Upgrade Maven dependencies (#5553)

The following source code changes were required:

* Whitespace changes from spotless
* PMD warning suppressions for utility class tests
* PMD warning rename from "BeanMembersShouldSerialize" to
  "NonSerializableClass"
* Declared more class members as final

.clang-format

@@ -1,111 +1,171 @@
 ---
+Language:        Cpp
 BasedOnStyle:  Google
 AccessModifierOffset: -1
 AlignAfterOpenBracket: Align
-AlignConsecutiveMacros: false
-AlignConsecutiveAssignments: false
-AlignConsecutiveDeclarations: false
+AlignArrayOfStructures: None
+AlignConsecutiveAssignments:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    true
+AlignConsecutiveBitFields:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
+AlignConsecutiveDeclarations:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
+AlignConsecutiveMacros:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCompound:   false
+  PadOperators:    false
 AlignEscapedNewlines: Left
-AlignOperands:   true
-AlignTrailingComments: true
+AlignOperands:   Align
+AlignTrailingComments:
+  Kind:            Always
+  OverEmptyLines:  0
 AllowAllArgumentsOnNextLine: true
-AllowAllConstructorInitializersOnNextLine: true
 AllowAllParametersOfDeclarationOnNextLine: true
 AllowShortBlocksOnASingleLine: Never
 AllowShortCaseLabelsOnASingleLine: false
+AllowShortEnumsOnASingleLine: true
 AllowShortFunctionsOnASingleLine: Inline
-AllowShortLambdasOnASingleLine: All
 AllowShortIfStatementsOnASingleLine: Never
+AllowShortLambdasOnASingleLine: All
 AllowShortLoopsOnASingleLine: false
 AlwaysBreakAfterDefinitionReturnType: None
 AlwaysBreakAfterReturnType: None
 AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: Yes
+AttributeMacros:
+  - __capability
 BinPackArguments: true
 BinPackParameters: true
+BitFieldColonSpacing: Both
 BraceWrapping:
   AfterCaseLabel:  false
   AfterClass:      false
-  AfterControlStatement: false
+  AfterControlStatement: Never
   AfterEnum:       false
+  AfterExternBlock: false
   AfterFunction:   false
   AfterNamespace:  false
   AfterObjCDeclaration: false
   AfterStruct:     false
   AfterUnion:      false
-  AfterExternBlock: false
   BeforeCatch:     false
   BeforeElse:      false
+  BeforeLambdaBody: false
+  BeforeWhile:     false
   IndentBraces:    false
   SplitEmptyFunction: true
   SplitEmptyRecord: true
   SplitEmptyNamespace: true
-BreakBeforeBinaryOperators: None
-BreakBeforeBraces: Attach
-BreakBeforeInheritanceComma: false
-BreakInheritanceList: BeforeColon
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: false
-BreakConstructorInitializers: BeforeColon
+BreakAfterAttributes: Always
 BreakAfterJavaFieldAnnotations: false
+BreakArrays:     true
+BreakBeforeBinaryOperators: None
+BreakBeforeConceptDeclarations: Always
+BreakBeforeBraces: Attach
+BreakBeforeInlineASMColon: OnlyMultiline
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializers: BeforeColon
+BreakInheritanceList: BeforeColon
 BreakStringLiterals: true
 ColumnLimit:     80
 CommentPragmas:  '^ IWYU pragma:'
 CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: true
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
 Cpp11BracedListStyle: true
-DeriveLineEnding: true
 DerivePointerAlignment: false
 DisableFormat:   false
+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
 ExperimentalAutoDetectBinPacking: false
 FixNamespaceComments: true
 ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
 IncludeBlocks:   Regroup
 IncludeCategories:
   - Regex:           '^<ext/.*\.h>'
     Priority:        2
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '^<.*\.h>'
     Priority:        1
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '^<.*'
     Priority:        2
     SortPriority:    0
+    CaseSensitive:   false
   - Regex:           '.*'
     Priority:        3
     SortPriority:    0
+    CaseSensitive:   false
 IncludeIsMainRegex: '([-_](test|unittest))?$'
 IncludeIsMainSourceRegex: ''
+IndentAccessModifiers: false
+IndentCaseBlocks: false
 IndentCaseLabels: true
+IndentExternBlock: AfterExternBlock
 IndentGotoLabels: true
 IndentPPDirectives: None
+IndentRequiresClause: true
 IndentWidth:     2
 IndentWrappedFunctionNames: false
+InsertBraces:    false
+InsertNewlineAtEOF: false
+InsertTrailingCommas: None
+IntegerLiteralSeparator:
+  Binary:          0
+  BinaryMinDigits: 0
+  Decimal:         0
+  DecimalMinDigits: 0
+  Hex:             0
+  HexMinDigits:    0
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+LambdaBodyIndentation: Signature
+LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never
 ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
 ObjCSpaceAfterProperty: false
 ObjCSpaceBeforeProtocolList: true
+PackConstructorInitializers: NextLine
 PenaltyBreakAssignment: 2
 PenaltyBreakBeforeFirstCallParameter: 1
 PenaltyBreakComment: 300
 PenaltyBreakFirstLessLess: 120
+PenaltyBreakOpenParenthesis: 0
 PenaltyBreakString: 1000
 PenaltyBreakTemplateDeclaration: 10
 PenaltyExcessCharacter: 1000000
+PenaltyIndentedWhitespace: 0
 PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Left
+PPIndentWidth:   -1
+QualifierAlignment: Leave
 RawStringFormats:
   - Language:        Cpp
     Delimiters:
@@ -132,34 +192,65 @@ RawStringFormats:
       - PARSE_TEXT_PROTO
       - ParseTextOrDie
       - ParseTextProtoOrDie
-    CanonicalDelimiter: ''
+      - ParseTestProto
+      - ParsePartialTestProto
+    CanonicalDelimiter: pb
     BasedOnStyle:    google
+ReferenceAlignment: Pointer
 ReflowComments:  true
+RemoveBracesLLVM: false
+RemoveSemicolon: false
+RequiresClausePosition: OwnLine
+RequiresExpressionIndentation: OuterScope
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 1
 SortIncludes:    false
-SortUsingDeclarations: true
+SortJavaStaticImport: Before
+SortUsingDeclarations: LexicographicNumeric
 SpaceAfterCStyleCast: false
 SpaceAfterLogicalNot: false
 SpaceAfterTemplateKeyword: true
+SpaceAroundPointerQualifiers: Default
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
 SpaceBeforeParens: ControlStatements
+SpaceBeforeParensOptions:
+  AfterControlStatements: true
+  AfterForeachMacros: true
+  AfterFunctionDefinitionName: false
+  AfterFunctionDeclarationName: false
+  AfterIfMacros:   true
+  AfterOverloadedOperator: false
+  AfterRequiresInClause: false
+  AfterRequiresInExpression: false
+  BeforeNonEmptyParentheses: false
 SpaceBeforeRangeBasedForLoopColon: true
+SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
 SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
-SpacesInAngles:  false
+SpacesInAngles:  Never
 SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
 SpacesInCStyleCastParentheses: false
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
 SpacesInParentheses: false
 SpacesInSquareBrackets: false
-SpaceBeforeSquareBrackets: false
-Standard:        c++17
+Standard:        c++20
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
+WhitespaceSensitiveMacros:
+  - BOOST_PP_STRINGIZE
+  - CF_SWIFT_NAME
+  - NS_SWIFT_NAME
+  - PP_STRINGIZE
+  - STRINGIZE
 ...

.clang-tidy

@@ -35,7 +35,6 @@ Checks:
   bugprone-unhandled-self-assignment,
   bugprone-unused-raii,
   bugprone-virtual-near-miss,
-  cert-dcl58-cpp,
   cert-err52-cpp,
   cert-err60-cpp,
   cert-mem57-cpp,

.gitattributes

@@ -1,4 +1,5 @@
 *.gradle text eol=lf
 *.java text eol=lf
+*.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf

.github/CODEOWNERS

@@ -29,8 +29,6 @@
 
 /wpilibNewCommands/  @wpilibsuite/commandbased
 
-/wpilibOldCommands/  @wpilibsuite/commandbased
-
 /wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
 
 /wpilibjExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation

.github/ISSUE_TEMPLATE/bug_report.md

@@ -15,6 +15,8 @@ Steps to reproduce the behavior:
 1. ...
 2. ...
 
+ - Link to code:
+
 **Expected behavior**
 A clear and concise description of what you expected to happen.
 
@@ -22,10 +24,8 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - WPILib Version: [e.g. 2021.3.1]
  - OS: [e.g. Windows 11]
- - Java version [e.g. 1.10.2]
- - C++ version [e.g. 17]
+ - Project Information: [In Visual Studio Code, press the WPILib button and choose WPILib: Open Project Information. Press the copy button and paste the data here. If not using VS Code, please include WPILib version, Gradle version, Java version, C++ version (if applicable), and any third party libraries and versions]
 
 **Additional context**
 Add any other context about the problem here.

.github/workflows/cmake.yml

@@ -16,7 +16,7 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2023-22.04
             flags: ""
-          - os: macOS-11
+          - os: macOS-12
             name: macOS
             container: ""
             flags: "-DWITH_JAVA=OFF"

.github/workflows/comment-command.yml

@@ -42,16 +42,10 @@ jobs:
         with:
           distribution: 'zulu'
           java-version: 11
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run wpiformat
-        run: wpiformat -clang 14
+        run: wpiformat
       - name: Run spotlessApply
         run: ./gradlew spotlessApply
       - name: Commit

.github/workflows/documentation.yml

@@ -26,39 +26,41 @@ jobs:
           java-version: 13
       - name: Set environment variables (Development)
         run: |
-          echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
+          echo "BRANCH=development" >> $GITHUB_ENV
         if: github.ref == 'refs/heads/main'
       - name: Set environment variables (Tag)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/beta" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Set environment variables (Release)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/release" >> $GITHUB_ENV
+          echo "BRANCH=release" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.7.0
+        uses: webfactory/ssh-agent@v0.8.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy Java 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.4.1
         with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/javadoc
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/java
-      - name: Deploy C++ 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/build/docs
+      - name: Trigger Workflow
+        uses: actions/github-script@v6
         with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/doxygen/html
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/cpp
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })

.github/workflows/gradle.yml

@@ -46,7 +46,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 10.15
+      MACOSX_DEPLOYMENT_TARGET: 11
     strategy:
       fail-fast: false
       matrix:
@@ -63,7 +63,19 @@ jobs:
             build-options: "-PciReleaseOnly --max-workers 1"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-11
+          # - os: windows-2022
+          #   artifact-name: WinArm64Debug
+          #   architecture: x64
+          #   task: "build"
+          #   build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+          #   outputs: "build/allOutputs"
+          # - os: windows-2022
+          #   artifact-name: WinArm64Release
+          #   architecture: x64
+          #   build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+          #   task: "copyAllOutputs"
+          #   outputs: "build/allOutputs"
+          - os: macOS-12
             artifact-name: macOS
             architecture: x64
             task: "build"

.github/workflows/lint-format.yml

@@ -26,16 +26,10 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
-        run: wpiformat -clang 14
+        run: wpiformat
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -70,12 +64,6 @@ jobs:
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
-      - name: Install clang-tidy
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-tidy-14 clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
@@ -83,7 +71,7 @@ jobs:
       - name: List changed files
         run: wpiformat -list-changed-files
       - name: Run clang-tidy
-        run: wpiformat -clang 14 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
   javaformat:
     name: "Java format"
     runs-on: ubuntu-22.04

.github/workflows/upstream-utils.yml

@@ -29,10 +29,6 @@ jobs:
         run: |
           git config --global user.email "you@example.com"
           git config --global user.name "Your Name"
-      - name: Run update_drake.py
-        run: |
-          cd upstream_utils
-          ./update_drake.py
       - name: Run update_eigen.py
         run: |
           cd upstream_utils
@@ -41,6 +37,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_fmt.py
+      - name: Run update_gcem.py
+        run: |
+          cd upstream_utils
+          ./update_gcem.py
       - name: Run update_libuv.py
         run: |
           cd upstream_utils

.gitignore

@@ -9,6 +9,8 @@ simgui-ds.json
 simgui-window.json
 simgui.json
 
+networktables.json
+
 # Created by the jenkins test script
 test-reports
 

CMakeLists.txt

@@ -11,8 +11,8 @@ if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
 endif()
 
-project(allwpilib)
 cmake_minimum_required(VERSION 3.3.0)
+project(allwpilib)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
 message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
@@ -81,11 +81,6 @@ if (NOT CMAKE_BUILD_TYPE)
     set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
 endif()
 
-# We always want flat install with MSVC.
-if (MSVC)
-  set(WITH_FLAT_INSTALL ON)
-endif()
-
 if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
     message(FATAL_ERROR "
 FATAL: Cannot build static libs with Java enabled.
@@ -167,8 +162,7 @@ endif()
 
 if (USE_SYSTEM_LIBUV)
 set (LIBUV_SYSTEM_REPLACE "
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
+find_dependency(libuv CONFIG)
 ")
 endif()
 

CONTRIBUTING.md

@@ -40,8 +40,39 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 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.
 
+### Math documentation
+
 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.
 
+The LaTeX to Unicode conversions can also be done locally via the unicodeit Python package. To install it, execute:
+```bash
+pip install --user unicodeit
+```
+
+Here's example usage:
+```bash
+$ python -m unicodeit.cli 'x_{k+1} = Ax_k + Bu_k'
+xₖ₊₁ = Axₖ + Buₖ
+```
+
+On Linux, this process can be streamlined further by adding the following Bash function to your .bashrc (requires `wl-clipboard` on Wayland or `xclip` on X11):
+```bash
+# Converts LaTeX to Unicode, prints the result, and copies it to the clipboard
+uc() {
+  if [ $WAYLAND_DISPLAY ]; then
+    python -m unicodeit.cli $@ | tee >(wl-copy -n)
+  else
+    python -m unicodeit.cli $@ | tee >(xclip -sel)
+  fi
+}
+```
+
+Here's example usage:
+```bash
+$ uc 'x_{k+1} = Ax_k + Bu_k'
+xₖ₊₁ = Axₖ + Buₖ
+```
+
 ## Submitting Changes
 
 ### Pull Request Format

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2022 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MavenArtifacts.md

@@ -16,7 +16,7 @@ We provide two base types of artifacts.
 
 The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier.
 
-The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). The `-sources` and `-headers` classifiers contain the sources and headers respecively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifer combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
+The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifier combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
 
 ## Artifact Names
 

README.md

@@ -17,6 +17,7 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
     - [Custom toolchain location](#custom-toolchain-location)
     - [Formatting/Linting](#formattinglinting)
     - [CMake](#cmake)
+  - [Running examples in simulation](#running-examples-in-simulation)
   - [Publishing](#publishing)
   - [Structure and Organization](#structure-and-organization)
 - [Contributing to WPILib](#contributing-to-wpilib)
@@ -40,7 +41,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 ## Requirements
 
-- [JDK 11](https://adoptopenjdk.net/)
+- [JDK 11](https://adoptium.net/temurin/releases/?version=11)
     - Note that the JRE is insufficient; the full JDK is required
     - On Ubuntu, run `sudo apt install openjdk-11-jdk`
     - On Windows, install the JDK 11 .msi from the link above
@@ -48,7 +49,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 - C++ compiler
     - 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`
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 13 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
@@ -61,7 +62,7 @@ On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be ab
 
 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. We use clang-format 14.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
 
 ## Building
 
@@ -119,7 +120,7 @@ Once a PR has been submitted, formatting can be run in CI by commenting `/format
 
 #### wpiformat
 
-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.
+wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
 
 #### Java Code Quality Tools
 
@@ -131,6 +132,16 @@ If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
 
 CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).
 
+## Running examples in simulation
+
+Examples can be run in simulation with the following command:
+
+```bash
+./gradlew wpilibcExamples:runExample
+./gradlew wpilibjExamples:runExample
+```
+where `Example` is the example's folder name.
+
 ## Publishing
 
 If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:

ThirdPartyNotices.txt

@@ -41,9 +41,6 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
                       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/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/
 
@@ -1069,41 +1066,6 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
-=============
-Drake Library
-=============
-All components of Drake are licensed under the BSD 3-Clause License
-shown below. Where noted in the source code, some portions may
-be subject to other permissive, non-viral licenses.
-
-Copyright 2012-2016 Robot Locomotion Group @ CSAIL
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.  Redistributions
-in binary form must reproduce the above copyright notice, this list of
-conditions and the following disclaimer in the documentation and/or
-other materials provided with the distribution.  Neither the name of
-the Massachusetts Institute of Technology nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
 =====================
 Portable File Dialogs
 =====================

apriltag/CMakeLists.txt

@@ -7,7 +7,7 @@ include(FetchContent)
 FetchContent_Declare(
     apriltaglib
     GIT_REPOSITORY  https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG         ad31e33d20f9782b7239cb15cde57c56c91383ad
+    GIT_TAG         e55b751f2465bd40a880d9acb87d24289e2af89e
 )
 
 # Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI

apriltag/build.gradle

@@ -35,7 +35,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
     implementation project(':wpimath')
-    devImplementation project(':wpimath')
 }
 
 sourceSets {

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -189,7 +189,10 @@ public class AprilTagFieldLayout {
   }
 
   /**
-   * Deserializes a field layout from a resource within a jar file.
+   * Deserializes a field layout from a resource within a internal jar file.
+   *
+   * <p>Users should use {@link AprilTagFields#loadAprilTagLayoutField()} to load official layouts
+   * and {@link #AprilTagFieldLayout(String)} for custom layouts.
    *
    * @param resourcePath The absolute path of the resource
    * @return The deserialized layout

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.apriltag;
 
+import java.io.IOException;
+
 public enum AprilTagFields {
   k2022RapidReact("2022-rapidreact.json"),
   k2023ChargedUp("2023-chargedup.json");
@@ -18,4 +20,14 @@ public enum AprilTagFields {
   AprilTagFields(String resourceFile) {
     m_resourceFile = kBaseResourceDir + resourceFile;
   }
+
+  /**
+   * Get a {@link AprilTagFieldLayout} from the resource JSON.
+   *
+   * @return AprilTagFieldLayout of the field
+   * @throws IOException If the layout does not exist
+   */
+  public AprilTagFieldLayout loadAprilTagLayoutField() throws IOException {
+    return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+  }
 }

apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp

@@ -110,7 +110,7 @@ static AprilTagPoseEstimate DoEstimateOrthogonalIteration(
   apriltag_pose_t pose1, pose2;
   double err1, err2;
   estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2,
-                                         nIters);
+                                         nIters, 1e-7);
   return {MakePose(pose1), MakePose(pose2), err1, err2};
 }
 

apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

@@ -79,7 +79,7 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
   /**
    * Sets the origin for tag pose transformation.
    *
-   * This tranforms the Pose3ds returned by GetTagPose(int) to return the
+   * This transforms the Pose3ds returned by GetTagPose(int) to return the
    * correct pose relative to the provided origin.
    *
    * @param origin The new origin for tag transformations

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2022-rapidreact.json

@@ -1,415 +1,440 @@
 {
-  "tags" : [ {
-    "ID" : 0,
-    "pose" : {
-      "translation" : {
-        "x" : -0.0035306,
-        "y" : 7.578928199999999,
-        "z" : 0.8858503999999999
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 1.0,
-          "X" : 0.0,
-          "Y" : 0.0,
-          "Z" : 0.0
+  "tags": [
+    {
+      "ID": 0,
+      "pose": {
+        "translation": {
+          "x": -0.0035306,
+          "y": 7.578928199999999,
+          "z": 0.8858503999999999
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 3.2327088,
+          "y": 5.486654,
+          "z": 1.7254728
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 3.067812,
+          "y": 5.3305202,
+          "z": 1.3762228
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": -0.7071067811865475
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 0.0039878,
+          "y": 5.058536999999999,
+          "z": 0.80645
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 0.0039878,
+          "y": 3.5124898,
+          "z": 0.80645
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
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+          "x": 0.12110719999999998,
+          "y": 1.7178274,
+          "z": 0.8906002000000001
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-          "Z" : 1.0
-        }
-      }
-    }
-  }, {
-    "ID" : 14,
-    "pose" : {
-      "translation" : {
-        "x" : 16.4552122,
-        "y" : 4.7171356,
-        "z" : 0.80645
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 6.123233995736766E-17,
-          "X" : 0.0,
-          "Y" : 0.0,
-          "Z" : 1.0
-        }
-      }
-    }
-  }, {
-    "ID" : 15,
-    "pose" : {
-      "translation" : {
-        "x" : 16.3350194,
-        "y" : 6.5149729999999995,
-        "z" : 0.8937752
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : -0.37298778257580906,
-          "X" : -0.0,
-          "Y" : 0.0,
-          "Z" : 0.9278362538989199
-        }
-      }
-    }
-  }, {
-    "ID" : 16,
-    "pose" : {
-      "translation" : {
-        "x" : 15.5904946,
-        "y" : 7.292695599999999,
-        "z" : 0.8906002000000001
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : -0.37298778257580906,
-          "X" : -0.0,
-          "Y" : 0.0,
-          "Z" : 0.9278362538989199
-        }
-      }
-    }
-  }, {
-    "ID" : 17,
-    "pose" : {
-      "translation" : {
-        "x" : 14.847188999999998,
-        "y" : 8.0691228,
-        "z" : 0.8906002000000001
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : -0.37298778257580906,
-          "X" : -0.0,
-          "Y" : 0.0,
-          "Z" : 0.9278362538989199
-        }
-      }
-    }
-  }, {
-    "ID" : 40,
-    "pose" : {
-      "translation" : {
-        "x" : 7.874127,
-        "y" : 4.9131728,
-        "z" : 0.7032752
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 0.5446390350150271,
-          "X" : 0.0,
-          "Y" : 0.0,
-          "Z" : 0.838670567945424
-        }
-      }
-    }
-  }, {
-    "ID" : 41,
-    "pose" : {
-      "translation" : {
-        "x" : 7.4312271999999995,
-        "y" : 3.759327,
-        "z" : 0.7032752
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : -0.20791169081775934,
-          "X" : -0.0,
-          "Y" : 0.0,
-          "Z" : 0.9781476007338057
-        }
-      }
-    }
-  }, {
-    "ID" : 42,
-    "pose" : {
-      "translation" : {
-        "x" : 8.585073,
-        "y" : 3.3164272,
-        "z" : 0.7032752
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 0.838670567945424,
-          "X" : 0.0,
-          "Y" : 0.0,
-          "Z" : -0.5446390350150271
-        }
-      }
-    }
-  }, {
-    "ID" : 43,
-    "pose" : {
-      "translation" : {
-        "x" : 9.0279728,
-        "y" : 4.470273,
-        "z" : 0.7032752
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 0.9781476007338057,
-          "X" : 0.0,
-          "Y" : 0.0,
-          "Z" : 0.20791169081775934
-        }
-      }
-    }
-  }, {
-    "ID" : 50,
-    "pose" : {
-      "translation" : {
-        "x" : 7.6790296,
-        "y" : 4.3261534,
-        "z" : 2.4177244
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 0.17729273396782605,
-          "X" : -0.22744989571511945,
-          "Y" : 0.04215534644161733,
-          "Z" : 0.9565859910053995
-        }
-      }
-    }
-  }, {
-    "ID" : 51,
-    "pose" : {
-      "translation" : {
-        "x" : 8.0182466,
-        "y" : 3.5642296,
-        "z" : 2.4177244
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : -0.5510435465842192,
-          "X" : -0.19063969497246985,
-          "Y" : -0.13102303230819815,
-          "Z" : 0.8017733354717242
-        }
-      }
-    }
-  }, {
-    "ID" : 52,
-    "pose" : {
-      "translation" : {
-        "x" : 8.7801704,
-        "y" : 3.9034466,
-        "z" : 2.4177244
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : -0.9565859910053994,
-          "X" : -0.04215534644161739,
-          "Y" : -0.22744989571511942,
-          "Z" : 0.17729273396782633
-        }
-      }
-    }
-  }, {
-    "ID" : 53,
-    "pose" : {
-      "translation" : {
-        "x" : 8.4409534,
-        "y" : 4.6653704,
-        "z" : 2.4177244
-      },
-      "rotation" : {
-        "quaternion" : {
-          "W" : 0.8017733354717241,
-          "X" : -0.1310230323081982,
-          "Y" : 0.19063969497246983,
-          "Z" : 0.5510435465842194
-        }
-      }
-    }
-  } ],
-  "field" : {
-    "length" : 16.4592,
-    "width" : 8.2296
+  ],
+  "field": {
+    "length": 16.4592,
+    "width": 8.2296
   }
 }

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java

@@ -157,7 +157,7 @@ class AprilTagDetectorTest {
 
       var estimator =
           new AprilTagPoseEstimator(new AprilTagPoseEstimator.Config(0.2, 500, 500, 320, 240));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
       assertEquals(new Transform3d(), est.pose2);
       Transform3d pose = estimator.estimate(results[0]);
       assertEquals(est.pose1, pose);
@@ -189,7 +189,7 @@ class AprilTagDetectorTest {
           new AprilTagPoseEstimator(
               new AprilTagPoseEstimator.Config(
                   0.2, 500, 500, image.cols() / 2.0, image.rows() / 2.0));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
 
       assertEquals(Units.degreesToRadians(45), est.pose1.getRotation().getX(), 0.1);
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getY(), 0.1);
@@ -222,7 +222,7 @@ class AprilTagDetectorTest {
           new AprilTagPoseEstimator(
               new AprilTagPoseEstimator.Config(
                   0.2, 500, 500, image.cols() / 2.0, image.rows() / 2.0));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
 
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getX(), 0.1);
       assertEquals(Units.degreesToRadians(45), est.pose1.getRotation().getY(), 0.1);
@@ -252,7 +252,7 @@ class AprilTagDetectorTest {
           new AprilTagPoseEstimator(
               new AprilTagPoseEstimator.Config(
                   0.2, 500, 500, image.cols() / 2.0, image.rows() / 2.0));
-      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 50);
+      AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
 
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getX(), 0.1);
       assertEquals(Units.degreesToRadians(0), est.pose1.getRotation().getY(), 0.1);

apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java

@@ -23,16 +23,13 @@ class LoadConfigTest {
   @ParameterizedTest
   @EnumSource(AprilTagFields.class)
   void testLoad(AprilTagFields field) {
-    AprilTagFieldLayout layout =
-        Assertions.assertDoesNotThrow(
-            () -> AprilTagFieldLayout.loadFromResource(field.m_resourceFile));
+    AprilTagFieldLayout layout = Assertions.assertDoesNotThrow(field::loadAprilTagLayoutField);
     assertNotNull(layout);
   }
 
   @Test
   void test2022RapidReact() throws IOException {
-    AprilTagFieldLayout layout =
-        AprilTagFieldLayout.loadFromResource(AprilTagFields.k2022RapidReact.m_resourceFile);
+    AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
 
     // Blue Hangar Truss - Hub
     Pose3d expectedPose =

build.gradle

@@ -7,7 +7,7 @@ buildscript {
         }
     }
     dependencies {
-        classpath 'com.hubspot.jinjava:jinjava:2.6.0'
+        classpath 'com.hubspot.jinjava:jinjava:2.7.1'
     }
 }
 
@@ -20,10 +20,10 @@ plugins {
     id 'edu.wpi.first.GradleVsCode'
     id 'idea'
     id 'visual-studio'
-    id 'net.ltgt.errorprone' version '2.0.2' apply false
-    id 'com.github.johnrengelman.shadow' version '7.1.2' apply false
-    id 'com.diffplug.spotless' version '6.12.0' apply false
-    id 'com.github.spotbugs' version '5.0.8' apply false
+    id 'net.ltgt.errorprone' version '3.1.0' apply false
+    id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
+    id 'com.diffplug.spotless' version '6.20.0' apply false
+    id 'com.github.spotbugs' version '5.1.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -94,8 +94,8 @@ ext.addTaskToCopyAllOutputs = { task ->
         return
     }
     copyAllOutputs.dependsOn task
-    copyAllOutputs.inputs.file task.archivePath
-    copyAllOutputs.from task.archivePath
+    copyAllOutputs.inputs.file task.archiveFile
+    copyAllOutputs.from task.archiveFile
 }
 
 subprojects {
@@ -167,5 +167,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '7.5.1'
+    gradleVersion = '8.1'
 }

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2023.11.1"
+    implementation "edu.wpi.first:native-utils:2024.0.0"
 }

cameraserver/build.gradle

@@ -14,10 +14,6 @@ dependencies {
     implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
-    devImplementation project(':wpiutil')
-    devImplementation project(':wpinet')
-    devImplementation project(':ntcore')
-    devImplementation project(':cscore')
 }
 
 ext {

cameraserver/multiCameraServer/build.gradle

@@ -29,7 +29,7 @@ repositories {
 }
 
 dependencies {
-    implementation 'com.google.code.gson:gson:2.8.9'
+    implementation 'com.google.code.gson:gson:2.10.1'
 
     implementation project(':wpiutil')
     implementation project(':wpinet')
@@ -59,6 +59,9 @@ model {
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
+                }
             }
         }
     }

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

@@ -474,6 +474,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture() {
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
+  ::GetInstance();
   cs::UsbCamera camera{fmt::format("USB Camera {}", dev), dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -483,6 +484,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
 
 cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
                                                   int dev) {
+  ::GetInstance();
   cs::UsbCamera camera{name, dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -492,6 +494,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
 
 cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
                                                   std::string_view path) {
+  ::GetInstance();
   cs::UsbCamera camera{name, path};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -517,6 +520,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::span<const std::string> hosts) {
 
 cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
                                            std::string_view host) {
+  ::GetInstance();
   cs::AxisCamera camera{name, host};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -526,6 +530,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
 
 cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
                                            const char* host) {
+  ::GetInstance();
   cs::AxisCamera camera{name, host};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -535,6 +540,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
 
 cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
                                            const std::string& host) {
+  ::GetInstance();
   cs::AxisCamera camera{name, host};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -544,6 +550,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
 
 cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
                                            std::span<const std::string> hosts) {
+  ::GetInstance();
   cs::AxisCamera camera{name, hosts};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
@@ -552,10 +559,11 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
 }
 
 cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
+  auto& inst = ::GetInstance();
   // create a dummy CvSource
   cs::CvSource source{name, cs::VideoMode::PixelFormat::kMJPEG, 160, 120, 30};
   cs::MjpegServer server = StartAutomaticCapture(source);
-  ::GetInstance().m_fixedSources[server.GetHandle()] = source.GetHandle();
+  inst.m_fixedSources[server.GetHandle()] = source.GetHandle();
 
   return server;
 }
@@ -632,6 +640,7 @@ cs::CvSink CameraServer::GetVideo(std::string_view name) {
 
 cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
                                     int height) {
+  ::GetInstance();
   cs::CvSource source{name, cs::VideoMode::kMJPEG, width, height, 30};
   StartAutomaticCapture(source);
   return source;
@@ -648,6 +657,7 @@ cs::MjpegServer CameraServer::AddServer(std::string_view name) {
 }
 
 cs::MjpegServer CameraServer::AddServer(std::string_view name, int port) {
+  ::GetInstance();
   cs::MjpegServer server{name, port};
   AddServer(server);
   return server;

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

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <functional>
+
 #include "vision/VisionRunner.h"
 
 namespace frc {

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

@@ -21,10 +21,10 @@ TEST_P(DutyCycleTest, DutyCycle) {
   ASSERT_EQ(0, status);
 
   // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
   ASSERT_EQ(0, status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 5.05, 2.525, 2.525, 2.525, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 5050, 2525, 2525, 2525, 0, &status);
   ASSERT_EQ(0, status);
   HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
   ASSERT_EQ(0, status);
@@ -41,8 +41,9 @@ TEST_P(DutyCycleTest, DutyCycle) {
   // Sleep enough time for the frequency to converge
   usleep(3500000);
 
-  ASSERT_NEAR(1000 / 5.05,
-              (double)HAL_GetDutyCycleFrequency(dutyCycle, &status), 1);
+  ASSERT_NEAR(
+      1000 / 5.05,
+      static_cast<double>(HAL_GetDutyCycleFrequency(dutyCycle, &status)), 1);
 
   // TODO measure output
 }

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

@@ -32,8 +32,8 @@ void TestTimingDMA(int squelch, std::pair<int, int> param) {
   ASSERT_EQ(0, status);
 
   // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
   HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
 
   unsigned int checkPeriod = 0;
@@ -163,8 +163,8 @@ void TestTiming(int squelch, std::pair<int, int> param) {
   ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
 
   // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMRaw(pwmHandle, 0, &status);
-  HAL_SetPWMConfig(pwmHandle, 2.0, 1.0, 1.0, 0, 0, &status);
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
   HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
 
   unsigned int checkPeriod = 0;
@@ -251,7 +251,7 @@ void TestTiming(int squelch, std::pair<int, int> param) {
       }
     }
 
-    HAL_SetPWMRaw(pwmHandle, 0, &status);
+    HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
 
     // Ensure our interrupts have the proper counts
     ASSERT_EQ(interruptData.risingStamps.size(),

cscore/build.gradle

@@ -36,7 +36,6 @@ model {
                         srcDir 'src/main/native/include'
                         include '**/*.h'
                     }
-
                 }
             }
             binaries.all {
@@ -216,6 +215,9 @@ model {
                                     it.linker.args << '-lGL'
                                 }
                             }
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+                            }
                         }
                         sources {
                             cpp {
@@ -234,6 +236,9 @@ model {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
+                        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+                        }
                     }
                     sources {
                         cpp {

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

@@ -65,6 +65,7 @@ public class CameraServerCvJNI {
   public static native void putSourceFrame(int source, long imageNativeObj);
 
   public static native int createCvSink(String name);
+
   // public static native int createCvSinkCallback(String name,
   //                            void (*processFrame)(long time));
 

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

@@ -143,7 +143,7 @@ public class CameraServerJNI {
   public static native void releaseSource(int source);
 
   //
-  // Camera Source Common Property Fuctions
+  // Camera Source Common Property Functions
   //
   public static native void setCameraBrightness(int source, int brightness);
 

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

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.cscore;
 
+import java.util.Objects;
+
 /** Video mode. */
 @SuppressWarnings("MemberName")
 public class VideoMode {
@@ -75,4 +77,28 @@ public class VideoMode {
 
   /** Frames per second. */
   public int fps;
+
+  @Override
+  public boolean equals(Object other) {
+    if (this == other) {
+      return true;
+    }
+    if (other == null) {
+      return false;
+    }
+    if (getClass() != other.getClass()) {
+      return false;
+    }
+    VideoMode mode = (VideoMode) other;
+
+    return pixelFormat == mode.pixelFormat
+        && width == mode.width
+        && height == mode.height
+        && fps == mode.fps;
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(pixelFormat, width, height, fps);
+  }
 }

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

@@ -22,9 +22,7 @@ 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>{}} {
@@ -39,35 +37,19 @@ class Image {
   operator std::string_view() const {  // NOLINT
     return str();
   }
-  std::string_view str() const {
-    return {data(), size()};
-  }
-  size_t capacity() const {
-    return m_data.capacity();
-  }
+  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;
@@ -90,9 +72,7 @@ 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_;
@@ -114,12 +94,8 @@ 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/UnlimitedHandleResource.h

@@ -16,7 +16,7 @@
 namespace cs {
 
 // The UnlimitedHandleResource class is a way to track handles. This version
-// allows an unlimted number of handles that are allocated sequentially. When
+// allows an unlimited number of handles that are allocated sequentially. When
 // possible, indices are reused to save memory usage and keep the array length
 // down.
 // However, automatic array management has not been implemented, but might be in

cscore/src/main/native/cpp/cscore_c.cpp

@@ -516,7 +516,7 @@ void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count) {
   std::free(modes);
 }
 
-char* CS_GetHostname() {
+char* CS_GetHostname(void) {
   return cs::ConvertToC(cs::GetHostname());
 }
 

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

@@ -439,7 +439,7 @@ void ReleaseSource(CS_Source source, CS_Status* status) {
 }
 
 //
-// Camera Source Common Property Fuctions
+// Camera Source Common Property Functions
 //
 
 void SetCameraBrightness(CS_Source source, int brightness, CS_Status* status) {

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

@@ -323,7 +323,7 @@ void CS_ReleaseSource(CS_Source source, CS_Status* status);
 /** @} */
 
 /**
- * @defgroup cscore_source_prop_cfunc Camera Source Common Property Fuctions
+ * @defgroup cscore_source_prop_cfunc Camera Source Common Property Functions
  * @{
  */
 void CS_SetCameraBrightness(CS_Source source, int brightness,
@@ -504,7 +504,7 @@ void CS_FreeHttpCameraUrls(char** urls, int count);
 void CS_FreeEnumeratedProperties(CS_Property* properties, int count);
 void CS_FreeEnumeratedVideoModes(CS_VideoMode* modes, int count);
 
-char* CS_GetHostname();
+char* CS_GetHostname(void);
 
 char** CS_GetNetworkInterfaces(int* count);
 void CS_FreeNetworkInterfaces(char** interfaces, int count);

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

@@ -262,7 +262,7 @@ void ReleaseSource(CS_Source source, CS_Status* status);
 /** @} */
 
 /**
- * @defgroup cscore_camera_property_func Camera Source Common Property Fuctions
+ * @defgroup cscore_camera_property_func Camera Source Common Property Functions
  * @{
  */
 void SetCameraBrightness(CS_Source source, int brightness, CS_Status* status);

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

@@ -5,6 +5,8 @@
 #ifndef CSCORE_CSCORE_CV_H_
 #define CSCORE_CSCORE_CV_H_
 
+#include <functional>
+
 #include "cscore_c.h"
 
 #ifdef CSCORE_CSCORE_RAW_CV_H_
@@ -152,8 +154,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image,
-                                   double timeout = 0.225) const;
+  [[nodiscard]]
+  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -163,7 +165,8 @@ class CvSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(cv::Mat& image) const;
 };
 
 inline CvSource::CvSource(std::string_view name, const VideoMode& mode) {

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

@@ -5,6 +5,7 @@
 #ifndef CSCORE_CSCORE_OO_H_
 #define CSCORE_CSCORE_OO_H_
 
+#include <functional>
 #include <initializer_list>
 #include <span>
 #include <string>

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

@@ -5,6 +5,7 @@
 #ifndef CSCORE_CSCORE_OO_INC_
 #define CSCORE_CSCORE_OO_INC_
 
+#include <functional>
 #include <string>
 #include <string_view>
 #include <utility>

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

@@ -5,6 +5,8 @@
 #ifndef CSCORE_CSCORE_RAW_H_
 #define CSCORE_CSCORE_RAW_H_
 
+#include <functional>
+
 #include "cscore_c.h"
 
 #ifdef __cplusplus
@@ -174,8 +176,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(RawFrame& image,
-                                   double timeout = 0.225) const;
+  [[nodiscard]]
+  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -185,7 +187,8 @@ class RawSink : public ImageSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {

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

@@ -9,6 +9,8 @@
 #error "Cannot include both cscore_cv.h and cscore_raw_cv.h in the same file"
 #endif
 
+#include <functional>
+
 #include <opencv2/core/mat.hpp>
 
 #include "cscore_raw.h"
@@ -111,7 +113,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
+  [[nodiscard]]
+  uint64_t GrabFrame(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -121,7 +124,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeout(cv::Mat& image);
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeout(cv::Mat& image);
 
   /**
    * Wait for the next frame and get the image.
@@ -132,8 +136,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameDirect(cv::Mat& image,
-                                         double timeout = 0.225);
+  [[nodiscard]]
+  uint64_t GrabFrameDirect(cv::Mat& image, double timeout = 0.225);
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -143,7 +147,8 @@ class RawCvSink : public RawSink {
    *         message); the frame time is in the same time base as wpi::Now(),
    *         and is in 1 us increments.
    */
-  [[nodiscard]] uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
+  [[nodiscard]]
+  uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
  private:
   RawFrame rawFrame;

cscore/src/main/native/objcpp/UsbCameraImplObjc.mm

@@ -79,7 +79,7 @@ using namespace cs;
     default:
       OBJCERROR(
           "Camera access explicitly blocked for application. No cameras are "
-          "accessable");
+          "accessible");
       self.isAuthorized = false;
       // TODO log
       break;
@@ -328,8 +328,6 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   @autoreleasepool {
     NSArray<AVCaptureDeviceFormat*>* formats = self.videoDevice.formats;
 
-    int count = 0;
-
     for (AVCaptureDeviceFormat* format in formats) {
       CMFormatDescriptionRef cmformat = format.formatDescription;
       CMVideoDimensions s1 = CMVideoFormatDescriptionGetDimensions(cmformat);
@@ -363,7 +361,6 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
 
       modes.emplace_back(store.mode);
       platformModes.emplace_back(store);
-      count++;
     }
   }
 
@@ -524,7 +521,7 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   if (!self.isAuthorized) {
     OBJCERROR(
         "Camera access not authorized for application. No cameras are "
-        "accessable");
+        "accessible");
     return false;
   }
 

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

@@ -78,7 +78,7 @@ STDMETHODIMP SourceReaderCB::OnReadSample(HRESULT hrStatus, DWORD dwStreamIndex,
     return S_OK;
   if (SUCCEEDED(hrStatus)) {
     if (pSample) {
-      // Prcoess sample
+      // Process sample
       source->ProcessFrame(pSample, m_mode);
       // DO NOT release the frame
     }

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

@@ -270,8 +270,9 @@ void UsbCameraImpl::DeviceDisconnect() {
 }
 
 static bool IsPercentageProperty(std::string_view name) {
-  if (wpi::starts_with(name, "raw_"))
+  if (wpi::starts_with(name, "raw_")) {
     name = wpi::substr(name, 4);
+  }
   return name == "Brightness" || name == "Contrast" || name == "Saturation" ||
          name == "Hue" || name == "Sharpness" || name == "Gain" ||
          name == "Exposure";

cscore/src/test/java/edu/wpi/first/cscore/UsbCameraTest.java

@@ -24,7 +24,7 @@ class UsbCameraTest {
   static class ConnectVerbose {
     @Test
     void setConnectVerboseEnabledTest() {
-      try (UsbCamera camera = new UsbCamera("Nonexistant Camera", getNonexistentCameraDev())) {
+      try (UsbCamera camera = new UsbCamera("Nonexistent Camera", getNonexistentCameraDev())) {
         camera.setConnectVerbose(1);
 
         CompletableFuture<String> result = new CompletableFuture<>();
@@ -38,7 +38,7 @@ class UsbCameraTest {
 
     @Test
     void setConnectVerboseDisabledTest() {
-      try (UsbCamera camera = new UsbCamera("Nonexistant Camera", getNonexistentCameraDev())) {
+      try (UsbCamera camera = new UsbCamera("Nonexistent Camera", getNonexistentCameraDev())) {
         camera.setConnectVerbose(0);
 
         CompletableFuture<String> result = new CompletableFuture<>();

cscore/src/test/java/edu/wpi/first/cscore/VideoModeTest.java

@@ -0,0 +1,21 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.cscore;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+import org.junit.jupiter.api.Test;
+
+class VideoModeTest {
+  @Test
+  void equalityTest() {
+    VideoMode a = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
+    VideoMode b = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
+
+    assertEquals(a, b);
+    assertNotEquals(a, null);
+  }
+}

datalogtool/.styleguide

@@ -23,6 +23,7 @@ includeOtherLibs {
   ^fmt/
   ^glass/
   ^imgui
+  ^libssh/
   ^portable-file-dialog
   ^wpi/
   ^wpigui

datalogtool/publish.gradle

@@ -34,8 +34,16 @@ model {
                             description("Creates a macOS application bundle for DataLogTool")
                             from(file("$project.projectDir/Info.plist"))
                             into(file("$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 } }
+                            into("MacOS") {
+                                with copySpec {
+                                    from binary.executable.file
+                                }
+                            }
+                            into("Resources") {
+                                with copySpec {
+                                    from icon
+                                }
+                            }
 
                             inputs.property "HasDeveloperId", project.hasProperty("developerID")
 
@@ -71,7 +79,7 @@ model {
 
                             archiveBaseName = '_M_' + zipBaseName
                             duplicatesStrategy = 'exclude'
-                            classifier = nativeUtils.getPublishClassifier(binary)
+                            archiveClassifier = nativeUtils.getPublishClassifier(binary)
 
                             from(licenseFile) {
                                 into '/'

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

@@ -4,11 +4,11 @@
 
 #include "App.h"
 
-#include <libssh/libssh.h>
-
 #include <memory>
 #include <string_view>
 
+#include <libssh/libssh.h>
+
 #define IMGUI_DEFINE_MATH_OPERATORS
 
 #include <glass/Context.h>
@@ -104,6 +104,8 @@ static void DisplayMainMenu() {
     ImGui::Text("v%s", GetWPILibVersion());
     ImGui::Separator();
     ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+    ImGui::Text("%.3f ms/frame (%.1f FPS)", 1000.0f / ImGui::GetIO().Framerate,
+                ImGui::GetIO().Framerate);
     if (ImGui::Button("Close")) {
       ImGui::CloseCurrentPopup();
     }

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

@@ -4,8 +4,6 @@
 
 #include "Downloader.h"
 
-#include <libssh/sftp.h>
-
 #ifdef _WIN32
 #include <fcntl.h>
 #include <io.h>
@@ -20,6 +18,7 @@
 #include <glass/Storage.h>
 #include <imgui.h>
 #include <imgui_stdlib.h>
+#include <libssh/sftp.h>
 #include <portable-file-dialogs.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
@@ -77,15 +76,15 @@ void Downloader::DisplayRemoteDirSelector() {
 
   ImGui::SameLine();
   if (ImGui::Button("Deselect All")) {
-    for (auto&& download : m_downloadList) {
-      download.enabled = false;
+    for (auto&& download : m_fileList) {
+      download.selected = false;
     }
   }
 
   ImGui::SameLine();
   if (ImGui::Button("Select All")) {
-    for (auto&& download : m_downloadList) {
-      download.enabled = true;
+    for (auto&& download : m_fileList) {
+      download.selected = true;
     }
   }
 
@@ -138,6 +137,27 @@ void Downloader::DisplayLocalDirSelector() {
       m_cv.notify_all();
     }
   }
+
+  ImGui::PushStyleColor(ImGuiCol_Button, IM_COL32(180, 0, 0, 255));
+  ImGui::PushStyleColor(ImGuiCol_ButtonHovered, IM_COL32(210, 0, 0, 255));
+  ImGui::PushStyleColor(ImGuiCol_ButtonActive, IM_COL32(255, 0, 0, 255));
+  if (ImGui::Button("Delete WITHOUT Downloading")) {
+    ImGui::OpenPopup("DeleteConfirm");
+  }
+  ImGui::PopStyleColor(3);
+  if (ImGui::BeginPopup("DeleteConfirm")) {
+    ImGui::TextUnformatted("Are you sure? This will NOT download the files");
+    if (ImGui::Button("DELETE")) {
+      m_state = kDelete;
+      m_cv.notify_all();
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::SameLine();
+    if (ImGui::Button("Cancel")) {
+      ImGui::CloseCurrentPopup();
+    }
+    ImGui::EndPopup();
+  }
 }
 
 size_t Downloader::DisplayFiles() {
@@ -148,11 +168,15 @@ size_t Downloader::DisplayFiles() {
           ImGuiTableFlags_Borders | ImGuiTableFlags_SizingStretchProp)) {
     ImGui::TableSetupColumn("File");
     ImGui::TableSetupColumn("Size");
-    ImGui::TableSetupColumn("Download");
+    ImGui::TableSetupColumn((m_state == kDownload || m_state == kDownloadDone ||
+                             m_state == kDelete || m_state == kDeleteDone)
+                                ? "Status"
+                                : "Selected");
     ImGui::TableHeadersRow();
-    for (auto&& download : m_downloadList) {
-      if ((m_state == kDownload || m_state == kDownloadDone) &&
-          !download.enabled) {
+    for (auto&& file : m_fileList) {
+      if ((m_state == kDownload || m_state == kDownloadDone ||
+           m_state == kDelete || m_state == kDeleteDone) &&
+          !file.selected) {
         continue;
       }
 
@@ -160,20 +184,24 @@ size_t Downloader::DisplayFiles() {
 
       ImGui::TableNextRow();
       ImGui::TableNextColumn();
-      ImGui::TextUnformatted(download.name.c_str());
+      ImGui::TextUnformatted(file.name.c_str());
       ImGui::TableNextColumn();
-      auto sizeText = fmt::format("{}", download.size);
+      auto sizeText = fmt::format("{}", file.size);
       ImGui::TextUnformatted(sizeText.c_str());
       ImGui::TableNextColumn();
       if (m_state == kDownload || m_state == kDownloadDone) {
-        if (!download.status.empty()) {
-          ImGui::TextUnformatted(download.status.c_str());
+        if (!file.status.empty()) {
+          ImGui::TextUnformatted(file.status.c_str());
         } else {
-          ImGui::ProgressBar(download.complete);
+          ImGui::ProgressBar(file.complete);
+        }
+      } else if (m_state == kDelete || m_state == kDeleteDone) {
+        if (!file.status.empty()) {
+          ImGui::TextUnformatted(file.status.c_str());
         }
       } else {
-        auto checkboxLabel = fmt::format("##{}", download.name);
-        ImGui::Checkbox(checkboxLabel.c_str(), &download.enabled);
+        auto checkboxLabel = fmt::format("##{}", file.name);
+        ImGui::Checkbox(checkboxLabel.c_str(), &file.selected);
       }
     }
     ImGui::EndTable();
@@ -224,6 +252,17 @@ void Downloader::Display() {
         }
       }
       break;
+    case kDelete:
+    case kDeleteDone:
+      DisplayDisconnectButton();
+      DisplayFiles();
+      if (m_state == kDeleteDone) {
+        if (ImGui::Button("Deletion complete!")) {
+          m_state = kGetFiles;
+          m_cv.notify_all();
+        }
+      }
+      break;
     default:
       break;
   }
@@ -274,7 +313,7 @@ void Downloader::ThreadMain() {
             }
             m_error = ex.what();
             m_dirList.clear();
-            m_downloadList.clear();
+            m_fileList.clear();
             m_state = kConnected;
             break;
           }
@@ -284,7 +323,7 @@ void Downloader::ThreadMain() {
           lock.lock();
 
           m_dirList.clear();
-          m_downloadList.clear();
+          m_fileList.clear();
           for (auto&& attr : fileList) {
             if (attr.type == SSH_FILEXFER_TYPE_DIRECTORY) {
               if (attr.name != ".") {
@@ -293,7 +332,7 @@ void Downloader::ThreadMain() {
             } else if (attr.type == SSH_FILEXFER_TYPE_REGULAR &&
                        (attr.flags & SSH_FILEXFER_ATTR_SIZE) != 0 &&
                        wpi::ends_with(attr.name, ".wpilog")) {
-              m_downloadList.emplace_back(attr.name, attr.size);
+              m_fileList.emplace_back(attr.name, attr.size);
             }
           }
 
@@ -305,20 +344,20 @@ void Downloader::ThreadMain() {
           m_state = kDisconnected;
           break;
         case kDownload: {
-          for (auto&& download : m_downloadList) {
+          for (auto&& file : m_fileList) {
             if (m_state != kDownload) {
               // user aborted
               break;
             }
-            if (!download.enabled) {
+            if (!file.selected) {
               continue;
             }
 
             auto remoteFilename = fmt::format(
                 "{}{}{}", m_remoteDir,
-                wpi::ends_with(m_remoteDir, '/') ? "" : "/", download.name);
-            auto localFilename = fs::path{m_localDir} / download.name;
-            uint64_t fileSize = download.size;
+                wpi::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
+            auto localFilename = fs::path{m_localDir} / file.name;
+            uint64_t fileSize = file.size;
 
             lock.unlock();
 
@@ -329,14 +368,14 @@ void Downloader::ThreadMain() {
             if (ec) {
               // failed to open
               lock.lock();
-              download.status = ec.message();
+              file.status = ec.message();
               continue;
             }
             int ofd = fs::FileToFd(of, ec, fs::OF_None);
             if (ofd == -1 || ec) {
               // failed to convert to fd
               lock.lock();
-              download.status = ec.message();
+              file.status = ec.message();
               continue;
             }
 
@@ -356,12 +395,12 @@ void Downloader::ThreadMain() {
                   close(ofd);
                   fs::remove(localFilename, ec);
                   lock.lock();
-                  download.status = "error writing local file";
+                  file.status = "error writing local file";
                   goto err;
                 }
                 total += copied;
                 lock.lock();
-                download.complete = static_cast<float>(total) / fileSize;
+                file.complete = static_cast<float>(total) / fileSize;
                 lock.unlock();
               }
 
@@ -381,7 +420,7 @@ void Downloader::ThreadMain() {
                 fs::remove(localFilename, ec);
               }
               lock.lock();
-              download.status = ex.what();
+              file.status = ex.what();
               if (ex.err == SSH_FX_OK || ex.err == SSH_FX_CONNECTION_LOST) {
                 throw;
               }
@@ -395,6 +434,39 @@ void Downloader::ThreadMain() {
           }
           break;
         }
+        case kDelete: {
+          for (auto&& file : m_fileList) {
+            if (m_state != kDelete) {
+              // user aborted
+              break;
+            }
+            if (!file.selected) {
+              continue;
+            }
+
+            auto remoteFilename = fmt::format(
+                "{}{}{}", m_remoteDir,
+                wpi::ends_with(m_remoteDir, '/') ? "" : "/", file.name);
+
+            lock.unlock();
+            try {
+              session->Unlink(remoteFilename);
+            } catch (sftp::Exception& ex) {
+              lock.lock();
+              file.status = ex.what();
+              if (ex.err == SSH_FX_OK || ex.err == SSH_FX_CONNECTION_LOST) {
+                throw;
+              }
+              continue;
+            }
+            lock.lock();
+            file.status = "Deleted";
+          }
+          if (m_state == kDelete) {
+            m_state = kDeleteDone;
+          }
+          break;
+        }
         default:
           break;
       }

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

@@ -45,6 +45,8 @@ class Downloader {
     kGetFiles,
     kDownload,
     kDownloadDone,
+    kDelete,
+    kDeleteDone,
     kExit
   } m_state = kDisconnected;
   std::condition_variable m_cv;
@@ -60,17 +62,16 @@ class Downloader {
   bool& m_deleteAfter;
 
   std::vector<std::string> m_dirList;
-  struct DownloadState {
-    DownloadState(std::string_view name, uint64_t size)
-        : name{name}, size{size} {}
+  struct FileState {
+    FileState(std::string_view name, uint64_t size) : name{name}, size{size} {}
 
     std::string name;
     uint64_t size;
-    bool enabled = true;
+    bool selected = true;
     float complete = 0.0;
     std::string status;
   };
-  std::vector<DownloadState> m_downloadList;
+  std::vector<FileState> m_fileList;
 
   std::string m_error;
 

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

@@ -466,7 +466,8 @@ static void ValueToCsv(wpi::raw_ostream& os, const Entry& entry,
       fmt::print(os, "{}", val);
       return;
     }
-  } else if (entry.type == "int64") {
+  } else if (entry.type == "int64" || entry.type == "int") {
+    // support "int" for compatibility with old NT4 datalogs
     int64_t val;
     if (record.GetInteger(&val)) {
       fmt::print(os, "{}", val);

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

@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <libssh/libssh.h>
-#include <libssh/sftp.h>
-
 #include <span>
 #include <stdexcept>
 #include <string>
 #include <string_view>
 #include <vector>
 
+#include <libssh/libssh.h>
+#include <libssh/sftp.h>
+
 namespace sftp {
 
 struct Attributes {

docs/build.gradle

@@ -13,6 +13,7 @@ evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
 evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpinet')
+evaluationDependsOn(':wpiunits')
 evaluationDependsOn(':wpiutil')
 
 def baseArtifactIdCpp = 'documentation'
@@ -64,20 +65,16 @@ doxygen {
             cppIncludeRoots.add(it.absolutePath)
         }
     }
+    cppIncludeRoots << '../ntcore/build/generated/main/native/include/'
 
     if (project.hasProperty('docWarningsAsErrors')) {
-        // C++20 shims
-        exclude 'wpi/ghc/filesystem.hpp'
-
-        // Drake
-        exclude 'drake/common/**'
-
         // Eigen
         exclude 'Eigen/**'
         exclude 'unsupported/**'
 
         // LLVM
         exclude 'wpi/AlignOf.h'
+        exclude 'wpi/Casting.h'
         exclude 'wpi/Chrono.h'
         exclude 'wpi/Compiler.h'
         exclude 'wpi/ConvertUTF.h'
@@ -88,6 +85,7 @@ doxygen {
         exclude 'wpi/Errc.h'
         exclude 'wpi/Errno.h'
         exclude 'wpi/ErrorHandling.h'
+        exclude 'wpi/bit.h'
         exclude 'wpi/fs.h'
         exclude 'wpi/FunctionExtras.h'
         exclude 'wpi/function_ref.h'
@@ -174,7 +172,9 @@ doxygen {
     enable_preprocessing true
     macro_expansion true
     expand_only_predef true
-    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]"
+    predefined "WPI_DEPRECATED(x)=[[deprecated(x)]]\"\\\n" +
+            "\"__cplusplus\"\\\n" +
+            "\"HAL_ENUM(name)=enum name : int32_t"
 
     if (project.hasProperty('docWarningsAsErrors')) {
         warn_as_error 'FAIL_ON_WARNINGS'
@@ -238,7 +238,7 @@ task generateJavaDocs(type: Javadoc) {
     if (JavaVersion.current().isJava8Compatible() && project.hasProperty('docWarningsAsErrors')) {
         // Treat javadoc warnings as errors.
         //
-        // The second argument '-quiet' is a hack. The one paramater
+        // The second argument '-quiet' is a hack. The one parameter
         // addStringOption() doesn't work, so we add '-quiet', which is added
         // anyway by gradle. See https://github.com/gradle/gradle/issues/2354.
         //

docs/theme.css

@@ -151,7 +151,7 @@ html {
     --side-nav-arrow-opacity: 0;
     --side-nav-arrow-hover-opacity: 0.9;
 
-    /* height of an item in any tree / collapsable table */
+    /* height of an item in any tree / collapsible table */
     --tree-item-height: 30px;
 
     --darkmode-toggle-button-icon: "☀️";
@@ -1615,7 +1615,7 @@ SOFTWARE.
 
 html {
     /* side nav width. MUST be = `TREEVIEW_WIDTH`.
-     * Make sure it is wide enought to contain the page title (logo + title + version)
+     * Make sure it is wide enough to contain the page title (logo + title + version)
      */
     --side-nav-fixed-width: 340px;
     --menu-display: none;

fieldImages/CMakeLists.txt

@@ -25,7 +25,7 @@ endif()
 GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
 
 
-add_library(fieldImages ${field_images_resources_src})
+add_library(fieldImages src/main/native/cpp/fields.cpp ${field_images_resources_src})
 set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET fieldImages PROPERTY FOLDER "libraries")

fieldImages/build.gradle

@@ -14,9 +14,9 @@ if (!project.hasProperty('onlylinuxathena')) {
     }
 
     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"
+        implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+        implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
+        implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
     }
 
     ext {
@@ -52,7 +52,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                 sources {
                     cpp {
                         source {
-                            srcDirs "$buildDir/generated/main/cpp"
+                            srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
                             include '**/*.cpp'
                         }
                         exportedHeaders {

fieldImages/publish.gradle

@@ -9,7 +9,7 @@ def outputsFolder = file("$project.buildDir/outputs")
 task cppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = cppZipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"
 
     from(licenseFile) {
         into '/'
@@ -26,7 +26,7 @@ task cppSourcesZip(type: Zip) {
 task cppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = cppZipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"
 
     from(licenseFile) {
         into '/'

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

@@ -79,7 +79,7 @@ public class FieldConfig {
    *
    * @param resourcePath The path to the resource file
    * @return The field configuration
-   * @throws IOException Throws if the resoure could not be loaded
+   * @throws IOException Throws if the resource could not be loaded
    */
   public static FieldConfig loadFromResource(String resourcePath) throws IOException {
     try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath);

fieldImages/src/main/native/cpp/fields.cpp

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "fields/fields.h"
+
+#include "fields/2018-powerup.h"
+#include "fields/2019-deepspace.h"
+#include "fields/2020-infiniterecharge.h"
+#include "fields/2021-barrel.h"
+#include "fields/2021-bounce.h"
+#include "fields/2021-galacticsearcha.h"
+#include "fields/2021-galacticsearchb.h"
+#include "fields/2021-infiniterecharge.h"
+#include "fields/2021-slalom.h"
+#include "fields/2022-rapidreact.h"
+#include "fields/2023-chargedup.h"
+
+using namespace fields;
+
+static const Field kFields[] = {
+    {"2023 Charged Up", GetResource_2023_chargedup_json,
+     GetResource_2023_field_png},
+    {"2022 Rapid React", GetResource_2022_rapidreact_json,
+     GetResource_2022_field_png},
+    {"2021 Barrel Racing Path", GetResource_2021_barrelracingpath_json,
+     GetResource_2021_barrel_png},
+    {"2021 Bounce Path", GetResource_2021_bouncepath_json,
+     GetResource_2021_bounce_png},
+    {"2021 Galactic Search A", GetResource_2021_galacticsearcha_json,
+     GetResource_2021_galacticsearcha_png},
+    {"2021 Galactic Search B", GetResource_2021_galacticsearchb_json,
+     GetResource_2021_galacticsearchb_png},
+    {"2021 Infinite Recharge", GetResource_2021_infiniterecharge_json,
+     GetResource_2021_field_png},
+    {"2021 Slalom Path", GetResource_2021_slalompath_json,
+     GetResource_2021_slalom_png},
+    {"2020 Infinite Recharge", GetResource_2020_infiniterecharge_json,
+     GetResource_2020_field_png},
+    {"2019 Destination: Deep Space", GetResource_2019_deepspace_json,
+     GetResource_2019_field_jpg},
+    {"2018 Power Up", GetResource_2018_powerup_json,
+     GetResource_2018_field_jpg},
+};
+
+std::span<const Field> fields::GetFields() {
+  return kFields;
+}

fieldImages/src/main/native/include/fields/fields.h

@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <span>
+#include <string_view>
+
+namespace fields {
+
+struct Field {
+  const char* name;
+  std::string_view (*getJson)();
+  std::string_view (*getImage)();
+};
+
+std::span<const Field> GetFields();
+
+}  // namespace fields

fieldImages/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json

@@ -2,9 +2,18 @@
   "game": "FIRST Power Up",
   "field-image": "2018-field.jpg",
   "field-corners": {
-    "top-left": [125, 20],
-    "bottom-right": [827, 370]
+    "top-left": [
+      125,
+      20
+    ],
+    "bottom-right": [
+      827,
+      370
+    ]
   },
-  "field-size": [54, 27],
+  "field-size": [
+    54,
+    27
+  ],
   "field-unit": "feet"
 }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json

@@ -1,10 +1,19 @@
 {
-"game" : "Destination: Deep Space",
-"field-image" : "2019-field.jpg",
-"field-corners": {
-	"top-left" : [217, 40],
-	"bottom-right" : [1372, 615]
-},
-"field-size" : [54, 27],
-"field-unit" : "foot"
+  "game": "Destination: Deep Space",
+  "field-image": "2019-field.jpg",
+  "field-corners": {
+    "top-left": [
+      217,
+      40
+    ],
+    "bottom-right": [
+      1372,
+      615
+    ]
+  },
+  "field-size": [
+    54,
+    27
+  ],
+  "field-unit": "foot"
 }

fieldImages/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json

@@ -1,10 +1,19 @@
 {
-    "game" : "Infinite Recharge",
-    "field-image" : "2020-field.png",
-    "field-corners": {
-        "top-left" : [96, 25],
-        "bottom-right" : [1040, 514]
-    },
-    "field-size" : [52.4375, 26.9375],
-    "field-unit" : "foot"
-    }
+  "game": "Infinite Recharge",
+  "field-image": "2020-field.png",
+  "field-corners": {
+    "top-left": [
+      96,
+      25
+    ],
+    "bottom-right": [
+      1040,
+      514
+    ]
+  },
+  "field-size": [
+    52.4375,
+    26.9375
+  ],
+  "field-unit": "foot"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json

@@ -1,10 +1,19 @@
 {
-    "game": "Barrel Racing Path",
-    "field-image": "2021-barrel.png",
-    "field-corners": {
-      "top-left": [20, 20],
-      "bottom-right": [780, 400]
-    },
-    "field-size": [30, 15],
-    "field-unit": "feet"
-  }
+  "game": "Barrel Racing Path",
+  "field-image": "2021-barrel.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json

@@ -1,10 +1,19 @@
 {
-    "game": "Bounce Path",
-    "field-image": "2021-bounce.png",
-    "field-corners": {
-      "top-left": [20, 20],
-      "bottom-right": [780, 400]
-    },
-    "field-size": [30, 15],
-    "field-unit": "feet"
-  }
+  "game": "Bounce Path",
+  "field-image": "2021-bounce.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json

@@ -1,10 +1,19 @@
 {
-    "game": "Galactic Search A",
-    "field-image": "2021-galacticsearcha.png",
-    "field-corners": {
-      "top-left": [20, 20],
-      "bottom-right": [780, 400]
-    },
-    "field-size": [30, 15],
-    "field-unit": "feet"
-  }
+  "game": "Galactic Search A",
+  "field-image": "2021-galacticsearcha.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json

@@ -1,10 +1,19 @@
 {
-    "game": "Galactic Search B",
-    "field-image": "2021-galacticsearchb.png",
-    "field-corners": {
-      "top-left": [20, 20],
-      "bottom-right": [780, 400]
-    },
-    "field-size": [30, 15],
-    "field-unit": "feet"
-  }
+  "game": "Galactic Search B",
+  "field-image": "2021-galacticsearchb.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json

@@ -1,10 +1,19 @@
 {
-    "game": "Infinite Recharge 2021",
-    "field-image": "2021-field.png",
-    "field-corners": {
-      "top-left": [127, 34],
-      "bottom-right": [1323, 649]
-    },
-    "field-size": [52.4375, 26.9375],
-    "field-unit": "foot"
-  }
+  "game": "Infinite Recharge 2021",
+  "field-image": "2021-field.png",
+  "field-corners": {
+    "top-left": [
+      127,
+      34
+    ],
+    "bottom-right": [
+      1323,
+      649
+    ]
+  },
+  "field-size": [
+    52.4375,
+    26.9375
+  ],
+  "field-unit": "foot"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json

@@ -1,10 +1,19 @@
 {
-    "game": "Slalom Path",
-    "field-image": "2021-slalom.png",
-    "field-corners": {
-      "top-left": [20, 20],
-      "bottom-right": [780, 400]
-    },
-    "field-size": [30, 15],
-    "field-unit": "feet"
-  }
+  "game": "Slalom Path",
+  "field-image": "2021-slalom.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2022-rapidreact.json

@@ -1,10 +1,19 @@
 {
-    "game": "Rapid React",
-    "field-image": "2022-field.png",
-    "field-corners": {
-      "top-left": [74, 50],
-      "bottom-right": [1774, 900]
-    },
-    "field-size": [54, 27],
-    "field-unit": "foot"
-  }
+  "game": "Rapid React",
+  "field-image": "2022-field.png",
+  "field-corners": {
+    "top-left": [
+      74,
+      50
+    ],
+    "bottom-right": [
+      1774,
+      900
+    ]
+  },
+  "field-size": [
+    54,
+    27
+  ],
+  "field-unit": "foot"
+}

fieldImages/src/main/native/resources/edu/wpi/first/fields/2023-chargedup.json

@@ -1,10 +1,19 @@
 {
-    "game": "Charged Up",
-    "field-image": "2023-field.png",
-    "field-corners": {
-      "top-left": [46, 36],
-      "bottom-right": [1088, 544]
-    },
-    "field-size": [54.27083, 26.2916],
-    "field-unit": "foot"
-  }
+  "game": "Charged Up",
+  "field-image": "2023-field.png",
+  "field-corners": {
+    "top-left": [
+      46,
+      36
+    ],
+    "bottom-right": [
+      1088,
+      544
+    ]
+  },
+  "field-size": [
+    54.27083,
+    26.2916
+  ],
+  "field-unit": "foot"
+}

glass/.styleguide

@@ -22,6 +22,7 @@ includeOtherLibs {
   ^GLFW
   ^cscore
   ^fmt/
+  ^fields/
   ^frc/
   ^imgui
   ^networktables/

glass/CMakeLists.txt

@@ -16,7 +16,7 @@ set_property(TARGET libglass PROPERTY POSITION_INDEPENDENT_CODE ON)
 set_property(TARGET libglass PROPERTY FOLDER "libraries")
 
 wpilib_target_warnings(libglass)
-target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil)
+target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil fieldImages)
 
 target_include_directories(libglass PUBLIC
                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/lib/native/include>

glass/build.gradle

@@ -113,6 +113,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
                     nativeUtils.useRequiredLibrary(it, 'imgui')
                 }
                 appendDebugPathToBinaries(binaries)
@@ -144,6 +145,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
                     nativeUtils.useRequiredLibrary(it, 'imgui')
                 }
                 appendDebugPathToBinaries(binaries)
@@ -183,6 +185,7 @@ if (!project.hasProperty('onlylinuxathena')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
                     lib project: ':wpimath', library: 'wpimath', linkage: 'static'
                     lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
                     nativeUtils.useRequiredLibrary(it, 'opencv_static')
                     nativeUtils.useRequiredLibrary(it, 'imgui')
                     if (it.targetPlatform.operatingSystem.isWindows()) {

glass/publish.gradle

@@ -17,7 +17,7 @@ def outputsFolder = file("$project.buildDir/outputs")
 task libCppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libZipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"
 
     from(licenseFile) { into '/' }
     from('src/lib/native/cpp') { into '/' }
@@ -26,7 +26,7 @@ task libCppSourcesZip(type: Zip) {
 task libCppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libZipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"
 
     from(licenseFile) { into '/' }
     from('src/lib/native/include') { into '/' }
@@ -35,7 +35,7 @@ task libCppHeadersZip(type: Zip) {
 task libntCppSourcesZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libntZipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"
 
     from(licenseFile) { into '/' }
     from('src/libnt/native/cpp') { into '/' }
@@ -44,7 +44,7 @@ task libntCppSourcesZip(type: Zip) {
 task libntCppHeadersZip(type: Zip) {
     destinationDirectory = outputsFolder
     archiveBaseName = libntZipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"
 
     from(licenseFile) { into '/' }
     from('src/libnt/native/include') { into '/' }
@@ -89,8 +89,16 @@ model {
                             description("Creates a macOS application bundle for Glass")
                             from(file("$project.projectDir/Info.plist"))
                             into(file("$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 } }
+                            into("MacOS") {
+                                with copySpec {
+                                    from binary.executable.file
+                                }
+                            }
+                            into("Resources") {
+                                with copySpec {
+                                    from icon
+                                }
+                            }
 
                             inputs.property "HasDeveloperId", project.hasProperty("developerID")
 
@@ -126,7 +134,7 @@ model {
 
                             archiveBaseName = '_M_' + zipBaseName
                             duplicatesStrategy = 'exclude'
-                            classifier = nativeUtils.getPublishClassifier(binary)
+                            archiveClassifier = nativeUtils.getPublishClassifier(binary)
 
                             from(licenseFile) {
                                 into '/'

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

@@ -52,6 +52,8 @@ static bool gSetEnterKey = false;
 static bool gKeyEdit = false;
 static int* gEnterKey;
 static void (*gPrevKeyCallback)(GLFWwindow*, int, int, int, int);
+static bool gNetworkTablesDebugLog = false;
+static unsigned int gPrevMode = NT_NET_MODE_NONE;
 
 static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
                                   int action, int mods) {
@@ -69,27 +71,46 @@ static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
   }
 }
 
+/**
+ * Generates the proper title bar title based on current instance state and
+ * event.
+ */
+static std::string MakeTitle(NT_Inst inst, nt::Event event) {
+  auto mode = nt::GetNetworkMode(inst);
+  if (mode & NT_NET_MODE_SERVER) {
+    auto numClients = nt::GetConnections(inst).size();
+    return fmt::format("Glass - {} Client{} Connected", numClients,
+                       (numClients == 1 ? "" : "s"));
+  } else if (mode & NT_NET_MODE_CLIENT3 || mode & NT_NET_MODE_CLIENT4) {
+    if (event.Is(NT_EVENT_CONNECTED)) {
+      return fmt::format("Glass - Connected ({})",
+                         event.GetConnectionInfo()->remote_ip);
+    }
+  }
+  return "Glass - DISCONNECTED";
+}
+
 static void NtInitialize() {
   auto inst = nt::GetDefaultInstance();
   auto poller = nt::CreateListenerPoller(inst);
-  nt::AddPolledListener(
-      poller, inst,
-      NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE | NT_EVENT_LOGMESSAGE);
-  gui::AddEarlyExecute([poller] {
+  nt::AddPolledListener(poller, inst, NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
+  nt::AddPolledLogger(poller, 0, 100);
+  gui::AddEarlyExecute([inst, poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
+    bool updateTitle = false;
+    nt::Event connectionEvent;
+    if (nt::GetNetworkMode(inst) != gPrevMode) {
+      gPrevMode = nt::GetNetworkMode(inst);
+      updateTitle = true;
+    }
+
     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");
-        }
+      if (event.Is(NT_EVENT_CONNECTION)) {
+        updateTitle = true;
+        connectionEvent = event;
       } else if (auto msg = event.GetLogMessage()) {
         const char* level = "";
         if (msg->level >= NT_LOG_CRITICAL) {
@@ -98,11 +119,17 @@ static void NtInitialize() {
           level = "ERROR: ";
         } else if (msg->level >= NT_LOG_WARNING) {
           level = "WARNING: ";
+        } else if (msg->level < NT_LOG_INFO && !gNetworkTablesDebugLog) {
+          continue;
         }
         gNetworkTablesLog.Append(fmt::format(
             "{}{} ({}:{})\n", level, msg->message, msg->filename, msg->line));
       }
     }
+
+    if (updateTitle) {
+      glfwSetWindowTitle(win, MakeTitle(inst, connectionEvent).c_str());
+    }
   });
 
   gNetworkTablesLogWindow = std::make_unique<glass::Window>(
@@ -232,6 +259,8 @@ int main(int argc, char** argv) {
       if (gNetworkTablesLogWindow) {
         gNetworkTablesLogWindow->DisplayMenuItem("NetworkTables Log");
       }
+      ImGui::MenuItem("NetworkTables Debug Logging", nullptr,
+                      &gNetworkTablesDebugLog);
       ImGui::Separator();
       gNtProvider->DisplayMenu();
       ImGui::EndMenu();
@@ -265,6 +294,8 @@ int main(int argc, char** argv) {
       ImGui::Text("v%s", GetWPILibVersion());
       ImGui::Separator();
       ImGui::Text("Save location: %s", glass::GetStorageDir().c_str());
+      ImGui::Text("%.3f ms/frame (%.1f FPS)",
+                  1000.0f / ImGui::GetIO().Framerate, ImGui::GetIO().Framerate);
       if (ImGui::Button("Close")) {
         ImGui::CloseCurrentPopup();
       }

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

@@ -4,7 +4,7 @@
 
 #include "glass/Storage.h"
 
-#include <type_traits>
+#include <concepts>
 
 #include <imgui.h>
 #include <wpi/StringExtras.h>
@@ -14,7 +14,7 @@ using namespace glass;
 
 template <typename To>
 bool ConvertFromString(To* out, std::string_view str) {
-  if constexpr (std::is_same_v<To, bool>) {
+  if constexpr (std::same_as<To, bool>) {
     if (str == "true") {
       *out = true;
     } else if (str == "false") {
@@ -24,7 +24,7 @@ bool ConvertFromString(To* out, std::string_view str) {
     } else {
       return false;
     }
-  } else if constexpr (std::is_floating_point_v<To>) {
+  } else if constexpr (std::floating_point<To>) {
     if (auto val = wpi::parse_float<To>(str)) {
       *out = val.value();
     } else {
@@ -95,10 +95,14 @@ static inline bool ConvertString(Storage::Value* value) {
 template <typename From, typename To>
 static void ConvertArray(std::vector<To>** outPtr, std::vector<From>** inPtr) {
   if (*inPtr) {
-    std::vector<To>* tmp;
-    tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
-    delete *inPtr;
-    *outPtr = tmp;
+    if (*outPtr) {
+      (*outPtr)->assign((*inPtr)->begin(), (*inPtr)->end());
+    } else {
+      std::vector<To>* tmp;
+      tmp = new std::vector<To>{(*inPtr)->begin(), (*inPtr)->end()};
+      delete *inPtr;
+      *outPtr = tmp;
+    }
   } else {
     *outPtr = nullptr;
   }
@@ -300,7 +304,7 @@ Storage& Storage::GetChild(std::string_view label_id) {
     childPtr = std::make_unique<Value>();
   }
   if (childPtr->type != Value::kChild) {
-    childPtr->type = Value::kChild;
+    childPtr->Reset(Value::kChild);
     childPtr->child = new Storage;
   }
   return *childPtr->child;
@@ -630,22 +634,46 @@ void Storage::ClearValues() {
         value.stringVal = value.stringDefault;
         break;
       case Value::kIntArray:
-        *value.intArray = *value.intArrayDefault;
+        if (value.intArrayDefault) {
+          *value.intArray = *value.intArrayDefault;
+        } else {
+          value.intArray->clear();
+        }
         break;
       case Value::kInt64Array:
-        *value.int64Array = *value.int64ArrayDefault;
+        if (value.int64ArrayDefault) {
+          *value.int64Array = *value.int64ArrayDefault;
+        } else {
+          value.int64Array->clear();
+        }
         break;
       case Value::kBoolArray:
-        *value.boolArray = *value.boolArrayDefault;
+        if (value.boolArrayDefault) {
+          *value.boolArray = *value.boolArrayDefault;
+        } else {
+          value.boolArray->clear();
+        }
         break;
       case Value::kFloatArray:
-        *value.floatArray = *value.floatArrayDefault;
+        if (value.floatArrayDefault) {
+          *value.floatArray = *value.floatArrayDefault;
+        } else {
+          value.floatArray->clear();
+        }
         break;
       case Value::kDoubleArray:
-        *value.doubleArray = *value.doubleArrayDefault;
+        if (value.doubleArrayDefault) {
+          *value.doubleArray = *value.doubleArrayDefault;
+        } else {
+          value.doubleArray->clear();
+        }
         break;
       case Value::kStringArray:
-        *value.stringArray = *value.stringArrayDefault;
+        if (value.stringArrayDefault) {
+          *value.stringArray = *value.stringArrayDefault;
+        } else {
+          value.stringArray->clear();
+        }
         break;
       case Value::kChild:
         value.child->Clear();

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

@@ -11,6 +11,7 @@
 #include <string_view>
 #include <utility>
 
+#include <fields/fields.h>
 #include <fmt/format.h>
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
@@ -237,10 +238,12 @@ class FieldInfo {
  private:
   void Reset();
   bool LoadImageImpl(const std::string& fn);
-  void LoadJson(std::string_view jsonfile);
+  bool LoadJson(wpi::raw_istream& is, std::string_view filename);
+  void LoadJsonFile(std::string_view jsonfile);
 
   std::unique_ptr<pfd::open_file> m_fileOpener;
 
+  std::string& m_builtin;
   std::string& m_filename;
   gui::Texture m_texture;
 
@@ -340,7 +343,8 @@ static bool InputPose(frc::Pose2d* pose) {
 }
 
 FieldInfo::FieldInfo(Storage& storage)
-    : m_filename{storage.GetString("image")},
+    : m_builtin{storage.GetString("builtin")},
+      m_filename{storage.GetString("image")},
       m_width{storage.GetFloat("width", kDefaultWidth.to<float>())},
       m_height{storage.GetFloat("height", kDefaultHeight.to<float>())},
       m_top{storage.GetInt("top", 0)},
@@ -349,7 +353,25 @@ FieldInfo::FieldInfo(Storage& storage)
       m_right{storage.GetInt("right", -1)} {}
 
 void FieldInfo::DisplaySettings() {
-  if (ImGui::Button("Choose image...")) {
+  ImGui::SetNextItemWidth(ImGui::GetFontSize() * 10);
+  if (ImGui::BeginCombo("Image",
+                        m_builtin.empty() ? "Custom" : m_builtin.c_str())) {
+    if (ImGui::Selectable("Custom", m_builtin.empty())) {
+      Reset();
+    }
+    for (auto&& field : fields::GetFields()) {
+      bool selected = field.name == m_builtin;
+      if (ImGui::Selectable(field.name, selected)) {
+        Reset();
+        m_builtin = field.name;
+      }
+      if (selected) {
+        ImGui::SetItemDefaultFocus();
+      }
+    }
+    ImGui::EndCombo();
+  }
+  if (m_builtin.empty() && ImGui::Button("Load image...")) {
     m_fileOpener = std::make_unique<pfd::open_file>(
         "Choose field image", "",
         std::vector<std::string>{"Image File",
@@ -370,6 +392,7 @@ void FieldInfo::DisplaySettings() {
 
 void FieldInfo::Reset() {
   m_texture = gui::Texture{};
+  m_builtin.clear();
   m_filename.clear();
   m_imageWidth = 0;
   m_imageHeight = 0;
@@ -384,7 +407,7 @@ void FieldInfo::LoadImage() {
     auto result = m_fileOpener->result();
     if (!result.empty()) {
       if (wpi::ends_with(result[0], ".json")) {
-        LoadJson(result[0]);
+        LoadJsonFile(result[0]);
       } else {
         LoadImageImpl(result[0].c_str());
         m_top = 0;
@@ -395,33 +418,47 @@ void FieldInfo::LoadImage() {
     }
     m_fileOpener.reset();
   }
-  if (!m_texture && !m_filename.empty()) {
-    if (!LoadImageImpl(m_filename)) {
-      m_filename.clear();
+  if (!m_texture) {
+    if (!m_builtin.empty()) {
+      for (auto&& field : fields::GetFields()) {
+        if (field.name == m_builtin) {
+          auto jsonstr = field.getJson();
+          wpi::raw_mem_istream is{jsonstr.data(), jsonstr.size()};
+          auto imagedata = field.getImage();
+          auto texture = gui::Texture::CreateFromImage(
+              reinterpret_cast<const unsigned char*>(imagedata.data()),
+              imagedata.size());
+          if (texture && LoadJson(is, {})) {
+            m_texture = std::move(texture);
+            m_imageWidth = m_texture.GetWidth();
+            m_imageHeight = m_texture.GetHeight();
+          } else {
+            m_builtin.clear();
+          }
+        }
+      }
+    } else if (!m_filename.empty()) {
+      if (!LoadImageImpl(m_filename)) {
+        m_filename.clear();
+      }
     }
   }
 }
 
-void FieldInfo::LoadJson(std::string_view jsonfile) {
-  std::error_code ec;
-  wpi::raw_fd_istream f(jsonfile, ec);
-  if (ec) {
-    std::fputs("GUI: could not open field JSON file\n", stderr);
-    return;
-  }
-
+bool FieldInfo::LoadJson(wpi::raw_istream& is, std::string_view filename) {
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse(f);
+    j = wpi::json::parse(is);
   } catch (const wpi::json::parse_error& e) {
     fmt::print(stderr, "GUI: JSON: could not parse: {}\n", e.what());
+    return false;
   }
 
   // top level must be an object
   if (!j.is_object()) {
     std::fputs("GUI: JSON: does not contain a top object\n", stderr);
-    return;
+    return false;
   }
 
   // image filename
@@ -430,7 +467,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     image = j.at("field-image").get<std::string>();
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-image: {}\n", e.what());
-    return;
+    return false;
   }
 
   // corners
@@ -443,7 +480,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-corners: {}\n",
                e.what());
-    return;
+    return false;
   }
 
   // size
@@ -454,7 +491,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     height = j.at("field-size").at(1).get<float>();
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-size: {}\n", e.what());
-    return;
+    return false;
   }
 
   // units for size
@@ -463,7 +500,7 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     unit = j.at("field-unit").get<std::string>();
   } catch (const wpi::json::exception& e) {
     fmt::print(stderr, "GUI: JSON: could not read field-unit: {}\n", e.what());
-    return;
+    return false;
   }
 
   // convert size units to meters
@@ -472,22 +509,35 @@ void FieldInfo::LoadJson(std::string_view jsonfile) {
     height = units::convert<units::feet, units::meters>(height);
   }
 
-  // the image filename is relative to the json file
-  auto pathname = fs::path{jsonfile}.replace_filename(image).string();
+  if (!filename.empty()) {
+    // the image filename is relative to the json file
+    auto pathname = fs::path{filename}.replace_filename(image).string();
 
-  // load field image
-  if (!LoadImageImpl(pathname.c_str())) {
-    return;
+    // load field image
+    if (!LoadImageImpl(pathname.c_str())) {
+      return false;
+    }
+    m_filename = pathname;
   }
 
   // save to field info
-  m_filename = pathname;
   m_top = top;
   m_left = left;
   m_bottom = bottom;
   m_right = right;
   m_width = width;
   m_height = height;
+  return true;
+}
+
+void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
+  std::error_code ec;
+  wpi::raw_fd_istream f(jsonfile, ec);
+  if (ec) {
+    std::fputs("GUI: could not open field JSON file\n", stderr);
+    return;
+  }
+  LoadJson(f, jsonfile);
 }
 
 bool FieldInfo::LoadImageImpl(const std::string& fn) {

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

@@ -135,6 +135,8 @@ class Plot {
     }
   }
 
+  void SetColor(const ImVec4& color) { m_backgroundColor.SetColor(color); }
+
  private:
   void EmitSettingsLimits(int axis);
   void DragDropAccept(PlotView& view, size_t i, int yAxis);
@@ -143,6 +145,9 @@ class Plot {
 
   std::string& m_name;
   bool& m_visible;
+  static constexpr float kDefaultBackgroundColor[4] = {0.0, 0.0, 0.0,
+                                                       IMPLOT_AUTO};
+  ColorSetting m_backgroundColor;
   bool& m_showPause;
   bool& m_lockPrevX;
   bool& m_legend;
@@ -484,6 +489,8 @@ Plot::Plot(Storage& storage)
     : m_seriesStorage{storage.GetChildArray("series")},
       m_name{storage.GetString("name")},
       m_visible{storage.GetBool("visible", true)},
+      m_backgroundColor{
+          storage.GetFloatArray("backgroundColor", kDefaultBackgroundColor)},
       m_showPause{storage.GetBool("showPause", true)},
       m_lockPrevX{storage.GetBool("lockPrevX", false)},
       m_legend{storage.GetBool("legend", true)},
@@ -580,6 +587,11 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
                           (m_mousePosition ? 0 : ImPlotFlags_NoMouseText);
 
   if (ImPlot::BeginPlot(label, ImVec2(-1, m_height), plotFlags)) {
+    if (m_backgroundColor.GetColorFloat()[3] == IMPLOT_AUTO) {
+      SetColor(ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+    }
+    ImPlot::PushStyleColor(ImPlotCol_PlotBg, m_backgroundColor.GetColor());
+
     // setup legend
     if (m_legend) {
       ImPlotLegendFlags legendFlags =
@@ -656,6 +668,8 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
     m_xaxisRange = ImPlot::GetPlotLimits().X;
 
     ImPlotPlot* plot = ImPlot::GetCurrentPlot();
+
+    ImPlot::PopStyleColor();
     ImPlot::EndPlot();
 
     // copy plot settings back to storage
@@ -715,6 +729,12 @@ void Plot::EmitSettings(size_t i) {
   ImGui::Text("Edit plot name:");
   ImGui::InputText("##editname", &m_name);
   ImGui::Checkbox("Visible", &m_visible);
+  m_backgroundColor.ColorEdit3("Background color",
+                               ImGuiColorEditFlags_NoInputs);
+  ImGui::SameLine();
+  if (ImGui::Button("Default")) {
+    SetColor(ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+  }
   ImGui::Checkbox("Show Pause Button", &m_showPause);
   if (i != 0) {
     ImGui::Checkbox("Lock X-axis to previous plot", &m_lockPrevX);

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

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <stdint.h>
+
 #include <functional>
 #include <string>
 #include <string_view>

glass/src/libnt/native/cpp/NetworkTables.cpp

@@ -5,6 +5,7 @@
 #include "glass/networktables/NetworkTables.h"
 
 #include <cinttypes>
+#include <concepts>
 #include <cstdio>
 #include <cstring>
 #include <initializer_list>
@@ -82,9 +83,8 @@ static std::string IntegerArrayToString(std::span<const int64_t> in) {
   return fmt::format("[{:d}]", fmt::join(in, ","));
 }
 
-template <typename T>
+template <std::floating_point T>
 static std::string FloatArrayToString(std::span<const T> in) {
-  static_assert(std::is_same_v<T, float> || std::is_same_v<T, double>);
   return fmt::format("[{:.6f}]", fmt::join(in, ","));
 }
 
@@ -400,6 +400,11 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
         }
       } else {
         valueChildren.clear();
+        valueStr.clear();
+        wpi::raw_string_ostream os{valueStr};
+        os << '"';
+        os.write_escaped(value.GetString());
+        os << '"';
       }
       break;
     case NT_RAW:
@@ -724,9 +729,8 @@ static bool StringToIntegerArray(std::string_view in,
   return true;
 }
 
-template <typename T>
+template <std::floating_point T>
 static bool StringToFloatArray(std::string_view in, std::vector<T>* out) {
-  static_assert(std::is_same_v<T, float> || std::is_same_v<T, double>);
   in = wpi::trim(in);
   if (in.empty()) {
     return false;
@@ -769,25 +773,32 @@ static bool StringToStringArray(std::string_view in,
   }
   in = wpi::trim(in);
 
-  wpi::SmallVector<std::string_view, 16> inSplit;
-  wpi::SmallString<32> buf;
-
-  wpi::split(in, inSplit, ',', -1, false);
-  for (auto val : inSplit) {
-    val = wpi::trim(val);
-    if (val.empty()) {
-      continue;
-    }
-    if (val.front() != '"' || val.back() != '"') {
-      fmt::print(stderr,
-                 "GUI: NetworkTables: Could not understand value '{}'\n", val);
+  while (!in.empty()) {
+    if (in.front() != '"') {
+      fmt::print(stderr, "GUI: NetworkTables: Expected '\"'");
       return false;
     }
-    val.remove_prefix(1);
-    val.remove_suffix(1);
-    out->emplace_back(wpi::UnescapeCString(val, buf).first);
+    in.remove_prefix(1);
+    wpi::SmallString<128> buf;
+    std::string_view val;
+    std::tie(val, in) = wpi::UnescapeCString(in, buf);
+    out->emplace_back(val);
+    if (!in.empty()) {
+      if (in.front() != '"') {
+        fmt::print(stderr, "GUI: NetworkTables: Error escaping string");
+        return false;
+      }
+      in.remove_prefix(1);
+      in = wpi::ltrim(in);
+    }
+    if (!in.empty()) {
+      if (in.front() != ',') {
+        fmt::print(stderr, "GUI: NetworkTables: Expected ','");
+        return false;
+      }
+      in.remove_prefix(1);
+    }
   }
-
   return true;
 }
 
@@ -826,9 +837,8 @@ static void EmitEntryValueReadonly(const NetworkTablesModel::ValueSource& entry,
       break;
     }
     case NT_STRING: {
-      // GetString() comes from a std::string, so it's null terminated
       ImGui::LabelText(typeStr ? typeStr : "string", "%s",
-                       val.GetString().data());
+                       entry.valueStr.c_str());
       break;
     }
     case NT_BOOLEAN_ARRAY:
@@ -938,13 +948,18 @@ static void EmitEntryValueEditable(NetworkTablesModel::Entry& entry,
       break;
     }
     case NT_STRING: {
-      char* v = GetTextBuffer(val.GetString());
+      char* v = GetTextBuffer(entry.valueStr);
       if (ImGui::InputText(typeStr ? typeStr : "string", v, kTextBufferSize,
                            ImGuiInputTextFlags_EnterReturnsTrue)) {
-        if (entry.publisher == 0) {
-          entry.publisher = nt::Publish(entry.info.topic, NT_STRING, "string");
+        if (v[0] == '"') {
+          if (entry.publisher == 0) {
+            entry.publisher =
+                nt::Publish(entry.info.topic, NT_STRING, "string");
+          }
+          wpi::SmallString<128> buf;
+          nt::SetString(entry.publisher,
+                        wpi::UnescapeCString(v + 1, buf).first);
         }
-        nt::SetString(entry.publisher, v);
       }
       break;
     }
@@ -1045,58 +1060,97 @@ static void CreateTopicMenuItem(NetworkTablesModel* model,
         model->AddEntry(nt::GetTopic(model->GetInstance().GetHandle(), path));
     if (entry->publisher == 0) {
       entry->publisher = nt::Publish(entry->info.topic, type, typeStr);
+      // publish a default value so it's editable
+      switch (type) {
+        case NT_BOOLEAN:
+          nt::SetDefaultBoolean(entry->publisher, false);
+          break;
+        case NT_INTEGER:
+          nt::SetDefaultInteger(entry->publisher, 0);
+          break;
+        case NT_FLOAT:
+          nt::SetDefaultFloat(entry->publisher, 0.0);
+          break;
+        case NT_DOUBLE:
+          nt::SetDefaultDouble(entry->publisher, 0.0);
+          break;
+        case NT_STRING:
+          nt::SetDefaultString(entry->publisher, "");
+          break;
+        case NT_BOOLEAN_ARRAY:
+          nt::SetDefaultBooleanArray(entry->publisher, {});
+          break;
+        case NT_INTEGER_ARRAY:
+          nt::SetDefaultIntegerArray(entry->publisher, {});
+          break;
+        case NT_FLOAT_ARRAY:
+          nt::SetDefaultFloatArray(entry->publisher, {});
+          break;
+        case NT_DOUBLE_ARRAY:
+          nt::SetDefaultDoubleArray(entry->publisher, {});
+          break;
+        case NT_STRING_ARRAY:
+          nt::SetDefaultStringArray(entry->publisher, {});
+          break;
+        default:
+          break;
+      }
     }
   }
 }
 
+void glass::DisplayNetworkTablesAddMenu(NetworkTablesModel* model,
+                                        std::string_view path,
+                                        NetworkTablesFlags flags) {
+  static char nameBuffer[kTextBufferSize];
+
+  if (ImGui::BeginMenu("Add new...")) {
+    if (ImGui::IsWindowAppearing()) {
+      nameBuffer[0] = '\0';
+    }
+
+    ImGui::InputTextWithHint("New item name", "example", nameBuffer,
+                             kTextBufferSize);
+    std::string fullNewPath;
+    if (path == "/") {
+      path = "";
+    }
+    fullNewPath = fmt::format("{}/{}", path, nameBuffer);
+
+    ImGui::Text("Adding: %s", fullNewPath.c_str());
+    ImGui::Separator();
+    auto entry = model->GetEntry(fullNewPath);
+    bool exists = entry && entry->info.type != NT_Type::NT_UNASSIGNED;
+    bool enabled = (flags & NetworkTablesFlags_CreateNoncanonicalKeys ||
+                    nameBuffer[0] != '\0') &&
+                   !exists;
+
+    CreateTopicMenuItem(model, fullNewPath, NT_STRING, "string", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_INTEGER, "int", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_FLOAT, "float", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_DOUBLE, "double", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_BOOLEAN, "boolean", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_STRING_ARRAY, "string[]",
+                        enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_INTEGER_ARRAY, "int[]", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_FLOAT_ARRAY, "float[]", enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_DOUBLE_ARRAY, "double[]",
+                        enabled);
+    CreateTopicMenuItem(model, fullNewPath, NT_BOOLEAN_ARRAY, "boolean[]",
+                        enabled);
+
+    ImGui::EndMenu();
+  }
+}
+
 static void EmitParentContextMenu(NetworkTablesModel* model,
                                   const std::string& path,
                                   NetworkTablesFlags flags) {
-  static char nameBuffer[kTextBufferSize];
   if (ImGui::BeginPopupContextItem(path.c_str())) {
     ImGui::Text("%s", path.c_str());
     ImGui::Separator();
 
-    if (ImGui::BeginMenu("Add new...")) {
-      if (ImGui::IsWindowAppearing()) {
-        nameBuffer[0] = '\0';
-      }
-
-      ImGui::InputTextWithHint("New item name", "example", nameBuffer,
-                               kTextBufferSize);
-      std::string fullNewPath;
-      if (path == "/") {
-        fullNewPath = path + nameBuffer;
-      } else {
-        fullNewPath = fmt::format("{}/{}", path, nameBuffer);
-      }
-
-      ImGui::Text("Adding: %s", fullNewPath.c_str());
-      ImGui::Separator();
-      auto entry = model->GetEntry(fullNewPath);
-      bool exists = entry && entry->info.type != NT_Type::NT_UNASSIGNED;
-      bool enabled = (flags & NetworkTablesFlags_CreateNoncanonicalKeys ||
-                      nameBuffer[0] != '\0') &&
-                     !exists;
-
-      CreateTopicMenuItem(model, fullNewPath, NT_STRING, "string", enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_INTEGER, "int", enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_FLOAT, "float", enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_DOUBLE, "double", enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_BOOLEAN, "boolean", enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_STRING_ARRAY, "string[]",
-                          enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_INTEGER_ARRAY, "int[]",
-                          enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_FLOAT_ARRAY, "float[]",
-                          enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_DOUBLE_ARRAY, "double[]",
-                          enabled);
-      CreateTopicMenuItem(model, fullNewPath, NT_BOOLEAN_ARRAY, "boolean[]",
-                          enabled);
-
-      ImGui::EndMenu();
-    }
+    DisplayNetworkTablesAddMenu(model, path, flags);
 
     ImGui::EndPopup();
   }
@@ -1280,7 +1334,6 @@ static void DisplayTable(NetworkTablesModel* model,
   }
   ImGui::TableHeadersRow();
 
-  // EmitParentContextMenu(model, "/", flags);
   if (flags & NetworkTablesFlags_TreeView) {
     switch (category) {
       case ShowPersistent:
@@ -1511,6 +1564,7 @@ void NetworkTablesView::Display() {
 
 void NetworkTablesView::Settings() {
   m_flags.DisplayMenu();
+  DisplayNetworkTablesAddMenu(m_model, {}, m_flags.GetFlags());
 }
 
 bool NetworkTablesView::HasSettings() {

glass/src/libnt/native/cpp/NetworkTablesSettings.cpp

@@ -141,23 +141,45 @@ bool NetworkTablesSettings::Display() {
     case 1:
     case 2: {
       ImGui::InputText("Team/IP", &m_serverTeam);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("Team number or IP/MDNS address of server");
+      }
       int* port = m_mode.GetValue() == 1 ? &m_port4 : &m_port3;
       if (ImGui::InputInt("Port", port)) {
         LimitPortRange(port);
       }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("TCP Port - leave this at the default");
+      }
       ImGui::SameLine();
       if (ImGui::SmallButton("Default")) {
         *port = m_mode.GetValue() == 1 ? NT_DEFAULT_PORT4 : NT_DEFAULT_PORT3;
       }
       ImGui::InputText("Network Identity", &m_clientName);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip(
+            "Arbitrary name used to identify clients on the network. Must not "
+            "be blank.");
+      }
       ImGui::Checkbox("Get Address from DS", &m_dsClient);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("Attempt to fetch server IP from Driver Station");
+      }
       break;
     }
     case 3:
       ImGui::InputText("Listen Address", &m_listenAddress);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip(
+            "Address for server to listen on. Leave blank to listen on all "
+            "interfaces.");
+      }
       if (ImGui::InputInt("NT3 port", &m_port3)) {
         LimitPortRange(&m_port3);
       }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("TCP Port for NT3. Leave at default if unsure.");
+      }
       ImGui::SameLine();
       if (ImGui::SmallButton("Default##default3")) {
         m_port3 = NT_DEFAULT_PORT3;
@@ -165,11 +187,17 @@ bool NetworkTablesSettings::Display() {
       if (ImGui::InputInt("NT4 port", &m_port4)) {
         LimitPortRange(&m_port4);
       }
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("TCP Port for NT4. Leave at default if unsure.");
+      }
       ImGui::SameLine();
       if (ImGui::SmallButton("Default##default4")) {
         m_port4 = NT_DEFAULT_PORT4;
       }
       ImGui::InputText("Persistent Filename", &m_persistentFilename);
+      if (ImGui::IsItemHovered(ImGuiHoveredFlags_DelayNormal)) {
+        ImGui::SetTooltip("File for storage of persistent entries");
+      }
       break;
     default:
       break;

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

@@ -194,6 +194,10 @@ void DisplayNetworkTables(
     NetworkTablesModel* model,
     NetworkTablesFlags flags = NetworkTablesFlags_Default);
 
+void DisplayNetworkTablesAddMenu(
+    NetworkTablesModel* model, std::string_view path = {},
+    NetworkTablesFlags flags = NetworkTablesFlags_Default);
+
 class NetworkTablesFlagsSettings {
  public:
   explicit NetworkTablesFlagsSettings(

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.1-bin.zip
+networkTimeout=10000
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,10 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -143,12 +140,16 @@ fi
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,6 +194,10 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
 # Collect all arguments for the java command;
 #   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
 #     shell script including quotes and variable substitutions, so put them in

gradlew.bat

@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 

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

@@ -4,14 +4,59 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Accelerometer HAL JNI methods.
+ *
+ * @see "hal/Accelerometer.h"
+ */
 public class AccelerometerJNI extends JNIWrapper {
+  /**
+   * Sets the accelerometer to active or standby mode.
+   *
+   * <p>It must be in standby mode to change any configuration.
+   *
+   * @see "HAL_SetAccelerometerActive"
+   * @param active true to set to active, false for standby
+   */
   public static native void setAccelerometerActive(boolean active);
 
+  /**
+   * Sets the range of values that can be measured (either 2, 4, or 8 g-forces).
+   *
+   * <p>The accelerometer should be in standby mode when this is called.
+   *
+   * @see "HAL_SetAccelerometerRange(int range)"
+   * @param range the accelerometer range
+   */
   public static native void setAccelerometerRange(int range);
 
+  /**
+   * Gets the x-axis acceleration.
+   *
+   * <p>This is a floating point value in units of 1 g-force.
+   *
+   * @see "HAL_GetAccelerometerX()"
+   * @return the X acceleration
+   */
   public static native double getAccelerometerX();
 
+  /**
+   * Gets the y-axis acceleration.
+   *
+   * <p>This is a floating point value in units of 1 g-force.
+   *
+   * @see "HAL_GetAccelerometerY()"
+   * @return the Y acceleration
+   */
   public static native double getAccelerometerY();
 
+  /**
+   * Gets the z-axis acceleration.
+   *
+   * <p>This is a floating point value in units of 1 g-force.
+   *
+   * @see "HAL_GetAccelerometerZ()"
+   * @return the Z acceleration
+   */
   public static native double getAccelerometerZ();
 }

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

@@ -9,6 +9,7 @@ package edu.wpi.first.hal;
 public class AccumulatorResult {
   /** The total value accumulated. */
   public long value;
+
   /** The number of sample value was accumulated over. */
   public long count;
 

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

@@ -4,21 +4,97 @@
 
 package edu.wpi.first.hal;
 
+/**
+ * Addressable LED HAL JNI Methods.
+ *
+ * @see "hal/AdressableLED.h"
+ */
 public class AddressableLEDJNI extends JNIWrapper {
+  /**
+   * Initialize Addressable LED using a PWM Digital handle.
+   *
+   * @param pwmHandle handle of the digital port for PWM
+   * @return Addressable LED handle
+   * @see "HAL_InitializeAddressableLED"
+   */
   public static native int initialize(int pwmHandle);
 
+  /**
+   * Free the Addressable LED Handle.
+   *
+   * @param handle the Addressable LED handle to free
+   * @see "HAL_FreeAddressableLED"
+   */
   public static native void free(int handle);
 
+  /**
+   * Sets the length of the LED strip.
+   *
+   * <p>The max length is 5460 LEDs.
+   *
+   * @param handle the Addressable LED handle
+   * @param length the strip length
+   * @see "HAL_SetAddressableLEDLength"
+   */
   public static native void setLength(int handle, int length);
 
+  /**
+   * Sets the led output data.
+   *
+   * <p>If the output is enabled, this will start writing the next data cycle. It is safe to call,
+   * even while output is enabled.
+   *
+   * @param handle the Addressable LED handle
+   * @param data the buffer to write
+   * @see "HAL_WriteAddressableLEDData"
+   */
   public static native void setData(int handle, byte[] data);
 
+  /**
+   * Sets the bit timing.
+   *
+   * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to be set for those.
+   *
+   * @param handle the Addressable LED handle
+   * @param highTime0NanoSeconds high time for 0 bit (default 400ns)
+   * @param lowTime0NanoSeconds low time for 0 bit (default 900ns)
+   * @param highTime1NanoSeconds high time for 1 bit (default 900ns)
+   * @param lowTime1NanoSeconds low time for 1 bit (default 600ns)
+   * @see "HAL_SetAddressableLEDBitTiming"
+   */
   public static native void setBitTiming(
-      int handle, int lowTime0, int highTime0, int lowTime1, int highTime1);
+      int handle,
+      int highTime0NanoSeconds,
+      int lowTime0NanoSeconds,
+      int highTime1NanoSeconds,
+      int lowTime1NanoSeconds);
 
-  public static native void setSyncTime(int handle, int syncTime);
+  /**
+   * Sets the sync time.
+   *
+   * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B.
+   *
+   * @param handle the Addressable LED handle
+   * @param syncTimeMicroSeconds the sync time (default 280us)
+   * @see "HAL_SetAddressableLEDSyncTime"
+   */
+  public static native void setSyncTime(int handle, int syncTimeMicroSeconds);
 
+  /**
+   * Starts the output.
+   *
+   * <p>The output writes continuously.
+   *
+   * @param handle the Addressable LED handle
+   * @see "HAL_StartAddressableLEDOutput"
+   */
   public static native void start(int handle);
 
+  /**
+   * Stops the output.
+   *
+   * @param handle the Addressable LED handle
+   * @see "HAL_StopAddressableLEDOutput"
+   */
   public static native void stop(int handle);
 }