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
-                                  wpi::span<const std::string> choices,
+                                  std::span<const std::string> choices,
                                   CS_Status* status);
 /** @} */
 
@@ -335,7 +335,7 @@ std::string_view GetSinkDescription(CS_Sink sink,
                                     CS_Status* status);
 CS_Property GetSinkProperty(CS_Sink sink, std::string_view name,
                             CS_Status* status);
-wpi::span<CS_Property> EnumerateSinkProperties(
+std::span<CS_Property> EnumerateSinkProperties(
     CS_Sink sink, wpi::SmallVectorImpl<CS_Property>& vec, CS_Status* status);
 void SetSinkSource(CS_Sink sink, CS_Source source, CS_Status* status);
 CS_Property GetSinkSourceProperty(CS_Sink sink, std::string_view name,
@@ -430,9 +430,9 @@ void Shutdown();
  */
 std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status);
 
-wpi::span<CS_Source> EnumerateSourceHandles(
+std::span<CS_Source> EnumerateSourceHandles(
     wpi::SmallVectorImpl<CS_Source>& vec, CS_Status* status);
-wpi::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
+std::span<CS_Sink> EnumerateSinkHandles(wpi::SmallVectorImpl<CS_Sink>& vec,
                                         CS_Status* status);
 
 std::string GetHostname();

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

@@ -6,13 +6,12 @@
 #define CSCORE_CSCORE_OO_H_
 
 #include <initializer_list>
+#include <span>
 #include <string>
 #include <string_view>
 #include <utility>
 #include <vector>
 
-#include <wpi/span.h>
-
 #include "cscore_cpp.h"
 
 namespace cs {
@@ -516,7 +515,7 @@ class HttpCamera : public VideoCamera {
    * @param urls Array of Camera URLs
    * @param kind Camera kind (e.g. kAxis)
    */
-  HttpCamera(std::string_view name, wpi::span<const std::string> urls,
+  HttpCamera(std::string_view name, std::span<const std::string> urls,
              HttpCameraKind kind = kUnknown);
 
   /**
@@ -541,7 +540,7 @@ class HttpCamera : public VideoCamera {
   /**
    * Change the URLs used to connect to the camera.
    */
-  void SetUrls(wpi::span<const std::string> urls);
+  void SetUrls(std::span<const std::string> urls);
 
   /**
    * Change the URLs used to connect to the camera.
@@ -560,7 +559,7 @@ class HttpCamera : public VideoCamera {
  */
 class AxisCamera : public HttpCamera {
   static std::string HostToUrl(std::string_view host);
-  static std::vector<std::string> HostToUrl(wpi::span<const std::string> hosts);
+  static std::vector<std::string> HostToUrl(std::span<const std::string> hosts);
   template <typename T>
   static std::vector<std::string> HostToUrl(std::initializer_list<T> hosts);
 
@@ -595,7 +594,7 @@ class AxisCamera : public HttpCamera {
    * @param name Source name (arbitrary unique identifier)
    * @param hosts Array of Camera host IPs/DNS names
    */
-  AxisCamera(std::string_view name, wpi::span<const std::string> hosts);
+  AxisCamera(std::string_view name, std::span<const std::string> hosts);
 
   /**
    * Create a source for an Axis IP camera.
@@ -696,7 +695,7 @@ class ImageSource : public VideoSource {
    * @param choices Choices
    */
   void SetEnumPropertyChoices(const VideoProperty& property,
-                              wpi::span<const std::string> choices);
+                              std::span<const std::string> choices);
 
   /**
    * Configure enum property choices.

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

@@ -302,7 +302,7 @@ inline HttpCamera::HttpCamera(std::string_view name, const std::string& url,
     : HttpCamera(name, std::string_view{url}, kind) {}
 
 inline HttpCamera::HttpCamera(std::string_view name,
-                              wpi::span<const std::string> urls,
+                              std::span<const std::string> urls,
                               HttpCameraKind kind) {
   m_handle = CreateHttpCamera(
       name, urls, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
@@ -329,7 +329,7 @@ inline HttpCamera::HttpCameraKind HttpCamera::GetHttpCameraKind() const {
       static_cast<int>(::cs::GetHttpCameraKind(m_handle, &m_status)));
 }
 
-inline void HttpCamera::SetUrls(wpi::span<const std::string> urls) {
+inline void HttpCamera::SetUrls(std::span<const std::string> urls) {
   m_status = 0;
   ::cs::SetHttpCameraUrls(m_handle, urls, &m_status);
 }
@@ -351,7 +351,7 @@ inline std::vector<std::string> HttpCamera::GetUrls() const {
 }
 
 inline std::vector<std::string> AxisCamera::HostToUrl(
-    wpi::span<const std::string> hosts) {
+    std::span<const std::string> hosts) {
   std::vector<std::string> rv;
   rv.reserve(hosts.size());
   for (const auto& host : hosts) {
@@ -381,7 +381,7 @@ inline AxisCamera::AxisCamera(std::string_view name, const std::string& host)
     : HttpCamera(name, HostToUrl(std::string_view{host}), kAxis) {}
 
 inline AxisCamera::AxisCamera(std::string_view name,
-                              wpi::span<const std::string> hosts)
+                              std::span<const std::string> hosts)
     : HttpCamera(name, HostToUrl(hosts), kAxis) {}
 
 template <typename T>
@@ -452,7 +452,7 @@ inline VideoProperty ImageSource::CreateStringProperty(std::string_view name,
 }
 
 inline void ImageSource::SetEnumPropertyChoices(
-    const VideoProperty& property, wpi::span<const std::string> choices) {
+    const VideoProperty& property, std::span<const std::string> choices) {
   m_status = 0;
   SetSourceEnumPropertyChoices(m_handle, property.m_handle, choices, &m_status);
 }

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

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

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

@@ -58,13 +58,13 @@ static std::string GetUsbNameFromFile(int vendor, int product) {
       // next vendor, but didn't match product?
       if (line[0] != '\t') {
         buf += "Unknown";
-        return buf;
+        return std::string{buf};
       }
 
       // look for product
       if (wpi::starts_with(wpi::substr(line, 1), productStr)) {
         buf += wpi::trim(wpi::substr(line, 6));
-        return buf;
+        return std::string{buf};
       }
     }
   }

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

@@ -279,19 +279,23 @@ static bool IsPercentageProperty(std::string_view name) {
 
 void UsbCameraImpl::ProcessFrame(IMFSample* videoSample,
                                  const VideoMode& mode) {
-  if (!videoSample)
+  if (!videoSample) {
     return;
+  }
 
   ComPtr<IMFMediaBuffer> buf;
 
   if (!SUCCEEDED(videoSample->ConvertToContiguousBuffer(buf.GetAddressOf()))) {
     DWORD bcnt = 0;
-    if (!SUCCEEDED(videoSample->GetBufferCount(&bcnt)))
+    if (!SUCCEEDED(videoSample->GetBufferCount(&bcnt))) {
       return;
-    if (bcnt == 0)
+    }
+    if (bcnt == 0) {
       return;
-    if (!SUCCEEDED(videoSample->GetBufferByIndex(0, buf.GetAddressOf())))
+    }
+    if (!SUCCEEDED(videoSample->GetBufferByIndex(0, buf.GetAddressOf()))) {
       return;
+    }
   }
 
   BYTE* ptr = NULL;
@@ -474,11 +478,13 @@ static cs::VideoMode::PixelFormat GetFromGUID(const GUID& guid) {
 }
 
 bool UsbCameraImpl::DeviceConnect() {
-  if (m_mediaSource && m_sourceReader)
+  if (m_mediaSource && m_sourceReader) {
     return true;
+  }
 
-  if (m_connectVerbose)
+  if (m_connectVerbose) {
     SINFO("Connecting to USB camera on {}", m_path);
+  }
 
   SDEBUG3("{}", "opening device");
 
@@ -580,8 +586,9 @@ template void UsbCameraImpl::DeviceAddProperty(std::string_view name_,
   DeviceAddProperty(#val, CameraControl_##val, pCamControl);
 
 void UsbCameraImpl::DeviceCacheProperties() {
-  if (!m_sourceReader)
+  if (!m_sourceReader) {
     return;
+  }
 
   IAMVideoProcAmp* pProcAmp = NULL;
 
@@ -778,22 +785,25 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
 
   // Look up
   auto prop = static_cast<UsbCameraProperty*>(GetProperty(property));
-  if (!prop)
+  if (!prop) {
     return CS_INVALID_PROPERTY;
+  }
 
   // If setting before we get, guess initial type based on set
   if (prop->propKind == CS_PROP_NONE) {
-    if (setString)
+    if (setString) {
       prop->propKind = CS_PROP_STRING;
-    else
+    } else {
       prop->propKind = CS_PROP_INTEGER;
+    }
   }
 
   // Check kind match
   if ((setString && prop->propKind != CS_PROP_STRING) ||
-      (!setString && (prop->propKind &
-                      (CS_PROP_BOOLEAN | CS_PROP_INTEGER | CS_PROP_ENUM)) == 0))
+      (!setString && (prop->propKind & (CS_PROP_BOOLEAN | CS_PROP_INTEGER |
+                                        CS_PROP_ENUM)) == 0)) {
     return CS_WRONG_PROPERTY_TYPE;
+  }
 
   // Handle percentage property
   int percentageProperty = prop->propPair;
@@ -810,8 +820,9 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetProperty(
 
   // Actually set the new value on the device (if possible)
   if (!prop->device) {
-    if (prop->id == kPropConnectVerboseId)
+    if (prop->id == kPropConnectVerboseId) {
       m_connectVerbose = value;
+    }
   } else {
     if (!prop->DeviceSet(lock, m_sourceReader.Get())) {
       return CS_PROPERTY_WRITE_FAILED;
@@ -913,11 +924,13 @@ bool UsbCameraImpl::DeviceStreamOff() {
 }
 
 void UsbCameraImpl::DeviceCacheMode() {
-  if (!m_sourceReader)
+  if (!m_sourceReader) {
     return;
+  }
 
-  if (m_windowsVideoModes.size() == 0)
+  if (m_windowsVideoModes.size() == 0) {
     return;
+  }
 
   if (!m_currentMode) {
     // First, see if our set mode is valid
@@ -982,8 +995,9 @@ CS_StatusValue UsbCameraImpl::DeviceSetMode() {
 }
 
 void UsbCameraImpl::DeviceCacheVideoModes() {
-  if (!m_sourceReader)
+  if (!m_sourceReader) {
     return;
+  }
 
   std::vector<VideoMode> modes;
   m_windowsVideoModes.clear();
@@ -1098,13 +1112,13 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
                             sizeof(buf) / sizeof(WCHAR), &characters);
     storage.clear();
     wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
-    info.name = storage.string();
+    info.name = std::string{storage};
     ppDevices[i]->GetString(
         MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK, buf,
         sizeof(buf) / sizeof(WCHAR), &characters);
     storage.clear();
     wpi::sys::windows::UTF16ToUTF8(buf, characters, storage);
-    info.path = storage.string();
+    info.path = std::string{storage};
 
     // Try to parse path from symbolic link
     ParseVidAndPid(info.path, &info.productId, &info.vendorId);

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

@@ -96,10 +96,10 @@ class UsbCameraImpl : public SourceImpl,
     };
 
     explicit Message(Kind kind_)
-        : kind(kind_), data{0}, from(std::this_thread::get_id()) {}
+        : kind(kind_), from(std::this_thread::get_id()) {}
 
     Kind kind;
-    int data[4];
+    int data[4]{0};
     std::string dataStr;
     std::thread::id from;
   };

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

@@ -40,8 +40,9 @@ UsbCameraProperty::UsbCameraProperty(std::string_view name_,
 
 bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
                                   IAMVideoProcAmp* pProcAmp) {
-  if (!pProcAmp)
+  if (!pProcAmp) {
     return true;
+  }
 
   lock.unlock();
   long newValue = 0, paramFlag = 0;  // NOLINT(runtime/int)
@@ -60,8 +61,9 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
 bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
                                   IAMVideoProcAmp* pProcAmp,
                                   int newValue) const {
-  if (!pProcAmp)
+  if (!pProcAmp) {
     return true;
+  }
 
   lock.unlock();
   if (SUCCEEDED(
@@ -104,8 +106,9 @@ UsbCameraProperty::UsbCameraProperty(std::string_view name_,
 
 bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
                                   IAMCameraControl* pProcAmp) {
-  if (!pProcAmp)
+  if (!pProcAmp) {
     return true;
+  }
 
   lock.unlock();
   long newValue = 0, paramFlag = 0;  // NOLINT(runtime/int)
@@ -124,8 +127,9 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
 bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
                                   IAMCameraControl* pProcAmp,
                                   int newValue) const {
-  if (!pProcAmp)
+  if (!pProcAmp) {
     return true;
+  }
 
   lock.unlock();
   if (SUCCEEDED(pProcAmp->Set(tagCameraControl, newValue,
@@ -139,8 +143,9 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
 
 bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock,
                                   IMFSourceReader* sourceReader) {
-  if (!sourceReader)
+  if (!sourceReader) {
     return true;
+  }
 
   if (isControlProperty) {
     ComPtr<IAMCameraControl> pProcAmp;
@@ -169,8 +174,9 @@ bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
 bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
                                   IMFSourceReader* sourceReader,
                                   int newValue) const {
-  if (!sourceReader)
+  if (!sourceReader) {
     return true;
+  }
 
   if (isControlProperty) {
     ComPtr<IAMCameraControl> pProcAmp;

datalogtool/CMakeLists.txt

@@ -20,7 +20,7 @@ endif()
 add_executable(datalogtool ${datalogtool_src} ${datalogtool_resources_src} ${datalogtool_rc} ${APP_ICON_MACOSX})
 wpilib_link_macos_gui(datalogtool)
 target_link_libraries(datalogtool libglass ${LIBSSH_LIBRARIES})
-target_include_directories(datalogtool PRIVATE ${LIBSSH_INCLUDE_DIRS})
+target_include_directories(datalogtool SYSTEM PRIVATE ${LIBSSH_INCLUDE_DIRS})
 
 if (WIN32)
     set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)

datalogtool/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "roboRIO Team Number Setter"
 
@@ -27,12 +27,12 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
     nativeUtils {
         nativeDependencyContainer {
             libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-                groupId = "edu.wpi.first.thirdparty.frc2022"
+                groupId = "edu.wpi.first.thirdparty.frc2023"
                 artifactId = "libssh"
                 headerClassifier = "headers"
                 sourceClassifier = "sources"
                 ext = "zip"
-                version = '0.95-1'
+                version = '0.95-3'
                 targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
             }
         }
@@ -107,7 +107,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }

datalogtool/publish.gradle

@@ -10,7 +10,7 @@ model {
     tasks {
         // Create the run task.
         $.components.datalogtool.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -23,17 +23,17 @@ model {
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("datalogtool")) {
-                    if (binary.buildable && binary.name.contains("Release")) {
+                    if (binary.buildable && (binary.name.contains('Release') || binary.name.contains('release'))) {
                         // We are now in the binary that we want.
                         // This is the default application path for the ZIP task.
                         def applicationPath = binary.executable.file
                         def icon = file("$project.projectDir/src/main/native/mac/datalogtool.icns")
 
                         // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleDataLogToolOsxApp", Copy) {
+                        def bundleTask = project.tasks.create("bundleDataLogToolOsxApp" + binary.targetPlatform.architecture.name, Copy) {
                             description("Creates a macOS application bundle for DataLogTool")
                             from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/DataLogTool.app/Contents"))
+                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/DataLogTool.app/Contents"))
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
@@ -48,7 +48,7 @@ model {
                                             "codesign --force --strict --deep " +
                                             "--timestamp --options=runtime " +
                                             "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/DataLogTool.app/"
+                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/DataLogTool.app/"
                                         ]
                                         commandLine args
                                     }
@@ -58,12 +58,12 @@ model {
 
                         // Reset the application path if we are creating a bundle.
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
                             project.build.dependsOn bundleTask
                         }
 
                         // Create the ZIP.
-                        def task = project.tasks.create("copyDataLogToolExecutable", Zip) {
+                        def task = project.tasks.create("copyDataLogToolExecutable" + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the DataLogTool executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 

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

@@ -20,7 +20,7 @@
 class DataLogThread {
  public:
   explicit DataLogThread(wpi::log::DataLogReader reader)
-      : m_reader{std::move(reader)}, m_thread{[=] { ReadMain(); }} {}
+      : m_reader{std::move(reader)}, m_thread{[=, this] { ReadMain(); }} {}
   ~DataLogThread();
 
   bool IsDone() const { return m_done; }

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

@@ -107,7 +107,7 @@ static void RebuildEntryTree() {
 
     // get to leaf
     auto nodes = &gEntryTree;
-    for (auto part : wpi::drop_back(wpi::span{parts.begin(), parts.end()})) {
+    for (auto part : wpi::drop_back(std::span{parts.begin(), parts.end()})) {
       auto it =
           std::find_if(nodes->begin(), nodes->end(),
                        [&](const auto& node) { return node.name == part; });
@@ -485,6 +485,12 @@ static void ValueToCsv(wpi::raw_ostream& os, const Entry& entry,
       fmt::print(os, "{}", val);
       return;
     }
+  } else if (entry.type == "boolean[]") {
+    std::vector<int> val;
+    if (record.GetBooleanArray(&val)) {
+      fmt::print(os, "{}", fmt::join(val, ";"));
+      return;
+    }
   } else if (entry.type == "double[]") {
     std::vector<double> val;
     if (record.GetDoubleArray(&val)) {

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

@@ -90,7 +90,7 @@ size_t File::AsyncRead(void* data, uint32_t len, AsyncId id) {
   return rv;
 }
 
-size_t File::Write(wpi::span<const uint8_t> data) {
+size_t File::Write(std::span<const uint8_t> data) {
   auto rv = sftp_write(m_handle, data.data(), data.size());
   if (rv < 0) {
     throw Exception{m_handle->sftp};

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

@@ -7,13 +7,12 @@
 #include <libssh/libssh.h>
 #include <libssh/sftp.h>
 
+#include <span>
 #include <stdexcept>
 #include <string>
 #include <string_view>
 #include <vector>
 
-#include <wpi/span.h>
-
 namespace sftp {
 
 struct Attributes {
@@ -53,7 +52,7 @@ class File {
   size_t Read(void* buf, uint32_t count);
   AsyncId AsyncReadBegin(uint32_t len) const;
   size_t AsyncRead(void* data, uint32_t len, AsyncId id);
-  size_t Write(wpi::span<const uint8_t> data);
+  size_t Write(std::span<const uint8_t> data);
 
   void Seek(uint64_t offset);
   uint64_t Tell() const;

docs/build.gradle

@@ -11,7 +11,6 @@ evaluationDependsOn(':cameraserver')
 evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
-evaluationDependsOn(':wpilibOldCommands')
 evaluationDependsOn(':wpilibNewCommands')
 
 def baseArtifactIdCpp = 'documentation'
@@ -34,12 +33,11 @@ cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':cameraserver').cppHeadersZip)
 cppProjectZips.add(project(':wpimath').cppHeadersZip)
 cppProjectZips.add(project(':wpilibc').cppHeadersZip)
-cppProjectZips.add(project(':wpilibOldCommands').cppHeadersZip)
 cppProjectZips.add(project(':wpilibNewCommands').cppHeadersZip)
 
 doxygen {
     executables {
-        doxygen version : '1.9.2',
+        doxygen version : '1.9.4',
         baseURI : 'https://frcmaven.wpi.edu/artifactory/generic-release-mirror/doxygen'
     }
 }
@@ -59,7 +57,6 @@ doxygen {
     if (project.hasProperty('docWarningsAsErrors')) {
         // C++20 shims
         exclude 'wpi/ghc/filesystem.hpp'
-        exclude 'wpi/span.h'
 
         // Drake
         exclude 'drake/common/**'
@@ -117,6 +114,9 @@ doxygen {
         // json
         exclude 'wpi/json.h'
 
+        // memory
+        exclude 'wpi/memory/**'
+
         // mpack
         exclude 'wpi/mpack.h'
 
@@ -197,6 +197,7 @@ task generateJavaDocs(type: Javadoc) {
     dependsOn project(':wpilibj').generateJavaVersion
     dependsOn project(':hal').generateUsageReporting
     dependsOn project(':wpimath').generateNat
+    dependsOn project(':ntcore').ntcoreGenerateJavaTypes
     source project(':hal').sourceSets.main.java
     source project(':wpiutil').sourceSets.main.java
     source project(':cscore').sourceSets.main.java
@@ -204,7 +205,6 @@ task generateJavaDocs(type: Javadoc) {
     source project(':wpimath').sourceSets.main.java
     source project(':wpilibj').sourceSets.main.java
     source project(':cameraserver').sourceSets.main.java
-    source project(':wpilibOldCommands').sourceSets.main.java
     source project(':wpilibNewCommands').sourceSets.main.java
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'

fieldImages/CMakeLists.txt

@@ -7,6 +7,9 @@ if (WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
 
+    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    set(CMAKE_JAVA_INCLUDE_PATH fieldImages.jar ${JACKSON_JARS})
+
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json src/main/native/resources/*.png src/main/native/resources/*.jpg)
     add_jar(field_images_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES} OUTPUT_NAME fieldImages)
@@ -26,7 +29,7 @@ add_library(fieldImages ${field_images_resources_src})
 set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
-target_compile_features(fieldImages PUBLIC cxx_std_17)
+target_compile_features(fieldImages PUBLIC cxx_std_20)
 if (MSVC)
     target_compile_options(fieldImages PUBLIC /bigobj)
 endif()

fieldImages/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     apply plugin: 'cpp'
     apply plugin: 'c'
@@ -13,6 +13,12 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
         apply plugin: 'windows-resources'
     }
 
+    dependencies {
+        implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
+        implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
+        implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
+    }
+
     ext {
         nativeName = 'fieldImages'
         baseId = nativeName

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

@@ -0,0 +1,90 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.fields;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.net.URL;
+import java.nio.file.Files;
+import java.nio.file.Path;
+
+public class FieldConfig {
+  public static class Corners {
+    @JsonProperty("top-left")
+    public double[] m_topLeft;
+
+    @JsonProperty("bottom-right")
+    public double[] m_bottomRight;
+  }
+
+  @JsonProperty("game")
+  public String m_game;
+
+  @JsonProperty("field-image")
+  public String m_fieldImage;
+
+  @JsonProperty("field-corners")
+  public Corners m_fieldCorners;
+
+  @JsonProperty("field-size")
+  public double[] m_fieldSize;
+
+  @JsonProperty("field-unit")
+  public String m_fieldUnit;
+
+  public FieldConfig() {}
+
+  @SuppressWarnings("deprecation")
+  public URL getImageUrl() {
+    return getClass().getResource(Fields.kBaseResourceDir + m_fieldImage);
+  }
+
+  @SuppressWarnings("deprecation")
+  public InputStream getImageAsStream() {
+    return getClass().getResourceAsStream(Fields.kBaseResourceDir + m_fieldImage);
+  }
+
+  /**
+   * Loads a predefined field configuration from a resource file.
+   *
+   * @param field The predefined field
+   * @return The field configuration
+   * @throws IOException Throws if the file could not be loaded
+   */
+  public static FieldConfig loadField(Fields field) throws IOException {
+    return loadFromResource(field.m_resourceFile);
+  }
+
+  /**
+   * Loads a field configuration from a file on disk.
+   *
+   * @param file The json file to load
+   * @return The field configuration
+   * @throws IOException Throws if the file could not be loaded
+   */
+  public static FieldConfig loadFromFile(Path file) throws IOException {
+    try (BufferedReader reader = Files.newBufferedReader(file)) {
+      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+    }
+  }
+
+  /**
+   * Loads a field configuration from a resource file located inside the programs jar file.
+   *
+   * @param resourcePath The path to the resource file
+   * @return The field configuration
+   * @throws IOException Throws if the resoure could not be loaded
+   */
+  public static FieldConfig loadFromResource(String resourcePath) throws IOException {
+    try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath);
+        InputStreamReader reader = new InputStreamReader(stream)) {
+      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+    }
+  }
+}

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

@@ -1,25 +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.fields;
-
-public class FieldImages {
-  public static final String k2018PowerUpFieldConfig = "/edu/wpi/first/fields/2018-powerup.json";
-  public static final String k2019DeepSpaceFieldConfig =
-      "/edu/wpi/first/fields/2019-deepspace.json";
-  public static final String k2020InfiniteRechargeFieldConfig =
-      "/edu/wpi/first/fields/2020-infiniterecharge.json";
-  public static final String k2021InfiniteRechargeFieldConfig =
-      "/edu/wpi/first/fields/2021-infiniterecharge.json";
-  public static final String k2021BarrelFieldConfig =
-      "/edu/wpi/first/fields/2021-barrelracingpath.json";
-  public static final String k2021BounceFieldConfig = "/edu/wpi/first/fields/2021-bouncepath.json";
-  public static final String k2021GalacticSearchAFieldConfig =
-      "/edu/wpi/first/fields/2021-galacticsearcha.json";
-  public static final String k2021GalacticSearchBFieldConfig =
-      "/edu/wpi/first/fields/2021-galacticsearchb.json";
-  public static final String k2021SlalomFieldConfig = "/edu/wpi/first/fields/2021-slalompath.json";
-  public static final String k2022RapidReactFieldConfig =
-      "/edu/wpi/first/fields/2022-rapidreact.json";
-}

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

@@ -0,0 +1,29 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.fields;
+
+public enum Fields {
+  k2018PowerUp("2018-powerup.json"),
+  k2019DeepSpace("2019-deepspace.json"),
+  k2020InfiniteRecharge("2020-infiniterecharge.json"),
+  k2021InfiniteRecharge("2021-infiniterecharge.json"),
+  k2021Barrel("2021-barrelracingpath.json"),
+  k2021Bounce("2021-bouncepath.json"),
+  k2021GalacticSearchA("2021-galacticsearcha.json"),
+  k2021GalacticSearchB("2021-galacticsearchb.json"),
+  k2021Slalom("2021-slalompath.json"),
+  k2022RapidReact("2022-rapidreact.json");
+
+  public static final String kBaseResourceDir = "/edu/wpi/first/fields/";
+
+  /** Alias to the current game. */
+  public static final Fields kDefaultField = k2022RapidReact;
+
+  public final String m_resourceFile;
+
+  Fields(String resourceFile) {
+    m_resourceFile = kBaseResourceDir + resourceFile;
+  }
+}

fieldImages/src/test/java/edu/wpi/fields/LoadConfigTest.java

@@ -0,0 +1,19 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.fields;
+
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class LoadConfigTest {
+  @ParameterizedTest
+  @EnumSource(Fields.class)
+  void testLoad(Fields field) {
+    FieldConfig config = Assertions.assertDoesNotThrow(() -> FieldConfig.loadField(field));
+
+    Assertions.assertNotNull(config.getImageUrl());
+  }
+}

glass/.styleguide

@@ -24,6 +24,7 @@ includeOtherLibs {
   ^fmt/
   ^frc/
   ^imgui
+  ^networktables/
   ^ntcore
   ^wpi/
   ^wpigui

glass/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
 
     description = "A different kind of dashboard"
 
@@ -69,19 +69,6 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
 
     nativeUtils.exportsConfigs {
         glass {
-            x86ExcludeSymbols = [
-                '_CT??_R0?AV_System_error',
-                '_CT??_R0?AVexception',
-                '_CT??_R0?AVfailure',
-                '_CT??_R0?AVruntime_error',
-                '_CT??_R0?AVsystem_error',
-                '_CTA5?AVfailure',
-                '_TI5?AVfailure',
-                '_CT??_R0?AVout_of_range',
-                '_CTA3?AVout_of_range',
-                '_TI3?AVout_of_range',
-                '_CT??_R0?AVbad_cast'
-            ]
             x64ExcludeSymbols = [
                 '_CT??_R0?AV_System_error',
                 '_CT??_R0?AVexception',
@@ -113,7 +100,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
@@ -141,7 +128,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
@@ -150,7 +137,8 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                         return
                     }
                     lib library: nativeName, linkage: 'static'
-                    lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+                    project(':ntcore').addNtcoreDependency(it, 'shared')
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
@@ -181,14 +169,15 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
                         it.buildable = false
                         return
                     }
                     lib project: ':cscore', library: 'cscore', linkage: 'static'
                     lib library: 'glassnt', linkage: 'static'
                     lib library: nativeName, linkage: 'static'
-                    lib project: ':ntcore', library: 'ntcore', linkage: 'static'
+                    project(':ntcore').addNtcoreDependency(it, 'static')
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'

glass/publish.gradle

@@ -64,7 +64,8 @@ model {
     tasks {
         // Create the run task.
         $.components.glassApp.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
+
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -77,17 +78,17 @@ model {
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("glassApp")) {
-                    if (binary.buildable && binary.name.contains("Release")) {
+                    if (binary.buildable && (binary.name.contains('Release') || binary.name.contains('release'))) {
                         // We are now in the binary that we want.
                         // This is the default application path for the ZIP task.
                         def applicationPath = binary.executable.file
                         def icon = file("$project.projectDir/src/app/native/mac/glass.icns")
 
                         // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleGlassOsxApp", Copy) {
+                        def bundleTask = project.tasks.create("bundleGlassOsxApp" + binary.targetPlatform.architecture.name, Copy) {
                             description("Creates a macOS application bundle for Glass")
                             from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/Glass.app/Contents"))
+                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/Contents"))
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
@@ -102,7 +103,7 @@ model {
                                             "codesign --force --strict --deep " +
                                             "--timestamp --options=runtime " +
                                             "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/Glass.app/"
+                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/"
                                         ]
                                         commandLine args
                                     }
@@ -112,12 +113,12 @@ model {
 
                         // Reset the application path if we are creating a bundle.
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles")
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
                             project.build.dependsOn bundleTask
                         }
 
                         // Create the ZIP.
-                        def task = project.tasks.create("copyGlassExecutable", Zip) {
+                        def task = project.tasks.create("copyGlassExecutable" + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the Glass executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 

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

@@ -42,6 +42,7 @@ static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
 static std::unique_ptr<glass::NetworkTablesSettings> gNetworkTablesSettings;
 static glass::LogData gNetworkTablesLog;
 static std::unique_ptr<glass::Window> gNetworkTablesWindow;
+static std::unique_ptr<glass::Window> gNetworkTablesInfoWindow;
 static std::unique_ptr<glass::Window> gNetworkTablesSettingsWindow;
 static std::unique_ptr<glass::Window> gNetworkTablesLogWindow;
 
@@ -49,6 +50,24 @@ static glass::MainMenuBar gMainMenu;
 static bool gAbout = false;
 static bool gSetEnterKey = false;
 static bool gKeyEdit = false;
+static int* gEnterKey;
+static void (*gPrevKeyCallback)(GLFWwindow*, int, int, int, int);
+
+static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
+                                  int action, int mods) {
+  if (action == GLFW_PRESS || action == GLFW_RELEASE) {
+    if (gKeyEdit) {
+      *gEnterKey = key;
+      gKeyEdit = false;
+    } else if (*gEnterKey == key) {
+      key = GLFW_KEY_ENTER;
+    }
+  }
+
+  if (gPrevKeyCallback) {
+    gPrevKeyCallback(window, key, scancode, action, mods);
+  }
+}
 
 static void NtInitialize() {
   // update window title when connection status changes
@@ -60,8 +79,7 @@ static void NtInitialize() {
     if (!win) {
       return;
     }
-    bool timedOut;
-    for (auto&& event : nt::PollConnectionListener(poller, 0, &timedOut)) {
+    for (auto&& event : nt::ReadConnectionListenerQueue(poller)) {
       if (event.connected) {
         glfwSetWindowTitle(
             win, fmt::format("Glass - Connected ({})", event.conn.remote_ip)
@@ -76,8 +94,7 @@ static void NtInitialize() {
   auto logPoller = nt::CreateLoggerPoller(inst);
   nt::AddPolledLogger(logPoller, NT_LOG_INFO, 100);
   gui::AddEarlyExecute([logPoller] {
-    bool timedOut;
-    for (auto&& msg : nt::PollLogger(logPoller, 0, &timedOut)) {
+    for (auto&& msg : nt::ReadLoggerQueue(logPoller)) {
       const char* level = "";
       if (msg.level >= NT_LOG_CRITICAL) {
         level = "CRITICAL: ";
@@ -114,9 +131,21 @@ static void NtInitialize() {
   gNetworkTablesWindow->DisableRenamePopup();
   gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });
 
+  // NetworkTables info window
+  gNetworkTablesInfoWindow = std::make_unique<glass::Window>(
+      glass::GetStorageRoot().GetChild("NetworkTables Info"),
+      "NetworkTables Info");
+  gNetworkTablesInfoWindow->SetView(glass::MakeFunctionView(
+      [&] { glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
+  gNetworkTablesInfoWindow->SetDefaultPos(250, 130);
+  gNetworkTablesInfoWindow->SetDefaultSize(750, 145);
+  gNetworkTablesInfoWindow->SetDefaultVisibility(glass::Window::kHide);
+  gNetworkTablesInfoWindow->DisableRenamePopup();
+  gui::AddLateExecute([] { gNetworkTablesInfoWindow->Display(); });
+
   // NetworkTables settings window
   gNetworkTablesSettings = std::make_unique<glass::NetworkTablesSettings>(
-      glass::GetStorageRoot().GetChild("NetworkTables Settings"));
+      "glass", glass::GetStorageRoot().GetChild("NetworkTables Settings"));
   gui::AddEarlyExecute([] { gNetworkTablesSettings->Update(); });
 
   gNetworkTablesSettingsWindow = std::make_unique<glass::Window>(
@@ -161,6 +190,11 @@ int main(int argc, char** argv) {
   gui::AddIcon(glass::GetResource_glass_256_png());
   gui::AddIcon(glass::GetResource_glass_512_png());
 
+  gui::AddEarlyExecute(
+      [] { ImGui::DockSpaceOverViewport(ImGui::GetMainViewport()); });
+
+  gui::AddInit([] { ImGui::GetIO().ConfigDockingWithShift = true; });
+
   gPlotProvider = std::make_unique<glass::PlotProvider>(
       glass::GetStorageRoot().GetChild("Plots"));
   gNtProvider = std::make_unique<glass::NetworkTablesProvider>(
@@ -195,6 +229,9 @@ int main(int argc, char** argv) {
       if (gNetworkTablesWindow) {
         gNetworkTablesWindow->DisplayMenuItem("NetworkTables View");
       }
+      if (gNetworkTablesInfoWindow) {
+        gNetworkTablesInfoWindow->DisplayMenuItem("NetworkTables Info");
+      }
       if (gNetworkTablesLogWindow) {
         gNetworkTablesLogWindow->DisplayMenuItem("NetworkTables Log");
       }
@@ -237,11 +274,6 @@ int main(int argc, char** argv) {
       ImGui::EndPopup();
     }
 
-    int& enterKey = glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
-
-    ImGuiIO& io = ImGui::GetIO();
-    io.KeyMap[ImGuiKey_Enter] = enterKey;
-
     if (gSetEnterKey) {
       ImGui::OpenPopup("Set Enter Key");
       gSetEnterKey = false;
@@ -251,24 +283,13 @@ int main(int argc, char** argv) {
       ImGui::Text("This is useful to edit values without the DS disabling");
       ImGui::Separator();
 
-      if (gKeyEdit) {
-        for (int i = 0; i < IM_ARRAYSIZE(io.KeysDown); ++i) {
-          if (io.KeysDown[i]) {
-            // remove all other uses
-            enterKey = i;
-            gKeyEdit = false;
-            break;
-          }
-        }
-      }
-
       ImGui::Text("Key:");
       ImGui::SameLine();
       char editLabel[40];
       char nameBuf[32];
-      const char* name = glfwGetKeyName(enterKey, 0);
+      const char* name = glfwGetKeyName(*gEnterKey, 0);
       if (!name) {
-        std::snprintf(nameBuf, sizeof(nameBuf), "%d", enterKey);
+        std::snprintf(nameBuf, sizeof(nameBuf), "%d", *gEnterKey);
         name = nameBuf;
       }
       std::snprintf(editLabel, sizeof(editLabel), "%s###edit",
@@ -278,7 +299,7 @@ int main(int argc, char** argv) {
       }
       ImGui::SameLine();
       if (ImGui::SmallButton("Reset")) {
-        enterKey = GLFW_KEY_ENTER;
+        *gEnterKey = GLFW_KEY_ENTER;
       }
 
       if (ImGui::Button("Close")) {
@@ -289,7 +310,12 @@ int main(int argc, char** argv) {
     }
   });
 
-  gui::Initialize("Glass - DISCONNECTED", 1024, 768);
+  gui::Initialize("Glass - DISCONNECTED", 1024, 768,
+                  ImGuiConfigFlags_DockingEnable);
+  gEnterKey = &glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
+  if (auto win = gui::GetSystemWindow()) {
+    gPrevKeyCallback = glfwSetKeyCallback(win, RemapEnterKeyCallback);
+  }
   gui::Main();
 
   gNetworkTablesSettingsWindow.reset();

glass/src/lib/native/cpp/Context.cpp

@@ -69,6 +69,9 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
   wpi::raw_string_ostream ini{iniStr};
 
   for (auto&& jsection : jfile.items()) {
+    if (jsection.key() == "Docking") {
+      continue;
+    }
     if (!jsection.value().is_object()) {
       ImGui::LogText("%s section %s is not object", filename,
                      jsection.key().c_str());
@@ -95,6 +98,31 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
       ini << '\n';
     }
   }
+
+  // emit Docking section last
+  auto docking = jfile.find("Docking");
+  if (docking != jfile.end()) {
+    for (auto&& jsubsection : docking->items()) {
+      if (!jsubsection.value().is_array()) {
+        ImGui::LogText("%s section %s subsection %s is not array", filename,
+                       "Docking", jsubsection.key().c_str());
+        return false;
+      }
+      ini << "[Docking][" << jsubsection.key() << "]\n";
+      for (auto&& jv : jsubsection.value()) {
+        try {
+          auto& value = jv.get_ref<const std::string&>();
+          ini << value << "\n";
+        } catch (wpi::json::exception&) {
+          ImGui::LogText("%s section %s subsection %s value is not string",
+                         filename, "Docking", jsubsection.key().c_str());
+          return false;
+        }
+      }
+      ini << '\n';
+    }
+  }
+
   ini.flush();
 
   ImGui::LoadIniSettingsFromMemory(iniStr.data(), iniStr.size());
@@ -204,7 +232,11 @@ static wpi::json WindowToJson() {
       }
       curSection = &jsection[subsection];
       if (curSection->is_null()) {
-        *curSection = wpi::json::object();
+        if (section == "Docking") {
+          *curSection = wpi::json::array();
+        } else {
+          *curSection = wpi::json::object();
+        }
       }
     } else {
       // value
@@ -212,7 +244,11 @@ static wpi::json WindowToJson() {
         continue;  // shouldn't happen, but just in case
       }
       auto [name, value] = wpi::split(line, '=');
-      (*curSection)[name] = value;
+      if (curSection->is_object()) {
+        (*curSection)[name] = value;
+      } else if (curSection->is_array()) {
+        curSection->emplace_back(line);
+      }
     }
   }
 

glass/src/lib/native/cpp/Storage.cpp

@@ -254,7 +254,7 @@ Storage::Value& Storage::GetValue(std::string_view key) {
   }                                                                            \
                                                                                \
   std::vector<ArrCType>& Storage::Get##CapsName##Array(                        \
-      std::string_view key, wpi::span<const ArrCType> defaultVal) {            \
+      std::string_view key, std::span<const ArrCType> defaultVal) {            \
     auto& valuePtr = m_values[key];                                            \
     bool setValue = false;                                                     \
     if (!valuePtr) {                                                           \

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

@@ -10,7 +10,7 @@
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/numbers>
+#include <numbers>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -54,7 +54,7 @@ void glass::DisplayGyro(GyroModel* m) {
 
   // Draw the spokes at every 5 degrees and a "major" spoke every 45 degrees.
   for (int i = -175; i <= 180; i += 5) {
-    double radians = i * 2 * wpi::numbers::pi / 360.0;
+    double radians = i * 2 * std::numbers::pi / 360.0;
     ImVec2 direction(std::sin(radians), -std::cos(radians));
 
     bool major = i % 45 == 0;
@@ -74,7 +74,7 @@ void glass::DisplayGyro(GyroModel* m) {
 
   draw->AddCircleFilled(center, radius * 0.075, secondaryColor, 50);
 
-  double radians = value * 2 * wpi::numbers::pi / 360.0;
+  double radians = value * 2 * std::numbers::pi / 360.0;
   draw->AddLine(
       center - ImVec2(1, 0),
       center + ImVec2(std::sin(radians), -std::cos(radians)) * radius * 0.95f,

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

@@ -11,7 +11,7 @@
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <wpi/numbers>
+#include <numbers>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -55,11 +55,11 @@ void glass::DisplayDrive(DriveModel* m) {
     draw->AddTriangleFilled(
         arrowPos,
         arrowPos + ImRotate(ImVec2(0.0f, 7.5f),
-                            std::cos(angle + wpi::numbers::pi / 4),
-                            std::sin(angle + wpi::numbers::pi / 4)),
+                            std::cos(angle + std::numbers::pi / 4),
+                            std::sin(angle + std::numbers::pi / 4)),
         arrowPos + ImRotate(ImVec2(0.0f, 7.5f),
-                            std::cos(angle - wpi::numbers::pi / 4),
-                            std::sin(angle - wpi::numbers::pi / 4)),
+                            std::cos(angle - std::numbers::pi / 4),
+                            std::sin(angle - std::numbers::pi / 4)),
         color);
   };
 
@@ -88,30 +88,30 @@ void glass::DisplayDrive(DriveModel* m) {
   if (rotation != 0) {
     float radius = 60.0f;
     double a1 = 0.0;
-    double a2 = wpi::numbers::pi / 2 * rotation;
+    double a2 = std::numbers::pi / 2 * rotation;
 
     // PathArcTo requires a_min <= a_max, and rotation can be negative
     if (a1 > a2) {
       draw->PathArcTo(center, radius, a2, a1, 20);
       draw->PathStroke(color, false);
-      draw->PathArcTo(center, radius, a2 + wpi::numbers::pi,
-                      a1 + wpi::numbers::pi, 20);
+      draw->PathArcTo(center, radius, a2 + std::numbers::pi,
+                      a1 + std::numbers::pi, 20);
       draw->PathStroke(color, false);
     } else {
       draw->PathArcTo(center, radius, a1, a2, 20);
       draw->PathStroke(color, false);
-      draw->PathArcTo(center, radius, a1 + wpi::numbers::pi,
-                      a2 + wpi::numbers::pi, 20);
+      draw->PathArcTo(center, radius, a1 + std::numbers::pi,
+                      a2 + std::numbers::pi, 20);
       draw->PathStroke(color, false);
     }
 
-    double adder = rotation < 0 ? wpi::numbers::pi : 0;
+    double adder = rotation < 0 ? std::numbers::pi : 0;
 
     auto arrowPos =
         center + ImVec2(radius * -std::cos(a2), radius * -std::sin(a2));
     drawArrow(arrowPos, a2 + adder);
 
-    a2 += wpi::numbers::pi;
+    a2 += std::numbers::pi;
     arrowPos = center + ImVec2(radius * -std::cos(a2), radius * -std::sin(a2));
     drawArrow(arrowPos, a2 + adder);
   }

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

@@ -93,7 +93,7 @@ class PopupState {
 
   SelectedTargetInfo* GetTarget() { return &m_target; }
   FieldObjectModel* GetInsertModel() { return m_insertModel; }
-  wpi::span<const frc::Pose2d> GetInsertPoses() const { return m_insertPoses; }
+  std::span<const frc::Pose2d> GetInsertPoses() const { return m_insertPoses; }
 
   void Display(Field2DModel* model, const FieldFrameData& ffd);
 
@@ -189,7 +189,7 @@ class ObjectInfo {
 
   DisplayOptions GetDisplayOptions() const;
   void DisplaySettings();
-  void DrawLine(ImDrawList* drawList, wpi::span<const ImVec2> points) const;
+  void DrawLine(ImDrawList* drawList, std::span<const ImVec2> points) const;
 
   void LoadImage();
   const gui::Texture& GetTexture() const { return m_texture; }
@@ -617,7 +617,7 @@ void ObjectInfo::DisplaySettings() {
 }
 
 void ObjectInfo::DrawLine(ImDrawList* drawList,
-                          wpi::span<const ImVec2> points) const {
+                          std::span<const ImVec2> points) const {
   if (points.empty()) {
     return;
   }

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

@@ -83,7 +83,7 @@ class PlotSeries {
     return m_digital.GetValue() == kDigital ||
            (m_digital.GetValue() == kAuto && m_source && m_source->IsDigital());
   }
-  void AppendValue(double value, uint64_t time);
+  void AppendValue(double value, int64_t time);
 
   // source linkage
   DataSource* m_source = nullptr;
@@ -149,7 +149,6 @@ class Plot {
   bool& m_legendHorizontal;
   int& m_legendLocation;
   bool& m_crosshairs;
-  bool& m_antialiased;
   bool& m_mousePosition;
   bool& m_yAxis2;
   bool& m_yAxis3;
@@ -249,10 +248,10 @@ void PlotSeries::SetSource(DataSource* source) {
   AppendValue(source->GetValue(), 0);
 
   m_newValueConn = source->valueChanged.connect_connection(
-      [this](double value, uint64_t time) { AppendValue(value, time); });
+      [this](double value, int64_t time) { AppendValue(value, time); });
 }
 
-void PlotSeries::AppendValue(double value, uint64_t timeUs) {
+void PlotSeries::AppendValue(double value, int64_t timeUs) {
   double time = (timeUs != 0 ? timeUs : wpi::Now()) * 1.0e-6;
   if (IsDigital()) {
     if (m_size < kMaxSize) {
@@ -327,7 +326,7 @@ PlotSeries::Action PlotSeries::EmitPlot(PlotView& view, double now, size_t i,
     int offset;
   };
   GetterData getterData = {now, GetZeroTime() * 1.0e-6, m_data, size, offset};
-  auto getter = [](void* data, int idx) {
+  auto getter = [](int idx, void* data) {
     auto d = static_cast<GetterData*>(data);
     if (idx == d->size) {
       return ImPlotPoint{
@@ -487,7 +486,6 @@ Plot::Plot(Storage& storage)
       m_legendLocation{
           storage.GetInt("legendLocation", ImPlotLocation_NorthWest)},
       m_crosshairs{storage.GetBool("crosshairs", false)},
-      m_antialiased{storage.GetBool("antialiased", false)},
       m_mousePosition{storage.GetBool("mousePosition", true)},
       m_yAxis2{storage.GetBool("yaxis2", false)},
       m_yAxis3{storage.GetBool("yaxis3", false)},
@@ -573,7 +571,6 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
                 static_cast<int>(i));
   ImPlotFlags plotFlags = (m_legend ? 0 : ImPlotFlags_NoLegend) |
                           (m_crosshairs ? ImPlotFlags_Crosshairs : 0) |
-                          (m_antialiased ? ImPlotFlags_AntiAliased : 0) |
                           (m_mousePosition ? 0 : ImPlotFlags_NoMouseText);
 
   if (ImPlot::BeginPlot(label, ImVec2(-1, m_height), plotFlags)) {
@@ -608,7 +605,6 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
           (m_axis[i].lockMin ? ImPlotAxisFlags_LockMin : 0) |
           (m_axis[i].lockMax ? ImPlotAxisFlags_LockMax : 0) |
           (m_axis[i].autoFit ? ImPlotAxisFlags_AutoFit : 0) |
-          (m_axis[i].logScale ? ImPlotAxisFlags_AutoFit : 0) |
           (m_axis[i].invert ? ImPlotAxisFlags_Invert : 0) |
           (m_axis[i].opposite ? ImPlotAxisFlags_Opposite : 0) |
           (m_axis[i].gridLines ? 0 : ImPlotAxisFlags_NoGridLines) |
@@ -620,6 +616,9 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
       ImPlot::SetupAxisLimits(
           ImAxis_Y1 + i, m_axis[i].min, m_axis[i].max,
           m_axis[i].apply ? ImGuiCond_Always : ImGuiCond_Once);
+      ImPlot::SetupAxisScale(ImAxis_Y1 + i, m_axis[i].logScale
+                                                ? ImPlotScale_Log10
+                                                : ImPlotScale_Linear);
       m_axis[i].apply = false;
     }
 
@@ -656,7 +655,6 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
     // copy plot settings back to storage
     m_legend = (plot->Flags & ImPlotFlags_NoLegend) == 0;
     m_crosshairs = (plot->Flags & ImPlotFlags_Crosshairs) != 0;
-    m_antialiased = (plot->Flags & ImPlotFlags_AntiAliased) != 0;
     m_legendOutside =
         (plot->Items.Legend.Flags & ImPlotLegendFlags_Outside) != 0;
     m_legendHorizontal =
@@ -671,12 +669,12 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
       m_axis[i].lockMin = (flags & ImPlotAxisFlags_LockMin) != 0;
       m_axis[i].lockMax = (flags & ImPlotAxisFlags_LockMax) != 0;
       m_axis[i].autoFit = (flags & ImPlotAxisFlags_AutoFit) != 0;
-      m_axis[i].logScale = (flags & ImPlotAxisFlags_LogScale) != 0;
       m_axis[i].invert = (flags & ImPlotAxisFlags_Invert) != 0;
       m_axis[i].opposite = (flags & ImPlotAxisFlags_Opposite) != 0;
       m_axis[i].gridLines = (flags & ImPlotAxisFlags_NoGridLines) == 0;
       m_axis[i].tickMarks = (flags & ImPlotAxisFlags_NoTickMarks) == 0;
       m_axis[i].tickLabels = (flags & ImPlotAxisFlags_NoTickLabels) == 0;
+      m_axis[i].logScale = plot->Axes[ImAxis_Y1 + i].Scale == ImPlotScale_Log10;
     }
   }
 }

glass/src/lib/native/cpp/support/EnumSetting.cpp

@@ -10,16 +10,13 @@ using namespace glass;
 
 EnumSetting::EnumSetting(std::string& str, int defaultValue,
                          std::initializer_list<const char*> choices)
-    : m_str{str}, m_choices{choices}, m_value{defaultValue} {
-  // override default value if str is one of the choices
-  int i = 0;
-  for (auto choice : choices) {
-    if (str == choice) {
-      m_value = i;
-      break;
-    }
-    ++i;
+    : m_str{str}, m_choices{choices}, m_defaultValue{defaultValue} {}
+
+int EnumSetting::GetValue() const {
+  if (m_value == -1) {
+    UpdateValue();
   }
+  return m_value;
 }
 
 void EnumSetting::SetValue(int value) {
@@ -29,6 +26,9 @@ void EnumSetting::SetValue(int value) {
 
 bool EnumSetting::Combo(const char* label, int numOptions,
                         int popup_max_height_in_items) {
+  if (m_value == -1) {
+    UpdateValue();
+  }
   if (ImGui::Combo(
           label, &m_value, m_choices.data(),
           numOptions < 0 ? m_choices.size() : static_cast<size_t>(numOptions),
@@ -38,3 +38,17 @@ bool EnumSetting::Combo(const char* label, int numOptions,
   }
   return false;
 }
+
+void EnumSetting::UpdateValue() const {
+  // override default value if str is one of the choices
+  int i = 0;
+  for (auto choice : m_choices) {
+    if (m_str == choice) {
+      m_value = i;
+      return;
+    }
+    ++i;
+  }
+  // no match, default it
+  m_value = m_defaultValue;
+}

glass/src/lib/native/include/glass/DataSource.h

@@ -6,13 +6,11 @@
 
 #include <stdint.h>
 
-#include <atomic>
 #include <string>
 #include <string_view>
 
 #include <imgui.h>
 #include <wpi/Signal.h>
-#include <wpi/spinlock.h>
 
 namespace glass {
 
@@ -38,11 +36,13 @@ class DataSource {
   void SetDigital(bool digital) { m_digital = digital; }
   bool IsDigital() const { return m_digital; }
 
-  void SetValue(double value, uint64_t time = 0) {
+  void SetValue(double value, int64_t time = 0) {
     m_value = value;
+    m_valueTime = time;
     valueChanged(value, time);
   }
   double GetValue() const { return m_value; }
+  int64_t GetValueTime() const { return m_valueTime; }
 
   // drag source helpers
   void LabelText(const char* label, const char* fmt, ...) const IM_FMTARGS(3);
@@ -59,7 +59,7 @@ class DataSource {
                 ImGuiInputTextFlags flags = 0) const;
   void EmitDrag(ImGuiDragDropFlags flags = 0) const;
 
-  wpi::sig::SignalBase<wpi::spinlock, double, uint64_t> valueChanged;
+  wpi::sig::Signal<double, int64_t> valueChanged;
 
   static DataSource* Find(std::string_view id);
 
@@ -69,7 +69,8 @@ class DataSource {
   std::string m_id;
   std::string& m_name;
   bool m_digital = false;
-  std::atomic<double> m_value = 0;
+  double m_value = 0;
+  int64_t m_valueTime = 0;
 };
 
 }  // namespace glass

glass/src/lib/native/include/glass/Storage.h

@@ -8,6 +8,7 @@
 
 #include <functional>
 #include <memory>
+#include <span>
 #include <string>
 #include <string_view>
 #include <utility>
@@ -15,7 +16,6 @@
 
 #include <wpi/StringMap.h>
 #include <wpi/iterator_range.h>
-#include <wpi/span.h>
 
 namespace wpi {
 class json;
@@ -137,17 +137,17 @@ class Storage {
                          std::string_view defaultVal = {});
 
   std::vector<int>& GetIntArray(std::string_view key,
-                                wpi::span<const int> defaultVal = {});
+                                std::span<const int> defaultVal = {});
   std::vector<int64_t>& GetInt64Array(std::string_view key,
-                                      wpi::span<const int64_t> defaultVal = {});
+                                      std::span<const int64_t> defaultVal = {});
   std::vector<int>& GetBoolArray(std::string_view key,
-                                 wpi::span<const int> defaultVal = {});
+                                 std::span<const int> defaultVal = {});
   std::vector<float>& GetFloatArray(std::string_view key,
-                                    wpi::span<const float> defaultVal = {});
+                                    std::span<const float> defaultVal = {});
   std::vector<double>& GetDoubleArray(std::string_view key,
-                                      wpi::span<const double> defaultVal = {});
+                                      std::span<const double> defaultVal = {});
   std::vector<std::string>& GetStringArray(
-      std::string_view key, wpi::span<const std::string> defaultVal = {});
+      std::string_view key, std::span<const std::string> defaultVal = {});
   std::vector<std::unique_ptr<Storage>>& GetChildArray(std::string_view key);
 
   Value* FindValue(std::string_view key);

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

@@ -4,8 +4,9 @@
 
 #pragma once
 
+#include <span>
+
 #include <wpi/function_ref.h>
-#include <wpi/span.h>
 
 #include "glass/Model.h"
 
@@ -27,7 +28,7 @@ class LEDDisplayModel : public glass::Model {
 
   virtual bool IsRunning() = 0;
 
-  virtual wpi::span<const Data> GetData(wpi::SmallVectorImpl<Data>& buf) = 0;
+  virtual std::span<const Data> GetData(wpi::SmallVectorImpl<Data>& buf) = 0;
 };
 
 class LEDDisplaysModel : public glass::Model {

glass/src/lib/native/include/glass/other/Field2D.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <span>
 #include <string_view>
 
 #include <frc/geometry/Pose2d.h>
@@ -11,7 +12,6 @@
 #include <frc/geometry/Translation2d.h>
 #include <imgui.h>
 #include <wpi/function_ref.h>
-#include <wpi/span.h>
 
 #include "glass/Model.h"
 #include "glass/View.h"
@@ -22,8 +22,8 @@ class FieldObjectModel : public Model {
  public:
   virtual const char* GetName() const = 0;
 
-  virtual wpi::span<const frc::Pose2d> GetPoses() = 0;
-  virtual void SetPoses(wpi::span<const frc::Pose2d> poses) = 0;
+  virtual std::span<const frc::Pose2d> GetPoses() = 0;
+  virtual void SetPoses(std::span<const frc::Pose2d> poses) = 0;
   virtual void SetPose(size_t i, frc::Pose2d pose) = 0;
   virtual void SetPosition(size_t i, frc::Translation2d pos) = 0;
   virtual void SetRotation(size_t i, frc::Rotation2d rot) = 0;

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

@@ -8,8 +8,6 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/span.h>
-
 #include "glass/Model.h"
 
 namespace glass {
@@ -21,10 +19,7 @@ class StringChooserModel : public Model {
   virtual const std::string& GetActive() = 0;
   virtual const std::vector<std::string>& GetOptions() = 0;
 
-  virtual void SetDefault(std::string_view val) = 0;
   virtual void SetSelected(std::string_view val) = 0;
-  virtual void SetActive(std::string_view val) = 0;
-  virtual void SetOptions(wpi::span<const std::string> val) = 0;
 };
 
 void DisplayStringChooser(StringChooserModel* model);

glass/src/lib/native/include/glass/support/EnumSetting.h

@@ -15,7 +15,7 @@ class EnumSetting {
   EnumSetting(std::string& str, int defaultValue,
               std::initializer_list<const char*> choices);
 
-  int GetValue() const { return m_value; }
+  int GetValue() const;
   void SetValue(int value);
 
   // updates internal value, returns true on change
@@ -23,9 +23,12 @@ class EnumSetting {
              int popup_max_height_in_items = -1);
 
  private:
+  void UpdateValue() const;
+
   std::string& m_str;
   wpi::SmallVector<const char*, 8> m_choices;
-  int m_value;
+  int m_defaultValue;
+  mutable int m_value = -1;
 };
 
 }  // namespace glass

glass/src/libnt/native/cpp/NTCommandScheduler.cpp

@@ -10,49 +10,38 @@
 using namespace glass;
 
 NTCommandSchedulerModel::NTCommandSchedulerModel(std::string_view path)
-    : NTCommandSchedulerModel(nt::GetDefaultInstance(), path) {}
+    : NTCommandSchedulerModel(nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTCommandSchedulerModel::NTCommandSchedulerModel(NT_Inst instance,
+NTCommandSchedulerModel::NTCommandSchedulerModel(nt::NetworkTableInstance inst,
                                                  std::string_view path)
-    : m_nt(instance),
-      m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
-      m_commands(m_nt.GetEntry(fmt::format("{}/Names", path))),
-      m_ids(m_nt.GetEntry(fmt::format("{}/Ids", path))),
-      m_cancel(m_nt.GetEntry(fmt::format("{}/Cancel", path))),
-      m_nameValue(wpi::rsplit(path, '/').second) {
-  m_nt.AddListener(m_name);
-  m_nt.AddListener(m_commands);
-  m_nt.AddListener(m_ids);
-  m_nt.AddListener(m_cancel);
-}
+    : m_inst{inst},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
+      m_commands{inst.GetStringArrayTopic(fmt::format("{}/Names", path))
+                     .Subscribe({})},
+      m_ids{
+          inst.GetIntegerArrayTopic(fmt::format("{}/Ids", path)).Subscribe({})},
+      m_cancel{
+          inst.GetIntegerArrayTopic(fmt::format("{}/Cancel", path)).Publish()},
+      m_nameValue{wpi::rsplit(path, '/').second} {}
 
 void NTCommandSchedulerModel::CancelCommand(size_t index) {
   if (index < m_idsValue.size()) {
-    nt::SetEntryValue(
-        m_cancel, nt::NetworkTableValue::MakeDoubleArray({m_idsValue[index]}));
+    m_cancel.Set({{m_idsValue[index]}});
   }
 }
 
 void NTCommandSchedulerModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    if (event.entry == m_name) {
-      if (event.value && event.value->IsString()) {
-        m_nameValue = event.value->GetString();
-      }
-    } else if (event.entry == m_commands) {
-      if (event.value && event.value->IsStringArray()) {
-        auto arr = event.value->GetStringArray();
-        m_commandsValue.assign(arr.begin(), arr.end());
-      }
-    } else if (event.entry == m_ids) {
-      if (event.value && event.value->IsDoubleArray()) {
-        auto arr = event.value->GetDoubleArray();
-        m_idsValue.assign(arr.begin(), arr.end());
-      }
-    }
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
+  }
+  for (auto&& v : m_commands.ReadQueue()) {
+    m_commandsValue = std::move(v.value);
+  }
+  for (auto&& v : m_ids.ReadQueue()) {
+    m_idsValue = std::move(v.value);
   }
 }
 
 bool NTCommandSchedulerModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_commands) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_commands.Exists();
 }