[ntcore] Unify listeners (#4536)

This combines all 4 NT listener APIs (topic, value, connection, and
logging) into a single unified listener API.

.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

@@ -14,7 +14,7 @@ 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
@@ -27,12 +27,17 @@ jobs:
     steps:
       - 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
-        uses: actions/setup-python@v2
+      - name: Set up Python 3.8 (macOS)
+        if: runner.os == 'macOS'
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
 
@@ -49,35 +54,3 @@ jobs:
       - name: test
         working-directory: build
         run: ctest --output-on-failure
-
-  build-windows:
-    env:
-      VCPKG_DEFAULT_TRIPLET: x64-windows
-    name: "Build - Windows"
-    runs-on: windows-2019
-    steps:
-      - uses: actions/checkout@v3
-
-      - name: Install CMake
-        uses: lukka/get-cmake@v3.23.0
-
-      - name: Run vcpkg
-        uses: lukka/run-vcpkg@v10.2
-        with:
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: f6af75acc923c833a5620943e3fc7d5e4930f0df # HEAD on 2022-04-10
-          runVcpkgInstall: true
-
-      - name: Install jinja
-        run: python -m pip install jinja2
-
-      - name: configure
-        run: mkdir build && cd build && cmake -DWITH_JAVA=OFF -DCMAKE_TOOLCHAIN_FILE=${{ 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

.github/workflows/comment-command.yml

@@ -20,6 +20,8 @@ jobs:
               content: "rocket",
             });
       - uses: actions/checkout@v3
+        with:
+          token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
@@ -29,7 +31,7 @@ jobs:
         run: |
           gh pr checkout $NUMBER
         env:
-          GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+          GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.8
         uses: actions/setup-python@v2
@@ -37,13 +39,14 @@ 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 wpiformat
-        run: wpiformat -clang 12
+        run: wpiformat -clang 14
       - name: Commit
         run: |
           # Set credentials

.github/workflows/documentation.yml

@@ -20,8 +20,9 @@ jobs:
         with:
           fetch-depth: 0
           persist-credentials: false
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 13
       - name: Install libclang-9
         run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
@@ -42,7 +43,7 @@ jobs:
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.4.1
+        uses: webfactory/ssh-agent@v0.7.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
       - name: Deploy Java 🚀

.github/workflows/gazebo.yml

@@ -10,7 +10,7 @@ jobs:
   build:
     name: "Build"
     runs-on: ubuntu-latest
-    container: wpilib/gazebo-ubuntu:20.04
+    container: wpilib/gazebo-ubuntu:22.04
     steps:
       - uses: actions/checkout@v3
         with:

.github/workflows/gradle.yml

@@ -12,16 +12,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2022-20.04
+          - container: wpilib/roborio-cross-ubuntu:2023-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:10-20.04
-            artifact-name: Raspbian
-            build-options: "-Ponlylinuxraspbian"
-          - container: wpilib/aarch64-cross-ubuntu:bionic-20.04
-            artifact-name: Aarch64
-            build-options: "-Ponlylinuxaarch64bionic"
-          - container: wpilib/ubuntu-base:20.04
+          - 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: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
@@ -39,7 +39,7 @@ jobs:
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -51,20 +51,38 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2019
-            artifact-name: Win64
+          - os: windows-2022
+            artifact-name: Win64Debug
             architecture: x64
+            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@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 11
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
@@ -85,20 +103,23 @@ 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 --build-cache -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
+      - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
+          path: ${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"
@@ -107,8 +128,9 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 13
       - name: Install libclang-9
         run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
@@ -120,7 +142,7 @@ jobs:
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: Documentation
           path: docs/build/outputs
@@ -133,7 +155,7 @@ jobs:
       - uses: actions/checkout@v3
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
@@ -142,8 +164,9 @@ jobs:
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 11
       - name: Combine
         if: |
@@ -168,7 +191,7 @@ jobs:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: Maven
           path: ~/releases

.github/workflows/lint-format.yml

@@ -23,32 +23,41 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         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"
+          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
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
+      - name: Write to job summary
+        run: |
+          echo '```diff' >> $GITHUB_STEP_SUMMARY
+          cat wpiformat-fixes.patch >> $GITHUB_STEP_SUMMARY
+          echo '' >> $GITHUB_STEP_SUMMARY
+          echo '```' >> $GITHUB_STEP_SUMMARY
+        if: ${{ failure() }}
+
   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@v3
       - name: Fetch all history and metadata
@@ -58,14 +67,15 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Install clang-tidy
         run: |
-          sudo sh -c "echo 'deb http://archive.ubuntu.com/ubuntu/ $(lsb_release -cs)-proposed restricted main multiverse universe' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          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
@@ -73,11 +83,11 @@ 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:20.04
+    container: wpilib/ubuntu-base:22.04
     steps:
       - uses: actions/checkout@v3
       - name: Fetch all history and metadata
@@ -100,8 +110,9 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 13
       - name: Install libclang-9
         run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9

.github/workflows/sanitizers.yml

@@ -15,40 +15,29 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: "-E 'wpinet|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@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 clang-14
 
       - name: Install jinja
         run: python -m pip install jinja2
 
       - name: configure
-        run: mkdir build && cd build && cmake ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
 
       - name: build
         working-directory: build

.github/workflows/upstream-utils.yml

@@ -22,7 +22,7 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.9
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.9
       - name: Configure committer identity
@@ -37,6 +37,10 @@ jobs:
         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
@@ -49,5 +53,11 @@ jobs:
         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

CMakeLists.txt

@@ -36,22 +36,23 @@ SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
 # (but later on when installing)
 SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/wpilib/lib")
+SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 
 # add the automatically determined parts of the RPATH
 # which point to directories outside the build tree to the install RPATH
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # the RPATH to be used when installing, but only if it's not a system directory
-LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/wpilib/lib" isSystemDir)
+LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
 IF("${isSystemDir}" STREQUAL "-1")
-   SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/wpilib/lib")
+   SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 ENDIF("${isSystemDir}" STREQUAL "-1")
 
 # Options for building certain parts of the repo. Everything is built by default.
 option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
 option(WITH_JAVA "Include java and JNI in the build" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
+option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
@@ -63,10 +64,10 @@ option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
 option(WITH_EXTERNAL_HAL "Use a separately built HAL" OFF)
 set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
 
-# Options for using a package manager (vcpkg) for certain dependencies.
-option(USE_VCPKG_FMTLIB "Use vcpkg fmtlib" OFF)
-option(USE_VCPKG_LIBUV "Use vcpkg libuv" OFF)
-option(USE_VCPKG_EIGEN "Use vcpkg eigen" OFF)
+# Options for using a package manager (e.g., vcpkg) for certain dependencies.
+option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
+option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
+option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
 
 # Options for installation.
 option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
@@ -117,6 +118,34 @@ FATAL: Cannot build simulation modules with wpilib disabled.
 ")
 endif()
 
+if (NOT WITH_NTCORE AND WITH_CSCORE)
+    message(FATAL_ERROR "
+FATAL: Cannot build cameraserver without ntcore.
+       Enable ntcore by setting WITH_NTCORE=ON
+")
+endif()
+
+if (NOT WITH_NTCORE AND WITH_GUI)
+    message(FATAL_ERROR "
+FATAL: Cannot build GUI modules without ntcore.
+       Enable ntcore by setting WITH_NTCORE=ON
+")
+endif()
+
+if (NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
+    message(FATAL_ERROR "
+FATAL: Cannot build simulation modules without ntcore.
+       Enable ntcore by setting WITH_NTCORE=ON
+")
+endif()
+
+if (NOT WITH_NTCORE AND WITH_WPILIB)
+    message(FATAL_ERROR "
+FATAL: Cannot build wpilib without ntcore.
+       Enable ntcore by setting WITH_NTCORE=ON
+")
+endif()
+
 if (NOT WITH_WPIMATH AND WITH_WPILIB)
     message(FATAL_ERROR "
 FATAL: Cannot build wpilib without wpimath.
@@ -124,11 +153,11 @@ FATAL: Cannot build wpilib without wpimath.
 ")
 endif()
 
-set( wpilib_dest wpilib)
-set( include_dest wpilib/include )
-set( main_lib_dest wpilib/lib )
-set( java_lib_dest wpilib/java )
-set( jni_lib_dest wpilib/jni )
+set( wpilib_dest "")
+set( include_dest include )
+set( main_lib_dest lib )
+set( java_lib_dest java )
+set( jni_lib_dest jni )
 
 if (WITH_FLAT_INSTALL)
     set (wpilib_config_dir ${wpilib_dest})
@@ -136,12 +165,15 @@ else()
     set (wpilib_config_dir share/wpilib)
 endif()
 
-if (USE_VCPKG_LIBUV)
-set (LIBUV_VCPKG_REPLACE "find_package(unofficial-libuv CONFIG)")
+if (USE_SYSTEM_LIBUV)
+set (LIBUV_SYSTEM_REPLACE "
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
+")
 endif()
 
-if (USE_VCPKG_EIGEN)
-set (EIGEN_VCPKG_REPLACE "find_package(Eigen3 CONFIG)")
+if (USE_SYSTEM_EIGEN)
+set (EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
 endif()
 
 find_package(LIBSSH 0.7.1)
@@ -247,8 +279,11 @@ if (WITH_TESTS)
 endif()
 
 add_subdirectory(wpiutil)
-add_subdirectory(wpinet)
-add_subdirectory(ntcore)
+
+if (WITH_NTCORE)
+    add_subdirectory(wpinet)
+    add_subdirectory(ntcore)
+endif()
 
 if (WITH_WPIMATH)
     add_subdirectory(wpimath)

CONTRIBUTING.md

@@ -37,8 +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 12.0 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.
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
 When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.

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
@@ -90,4 +90,4 @@ The following 3 tasks can be used for deployment:
 
 Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
 
-From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.
+From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).

README-CMAKE.md

@@ -31,14 +31,20 @@ The following build options are available:
   * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
 * `WITH_SHARED_LIBS` (ON Default)
   * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
-* `WITH_TESTS` (ON Default)
-  * This option will build C++ unit tests. These can be run via `make test`.
 * `WITH_CSCORE` (ON Default)
   * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is off, the OpenCV build requirement is removed.
+* `WITH_NTCORE` (ON Default)
+  * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet and wpilib as well, irrespective of their specific options.
 * `WITH_WPIMATH` (ON Default)
   * This option will build the wpimath library. This option must be on to build wpilib.
 * `WITH_WPILIB` (ON Default)
   * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
+* `WITH_EXAMPLES` (ON Default)
+  * This option will build C++ examples.
+* `WITH_TESTS` (ON Default)
+  * This option will build C++ unit tests. These can be run via `make test`.
+* `WITH_GUI` (ON Default)
+  * This option will build GUI items.
 * `WITH_SIMULATION_MODULES` (ON Default)
   * This option will build simulation modules, including wpigui and the HALSim plugins.
 * `WITH_EXTERNAL_HAL` (OFF Default)

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)
@@ -47,20 +47,22 @@ 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
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling.
 
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions. We use clang-format 14.
 
 ## Building
 
@@ -135,7 +137,9 @@ make
 
 #### wpiformat
 
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
+wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat -clang 14` on Windows or `python3 -m wpiformat -clang 14` on other platforms.
+
+Once a PR has been submitted, formatting can be run in CI by commenting `/wpiformat` on the PR. A new commit will be pushed with the formatting changes.
 
 #### Java Code Quality Tools
 
@@ -166,7 +170,7 @@ 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

@@ -17,42 +17,35 @@ 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                 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/
-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
+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
+GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 
 ==============================================================================
 Google Test License
@@ -1232,3 +1225,20 @@ 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.
+
+============
+GCEM License
+============
+Copyright 2022 - ktholer (https://github.com/kthohr/gcem)
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

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

@@ -23,7 +23,7 @@ plugins {
     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 '6.4.2' apply false
-    id 'com.github.spotbugs' version '5.0.6' apply false
+    id 'com.github.spotbugs' version '5.0.8' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -87,7 +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
@@ -103,6 +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.
@@ -114,6 +124,10 @@ subprojects {
         }
     }
 
+    tasks.withType(JavaCompile) {
+        options.compilerArgs.add '-XDstringConcat=inline'
+    }
+
     // Enables UTF-8 support in Javadoc
     tasks.withType(Javadoc) {
         options.addStringOption("charset", "utf-8")
@@ -151,5 +165,5 @@ 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:2023.0.1"
+    implementation "edu.wpi.first:native-utils:2023.4.0"
 }

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -1,13 +1,14 @@
-import groovy.transform.CompileStatic
-import javax.inject.Inject
-import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact
-import edu.wpi.first.deployutils.deploy.context.DeployContext
-import org.gradle.api.Project
-import edu.wpi.first.deployutils.ActionWrapper
-import edu.wpi.first.deployutils.deploy.target.RemoteTarget
-import edu.wpi.first.deployutils.PredicateWrapper
+import groovy.transform.CompileStatic;
+import javax.inject.Inject;
 
-import java.util.function.Function
+import org.gradle.api.Project;
+
+import edu.wpi.first.deployutils.deploy.CommandDeployResult;
+import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact;
+import edu.wpi.first.deployutils.deploy.context.DeployContext;
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget;
+import edu.wpi.first.deployutils.PredicateWrapper;
+import edu.wpi.first.deployutils.ActionWrapper;
 
 @CompileStatic
 public class WPIJREArtifact extends MavenArtifact {
@@ -17,6 +18,18 @@ public class WPIJREArtifact extends MavenArtifact {
         return configName;
     }
 
+    public boolean isCheckJreVersion() {
+        return checkJreVersion;
+    }
+
+    public void setCheckJreVersion(boolean checkJreVersion) {
+        this.checkJreVersion = checkJreVersion;
+    }
+
+    private boolean checkJreVersion = true;
+
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2023:17.0.5u7-1"
+
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {
         super(name, target);
@@ -24,10 +37,10 @@ public class WPIJREArtifact extends MavenArtifact {
         this.configName = configName;
         Project project = target.getProject();
         getConfiguration().set(project.getConfigurations().create(configName));
-        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.12u5-1"));
+        getDependency().set(project.getDependencies().add(configName, artifactLocation));
 
         setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
-            return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");
+            return jreMissing(ctx) || jreOutOfDate(ctx) || project.hasProperty("force-redeploy-jre");
         }));
 
         getDirectory().set("/tmp");
@@ -35,7 +48,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
         getPostdeploy().add(new ActionWrapper({ DeployContext ctx ->
             ctx.getLogger().log("Installing JRE...");
-            ctx.execute("opkg remove frc2022-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
+            ctx.execute("opkg remove frc*-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
             ctx.getLogger().log("JRE Deployed!");
         }));
     }
@@ -44,5 +57,21 @@ public class WPIJREArtifact extends MavenArtifact {
         return ctx.execute("if [[ -f \"/usr/local/frc/JRE/bin/java\" ]]; then echo OK; else echo MISSING; fi").getResult().contains("MISSING");
     }
 
-
+    private boolean jreOutOfDate(DeployContext ctx) {
+        if (!checkJreVersion) {
+            return false;
+        }
+        String version = getDependency().get().getVersion();
+        CommandDeployResult cmdResult = ctx.execute("opkg list-installed | grep openjdk");
+        if (cmdResult.getExitCode() != 0) {
+            ctx.getLogger().log("JRE not found");
+            return false;
+        }
+        String result = cmdResult.getResult().trim();
+        ctx.getLogger().log("Searching for JRE " + version);
+        ctx.getLogger().log("Found JRE " + result);
+        boolean matches = result.contains(version);
+        ctx.getLogger().log(matches ? "JRE Is Correct Version" : "JRE is mismatched. Reinstalling");
+        return !matches;
+    }
 }

cameraserver/build.gradle

@@ -57,7 +57,7 @@ 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

@@ -41,7 +41,6 @@ dependencies {
 model {
     components {
         multiCameraServerCpp(NativeExecutableSpec) {
-            targetBuildTypes 'release'
             sources {
                 cpp {
                     source {
@@ -56,7 +55,7 @@ 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("multicameraserver");
     }
 
     // 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("multicameraserver");
+    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;
@@ -33,18 +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;
 
   private static final String kPublishName = "/CameraPublisher";
-  private static CameraServer server;
+
+  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
+      }
+    }
+
+    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<>();
@@ -63,190 +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:
@@ -267,12 +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) {
@@ -302,7 +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))
@@ -337,7 +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()) {
@@ -351,8 +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) {
@@ -362,7 +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);
         }
       }
     }
@@ -372,18 +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:
@@ -401,9 +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"
@@ -415,7 +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];
@@ -425,63 +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/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() {
@@ -86,9 +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) {
@@ -158,7 +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;
@@ -172,8 +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;
@@ -182,7 +222,7 @@ void Instance::UpdateStreamValues() {
       // Set table value
       auto values = GetSinkStreamValues(sink);
       if (!values.empty()) {
-        table->GetEntry("streams").SetStringArray(values);
+        publisher->streamsPublisher.Set(values);
       }
     }
   }
@@ -192,12 +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);
       }
     }
   }
@@ -234,51 +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:
@@ -286,6 +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
@@ -300,177 +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() {
@@ -519,7 +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);
 }
 
@@ -551,7 +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();
@@ -609,7 +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

@@ -6,11 +6,10 @@
 
 #include <stdint.h>
 
+#include <span>
 #include <string>
 #include <string_view>
 
-#include <wpi/span.h>
-
 #include "cscore.h"
 #include "cscore_cv.h"
 
@@ -110,7 +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.
@@ -155,7 +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

@@ -4,4 +4,12 @@ macro(wpilib_target_warnings target)
     else()
         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()

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/TestEnvironment.cpp

@@ -49,6 +49,7 @@ class TestEnvironment : public testing::Environment {
       HAL_GetControlWord(&controlWord);
       return controlWord.enabled && controlWord.dsAttached;
     };
+    HAL_RefreshDSData();
     while (!checkEnabled()) {
       if (enableCounter > 50) {
         // Robot did not enable properly after 5 seconds.
@@ -60,6 +61,7 @@ class TestEnvironment : public testing::Environment {
       std::this_thread::sleep_for(100ms);
 
       fmt::print("Waiting for enable: {}\n", enableCounter++);
+      HAL_RefreshDSData();
     }
     std::this_thread::sleep_for(500ms);
   }

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 {
@@ -180,7 +180,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+                if (!project.hasProperty('onlylinuxathena')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -189,7 +189,7 @@ model {
                             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.buildable = false
                                 return
                             }
@@ -199,6 +199,9 @@ model {
                                 it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
                             } else {
                                 it.linker.args << '-lX11'
+                                if (it.targetPlatform.name.startsWith('linuxarm')) {
+                                    it.linker.args << '-lGL'
+                                }
                             }
                         }
                         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/CvSinkImpl.cpp

@@ -110,7 +110,7 @@ void CvSinkImpl::ThreadMain() {
       std::this_thread::sleep_for(std::chrono::seconds(1));
       continue;
     }
-    SDEBUG4("{}", "waiting for frame");
+    SDEBUG4("waiting for frame");
     Frame frame = source->GetNextFrame();  // blocks
     if (!m_active) {
       break;

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

@@ -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;
@@ -85,7 +85,7 @@ void HttpCameraImpl::MonitorThreadMain() {
     // (this will result in an error at the read point, and ultimately
     // a reconnect attempt)
     if (m_streamConn && m_frameCount == 0) {
-      SWARNING("{}", "Monitor detected stream hung, disconnecting");
+      SWARNING("Monitor detected stream hung, disconnecting");
       m_streamConn->stream->close();
     }
 
@@ -93,7 +93,7 @@ void HttpCameraImpl::MonitorThreadMain() {
     m_frameCount = 0;
   }
 
-  SDEBUG("{}", "Monitor Thread exiting");
+  SDEBUG("Monitor Thread exiting");
 }
 
 void HttpCameraImpl::StreamThreadMain() {
@@ -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;
       }
@@ -140,7 +141,7 @@ void HttpCameraImpl::StreamThreadMain() {
     }
   }
 
-  SDEBUG("{}", "Camera Thread exiting");
+  SDEBUG("Camera Thread exiting");
   SetConnected(false);
 }
 
@@ -151,7 +152,7 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
   {
     std::scoped_lock lock(m_mutex);
     if (m_locations.empty()) {
-      SERROR("{}", "locations array is empty!?");
+      SERROR("locations array is empty!?");
       std::this_thread::sleep_for(std::chrono::seconds(1));
       return nullptr;
     }
@@ -272,7 +273,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
   wpi::SmallString<64> contentTypeBuf;
   wpi::SmallString<64> contentLengthBuf;
   if (!ParseHttpHeaders(is, &contentTypeBuf, &contentLengthBuf)) {
-    SWARNING("{}", "disconnected during headers");
+    SWARNING("disconnected during headers");
     PutError("disconnected during headers", wpi::Now());
     return false;
   }
@@ -294,7 +295,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
     // Ugh, no Content-Length?  Read the blocks of the JPEG file.
     int width, height;
     if (!ReadJpeg(is, imageBuf, &width, &height)) {
-      SWARNING("{}", "did not receive a JPEG image");
+      SWARNING("did not receive a JPEG image");
       PutError("did not receive a JPEG image", wpi::Now());
       return false;
     }
@@ -313,7 +314,7 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
   }
   int width, height;
   if (!GetJpegSize(image->str(), &width, &height)) {
-    SWARNING("{}", "did not receive a JPEG image");
+    SWARNING("did not receive a JPEG image");
     PutError("did not receive a JPEG image", wpi::Now());
     return false;
   }
@@ -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) {
@@ -343,7 +344,7 @@ void HttpCameraImpl::SettingsThreadMain() {
     DeviceSendSettings(req);
   }
 
-  SDEBUG("{}", "Settings Thread exiting");
+  SDEBUG("Settings Thread exiting");
 }
 
 void HttpCameraImpl::DeviceSendSettings(wpi::HttpRequest& req) {
@@ -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

@@ -9,6 +9,7 @@
 #include <functional>
 #include <initializer_list>
 #include <memory>
+#include <span>
 #include <string>
 #include <string_view>
 #include <thread>
@@ -18,7 +19,6 @@
 #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"
@@ -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

@@ -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

@@ -21,32 +21,43 @@ 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...));
   }
 }
 
 }  // namespace cs
 
-#define LOG(level, format, ...) WPI_LOG(m_logger, level, format, __VA_ARGS__)
+#define LOG(level, format, ...) \
+  WPI_LOG(m_logger, level, format __VA_OPT__(, ) __VA_ARGS__)
 
 #undef ERROR
-#define ERROR(format, ...) WPI_ERROR(m_logger, format, __VA_ARGS__)
-#define WARNING(format, ...) WPI_WARNING(m_logger, format, __VA_ARGS__)
-#define INFO(format, ...) WPI_INFO(m_logger, format, __VA_ARGS__)
+#define ERROR(format, ...) \
+  WPI_ERROR(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
+#define WARNING(format, ...) \
+  WPI_WARNING(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
+#define INFO(format, ...) WPI_INFO(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
 
-#define DEBUG0(format, ...) WPI_DEBUG(m_logger, format, __VA_ARGS__)
-#define DEBUG1(format, ...) WPI_DEBUG1(m_logger, format, __VA_ARGS__)
-#define DEBUG2(format, ...) WPI_DEBUG2(m_logger, format, __VA_ARGS__)
-#define DEBUG3(format, ...) WPI_DEBUG3(m_logger, format, __VA_ARGS__)
-#define DEBUG4(format, ...) WPI_DEBUG4(m_logger, format, __VA_ARGS__)
+#define DEBUG0(format, ...) \
+  WPI_DEBUG(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
+#define DEBUG1(format, ...) \
+  WPI_DEBUG1(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
+#define DEBUG2(format, ...) \
+  WPI_DEBUG2(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
+#define DEBUG3(format, ...) \
+  WPI_DEBUG3(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
+#define DEBUG4(format, ...) \
+  WPI_DEBUG4(m_logger, format __VA_OPT__(, ) __VA_ARGS__)
 
-#define SLOG(level, format, ...)                                               \
-  NamedLog(m_logger, level, __FILE__, __LINE__, GetName(), FMT_STRING(format), \
-           __VA_ARGS__)
+#define SLOG(level, format, ...)                           \
+  NamedLog(m_logger, level, __FILE__, __LINE__, GetName(), \
+           FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__)
 
-#define SERROR(format, ...) SLOG(::wpi::WPI_LOG_ERROR, format, __VA_ARGS__)
-#define SWARNING(format, ...) SLOG(::wpi::WPI_LOG_WARNING, format, __VA_ARGS__)
-#define SINFO(format, ...) SLOG(::wpi::WPI_LOG_INFO, format, __VA_ARGS__)
+#define SERROR(format, ...) \
+  SLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+#define SWARNING(format, ...) \
+  SLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+#define SINFO(format, ...) \
+  SLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
 
 #ifdef NDEBUG
 #define SDEBUG(format, ...) \
@@ -65,11 +76,16 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
   do {                       \
   } while (0)
 #else
-#define SDEBUG(format, ...) SLOG(::wpi::WPI_LOG_DEBUG, format, __VA_ARGS__)
-#define SDEBUG1(format, ...) SLOG(::wpi::WPI_LOG_DEBUG1, format, __VA_ARGS__)
-#define SDEBUG2(format, ...) SLOG(::wpi::WPI_LOG_DEBUG2, format, __VA_ARGS__)
-#define SDEBUG3(format, ...) SLOG(::wpi::WPI_LOG_DEBUG3, format, __VA_ARGS__)
-#define SDEBUG4(format, ...) SLOG(::wpi::WPI_LOG_DEBUG4, format, __VA_ARGS__)
+#define SDEBUG(format, ...) \
+  SLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+#define SDEBUG1(format, ...) \
+  SLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+#define SDEBUG2(format, ...) \
+  SLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+#define SDEBUG3(format, ...) \
+  SLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+#define SDEBUG4(format, ...) \
+  SLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
 #endif
 
 #endif  // CSCORE_LOG_H_

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

@@ -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\": \"{}\"",
@@ -650,7 +650,7 @@ void MjpegServerImpl::Stop() {
 // Send HTTP response and a stream of JPG-frames
 void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
   if (m_noStreaming) {
-    SERROR("{}", "Too many simultaneous client streams");
+    SERROR("Too many simultaneous client streams");
     SendError(os, 503, "Too many simultaneous streams");
     return;
   }
@@ -663,7 +663,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
   SendHeader(oss, 200, "OK", "multipart/x-mixed-replace;boundary=" BOUNDARY);
   os << oss.str();
 
-  SDEBUG("{}", "Headers send, sending stream now");
+  SDEBUG("Headers send, sending stream now");
 
   Frame::Time lastFrameTime = 0;
   Frame::Time timePerFrame = 0;
@@ -685,7 +685,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
       std::this_thread::sleep_for(std::chrono::milliseconds(200));
       continue;
     }
-    SDEBUG4("{}", "waiting for frame");
+    SDEBUG4("waiting for frame");
     Frame frame = source->GetNextFrame(0.225);  // blocks
     if (!m_active) {
       break;
@@ -783,7 +783,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   wpi::SmallString<128> reqBuf;
   std::string_view req = is.getline(reqBuf, 4096);
   if (is.has_error()) {
-    SDEBUG("{}", "error getting request string");
+    SDEBUG("error getting request string");
     return;
   }
 
@@ -824,7 +824,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
   } else if (req.find("GET / ") != std::string_view::npos || req == "GET /\n") {
     kind = kRootPage;
   } else {
-    SDEBUG("{}", "HTTP request resource not found");
+    SDEBUG("HTTP request resource not found");
     SendError(os, 404, "Resource not found");
     return;
   }
@@ -866,11 +866,11 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
         SendHeader(os, 200, "OK", "text/plain");
         os << "Ignored due to no connected source."
            << "\r\n";
-        SDEBUG("{}", "Ignored due to no connected source.");
+        SDEBUG("Ignored due to no connected source.");
       }
       break;
     case kGetSettings:
-      SDEBUG("{}", "request for JSON file");
+      SDEBUG("request for JSON file");
       if (auto source = GetSource()) {
         SendJSON(os, *source, true);
       } else {
@@ -878,7 +878,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
       }
       break;
     case kGetSourceConfig:
-      SDEBUG("{}", "request for JSON file");
+      SDEBUG("request for JSON file");
       if (auto source = GetSource()) {
         SendHeader(os, 200, "OK", "application/json");
         CS_Status status = CS_OK;
@@ -889,7 +889,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
       }
       break;
     case kRootPage:
-      SDEBUG("{}", "request for root page");
+      SDEBUG("request for root page");
       SendHeader(os, 200, "OK", "text/html");
       if (auto source = GetSource()) {
         SendHTML(os, *source, false);
@@ -900,7 +900,7 @@ void MjpegServerImpl::ConnThread::ProcessRequest() {
       break;
   }
 
-  SDEBUG("{}", "leaving HTTP client thread");
+  SDEBUG("leaving HTTP client thread");
 }
 
 // worker thread for clients that connected to this server
@@ -927,7 +927,7 @@ void MjpegServerImpl::ServerThreadMain() {
     return;
   }
 
-  SDEBUG("{}", "waiting for clients to connect");
+  SDEBUG("waiting for clients to connect");
   while (m_active) {
     auto stream = m_acceptor->accept();
     if (!stream) {
@@ -977,7 +977,7 @@ void MjpegServerImpl::ServerThreadMain() {
     thr->m_cond.notify_one();
   }
 
-  SDEBUG("{}", "leaving server thread");
+  SDEBUG("leaving server thread");
 }
 
 void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {

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/RawSinkImpl.cpp

@@ -127,7 +127,7 @@ void RawSinkImpl::ThreadMain() {
       std::this_thread::sleep_for(std::chrono::seconds(1));
       continue;
     }
-    SDEBUG4("{}", "waiting for frame");
+    SDEBUG4("waiting for frame");
     Frame frame = source->GetNextFrame();  // blocks
     if (!m_active) {
       break;

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

@@ -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/UsbCameraImpl.cpp

@@ -454,7 +454,7 @@ void UsbCameraImpl::CameraThreadMain() {
 
     // Handle notify events
     if (notify_fd >= 0 && FD_ISSET(notify_fd, &readfds)) {
-      SDEBUG4("{}", "notify event");
+      SDEBUG4("notify event");
       struct inotify_event event;
       do {
         // Read the event structure
@@ -483,7 +483,7 @@ void UsbCameraImpl::CameraThreadMain() {
 
     // Handle commands
     if (command_fd >= 0 && FD_ISSET(command_fd, &readfds)) {
-      SDEBUG4("{}", "got command");
+      SDEBUG4("got command");
       // Read it to clear
       eventfd_t val;
       eventfd_read(command_fd, &val);
@@ -493,7 +493,7 @@ void UsbCameraImpl::CameraThreadMain() {
 
     // Handle frames
     if (m_streaming && fd >= 0 && FD_ISSET(fd, &readfds)) {
-      SDEBUG4("{}", "grabbing image");
+      SDEBUG4("grabbing image");
 
       // Dequeue buffer
       struct v4l2_buffer buf;
@@ -501,7 +501,7 @@ void UsbCameraImpl::CameraThreadMain() {
       buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
       buf.memory = V4L2_MEMORY_MMAP;
       if (DoIoctl(fd, VIDIOC_DQBUF, &buf) != 0) {
-        SWARNING("{}", "could not dequeue buffer");
+        SWARNING("could not dequeue buffer");
         wasStreaming = m_streaming;
         DeviceStreamOff();
         DeviceDisconnect();
@@ -525,7 +525,7 @@ void UsbCameraImpl::CameraThreadMain() {
         bool good = true;
         if (m_mode.pixelFormat == VideoMode::kMJPEG &&
             !GetJpegSize(image, &width, &height)) {
-          SWARNING("{}", "invalid JPEG image received from camera");
+          SWARNING("invalid JPEG image received from camera");
           good = false;
         }
         if (good) {
@@ -536,7 +536,7 @@ void UsbCameraImpl::CameraThreadMain() {
 
       // Requeue buffer
       if (DoIoctl(fd, VIDIOC_QBUF, &buf) != 0) {
-        SWARNING("{}", "could not requeue buffer");
+        SWARNING("could not requeue buffer");
         wasStreaming = m_streaming;
         DeviceStreamOff();
         DeviceDisconnect();
@@ -579,7 +579,7 @@ void UsbCameraImpl::DeviceConnect() {
   }
 
   // Try to open the device
-  SDEBUG3("{}", "opening device");
+  SDEBUG3("opening device");
   int fd = open(m_path.c_str(), O_RDWR);
   if (fd < 0) {
     return;
@@ -587,7 +587,7 @@ void UsbCameraImpl::DeviceConnect() {
   m_fd = fd;
 
   // Get capabilities
-  SDEBUG3("{}", "getting capabilities");
+  SDEBUG3("getting capabilities");
   struct v4l2_capability vcap;
   std::memset(&vcap, 0, sizeof(vcap));
   if (DoIoctl(fd, VIDIOC_QUERYCAP, &vcap) >= 0) {
@@ -599,18 +599,18 @@ void UsbCameraImpl::DeviceConnect() {
 
   // Get or restore video mode
   if (!m_properties_cached) {
-    SDEBUG3("{}", "caching properties");
+    SDEBUG3("caching properties");
     DeviceCacheProperties();
     DeviceCacheVideoModes();
     DeviceCacheMode();
     m_properties_cached = true;
   } else {
-    SDEBUG3("{}", "restoring video mode");
+    SDEBUG3("restoring video mode");
     DeviceSetMode();
     DeviceSetFPS();
 
     // Restore settings
-    SDEBUG3("{}", "restoring settings");
+    SDEBUG3("restoring settings");
     std::unique_lock lock2(m_mutex);
     for (size_t i = 0; i < m_propertyData.size(); ++i) {
       const auto prop =
@@ -625,21 +625,21 @@ void UsbCameraImpl::DeviceConnect() {
   }
 
   // Request buffers
-  SDEBUG3("{}", "allocating buffers");
+  SDEBUG3("allocating buffers");
   struct v4l2_requestbuffers rb;
   std::memset(&rb, 0, sizeof(rb));
   rb.count = kNumBuffers;
   rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   rb.memory = V4L2_MEMORY_MMAP;
   if (DoIoctl(fd, VIDIOC_REQBUFS, &rb) != 0) {
-    SWARNING("{}", "could not allocate buffers");
+    SWARNING("could not allocate buffers");
     close(fd);
     m_fd = -1;
     return;
   }
 
   // Map buffers
-  SDEBUG3("{}", "mapping buffers");
+  SDEBUG3("mapping buffers");
   for (int i = 0; i < kNumBuffers; ++i) {
     struct v4l2_buffer buf;
     std::memset(&buf, 0, sizeof(buf));
@@ -689,7 +689,7 @@ bool UsbCameraImpl::DeviceStreamOn() {
   }
 
   // Queue buffers
-  SDEBUG3("{}", "queuing buffers");
+  SDEBUG3("queuing buffers");
   for (int i = 0; i < kNumBuffers; ++i) {
     struct v4l2_buffer buf;
     std::memset(&buf, 0, sizeof(buf));
@@ -708,7 +708,6 @@ bool UsbCameraImpl::DeviceStreamOn() {
     if (errno == ENOSPC) {
       // indicates too much USB bandwidth requested
       SERROR(
-          "{}",
           "could not start streaming due to USB bandwidth limitations; try a "
           "lower resolution or a different pixel format (VIDIOC_STREAMON: "
           "No space left on device)");
@@ -718,7 +717,7 @@ bool UsbCameraImpl::DeviceStreamOn() {
     }
     return false;
   }
-  SDEBUG4("{}", "enabled streaming");
+  SDEBUG4("enabled streaming");
   m_streaming = true;
   return true;
 }
@@ -735,7 +734,7 @@ bool UsbCameraImpl::DeviceStreamOff() {
   if (DoIoctl(fd, VIDIOC_STREAMOFF, &type) != 0) {
     return false;
   }
-  SDEBUG4("{}", "disabled streaming");
+  SDEBUG4("disabled streaming");
   m_streaming = false;
   return true;
 }
@@ -1000,7 +999,7 @@ void UsbCameraImpl::DeviceCacheMode() {
 #endif
   vfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
   if (DoIoctl(fd, VIDIOC_G_FMT, &vfmt) != 0) {
-    SERROR("{}", "could not read current video mode");
+    SERROR("could not read current video mode");
     std::scoped_lock lock(m_mutex);
     m_mode = VideoMode{VideoMode::kMJPEG, 320, 240, 30};
     return;
@@ -1668,7 +1667,7 @@ std::vector<UsbCameraInfo> EnumerateUsbCameras(CS_Status* status) {
     ::closedir(dp);
   } else {
     // *status = ;
-    WPI_ERROR(Instance::GetInstance().logger, "{}", "Could not open /dev");
+    WPI_ERROR(Instance::GetInstance().logger, "Could not open /dev");
     return retval;
   }
 

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;
@@ -474,13 +478,15 @@ 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");
+  SDEBUG3("opening device");
 
   const wchar_t* path = m_widePath.c_str();
   m_mediaSource = CreateVideoCaptureDevice(path);
@@ -514,13 +520,13 @@ bool UsbCameraImpl::DeviceConnect() {
   }
 
   if (!m_properties_cached) {
-    SDEBUG3("{}", "caching properties");
+    SDEBUG3("caching properties");
     DeviceCacheProperties();
     DeviceCacheVideoModes();
     DeviceCacheMode();
     m_properties_cached = true;
   } else {
-    SDEBUG3("{}", "restoring video mode");
+    SDEBUG3("restoring video mode");
     DeviceSetMode();
   }
 
@@ -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')) {
 
     description = "roboRIO Team Number Setter"
 
@@ -24,19 +24,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
     def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
     def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
 
-    nativeUtils {
-        nativeDependencyContainer {
-            libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-                groupId = "edu.wpi.first.thirdparty.frc2022"
-                artifactId = "libssh"
-                headerClassifier = "headers"
-                sourceClassifier = "sources"
-                ext = "zip"
-                version = '0.95-1'
-                targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
-            }
-        }
-    }
+    apply from: "${rootDir}/shared/libssh.gradle"
 
     task generateCppVersion() {
         description = 'Generates the wpilib version class'
@@ -107,7 +95,7 @@ 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.buildable = false
                         return
                     }
@@ -124,6 +112,9 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                         it.linker.args << '-framework' << 'Kerberos'
                     } else {
                         it.linker.args << '-lX11'
+                        if (it.targetPlatform.name.startsWith('linuxarm')) {
+                            it.linker.args << '-lGL'
+                        }
                     }
                 }
             }

datalogtool/publish.gradle

@@ -10,7 +10,7 @@ model {
     tasks {
         // Create the run task.
         $.components.datalogtool.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -30,10 +30,10 @@ model {
                         def icon = file("$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/Downloader.cpp

@@ -75,6 +75,20 @@ void Downloader::DisplayRemoteDirSelector() {
     m_cv.notify_all();
   }
 
+  ImGui::SameLine();
+  if (ImGui::Button("Deselect All")) {
+    for (auto&& download : m_downloadList) {
+      download.enabled = false;
+    }
+  }
+
+  ImGui::SameLine();
+  if (ImGui::Button("Select All")) {
+    for (auto&& download : m_downloadList) {
+      download.enabled = true;
+    }
+  }
+
   // Remote directory text box
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * 20);
   if (ImGui::InputText("Remote Dir", &m_remoteDir,

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; });

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

@@ -4,6 +4,7 @@ plugins {
 }
 
 evaluationDependsOn(':wpiutil')
+evaluationDependsOn(':wpinet')
 evaluationDependsOn(':ntcore')
 evaluationDependsOn(':cscore')
 evaluationDependsOn(':hal')
@@ -28,6 +29,7 @@ def cppIncludeRoots = []
 
 cppProjectZips.add(project(':hal').cppHeadersZip)
 cppProjectZips.add(project(':wpiutil').cppHeadersZip)
+cppProjectZips.add(project(':wpinet').cppHeadersZip)
 cppProjectZips.add(project(':ntcore').cppHeadersZip)
 cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':cameraserver').cppHeadersZip)
@@ -37,7 +39,7 @@ 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'
     }
 }
@@ -57,7 +59,6 @@ doxygen {
     if (project.hasProperty('docWarningsAsErrors')) {
         // C++20 shims
         exclude 'wpi/ghc/filesystem.hpp'
-        exclude 'wpi/span.h'
 
         // Drake
         exclude 'drake/common/**'
@@ -110,11 +111,14 @@ doxygen {
         // libuv
         exclude 'uv.h'
         exclude 'uv/**'
-        exclude 'wpi/uv/**'
+        exclude 'wpinet/uv/**'
 
         // json
         exclude 'wpi/json.h'
 
+        // memory
+        exclude 'wpi/memory/**'
+
         // mpack
         exclude 'wpi/mpack.h'
 
@@ -122,6 +126,12 @@ doxygen {
         exclude 'units/**'
     }
 
+    aliases 'effects=\\par <i>Effects:</i>^^',
+            'notes=\\par <i>Notes:</i>^^',
+            'requires=\\par <i>Requires:</i>^^',
+            'requiredbe=\\par <i>Required Behavior:</i>^^',
+            'concept{2}=<a href=\"md_doc_concepts.html#\1\">\2</a>',
+            'defaultbe=\\par <i>Default Behavior:</i>^^'
     case_sense_names false
     extension_mapping 'inc=C++', 'no_extension=C++'
     extract_all true
@@ -195,8 +205,10 @@ 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(':wpinet').sourceSets.main.java
     source project(':cscore').sourceSets.main.java
     source project(':ntcore').sourceSets.main.java
     source project(':wpimath').sourceSets.main.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')) {
 
     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')) {
 
     description = "A different kind of dashboard"
 
@@ -100,7 +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.buildable = false
                         return
                     }
@@ -128,7 +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.buildable = false
                         return
                     }
@@ -137,7 +137,7 @@ 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'
@@ -169,14 +169,14 @@ 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.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'
@@ -190,6 +190,9 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxra
                         it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
                     } else {
                         it.linker.args << '-lX11'
+                        if (it.targetPlatform.name.startsWith('linuxarm')) {
+                            it.linker.args << '-lGL'
+                        }
                     }
                 }
             }

glass/publish.gradle

@@ -64,7 +64,8 @@ model {
     tasks {
         // Create the run task.
         $.components.glassApp.binaries.each { bin ->
-            if (bin.buildable && bin.name.toLowerCase().contains("debug")) {
+            if (bin.buildable && bin.name.toLowerCase().contains("debug") && nativeUtils.isNativeDesktopPlatform(bin.targetPlatform)) {
+
                 Task run = project.tasks.create("run", Exec) {
                     commandLine bin.tasks.install.runScriptFile.get().asFile.toString()
                 }
@@ -84,10 +85,10 @@ model {
                         def icon = file("$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;
 
@@ -69,46 +70,41 @@ static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
 }
 
 static void NtInitialize() {
-  // update window title when connection status changes
   auto inst = nt::GetDefaultInstance();
-  auto poller = nt::CreateConnectionListenerPoller(inst);
-  nt::AddPolledConnectionListener(poller, true);
+  auto poller = nt::CreateListenerPoller(inst);
+  nt::AddPolledListener(
+      poller, inst,
+      NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE | NT_EVENT_LOGMESSAGE);
   gui::AddEarlyExecute([poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
-    bool timedOut;
-    for (auto&& event : nt::PollConnectionListener(poller, 0, &timedOut)) {
-      if (event.connected) {
-        glfwSetWindowTitle(
-            win, fmt::format("Glass - Connected ({})", event.conn.remote_ip)
-                     .c_str());
-      } else {
-        glfwSetWindowTitle(win, "Glass - DISCONNECTED");
+    for (auto&& event : nt::ReadListenerQueue(poller)) {
+      if (auto connInfo = event.GetConnectionInfo()) {
+        // update window title when connection status changes
+        if ((event.flags & NT_EVENT_CONNECTED) != 0) {
+          glfwSetWindowTitle(
+              win, fmt::format("Glass - Connected ({})", connInfo->remote_ip)
+                       .c_str());
+        } else {
+          glfwSetWindowTitle(win, "Glass - DISCONNECTED");
+        }
+      } else if (auto msg = event.GetLogMessage()) {
+        const char* level = "";
+        if (msg->level >= NT_LOG_CRITICAL) {
+          level = "CRITICAL: ";
+        } else if (msg->level >= NT_LOG_ERROR) {
+          level = "ERROR: ";
+        } else if (msg->level >= NT_LOG_WARNING) {
+          level = "WARNING: ";
+        }
+        gNetworkTablesLog.Append(fmt::format(
+            "{}{} ({}:{})\n", level, msg->message, msg->filename, msg->line));
       }
     }
   });
 
-  // handle NetworkTables log messages
-  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)) {
-      const char* level = "";
-      if (msg.level >= NT_LOG_CRITICAL) {
-        level = "CRITICAL: ";
-      } else if (msg.level >= NT_LOG_ERROR) {
-        level = "ERROR: ";
-      } else if (msg.level >= NT_LOG_WARNING) {
-        level = "WARNING: ";
-      }
-      gNetworkTablesLog.Append(fmt::format("{}{} ({}:{})\n", level, msg.message,
-                                           msg.filename, msg.line));
-    }
-  });
-
   gNetworkTablesLogWindow = std::make_unique<glass::Window>(
       glass::GetStorageRoot().GetChild("NetworkTables Log"),
       "NetworkTables Log", glass::Window::kHide);
@@ -132,9 +128,21 @@ 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>(
@@ -179,6 +187,11 @@ 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>(
@@ -213,6 +226,9 @@ int main(int argc, char** argv) {
       if (gNetworkTablesWindow) {
         gNetworkTablesWindow->DisplayMenuItem("NetworkTables View");
       }
+      if (gNetworkTablesInfoWindow) {
+        gNetworkTablesInfoWindow->DisplayMenuItem("NetworkTables Info");
+      }
       if (gNetworkTablesLogWindow) {
         gNetworkTablesLogWindow->DisplayMenuItem("NetworkTables Log");
       }
@@ -291,7 +307,8 @@ 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);

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);
 
@@ -113,7 +113,7 @@ class PopupState {
 struct DisplayOptions {
   explicit DisplayOptions(const gui::Texture& texture) : texture{texture} {}
 
-  enum Style { kBoxImage = 0, kLine, kLineClosed, kTrack };
+  enum Style { kBoxImage = 0, kLine, kLineClosed, kTrack, kHidden };
 
   static constexpr Style kDefaultStyle = kBoxImage;
   static constexpr float kDefaultWeight = 4.0f;
@@ -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; }
@@ -547,7 +547,7 @@ ObjectInfo::ObjectInfo(Storage& storage)
                                 DisplayOptions::kDefaultLength.to<float>())},
       m_style{storage.GetString("style"),
               DisplayOptions::kDefaultStyle,
-              {"Box/Image", "Line", "Line (Closed)", "Track"}},
+              {"Box/Image", "Line", "Line (Closed)", "Track", "Hidden"}},
       m_weight{storage.GetFloat("weight", DisplayOptions::kDefaultWeight)},
       m_color{
           storage.GetFloatArray("color", DisplayOptions::kDefaultColorFloat)},
@@ -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;
   }
@@ -840,6 +840,8 @@ void PoseFrameData::Draw(ImDrawList* drawList, std::vector<ImVec2>* center,
       left->emplace_back(m_corners[4]);
       right->emplace_back(m_corners[5]);
       break;
+    case DisplayOptions::kHidden:
+      break;
   }
 
   if (m_displayOptions.arrows) {

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();
 }

glass/src/libnt/native/cpp/NTCommandSelector.cpp

@@ -10,38 +10,32 @@
 using namespace glass;
 
 NTCommandSelectorModel::NTCommandSelectorModel(std::string_view path)
-    : NTCommandSelectorModel(nt::GetDefaultInstance(), path) {}
+    : NTCommandSelectorModel(nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTCommandSelectorModel::NTCommandSelectorModel(NT_Inst instance,
+NTCommandSelectorModel::NTCommandSelectorModel(nt::NetworkTableInstance inst,
                                                std::string_view path)
-    : m_nt(instance),
-      m_running(m_nt.GetEntry(fmt::format("{}/running", path))),
-      m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
-      m_runningData(fmt::format("NTCmd:{}", path)),
-      m_nameValue(wpi::rsplit(path, '/').second) {
+    : m_inst{inst},
+      m_running{inst.GetBooleanTopic(fmt::format("{}/running", path))
+                    .GetEntry(false)},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
+      m_runningData{fmt::format("NTCmd:{}", path)},
+      m_nameValue{wpi::rsplit(path, '/').second} {
   m_runningData.SetDigital(true);
-  m_nt.AddListener(m_running);
-  m_nt.AddListener(m_name);
 }
 
 void NTCommandSelectorModel::SetRunning(bool run) {
-  nt::SetEntryValue(m_running, nt::NetworkTableValue::MakeBoolean(run));
+  m_running.Set(run);
 }
 
 void NTCommandSelectorModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    if (event.entry == m_running) {
-      if (event.value && event.value->IsBoolean()) {
-        m_runningData.SetValue(event.value->GetBoolean());
-      }
-    } else if (event.entry == m_name) {
-      if (event.value && event.value->IsString()) {
-        m_nameValue = event.value->GetString();
-      }
-    }
+  for (auto&& v : m_running.ReadQueue()) {
+    m_runningData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
   }
 }
 
 bool NTCommandSelectorModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_running) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_running.Exists();
 }

glass/src/libnt/native/cpp/NTDifferentialDrive.cpp

@@ -12,46 +12,40 @@
 using namespace glass;
 
 NTDifferentialDriveModel::NTDifferentialDriveModel(std::string_view path)
-    : NTDifferentialDriveModel(nt::GetDefaultInstance(), path) {}
+    : NTDifferentialDriveModel(nt::NetworkTableInstance::GetDefault(), path) {}
 
-NTDifferentialDriveModel::NTDifferentialDriveModel(NT_Inst instance,
-                                                   std::string_view path)
-    : m_nt(instance),
-      m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
-      m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable", path))),
-      m_lPercent(m_nt.GetEntry(fmt::format("{}/Left Motor Speed", path))),
-      m_rPercent(m_nt.GetEntry(fmt::format("{}/Right Motor Speed", path))),
-      m_nameValue(wpi::rsplit(path, '/').second),
-      m_lPercentData(fmt::format("NTDiffDriveL:{}", path)),
-      m_rPercentData(fmt::format("NTDiffDriveR:{}", path)) {
-  m_nt.AddListener(m_name);
-  m_nt.AddListener(m_controllable);
-  m_nt.AddListener(m_lPercent);
-  m_nt.AddListener(m_rPercent);
+NTDifferentialDriveModel::NTDifferentialDriveModel(
+    nt::NetworkTableInstance inst, std::string_view path)
+    : m_inst{inst},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
+      m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
+                         .Subscribe(false)},
+      m_lPercent{inst.GetDoubleTopic(fmt::format("{}/Left Motor Speed", path))
+                     .GetEntry(0)},
+      m_rPercent{inst.GetDoubleTopic(fmt::format("{}/Right Motor Speed", path))
+                     .GetEntry(0)},
+      m_nameValue{wpi::rsplit(path, '/').second},
+      m_lPercentData{fmt::format("NTDiffDriveL:{}", path)},
+      m_rPercentData{fmt::format("NTDiffDriveR:{}", path)} {
+  m_wheels.emplace_back("L % Output", &m_lPercentData,
+                        [this](auto value) { m_lPercent.Set(value); });
 
-  m_wheels.emplace_back("L % Output", &m_lPercentData, [this](auto value) {
-    nt::SetEntryValue(m_lPercent, nt::NetworkTableValue::MakeDouble(value));
-  });
-
-  m_wheels.emplace_back("R % Output", &m_rPercentData, [this](auto value) {
-    nt::SetEntryValue(m_rPercent, nt::NetworkTableValue::MakeDouble(value));
-  });
+  m_wheels.emplace_back("R % Output", &m_rPercentData,
+                        [this](auto value) { m_rPercent.Set(value); });
 }
 
 void NTDifferentialDriveModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    if (event.entry == m_name && event.value && event.value->IsString()) {
-      m_nameValue = event.value->GetString();
-    } else if (event.entry == m_lPercent && event.value &&
-               event.value->IsDouble()) {
-      m_lPercentData.SetValue(event.value->GetDouble());
-    } else if (event.entry == m_rPercent && event.value &&
-               event.value->IsDouble()) {
-      m_rPercentData.SetValue(event.value->GetDouble());
-    } else if (event.entry == m_controllable && event.value &&
-               event.value->IsBoolean()) {
-      m_controllableValue = event.value->GetBoolean();
-    }
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
+  }
+  for (auto&& v : m_lPercent.ReadQueue()) {
+    m_lPercentData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_rPercent.ReadQueue()) {
+    m_rPercentData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_controllable.ReadQueue()) {
+    m_controllableValue = v.value;
   }
 
   double l = m_lPercentData.GetValue();
@@ -62,5 +56,5 @@ void NTDifferentialDriveModel::Update() {
 }
 
 bool NTDifferentialDriveModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_lPercent) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_lPercent.Exists();
 }

glass/src/libnt/native/cpp/NTDigitalInput.cpp

@@ -10,34 +10,28 @@
 using namespace glass;
 
 NTDigitalInputModel::NTDigitalInputModel(std::string_view path)
-    : NTDigitalInputModel{nt::GetDefaultInstance(), path} {}
+    : NTDigitalInputModel{nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTDigitalInputModel::NTDigitalInputModel(NT_Inst inst, std::string_view path)
-    : m_nt{inst},
-      m_value{m_nt.GetEntry(fmt::format("{}/Value", path))},
-      m_name{m_nt.GetEntry(fmt::format("{}/.name", path))},
+NTDigitalInputModel::NTDigitalInputModel(nt::NetworkTableInstance inst,
+                                         std::string_view path)
+    : m_inst{inst},
+      m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
+                  .Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_valueData{fmt::format("NT_DIn:{}", path)},
       m_nameValue{wpi::rsplit(path, '/').second} {
-  m_nt.AddListener(m_value);
-  m_nt.AddListener(m_name);
-
   m_valueData.SetDigital(true);
 }
 
 void NTDigitalInputModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    if (event.entry == m_value) {
-      if (event.value && event.value->IsBoolean()) {
-        m_valueData.SetValue(event.value->GetBoolean());
-      }
-    } else if (event.entry == m_name) {
-      if (event.value && event.value->IsString()) {
-        m_nameValue = event.value->GetString();
-      }
-    }
+  for (auto&& v : m_value.ReadQueue()) {
+    m_valueData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
   }
 }
 
 bool NTDigitalInputModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_value) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_value.Exists();
 }

glass/src/libnt/native/cpp/NTDigitalOutput.cpp

@@ -9,43 +9,36 @@
 using namespace glass;
 
 NTDigitalOutputModel::NTDigitalOutputModel(std::string_view path)
-    : NTDigitalOutputModel{nt::GetDefaultInstance(), path} {}
+    : NTDigitalOutputModel{nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTDigitalOutputModel::NTDigitalOutputModel(NT_Inst inst, std::string_view path)
-    : m_nt{inst},
-      m_value{m_nt.GetEntry(fmt::format("{}/Value", path))},
-      m_name{m_nt.GetEntry(fmt::format("{}/.name", path))},
-      m_controllable{m_nt.GetEntry(fmt::format("{}/.controllable", path))},
+NTDigitalOutputModel::NTDigitalOutputModel(nt::NetworkTableInstance inst,
+                                           std::string_view path)
+    : m_inst{inst},
+      m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
+                  .GetEntry(false, {{nt::PubSubOption::SendAll(true)}})},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
+      m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
+                         .Subscribe(false)},
       m_valueData{fmt::format("NT_DOut:{}", path)} {
-  m_nt.AddListener(m_value);
-  m_nt.AddListener(m_name);
-  m_nt.AddListener(m_controllable);
-
   m_valueData.SetDigital(true);
 }
 
 void NTDigitalOutputModel::SetValue(bool val) {
-  nt::SetEntryValue(m_value, nt::Value::MakeBoolean(val));
+  m_value.Set(val);
 }
 
 void NTDigitalOutputModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    if (event.entry == m_value) {
-      if (event.value && event.value->IsBoolean()) {
-        m_valueData.SetValue(event.value->GetBoolean());
-      }
-    } else if (event.entry == m_name) {
-      if (event.value && event.value->IsString()) {
-        m_nameValue = event.value->GetString();
-      }
-    } else if (event.entry == m_controllable) {
-      if (event.value && event.value->IsBoolean()) {
-        m_controllableValue = event.value->GetBoolean();
-      }
-    }
+  for (auto&& v : m_value.ReadQueue()) {
+    m_valueData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
+  }
+  for (auto&& v : m_controllable.ReadQueue()) {
+    m_controllableValue = v.value;
   }
 }
 
 bool NTDigitalOutputModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_value) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_value.Exists();
 }

glass/src/libnt/native/cpp/NTFMS.cpp

@@ -13,15 +13,19 @@
 using namespace glass;
 
 NTFMSModel::NTFMSModel(std::string_view path)
-    : NTFMSModel{nt::GetDefaultInstance(), path} {}
+    : NTFMSModel{nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTFMSModel::NTFMSModel(NT_Inst inst, std::string_view path)
-    : m_nt{inst},
+NTFMSModel::NTFMSModel(nt::NetworkTableInstance inst, std::string_view path)
+    : m_inst{inst},
       m_gameSpecificMessage{
-          m_nt.GetEntry(fmt::format("{}/GameSpecificMessage", path))},
-      m_alliance{m_nt.GetEntry(fmt::format("{}/IsRedAlliance", path))},
-      m_station{m_nt.GetEntry(fmt::format("{}/StationNumber", path))},
-      m_controlWord{m_nt.GetEntry(fmt::format("{}/FMSControlData", path))},
+          inst.GetStringTopic(fmt::format("{}/GameSpecificMessage", path))
+              .Subscribe("")},
+      m_alliance{inst.GetBooleanTopic(fmt::format("{}/IsRedAlliance", path))
+                     .Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
+      m_station{inst.GetIntegerTopic(fmt::format("{}/StationNumber", path))
+                    .Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
+      m_controlWord{inst.GetIntegerTopic(fmt::format("{}/FMSControlData", path))
+                        .Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
       m_fmsAttached{fmt::format("NT_FMS:FMSAttached:{}", path)},
       m_dsAttached{fmt::format("NT_FMS:DSAttached:{}", path)},
       m_allianceStationId{fmt::format("NT_FMS:AllianceStationID:{}", path)},
@@ -29,10 +33,6 @@ NTFMSModel::NTFMSModel(NT_Inst inst, std::string_view path)
       m_enabled{fmt::format("NT_FMS:RobotEnabled:{}", path)},
       m_test{fmt::format("NT_FMS:TestMode:{}", path)},
       m_autonomous{fmt::format("NT_FMS:AutonomousMode:{}", path)} {
-  m_nt.AddListener(m_alliance);
-  m_nt.AddListener(m_station);
-  m_nt.AddListener(m_controlWord);
-
   m_fmsAttached.SetDigital(true);
   m_dsAttached.SetDigital(true);
   m_estop.SetDigital(true);
@@ -43,49 +43,35 @@ NTFMSModel::NTFMSModel(NT_Inst inst, std::string_view path)
 
 std::string_view NTFMSModel::GetGameSpecificMessage(
     wpi::SmallVectorImpl<char>& buf) {
-  buf.clear();
-  auto value = nt::GetEntryValue(m_gameSpecificMessage);
-  if (value && value->IsString()) {
-    auto str = value->GetString();
-    buf.append(str.begin(), str.end());
-  }
-  return std::string_view{buf.data(), buf.size()};
+  return m_gameSpecificMessage.Get(buf, "");
 }
 
 void NTFMSModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    if (event.entry == m_alliance) {
-      if (event.value && event.value->IsBoolean()) {
-        int allianceStationId = m_allianceStationId.GetValue();
-        allianceStationId %= 3;
-        // true if red
-        allianceStationId += 3 * (event.value->GetBoolean() ? 0 : 1);
-        m_allianceStationId.SetValue(allianceStationId);
-      }
-    } else if (event.entry == m_station) {
-      if (event.value && event.value->IsDouble()) {
-        int allianceStationId = m_allianceStationId.GetValue();
-        bool isRed = (allianceStationId < 3);
-        // the NT value is 1-indexed
-        m_allianceStationId.SetValue(event.value->GetDouble() - 1 +
-                                     3 * (isRed ? 0 : 1));
-      }
-    } else if (event.entry == m_controlWord) {
-      if (event.value && event.value->IsDouble()) {
-        uint32_t controlWord = event.value->GetDouble();
-        // See HAL_ControlWord definition
-        auto time = wpi::Now();
-        m_enabled.SetValue(((controlWord & 0x01) != 0) ? 1 : 0, time);
-        m_autonomous.SetValue(((controlWord & 0x02) != 0) ? 1 : 0, time);
-        m_test.SetValue(((controlWord & 0x04) != 0) ? 1 : 0, time);
-        m_estop.SetValue(((controlWord & 0x08) != 0) ? 1 : 0, time);
-        m_fmsAttached.SetValue(((controlWord & 0x10) != 0) ? 1 : 0, time);
-        m_dsAttached.SetValue(((controlWord & 0x20) != 0) ? 1 : 0, time);
-      }
-    }
+  for (auto&& v : m_alliance.ReadQueue()) {
+    int allianceStationId = m_allianceStationId.GetValue();
+    allianceStationId %= 3;
+    // true if red
+    allianceStationId += 3 * (v.value ? 0 : 1);
+    m_allianceStationId.SetValue(allianceStationId, v.time);
+  }
+  for (auto&& v : m_station.ReadQueue()) {
+    int allianceStationId = m_allianceStationId.GetValue();
+    bool isRed = (allianceStationId < 3);
+    // the NT value is 1-indexed
+    m_allianceStationId.SetValue(v.value - 1 + 3 * (isRed ? 0 : 1), v.time);
+  }
+  for (auto&& v : m_controlWord.ReadQueue()) {
+    uint32_t controlWord = v.value;
+    // See HAL_ControlWord definition
+    m_enabled.SetValue(((controlWord & 0x01) != 0) ? 1 : 0, v.time);
+    m_autonomous.SetValue(((controlWord & 0x02) != 0) ? 1 : 0, v.time);
+    m_test.SetValue(((controlWord & 0x04) != 0) ? 1 : 0, v.time);
+    m_estop.SetValue(((controlWord & 0x08) != 0) ? 1 : 0, v.time);
+    m_fmsAttached.SetValue(((controlWord & 0x10) != 0) ? 1 : 0, v.time);
+    m_dsAttached.SetValue(((controlWord & 0x20) != 0) ? 1 : 0, v.time);
   }
 }
 
 bool NTFMSModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_controlWord) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_controlWord.Exists();
 }

glass/src/libnt/native/cpp/NTField2D.cpp

@@ -8,6 +8,8 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <networktables/DoubleArrayTopic.h>
+#include <networktables/MultiSubscriber.h>
 #include <ntcore_cpp.h>
 #include <wpi/Endian.h>
 #include <wpi/MathExtras.h>
@@ -18,24 +20,20 @@ using namespace glass;
 
 class NTField2DModel::ObjectModel : public FieldObjectModel {
  public:
-  ObjectModel(std::string_view name, NT_Entry entry)
-      : m_name{name}, m_entry{entry} {}
+  ObjectModel(std::string_view name, nt::DoubleArrayTopic topic)
+      : m_name{name}, m_topic{topic} {}
 
   const char* GetName() const override { return m_name.c_str(); }
-  NT_Entry GetEntry() const { return m_entry; }
+  nt::DoubleArrayTopic GetTopic() const { return m_topic; }
 
   void NTUpdate(const nt::Value& value);
 
-  void Update() override {
-    if (auto value = nt::GetEntryValue(m_entry)) {
-      NTUpdate(*value);
-    }
-  }
-  bool Exists() override { return nt::GetEntryType(m_entry) != NT_UNASSIGNED; }
+  void Update() override {}
+  bool Exists() override { return m_topic.Exists(); }
   bool IsReadOnly() override { return false; }
 
-  wpi::span<const frc::Pose2d> GetPoses() override { return m_poses; }
-  void SetPoses(wpi::span<const frc::Pose2d> poses) override;
+  std::span<const frc::Pose2d> GetPoses() override { return m_poses; }
+  void SetPoses(std::span<const frc::Pose2d> poses) override;
   void SetPose(size_t i, frc::Pose2d pose) override;
   void SetPosition(size_t i, frc::Translation2d pos) override;
   void SetRotation(size_t i, frc::Rotation2d rot) override;
@@ -44,7 +42,8 @@ class NTField2DModel::ObjectModel : public FieldObjectModel {
   void UpdateNT();
 
   std::string m_name;
-  NT_Entry m_entry;
+  nt::DoubleArrayTopic m_topic;
+  nt::DoubleArrayPublisher m_pub;
 
   std::vector<frc::Pose2d> m_poses;
 };
@@ -62,66 +61,24 @@ void NTField2DModel::ObjectModel::NTUpdate(const nt::Value& value) {
           units::meter_t{arr[i * 3 + 0]}, units::meter_t{arr[i * 3 + 1]},
           frc::Rotation2d{units::degree_t{arr[i * 3 + 2]}}};
     }
-  } else if (value.IsRaw()) {
-    // treat it simply as an array of doubles
-    std::string_view data = value.GetRaw();
-
-    // must be triples of doubles
-    auto size = data.size();
-    if ((size % (3 * 8)) != 0) {
-      return;
-    }
-    m_poses.resize(size / (3 * 8));
-    const char* p = data.data();
-    for (size_t i = 0; i < size / (3 * 8); ++i) {
-      double x = wpi::BitsToDouble(
-          wpi::support::endian::readNext<uint64_t, wpi::support::big,
-                                         wpi::support::unaligned>(p));
-      double y = wpi::BitsToDouble(
-          wpi::support::endian::readNext<uint64_t, wpi::support::big,
-                                         wpi::support::unaligned>(p));
-      double rot = wpi::BitsToDouble(
-          wpi::support::endian::readNext<uint64_t, wpi::support::big,
-                                         wpi::support::unaligned>(p));
-      m_poses[i] = frc::Pose2d{units::meter_t{x}, units::meter_t{y},
-                               frc::Rotation2d{units::degree_t{rot}}};
-    }
   }
 }
 
 void NTField2DModel::ObjectModel::UpdateNT() {
-  if (m_poses.size() < (255 / 3)) {
-    wpi::SmallVector<double, 9> arr;
-    for (auto&& pose : m_poses) {
-      auto& translation = pose.Translation();
-      arr.push_back(translation.X().value());
-      arr.push_back(translation.Y().value());
-      arr.push_back(pose.Rotation().Degrees().value());
-    }
-    nt::SetEntryTypeValue(m_entry, nt::Value::MakeDoubleArray(arr));
-  } else {
-    // send as raw array of doubles if too big for NT array
-    std::vector<char> arr;
-    arr.resize(m_poses.size() * 3 * 8);
-    char* p = arr.data();
-    for (auto&& pose : m_poses) {
-      auto& translation = pose.Translation();
-      wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(translation.X().value()));
-      p += 8;
-      wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(translation.Y().value()));
-      p += 8;
-      wpi::support::endian::write64be(
-          p, wpi::DoubleToBits(pose.Rotation().Degrees().value()));
-      p += 8;
-    }
-    nt::SetEntryTypeValue(m_entry,
-                          nt::Value::MakeRaw({arr.data(), arr.size()}));
+  wpi::SmallVector<double, 9> arr;
+  for (auto&& pose : m_poses) {
+    auto& translation = pose.Translation();
+    arr.push_back(translation.X().value());
+    arr.push_back(translation.Y().value());
+    arr.push_back(pose.Rotation().Degrees().value());
   }
+  if (!m_pub) {
+    m_pub = m_topic.Publish();
+  }
+  m_pub.Set(arr);
 }
 
-void NTField2DModel::ObjectModel::SetPoses(wpi::span<const frc::Pose2d> poses) {
+void NTField2DModel::ObjectModel::SetPoses(std::span<const frc::Pose2d> poses) {
   m_poses.assign(poses.begin(), poses.end());
   UpdateNT();
 }
@@ -149,69 +106,72 @@ void NTField2DModel::ObjectModel::SetRotation(size_t i, frc::Rotation2d rot) {
 }
 
 NTField2DModel::NTField2DModel(std::string_view path)
-    : NTField2DModel{nt::GetDefaultInstance(), path} {}
+    : NTField2DModel{nt::NetworkTableInstance::GetDefault(), path} {}
 
-NTField2DModel::NTField2DModel(NT_Inst inst, std::string_view path)
-    : m_nt{inst},
-      m_path{fmt::format("{}/", path)},
-      m_name{m_nt.GetEntry(fmt::format("{}/.name", path))} {
-  m_nt.AddListener(m_path, NT_NOTIFY_LOCAL | NT_NOTIFY_NEW | NT_NOTIFY_DELETE |
-                               NT_NOTIFY_UPDATE | NT_NOTIFY_IMMEDIATE);
+NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
+                               std::string_view path)
+    : m_path{fmt::format("{}/", path)},
+      m_inst{inst},
+      m_tableSub{inst,
+                 {{m_path}},
+                 {{nt::PubSubOption::SendAll(true),
+                   nt::PubSubOption::Periodic(0.05)}}},
+      m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
+      m_poller{inst} {
+  m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
+                                       nt::EventFlags::kValueAll |
+                                       nt::EventFlags::kImmediate);
 }
 
 NTField2DModel::~NTField2DModel() = default;
 
 void NTField2DModel::Update() {
-  for (auto&& event : m_nt.PollListener()) {
-    // .name
-    if (event.entry == m_name) {
-      if (event.value && event.value->IsString()) {
-        m_nameValue = event.value->GetString();
-      }
-      continue;
-    }
-
-    // common case: update of existing entry; search by entry
-    if (event.flags & NT_NOTIFY_UPDATE) {
-      auto it = std::find_if(
-          m_objects.begin(), m_objects.end(),
-          [&](const auto& e) { return e->GetEntry() == event.entry; });
-      if (it != m_objects.end()) {
-        (*it)->NTUpdate(*event.value);
-        continue;
-      }
-    }
-
-    // handle create/delete
-    std::string_view name = event.name;
-    if (wpi::starts_with(name, m_path)) {
-      name.remove_prefix(m_path.size());
+  for (auto&& event : m_poller.ReadQueue()) {
+    if (auto info = event.GetTopicInfo()) {
+      // handle publish/unpublish
+      auto name = wpi::drop_front(info->name, m_path.size());
       if (name.empty() || name[0] == '.') {
         continue;
       }
-      auto [it, match] = Find(event.name);
-      if (event.flags & NT_NOTIFY_DELETE) {
+      auto [it, match] = Find(info->name);
+      if (event.flags & nt::EventFlags::kUnpublish) {
         if (match) {
           m_objects.erase(it);
         }
         continue;
-      } else if (event.flags & NT_NOTIFY_NEW) {
+      } else if (event.flags & nt::EventFlags::kPublish) {
         if (!match) {
           it = m_objects.emplace(
-              it, std::make_unique<ObjectModel>(event.name, event.entry));
+              it, std::make_unique<ObjectModel>(
+                      info->name, nt::DoubleArrayTopic{info->topic}));
         }
       } else if (!match) {
         continue;
       }
-      if (event.flags & (NT_NOTIFY_NEW | NT_NOTIFY_UPDATE)) {
-        (*it)->NTUpdate(*event.value);
+    } else if (auto valueData = event.GetValueEventData()) {
+      // update values
+      // .name
+      if (valueData->topic == m_nameTopic.GetHandle()) {
+        if (valueData->value && valueData->value.IsString()) {
+          m_nameValue = valueData->value.GetString();
+        }
+        continue;
+      }
+
+      auto it =
+          std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
+            return e->GetTopic().GetHandle() == valueData->topic;
+          });
+      if (it != m_objects.end()) {
+        (*it)->NTUpdate(valueData->value);
+        continue;
       }
     }
   }
 }
 
 bool NTField2DModel::Exists() {
-  return m_nt.IsConnected() && nt::GetEntryType(m_name) != NT_UNASSIGNED;
+  return m_inst.IsConnected() && m_nameTopic.Exists();
 }
 
 bool NTField2DModel::IsReadOnly() {
@@ -222,8 +182,9 @@ FieldObjectModel* NTField2DModel::AddFieldObject(std::string_view name) {
   auto fullName = fmt::format("{}{}", m_path, name);
   auto [it, match] = Find(fullName);
   if (!match) {
-    it = m_objects.emplace(
-        it, std::make_unique<ObjectModel>(fullName, m_nt.GetEntry(fullName)));
+    it = m_objects.emplace(it,
+                           std::make_unique<ObjectModel>(
+                               fullName, m_inst.GetDoubleArrayTopic(fullName)));
   }
   return it->get();
 }
@@ -231,7 +192,6 @@ FieldObjectModel* NTField2DModel::AddFieldObject(std::string_view name) {
 void NTField2DModel::RemoveFieldObject(std::string_view name) {
   auto [it, match] = Find(fmt::format("{}{}", m_path, name));
   if (match) {
-    nt::DeleteEntry((*it)->GetEntry());
     m_objects.erase(it);
   }
 }