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

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

.github/workflows/cmake.yml

@@ -2,6 +2,10 @@ name: CMake
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     strategy:
@@ -16,50 +20,64 @@ jobs:
             name: macOS
             container: ""
             flags: "-DWITH_JAVA=OFF"
+
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v2
-      - name: Install Dependencies
-        run: |
-          if [ "$RUNNER_OS" == "macOS" ]; then
-            brew install opencv
-          fi
+      - uses: actions/checkout@v3
+
+      - name: Install opencv (macOS)
+        run: brew install opencv
+        if: runner.os == 'macOS'
+
       - name: Set up Python 3.8
         uses: actions/setup-python@v2
         with:
           python-version: 3.8
+
       - name: Install jinja
         run: python -m pip install jinja2
+
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
+
       - name: build
         working-directory: build
-        run: cmake --build . -j$(nproc)
+        run: cmake --build . --parallel $(nproc)
+
       - name: test
         working-directory: build
         run: ctest --output-on-failure
 
-  build-vcpkg:
+  build-windows:
+    env:
+      VCPKG_DEFAULT_TRIPLET: x64-windows
     name: "Build - Windows"
     runs-on: windows-2019
     steps:
-      - uses: actions/checkout@v2
-      - name: Prepare vcpkg
-        uses: lukka/run-vcpkg@v7
+      - uses: actions/checkout@v3
+
+      - name: Install CMake
+        uses: lukka/get-cmake@v3.23.0
+
+      - name: Run vcpkg
+        uses: lukka/run-vcpkg@v10.2
         with:
-          vcpkgArguments: opencv
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgTriplet: x64-windows
-          vcpkgGitCommitId: d781bd9ca77ac3dc2f13d88169021d48459c665f # HEAD on 2021-07-25
-      - name: Configure & Build
-        uses: lukka/run-cmake@v3
-        with:
-          buildDirectory: ${{ runner.workspace }}/build
-          cmakeAppendedArgs: -DWITH_JAVA=OFF
-          cmakeListsOrSettingsJson: CMakeListsTxtAdvanced
-          useVcpkgToolchainFile: true
-      - name: Run Tests
+          vcpkgGitCommitId: f6af75acc923c833a5620943e3fc7d5e4930f0df # HEAD on 2022-04-10
+          runVcpkgInstall: true
+
+      - name: Install jinja
+        run: python -m pip install jinja2
+
+      - name: configure
+        run: mkdir build && cd build && cmake -DWITH_JAVA=OFF -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake ..
+
+      - name: build
+        working-directory: build
+        run: cmake --build . --parallel $(nproc)
+
+      - name: test
+        working-directory: build
         run: ctest -C "Debug" --output-on-failure
-        working-directory: ${{ runner.workspace }}/build

.github/workflows/comment-command.yml

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

.github/workflows/documentation.yml

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

.github/workflows/gazebo.yml

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

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

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

.github/workflows/gradle.yml

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

.github/workflows/lint-format.yml

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

.github/workflows/sanitizers.yml

@@ -2,6 +2,10 @@ name: Sanitizers
 
 on: [pull_request, push]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build:
     strategy:
@@ -11,7 +15,7 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: "-E 'wpiutil|ntcore|wpilibc'"
+            ctest-flags: "-E 'wpinet|wpiutil|ntcore|wpilibc'"
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
@@ -24,7 +28,8 @@ jobs:
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
+
       - name: Install Dependencies
         run: |
           sudo add-apt-repository ppa:ubuntu-toolchain-r/test
@@ -33,17 +38,22 @@ jobs:
             --install /usr/bin/gcc gcc /usr/bin/gcc-11 11 \
             --slave /usr/bin/g++ g++ /usr/bin/g++-11
           sudo update-alternatives --set gcc /usr/bin/gcc-11
+
       - name: Set up Python 3.8
         uses: actions/setup-python@v2
         with:
           python-version: 3.8
+
       - name: Install jinja
         run: python -m pip install jinja2
+
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.cmake-flags }} ..
+
       - name: build
         working-directory: build
-        run: cmake --build . -j$(nproc)
+        run: cmake --build . --parallel $(nproc)
+
       - name: test
         working-directory: build
         run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.github/workflows/upstream-utils.yml

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

.styleguide

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

CMakeLists.txt

@@ -54,7 +54,6 @@ option(WITH_JAVA "Include java and JNI in the build" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
-option(WITH_OLD_COMMANDS "Build old commands" OFF)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
@@ -149,6 +148,7 @@ find_package(LIBSSH 0.7.1)
 
 if (WITH_FLAT_INSTALL)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
+set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
 set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
 set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
@@ -156,9 +156,9 @@ set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
 set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
 set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
-set(WPILIBOLDCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibOldcommands-config.cmake)")
 else()
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
+set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
 set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
 set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
@@ -166,7 +166,6 @@ set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
 set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
 set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-set(WPILIBOLDCOMMANDS_DEP_REPLACE "find_dependency(wpilibOldCommands)")
 endif()
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
@@ -248,6 +247,7 @@ if (WITH_TESTS)
 endif()
 
 add_subdirectory(wpiutil)
+add_subdirectory(wpinet)
 add_subdirectory(ntcore)
 
 if (WITH_WPIMATH)
@@ -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 12.0 with wpiformat.
 
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 

MavenArtifacts.md

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

README.md

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

ThirdPartyNotices.txt

@@ -24,9 +24,7 @@ LLVM                  wpiutil/src/main/native/include/wpi/{various files}
 JSON for Modern C++   wpiutil/src/main/native/include/wpi/json.h
                       wpiutil/src/main/native/cpp/json_*.cpp
                       wpiutil/src/test/native/cpp/json/
-libuv                 wpiutil/src/main/native/include/uv.h
-                      wpiutil/src/main/native/include/uv/
-                      wpiutil/src/main/native/libuv/
+libuv                 wpinet/src/main/native/thirdparty/libuv/
 fmtlib                wpiutil/src/main/native/fmtlib/
 sigslot               wpiutil/src/main/native/include/wpi/Signal.h
                       wpiutil/src/test/native/cpp/sigslot/
@@ -34,11 +32,11 @@ tcpsockets            wpiutil/src/main/native/cpp/TCP{Stream,Connector,Acceptor}
                       wpiutil/src/main/native/include/wpi/TCP*.h
 MPack                 wpiutil/src/main/native/include/mpack.h
                       wpiutil/src/main/native/cpp/mpack.cpp
-Bootstrap             wpiutil/src/main/native/resources/bootstrap-*
-CoreUI                wpiutil/src/main/native/resources/coreui-*
-Feather Icons         wpiutil/src/main/native/resources/feather-*
-jQuery                wpiutil/src/main/native/resources/jquery-*
-popper.js             wpiutil/src/main/native/resources/popper-*
+Bootstrap             wpinet/src/main/native/resources/bootstrap-*
+CoreUI                wpinet/src/main/native/resources/coreui-*
+Feather Icons         wpinet/src/main/native/resources/feather-*
+jQuery                wpinet/src/main/native/resources/jquery-*
+popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/eigeninclude/
                       wpimath/src/main/native/include/unsupported/
@@ -54,7 +52,7 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
 Drake                 wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp
                       wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
-
+V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 
 ==============================================================================
 Google Test License
@@ -90,12 +88,247 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 
 ==============================================================================
-LLVM Release License
+The LLVM Project is under the Apache License v2.0 with LLVM Exceptions:
+==============================================================================
+
+                                 Apache License
+                           Version 2.0, January 2004
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+
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+
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+
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+
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+
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+    distributed under the License is distributed on an "AS IS" BASIS,
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+with the conditions of Sections 4(a), 4(b) and 4(d) of the License.
+
+In addition, if you combine or link compiled forms of this Software with
+software that is licensed under the GPLv2 ("Combined Software") and if a
+court of competent jurisdiction determines that the patent provision (Section
+3), the indemnity provision (Section 9) or other Section of the License
+conflicts with the conditions of the GPLv2, you may retroactively and
+prospectively choose to deem waived or otherwise exclude such Section(s) of
+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 +1202,33 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
+
+==================
+V8 export-template
+==================
+Copyright 2014, the V8 project authors. All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+    * Neither the name of Google Inc. nor the names of its
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

build.gradle

@@ -2,7 +2,9 @@ import edu.wpi.first.toolchain.*
 
 buildscript {
     repositories {
-        mavenCentral()
+        maven {
+            url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+        }
     }
     dependencies {
         classpath 'com.hubspot.jinjava:jinjava:2.6.0'
@@ -20,8 +22,8 @@ plugins {
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '2.0.2' apply false
     id 'com.github.johnrengelman.shadow' version '7.1.2' apply false
-    id 'com.diffplug.spotless' version '6.1.2' apply false
-    id 'com.github.spotbugs' version '5.0.4' apply false
+    id 'com.diffplug.spotless' version '6.4.2' apply false
+    id 'com.github.spotbugs' version '5.0.6' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -29,7 +31,9 @@ wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
 
 allprojects {
     repositories {
-        mavenCentral()
+        maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
     }
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)

buildSrc/build.gradle

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

cameraserver/build.gradle

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

cameraserver/multiCameraServer/build.gradle

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

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

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

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

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

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

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

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

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

cmake/modules/CompileWarnings.cmake

@@ -1,7 +1,7 @@
 macro(wpilib_target_warnings target)
     if(NOT MSVC)
-        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations ${WPILIB_TARGET_WARNINGS})
+        target_compile_options(${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()
 endmacro()

cmake/modules/FindLIBSSH.cmake

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

cmake/toolchains/gnu.toolchain.cmake

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

crossConnIntegrationTests/build.gradle

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

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

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

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

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

cscore/.styleguide

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

cscore/CMakeLists.txt

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

cscore/build.gradle

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

datalogtool/publish.gradle

@@ -23,7 +23,7 @@ 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

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

@@ -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)) {

docs/build.gradle

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

glass/build.gradle

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

glass/publish.gradle

@@ -77,7 +77,7 @@ model {
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("glassApp")) {
-                    if (binary.buildable && binary.name.contains("Release")) {
+                    if (binary.buildable && (binary.name.contains('Release') || binary.name.contains('release'))) {
                         // We are now in the binary that we want.
                         // This is the default application path for the ZIP task.
                         def applicationPath = binary.executable.file

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

@@ -49,6 +49,24 @@ 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
@@ -237,11 +255,6 @@ 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 +264,13 @@ 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 +280,7 @@ int main(int argc, char** argv) {
       }
       ImGui::SameLine();
       if (ImGui::SmallButton("Reset")) {
-        enterKey = GLFW_KEY_ENTER;
+        *gEnterKey = GLFW_KEY_ENTER;
       }
 
       if (ImGui::Button("Close")) {
@@ -290,6 +292,10 @@ int main(int argc, char** argv) {
   });
 
   gui::Initialize("Glass - DISCONNECTED", 1024, 768);
+  gEnterKey = &glass::GetStorageRoot().GetInt("enterKey", GLFW_KEY_ENTER);
+  if (auto win = gui::GetSystemWindow()) {
+    gPrevKeyCallback = glfwSetKeyCallback(win, RemapEnterKeyCallback);
+  }
   gui::Main();
 
   gNetworkTablesSettingsWindow.reset();

googletest/CMakeLists.txt.in

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

gradle.properties

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

hal/build.gradle

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

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

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

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

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

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

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

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

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

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

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

imgui/CMakeLists.txt.in

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

msvcruntime/build.gradle

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

myRobot/build.gradle

@@ -36,7 +36,9 @@ mainClassName = 'frc.robot.Main'
 apply plugin: 'com.github.johnrengelman.shadow'
 
 repositories {
-    mavenCentral()
+    maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
 }
 
 dependencies {
@@ -44,10 +46,10 @@ dependencies {
     implementation project(':wpimath')
     implementation project(':hal')
     implementation project(':wpiutil')
+    implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
     implementation project(':cameraserver')
-    implementation project(':wpilibOldCommands')
     implementation project(':wpilibNewCommands')
 }
 
@@ -161,7 +163,6 @@ model {
                         deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
                     }
                 }
-                lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'shared'
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
@@ -171,9 +172,11 @@ model {
                 lib project: ':ntcore', library: 'ntcoreJNIShared', linkage: 'shared'
                 lib project: ':cscore', library: 'cscoreJNIShared', linkage: 'shared'
                 lib project: ':wpimath', library: 'wpimathJNIShared', linkage: 'shared'
+                lib project: ':wpinet', library: 'wpinetJNIShared', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutilJNIShared', linkage: 'shared'
                 project(':hal').addHalDependency(binary, 'shared')
                 project(':hal').addHalJniDependency(binary)
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
@@ -208,7 +211,6 @@ model {
                         deploy.targets.roborio.artifacts.myRobotCppStatic.binary = binary
                     }
                 }
-                lib project: ':wpilibOldCommands', library: 'wpilibOldCommands', linkage: 'static'
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'static'
                 lib project: ':wpilibc', library: 'wpilibc', linkage: 'static'
                 lib project: ':wpimath', library: 'wpimath', linkage: 'static'
@@ -216,6 +218,7 @@ model {
                 lib project: ':ntcore', library: 'ntcore', linkage: 'static'
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 project(':hal').addHalDependency(binary, 'static')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')

ntcore/.styleguide

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

ntcore/CMakeLists.txt

@@ -14,7 +14,7 @@ target_include_directories(ntcore PUBLIC
                             $<INSTALL_INTERFACE:${include_dest}/ntcore>)
 wpilib_target_warnings(ntcore)
 target_compile_features(ntcore PUBLIC cxx_std_17)
-target_link_libraries(ntcore PUBLIC wpiutil)
+target_link_libraries(ntcore PUBLIC wpinet wpiutil)
 
 set_property(TARGET ntcore PROPERTY FOLDER "libraries")
 

ntcore/build.gradle

@@ -5,25 +5,25 @@ ext {
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
+model {
+    components {}
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+        }
+    }
+}
+
 Action<List<String>> symbolFilter = { symbols ->
     symbols.removeIf({ !it.startsWith('NT_') })
 } as Action<List<String>>;
 
 nativeUtils.exportsConfigs {
     ntcore {
-        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',
@@ -39,7 +39,6 @@ nativeUtils.exportsConfigs {
         ]
     }
     ntcoreJNI {
-        x86SymbolFilter = symbolFilter
         x64SymbolFilter = symbolFilter
     }
 }

ntcore/src/main/native/cpp/Dispatcher.cpp

@@ -9,11 +9,11 @@
 
 #include <wpi/SmallVector.h>
 #include <wpi/StringExtras.h>
-#include <wpi/TCPAcceptor.h>
-#include <wpi/TCPConnector.h>
 #include <wpi/json_serializer.h>
 #include <wpi/raw_ostream.h>
 #include <wpi/timestamp.h>
+#include <wpinet/TCPAcceptor.h>
+#include <wpinet/TCPConnector.h>
 
 #include "IConnectionNotifier.h"
 #include "IStorage.h"

ntcore/src/main/native/cpp/DsClient.cpp

@@ -6,9 +6,9 @@
 
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
-#include <wpi/TCPConnector.h>
 #include <wpi/raw_ostream.h>
-#include <wpi/raw_socket_istream.h>
+#include <wpinet/TCPConnector.h>
+#include <wpinet/raw_socket_istream.h>
 
 #include "Dispatcher.h"
 #include "Log.h"

ntcore/src/main/native/cpp/NetworkConnection.cpp

@@ -6,9 +6,9 @@
 
 #include <utility>
 
-#include <wpi/NetworkStream.h>
-#include <wpi/raw_socket_istream.h>
 #include <wpi/timestamp.h>
+#include <wpinet/NetworkStream.h>
+#include <wpinet/raw_socket_istream.h>
 
 #include "IConnectionNotifier.h"
 #include "Log.h"

outlineviewer/build.gradle

@@ -100,6 +100,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     lib project: ':glass', library: 'glassnt', linkage: 'static'
                     lib project: ':glass', library: 'glass', linkage: 'static'
                     lib project: ':ntcore', library: 'ntcore', linkage: 'static'
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                     nativeUtils.useRequiredLibrary(it, 'imgui_static')

outlineviewer/publish.gradle

@@ -23,7 +23,7 @@ model {
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("outlineviewer")) {
-                    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

roborioteamnumbersetter/.styleguide

@@ -25,4 +25,5 @@ includeOtherLibs {
   ^ntcore
   ^wpi/
   ^wpigui
+  ^wpinet/
 }

roborioteamnumbersetter/CMakeLists.txt

@@ -19,7 +19,7 @@ endif()
 
 add_executable(roborioteamnumbersetter ${rtns_src} ${rtns_resources_src} ${rtns_rc} ${APP_ICON_MACOSX})
 wpilib_link_macos_gui(roborioteamnumbersetter)
-target_link_libraries(roborioteamnumbersetter libglass ${LIBSSH_LIBRARIES})
+target_link_libraries(roborioteamnumbersetter libglass wpinet ${LIBSSH_LIBRARIES})
 target_include_directories(roborioteamnumbersetter PRIVATE ${LIBSSH_INCLUDE_DIRS})
 
 if (WIN32)

roborioteamnumbersetter/build.gradle

@@ -113,6 +113,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                     }
                     it.cppCompiler.define("LIBSSH_STATIC")
                     lib project: ':glass', library: 'glass', linkage: 'static'
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                     nativeUtils.useRequiredLibrary(it, 'imgui_static', 'libssh')

roborioteamnumbersetter/publish.gradle

@@ -23,7 +23,7 @@ model {
         $.components.each { component ->
             component.binaries.each { binary ->
                 if (binary in NativeExecutableBinarySpec && binary.component.name.contains("roborioteamnumbersetter")) {
-                    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

roborioteamnumbersetter/src/main/native/cpp/App.cpp

@@ -4,6 +4,7 @@
 
 #include <memory>
 #include <string_view>
+#include <unordered_map>
 
 #ifndef _WIN32
 #include <arpa/inet.h>
@@ -19,13 +20,11 @@
 #include <imgui.h>
 #include <libssh/libssh.h>
 #include <wpi/Logger.h>
+#include <wpi/SmallString.h>
 #include <wpi/fs.h>
+#include <wpinet/MulticastServiceResolver.h>
 #include <wpigui.h>
-#include <unordered_map>
-#include <mutex>
-#include "wpi/SmallString.h"
 #include "DeploySession.h"
-#include "wpi/MulticastServiceResolver.h"
 
 namespace gui = wpi::gui;
 

roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp

@@ -12,10 +12,10 @@
 #include <fmt/core.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
-#include <wpi/uv/Error.h>
-#include <wpi/uv/GetAddrInfo.h>
-#include <wpi/uv/Work.h>
-#include <wpi/uv/util.h>
+#include <wpinet/uv/Error.h>
+#include <wpinet/uv/GetAddrInfo.h>
+#include <wpinet/uv/Work.h>
+#include <wpinet/uv/util.h>
 
 #include "SshSession.h"
 

settings.gradle

@@ -1,7 +1,9 @@
 pluginManagement {
     repositories {
         mavenLocal()
-        gradlePluginPortal()
+        maven {
+            url = 'https://frcmaven.wpi.edu/artifactory/ex-gradle'
+        }
     }
 }
 
@@ -17,6 +19,7 @@ Properties props = System.getProperties();
 props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
 
 include 'wpiutil'
+include 'wpinet'
 include 'ntcore'
 include 'hal'
 include 'cscore'
@@ -44,8 +47,32 @@ include 'simulation:halsim_ws_client'
 include 'simulation:halsim_ws_server'
 include 'cameraserver'
 include 'cameraserver:multiCameraServer'
-include 'wpilibOldCommands'
 include 'wpilibNewCommands'
 include 'myRobot'
 include 'docs'
 include 'msvcruntime'
+
+buildCache {
+    def cred = {
+        if (System.env[it] != null) {
+            return System.env[it]
+        } else {
+            return System.getProperty(it)
+        }
+    }
+    local {
+        enabled = !System.getenv().containsKey("CI")
+    }
+    remote(HttpBuildCache) {
+        url = "https://frcmaven.wpi.edu/artifactory/wpilib-generic-gradle-cache/"
+        String user = cred('ARTIFACTORY_PUBLISH_USERNAME')
+        String pass = cred('ARTIFACTORY_PUBLISH_PASSWORD')
+        if (user && pass) {
+            push = true
+            credentials {
+                username = user
+                password = pass
+            }
+        }
+    }
+}

shared/java/javacommon.gradle

@@ -86,7 +86,9 @@ if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxrasp
 }
 
 repositories {
-    mavenCentral()
+    maven {
+        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+    }
     //maven.url "https://oss.sonatype.org/content/repositories/snapshots/"
 }
 
@@ -99,7 +101,9 @@ tasks.withType(JavaCompile).configureEach {
         '--release',
         '11',
         '-encoding',
-        'UTF8'
+        'UTF8',
+        "-Werror",
+        "-Xlint:deprecation,removal",
     ]
 }
 
@@ -120,7 +124,7 @@ task run(type: JavaExec) {
 build.dependsOn devClasses
 
 jacoco {
-    toolVersion = "0.8.7"
+    toolVersion = "0.8.8"
 }
 
 jacocoTestReport {

shared/java/javastyle.gradle

@@ -2,7 +2,7 @@ if (!project.hasProperty('skipJavaFormat')) {
     apply plugin: 'checkstyle'
 
     checkstyle {
-        toolVersion = "9.2"
+        toolVersion = "10.1"
         configDirectory = file("${project.rootDir}/styleguide")
         config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
     }
@@ -10,7 +10,7 @@ if (!project.hasProperty('skipJavaFormat')) {
     apply plugin: 'pmd'
 
     pmd {
-        toolVersion = '6.41.0'
+        toolVersion = '6.44.0'
         consoleOutput = true
         reportsDir = file("$project.buildDir/reports/pmd")
         ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))

shared/plugins/setupBuild.gradle

@@ -34,6 +34,9 @@ if (!project.hasProperty('onlylinuxathena')) {
                     if (project.hasProperty('includeNtCore')) {
                         lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
                     }
+                    if (project.hasProperty('includeWpinet')) {
+                        lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+                    }
                     if (project.hasProperty('includeWpiutil')) {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     }
@@ -60,6 +63,9 @@ if (!project.hasProperty('onlylinuxathena')) {
                         if (project.hasProperty('includeNtCore')) {
                             lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
                         }
+                        if (project.hasProperty('includeWpinet')) {
+                            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+                        }
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                             nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')

simulation/halsim_ds_socket/CMakeLists.txt

@@ -7,7 +7,7 @@ file(GLOB halsim_ds_socket_src src/main/native/cpp/*.cpp)
 add_library(halsim_ds_socket SHARED ${halsim_ds_socket_src})
 wpilib_target_warnings(halsim_ds_socket)
 set_target_properties(halsim_ds_socket PROPERTIES DEBUG_POSTFIX "d")
-target_link_libraries(halsim_ds_socket PUBLIC hal)
+target_link_libraries(halsim_ds_socket PUBLIC hal wpinet)
 
 target_include_directories(halsim_ds_socket PRIVATE src/main/native/include)
 

simulation/halsim_ds_socket/build.gradle

@@ -44,8 +44,13 @@ model {
         }
     }
     binaries {
+        all {
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+        }
         withType(GoogleTestTestSuiteBinarySpec) {
             project(':hal').addHalDependency(it, 'shared')
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             lib library: pluginName, linkage: 'shared'
             if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {

simulation/halsim_ds_socket/src/main/native/cpp/main.cpp

@@ -21,12 +21,12 @@
 #include <DSCommPacket.h>
 #include <fmt/format.h>
 #include <hal/Extensions.h>
-#include <wpi/EventLoopRunner.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/Tcp.h>
-#include <wpi/uv/Timer.h>
-#include <wpi/uv/Udp.h>
-#include <wpi/uv/util.h>
+#include <wpinet/EventLoopRunner.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Tcp.h>
+#include <wpinet/uv/Timer.h>
+#include <wpinet/uv/Udp.h>
+#include <wpinet/uv/util.h>
 
 #if defined(Win32) || defined(_WIN32)
 #pragma comment(lib, "Ws2_32.lib")

simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h

@@ -8,8 +8,8 @@
 
 #include <DSCommJoystickPacket.h>
 #include <hal/simulation/DriverStationData.h>
-#include <wpi/raw_uv_ostream.h>
 #include <wpi/span.h>
+#include <wpinet/raw_uv_ostream.h>
 
 class DSCommPacketTest;
 

simulation/halsim_ws_client/build.gradle

@@ -27,6 +27,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     return
                 }
 
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                 lib project: ":simulation:halsim_ws_core", library: "halsim_ws_core", linkage: "static"
             }
         }

simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp

@@ -8,7 +8,7 @@
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
-#include <wpi/uv/util.h>
+#include <wpinet/uv/util.h>
 
 #include "HALSimWSClientConnection.h"
 

simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp

@@ -19,7 +19,7 @@
 #include <WSProvider_SimDevice.h>
 #include <WSProvider_Solenoid.h>
 #include <WSProvider_dPWM.h>
-#include <wpi/EventLoopRunner.h>
+#include <wpinet/EventLoopRunner.h>
 
 using namespace wpilibws;
 

simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp

@@ -7,7 +7,7 @@
 #include <cstdio>
 
 #include <fmt/format.h>
-#include <wpi/raw_uv_ostream.h>
+#include <wpinet/raw_uv_ostream.h>
 
 #include "HALSimWS.h"
 

simulation/halsim_ws_client/src/main/native/include/HALSimWS.h

@@ -10,10 +10,10 @@
 
 #include <WSProviderContainer.h>
 #include <WSProvider_SimDevice.h>
-#include <wpi/uv/Async.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
-#include <wpi/uv/Timer.h>
+#include <wpinet/uv/Async.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Tcp.h>
+#include <wpinet/uv/Timer.h>
 
 namespace wpi {
 class json;

simulation/halsim_ws_client/src/main/native/include/HALSimWSClient.h

@@ -8,7 +8,7 @@
 
 #include <WSProviderContainer.h>
 #include <WSProvider_SimDevice.h>
-#include <wpi/EventLoopRunner.h>
+#include <wpinet/EventLoopRunner.h>
 
 #include "HALSimWS.h"
 

simulation/halsim_ws_client/src/main/native/include/HALSimWSClientConnection.h

@@ -8,10 +8,10 @@
 #include <utility>
 
 #include <HALSimBaseWebSocketConnection.h>
-#include <wpi/WebSocket.h>
 #include <wpi/mutex.h>
-#include <wpi/uv/Buffer.h>
-#include <wpi/uv/Stream.h>
+#include <wpinet/WebSocket.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Stream.h>
 
 #include "HALSimWS.h"
 

simulation/halsim_ws_core/CMakeLists.txt

@@ -7,7 +7,7 @@ file(GLOB halsim_ws_core_src src/main/native/cpp/*.cpp)
 add_library(halsim_ws_core STATIC ${halsim_ws_core_src})
 wpilib_target_warnings(halsim_ws_core)
 set_target_properties(halsim_ws_core PROPERTIES DEBUG_POSTFIX "d" POSITION_INDEPENDENT_CODE ON)
-target_link_libraries(halsim_ws_core PUBLIC hal)
+target_link_libraries(halsim_ws_core PUBLIC hal wpinet)
 
 target_include_directories(halsim_ws_core PUBLIC src/main/native/include)
 

simulation/halsim_ws_core/build.gradle

@@ -8,7 +8,7 @@ if (!project.hasProperty('onlylinuxathena')) {
 
     ext {
         includeWpiutil = true
-        includeNtCore = true
+        includeWpinet = true
         pluginName = 'halsim_ws_core'
     }
 
@@ -41,6 +41,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                 }
                 binaries.all {
                     project(':hal').addHalDependency(it, 'shared')
+                    lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 }
                 appendDebugPathToBinaries(binaries)

simulation/halsim_ws_core/src/main/native/include/WSProvider_SimDevice.h

@@ -12,7 +12,7 @@
 #include <hal/SimDevice.h>
 #include <hal/simulation/SimDeviceData.h>
 #include <wpi/StringMap.h>
-#include <wpi/uv/AsyncFunction.h>
+#include <wpinet/uv/AsyncFunction.h>
 
 #include "WSBaseProvider.h"
 #include "WSProviderContainer.h"

simulation/halsim_ws_server/build.gradle

@@ -51,6 +51,7 @@ model {
                 return
             }
 
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
             lib project: ":simulation:halsim_ws_core", library: "halsim_ws_core", linkage: "static"
         }
 

simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp

@@ -9,14 +9,14 @@
 #include <string_view>
 
 #include <fmt/format.h>
-#include <wpi/MimeTypes.h>
 #include <wpi/SmallVector.h>
 #include <wpi/StringExtras.h>
-#include <wpi/UrlParser.h>
 #include <wpi/fs.h>
 #include <wpi/raw_istream.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/Request.h>
+#include <wpinet/MimeTypes.h>
+#include <wpinet/UrlParser.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Request.h>
 
 namespace uv = wpi::uv;
 

simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp

@@ -6,12 +6,12 @@
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
-#include <wpi/UrlParser.h>
-#include <wpi/WebSocketServer.h>
 #include <wpi/fs.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
+#include <wpinet/UrlParser.h>
+#include <wpinet/WebSocketServer.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Tcp.h>
 
 #include "HALSimHttpConnection.h"
 

simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h

@@ -10,10 +10,10 @@
 #include <utility>
 
 #include <HALSimBaseWebSocketConnection.h>
-#include <wpi/HttpWebSocketServerConnection.h>
 #include <wpi/mutex.h>
-#include <wpi/uv/AsyncFunction.h>
-#include <wpi/uv/Buffer.h>
+#include <wpinet/HttpWebSocketServerConnection.h>
+#include <wpinet/uv/AsyncFunction.h>
+#include <wpinet/uv/Buffer.h>
 
 #include "HALSimWeb.h"
 

simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h

@@ -8,7 +8,7 @@
 
 #include <WSProviderContainer.h>
 #include <WSProvider_SimDevice.h>
-#include <wpi/EventLoopRunner.h>
+#include <wpinet/EventLoopRunner.h>
 
 #include "HALSimWeb.h"
 

simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h

@@ -11,9 +11,9 @@
 #include <WSBaseProvider.h>
 #include <WSProviderContainer.h>
 #include <WSProvider_SimDevice.h>
-#include <wpi/uv/Async.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
+#include <wpinet/uv/Async.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Tcp.h>
 
 namespace wpi {
 class json;

simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp

@@ -8,8 +8,8 @@
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/util.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/util.h>
 
 static constexpr int kTcpConnectAttemptTimeout = 1000;
 

simulation/halsim_ws_server/src/test/native/cpp/main.cpp

@@ -9,7 +9,7 @@
 #include <hal/HALBase.h>
 #include <hal/Main.h>
 #include <hal/simulation/DIOData.h>
-#include <wpi/uv/Loop.h>
+#include <wpinet/uv/Loop.h>
 
 #include "HALSimWSServer.h"
 #include "WebServerClientTest.h"

simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h

@@ -7,14 +7,14 @@
 #include <memory>
 #include <string>
 
-#include <wpi/WebSocket.h>
 #include <wpi/json.h>
-#include <wpi/uv/AsyncFunction.h>
-#include <wpi/uv/Buffer.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Stream.h>
-#include <wpi/uv/Tcp.h>
-#include <wpi/uv/Timer.h>
+#include <wpinet/WebSocket.h>
+#include <wpinet/uv/AsyncFunction.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Stream.h>
+#include <wpinet/uv/Tcp.h>
+#include <wpinet/uv/Timer.h>
 
 namespace wpilibws {
 

upstream_utils/README.md

@@ -0,0 +1,66 @@
+# Upstream utils
+
+## Layout
+
+Each thirdparty library has a Python script for updating it. They generally:
+
+1. Check out a thirdparty Git repository to a specific commit or tag
+2. Apply patch files to the thirdparty repo to fix things specific to our build
+3. Copy a subset of the thirdparty files into our repo
+4. Comment out any header includes that were invalidated, if needed
+
+`upstream_utils.py` contains utilities common to these update scripts.
+
+Patches are generated in the thirdparty repo with `git format-patch` so they can
+be applied as individual commits and easily rebased onto newer versions. Each
+library has its own patch directory (e.g., `lib_patches`).
+
+## Updating thirdparty library version
+
+The example below will update a hypothetical library called `lib` to the tag
+`2.0`.
+
+Start in the `upstream_utils` folder. Restore the original repo.
+```bash
+./update_lib.py
+```
+
+Navigate to the repo.
+```bash
+cd /tmp/lib
+```
+
+Fetch the desired version using one of the following methods.
+```bash
+# Fetch a full branch or tag
+git fetch origin 2.0
+
+# Fetch just a tag (useful for expensive-to-clone repos)
+git fetch --depth 1 origin tag 2.0
+```
+
+Rebase any patches onto the new version.
+```bash
+git rebase 2.0
+```
+
+Generate patch files for the new version.
+```bash
+git format-patch 2.0..HEAD
+```
+
+Move the patch files to `upstream_utils`.
+```
+mv *.patch allwpilib/upstream_utils/lib_patches
+```
+
+Navigate back to `upstream_utils`
+```bash
+cd allwpilib/upstream_utils
+```
+
+Modify the version number in the call to `setup_upstream_repo()` in
+`update_lib.py`, then  rerun `update_lib.py` to reimport the thirdparty files.
+```bash
+./update_lib.py
+```

upstream_utils/drake-replace-dense-with-core.patch

@@ -1,64 +0,0 @@
-diff --git b/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h a/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
-index 9af0c4525..b3f369ca0 100644
---- b/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
-+++ a/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
-@@ -2,7 +2,7 @@
- 
- #include <vector>
- 
--#include <Eigen/Dense>
-+#include <Eigen/Core>
- 
- namespace drake {
- 
-diff --git a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp b/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
-index 9585c4dae..49c2fefe7 100644
---- a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
-+++ b/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
-@@ -1,5 +1,8 @@
- #include "drake/math/discrete_algebraic_riccati_equation.h"
- 
-+#include <Eigen/Eigenvalues>
-+#include <Eigen/QR>
-+
- #include "drake/common/drake_assert.h"
- #include "drake/common/drake_throw.h"
- #include "drake/common/is_approx_equal_abstol.h"
-diff --git b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-index b64bfe75e..fc5efb313 100644
---- b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-+++ a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
-@@ -3,7 +3,7 @@
- #include <cmath>
- #include <cstdlib>
- 
--#include <Eigen/Dense>
-+#include <Eigen/Core>
- 
- namespace drake {
- namespace math {
- 
-diff --git b/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp a/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
-index 74aa4b23d..2deb039a0 100644
---- b/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
-+++ a/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
-@@ -1,5 +1,6 @@
- #include "drake/math/discrete_algebraic_riccati_equation.h"
- 
-+#include <Eigen/Eigenvalues>
- #include <gtest/gtest.h>
- 
- #include "drake/common/test_utilities/eigen_matrix_compare.h"
-diff --git b/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h a/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
-index e3bd85349..d6bcbb8ec 100644
---- b/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
-+++ a/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
-@@ -4,7 +4,7 @@
- #include <cmath>
- #include <limits>
- 
--#include <Eigen/Dense>
-+#include <Eigen/Core>
- #include <gtest/gtest.h>
- 
- // #include "drake/common/text_logging.h"

upstream_utils/drake_patches/0001-Replace-Eigen-Dense-with-Eigen-Core.patch

@@ -0,0 +1,79 @@
+From ef037207c433f16721d1f0574bde984b4bdea1f8 Mon Sep 17 00:00:00 2001
+From: Tyler Veness <calcmogul@gmail.com>
+Date: Wed, 18 May 2022 11:13:21 -0700
+Subject: [PATCH 1/2] Replace <Eigen/Dense> with <Eigen/Core>
+
+---
+ common/is_approx_equal_abstol.h                       | 2 +-
+ common/test_utilities/eigen_matrix_compare.h          | 2 +-
+ math/discrete_algebraic_riccati_equation.cc           | 3 +++
+ math/discrete_algebraic_riccati_equation.h            | 2 +-
+ math/test/discrete_algebraic_riccati_equation_test.cc | 1 +
+ 5 files changed, 7 insertions(+), 3 deletions(-)
+
+diff --git a/common/is_approx_equal_abstol.h b/common/is_approx_equal_abstol.h
+index 9af0c45252..b3f369ca01 100644
+--- a/common/is_approx_equal_abstol.h
++++ b/common/is_approx_equal_abstol.h
+@@ -2,7 +2,7 @@
+ 
+ #include <vector>
+ 
+-#include <Eigen/Dense>
++#include <Eigen/Core>
+ 
+ namespace drake {
+ 
+diff --git a/common/test_utilities/eigen_matrix_compare.h b/common/test_utilities/eigen_matrix_compare.h
+index a595da9510..c22567d32c 100644
+--- a/common/test_utilities/eigen_matrix_compare.h
++++ b/common/test_utilities/eigen_matrix_compare.h
+@@ -4,7 +4,7 @@
+ #include <cmath>
+ #include <limits>
+ 
+-#include <Eigen/Dense>
++#include <Eigen/Core>
+ #include <gtest/gtest.h>
+ 
+ #include "drake/common/text_logging.h"
+diff --git a/math/discrete_algebraic_riccati_equation.cc b/math/discrete_algebraic_riccati_equation.cc
+index 901f2ef240..20ea2b7bbe 100644
+--- a/math/discrete_algebraic_riccati_equation.cc
++++ b/math/discrete_algebraic_riccati_equation.cc
+@@ -1,5 +1,8 @@
+ #include "drake/math/discrete_algebraic_riccati_equation.h"
+ 
++#include <Eigen/Eigenvalues>
++#include <Eigen/QR>
++
+ #include "drake/common/drake_assert.h"
+ #include "drake/common/drake_throw.h"
+ #include "drake/common/is_approx_equal_abstol.h"
+diff --git a/math/discrete_algebraic_riccati_equation.h b/math/discrete_algebraic_riccati_equation.h
+index 891373ff9d..df7a58b2b8 100644
+--- a/math/discrete_algebraic_riccati_equation.h
++++ b/math/discrete_algebraic_riccati_equation.h
+@@ -3,7 +3,7 @@
+ #include <cmath>
+ #include <cstdlib>
+ 
+-#include <Eigen/Dense>
++#include <Eigen/Core>
+ 
+ namespace drake {
+ namespace math {
+diff --git a/math/test/discrete_algebraic_riccati_equation_test.cc b/math/test/discrete_algebraic_riccati_equation_test.cc
+index 533ced151d..e4ecfd2eb5 100644
+--- a/math/test/discrete_algebraic_riccati_equation_test.cc
++++ b/math/test/discrete_algebraic_riccati_equation_test.cc
+@@ -1,5 +1,6 @@
+ #include "drake/math/discrete_algebraic_riccati_equation.h"
+ 
++#include <Eigen/Eigenvalues>
+ #include <gtest/gtest.h>
+ 
+ #include "drake/common/test_utilities/eigen_matrix_compare.h"
+-- 
+2.36.1
+