[wpilib] Counter: Fix default distance per pulse, add distance and rate to C++ (#5796)

- Default distance per pulse in java was 0; 1 is a more reasonable default
- C++ was missing this functionality

.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

@@ -14,25 +14,28 @@ jobs:
         include:
           - os: ubuntu-22.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2023-22.04
-            flags: ""
-          - os: macOS-11
+            container: wpilib/roborio-cross-ubuntu:2024-22.04
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+          - os: macOS-12
             name: macOS
             container: ""
-            flags: "-DWITH_JAVA=OFF"
+            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v3
-
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers (Linux)
+        if: runner.os == 'Linux'
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
 
       - name: Install opencv (macOS)
-        run: brew install opencv
+        run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
       - name: Set up Python 3.8 (macOS)
@@ -41,16 +44,79 @@ jobs:
         with:
           python-version: 3.8
 
+      - name: Run sccache-cache
+        uses: mozilla-actions/sccache-action@v0.0.3
+
       - name: Install jinja
         run: python -m pip install jinja2
 
+      - uses: actions/checkout@v3
+
       - name: configure
-        run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: test
         working-directory: build
         run: ctest --output-on-failure
+
+  build-windows:
+    name: "Build - Windows"
+    runs-on: windows-2022
+    steps:
+      - uses: ilammy/msvc-dev-cmd@v1
+
+      - name: Install CMake
+        uses: lukka/get-cmake@v3.27.6
+
+      - name: Run vcpkg
+        uses: lukka/run-vcpkg@v11.1
+        with:
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
+          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
+
+      - name: Run sccache-cache
+        uses: mozilla-actions/sccache-action@v0.0.3
+
+      - name: Install jinja
+        run: python -m pip install jinja2
+
+      - uses: actions/checkout@v3
+
+      - name: configure
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      # Build wpiutil at full speed, wpimath depends on wpiutil
+      - name: build wpiutil
+        working-directory: build
+        run: cmake --build . --parallel $(nproc) --target wpiutil/all
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      # Build wpimath slow to prevent OOM
+      - name: build wpimath
+        working-directory: build
+        run: cmake --build . --parallel 1 --target wpimath/all
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      # Build everything else fast
+      - name: build
+        working-directory: build
+        run: cmake --build . --parallel $(nproc)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      - name: test
+        working-directory: build
+        # UnitTest_test segfaults on exit occasionally
+        run: ctest --output-on-failure -E 'UnitTest'

.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

@@ -12,7 +12,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2023-22.04
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
@@ -26,8 +26,17 @@ jobs:
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-22.04
-    container: ${{ matrix.container }}
     steps:
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
@@ -35,10 +44,16 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - name: Check free disk space
+        run: df .
       - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
@@ -46,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 10.15
+      MACOSX_DEPLOYMENT_TARGET: 11
     strategy:
       fail-fast: false
       matrix:
@@ -57,22 +72,40 @@ jobs:
             task: "build"
             build-options: "-PciDebugOnly --max-workers 1"
             outputs: "build/allOutputs"
+            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: Win64Release
             architecture: x64
             build-options: "-PciReleaseOnly --max-workers 1"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-11
+            build-dir: "c:\\work"
+          - os: windows-2022
+            artifact-name: WinArm64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+            outputs: "build/allOutputs"
+            build-dir: "c:\\work"
+          - os: windows-2022
+            artifact-name: WinArm64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+            build-dir: "c:\\work"
+          - os: macOS-12
             artifact-name: macOS
             architecture: x64
             task: "build"
             outputs: "build/allOutputs"
+            build-dir: "."
           - os: windows-2022
             artifact-name: Win32
             architecture: x86
             task: ":ntcoreffi:build"
             outputs: "ntcoreffi/build/outputs"
+            build-dir: "c:\\work"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
@@ -105,20 +138,31 @@ jobs:
       - name: Set Java Heap Size
         run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
         if: matrix.artifact-name == 'Win32'
+      - name: Configure build directory (Windows)
+        run: xcopy . ${{ matrix.build-dir }} /i /s /e /h /q
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        working-directory: ${{ matrix.build-dir }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        working-directory: ${{ matrix.build-dir }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
       - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.outputs }}
+          path: ${{ matrix.build-dir }}/${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"
@@ -150,27 +194,37 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
       - uses: actions/setup-java@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           distribution: 'zulu'
           java-version: 11
-      - name: Combine
-        if: |
-          !startsWith(github.ref, 'refs/tags/v') &&
-          github.ref != 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
-      - name: Combine (Master)
+      - name: Combine (Main)
         if: |
           github.repository_owner == 'wpilibsuite' &&
           github.ref == 'refs/heads/main'
@@ -189,6 +243,9 @@ jobs:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           name: Maven
           path: ~/releases

.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/sanitizers.yml

@@ -26,22 +26,33 @@ jobs:
             ctest-flags: ""
     name: "${{ matrix.name }}"
     runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
-      - uses: actions/checkout@v3
-
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers
+        if: runner.os == 'Linux'
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
+
+      - name: Run sccache-cache
+        uses: mozilla-actions/sccache-action@v0.0.3
 
       - name: Install jinja
         run: python -m pip install jinja2
 
+      - uses: actions/checkout@v3
+
       - name: configure
-        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: test
         working-directory: build

.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 +37,14 @@ jobs:
         run: |
           cd upstream_utils
           ./update_fmt.py
+      - name: Run update_gcem.py
+        run: |
+          cd upstream_utils
+          ./update_gcem.py
+      - name: Run update_json.py
+        run: |
+          cd upstream_utils
+          ./update_json.py
       - name: Run update_libuv.py
         run: |
           cd upstream_utils
@@ -61,6 +65,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_memory.py
+      - name: Run update_protobuf.py
+        run: |
+          cd upstream_utils
+          ./update_protobuf.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.gitignore

@@ -205,6 +205,7 @@ NO
 *.user
 *.userosscache
 *.sln.docstates
+CMakeSettings.json
 
 # Visual C++ cache files
 ipch/

.styleguide

@@ -29,8 +29,9 @@ includeOtherLibs {
   ^Eigen/
   ^cameraserver/
   ^cscore
-  ^drake/
   ^fmt/
+  ^gtest/
+  ^google/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -11,10 +11,15 @@ if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
 endif()
 
+cmake_minimum_required(VERSION 3.11)
 project(allwpilib)
-cmake_minimum_required(VERSION 3.3.0)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
+# Make timestamps of extracted files from FetchContent the time of extraction
+if (POLICY CMP0135)
+    cmake_policy(SET CMP0135 NEW)
+endif()
+
 message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
 
 set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
@@ -81,11 +86,6 @@ 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.
@@ -155,7 +155,6 @@ endif()
 
 set( wpilib_dest "")
 set( include_dest include )
-set( main_lib_dest lib )
 set( java_lib_dest java )
 set( jni_lib_dest jni )
 
@@ -167,8 +166,7 @@ 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()
 
@@ -178,6 +176,12 @@ endif()
 
 find_package(LIBSSH 0.7.1)
 
+find_package(Protobuf REQUIRED)
+find_program(Quickbuf_EXECUTABLE
+    NAMES protoc-gen-quickbuf
+    DOC "The Quickbuf protoc plugin"
+)
+
 if (WITH_FLAT_INSTALL)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
 set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
@@ -295,6 +299,7 @@ if (WITH_GUI)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
+    add_subdirectory(sysid)
     if (LIBSSH_FOUND)
         add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
@@ -319,6 +324,8 @@ if (WITH_WPILIB)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(wpilibNewCommands)
+    add_subdirectory(romiVendordep)
+    add_subdirectory(xrpVendordep)
     if (WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()

DevelopmentBuilds.md

@@ -4,11 +4,16 @@ This article contains instructions on building projects using a development buil
 
 **Note:** This only applies to Java/C++ teams.
 
+> [!WARNING]
+> **There are no stability or compatibility guarantees for builds outside of [tagged releases](https://github.com/wpilibsuite/allwpilib/releases). Changes may not be fully documented. Use them at your own risk!**
+>
+> Development builds may be non-functional between the end of the season and the start of beta testing. Development builds are also likely to be incompatible with vendor libraries during this time.
+
 ## Development Build
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2023 GradleRIO version, ie `2023.0.0-alpha-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2024 GradleRIO version, ie `2024.0.0-alpha-1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -23,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2023.+'
-wpi.versions.wpimathVersion = '2023.+'
+wpi.versions.wpilibVersion = '2024.+'
+wpi.versions.wpimathVersion = '2024.+'
 ```
 
 C++
@@ -37,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2023.+'
-wpi.versions.wpimathVersion = '2023.+'
+wpi.versions.wpilibVersion = '2024.+'
+wpi.versions.wpimathVersion = '2024.+'
 ```
 
 ### Development Build Documentation
@@ -59,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false
@@ -73,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
 }
 
 wpi.maven.useLocal = false

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-CMAKE.md

@@ -12,14 +12,19 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * halsim
 * wpigui
 * wpimath
+* wpilibNewCommands
 
 By default, all libraries except for the HAL and WPILib get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs.
 
 ## Prerequisites
 
-The most common prerequisite is going to be OpenCV. OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
+The jinja2 pip package is needed to generate classes for NT4's pubsub.
 
-In addition, if you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
+The protobuf library and compiler are needed for protobuf generation. The QuickBuffers protoc-gen package is also required when Java is being built; this can be obtained from https://github.com/HebiRobotics/QuickBuffers/releases/.
+
+OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
+
+If you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
 
 If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
 
@@ -93,7 +98,7 @@ Using the libraries from C++ is the easiest way to use the built libraries.
 To do so, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
 
 ```
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.11)
 project(vision_app) # Project Name Here
 
 find_package(wpilib REQUIRED)

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)
@@ -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         64be6ab26abf5e995321997fd0752c609a7e30f4
 )
 
 # Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI
@@ -62,15 +62,11 @@ if (WITH_JAVA)
   target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
   add_dependencies(apriltagjni apriltag_jar)
 
-  if (MSVC)
-    install(TARGETS apriltagjni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-  endif()
-
-  install(TARGETS apriltagjni EXPORT apriltagjni DESTINATION "${main_lib_dest}")
+  install(TARGETS apriltagjni EXPORT apriltagjni)
 
 endif()
 
-GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
+generate_resources(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
 
 file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
 
@@ -82,9 +78,9 @@ target_compile_features(apriltag PUBLIC cxx_std_20)
 wpilib_target_warnings(apriltag)
 # disable warnings that apriltaglib can't handle
 if (MSVC)
-  target_compile_options(apriltag PRIVATE /wd4018)
+  target_compile_options(apriltag PRIVATE /wd4018 /wd4005 /wd4996)
 else()
-  target_compile_options(apriltag PRIVATE -Wno-sign-compare -Wno-gnu-zero-variadic-macro-arguments)
+  target_compile_options(apriltag PRIVATE -Wno-sign-compare -Wno-gnu-zero-variadic-macro-arguments -Wno-type-limits)
 endif()
 
 target_link_libraries(apriltag wpimath)
@@ -94,13 +90,9 @@ target_include_directories(apriltag PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
   $<INSTALL_INTERFACE:${include_dest}/apriltag>)
 
-install(TARGETS apriltag EXPORT apriltag DESTINATION "${main_lib_dest}")
+install(TARGETS apriltag EXPORT apriltag)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/apriltag")
 
-if (WITH_JAVA AND MSVC)
-    install(TARGETS apriltag RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-endif()
-
 if (WITH_FLAT_INSTALL)
     set (apriltag_config_dir ${wpilib_dest})
 else()

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

@@ -199,9 +199,16 @@ public class AprilTagFieldLayout {
    * @throws IOException If the resource could not be loaded
    */
   public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
-        InputStreamReader reader = new InputStreamReader(stream)) {
+    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
+    if (stream == null) {
+      // Class.getResourceAsStream() returns null if the resource does not exist.
+      throw new IOException("Could not locate resource: " + resourcePath);
+    }
+    InputStreamReader reader = new InputStreamReader(stream);
+    try {
       return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
+    } catch (IOException e) {
+      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
     }
   }
 

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

@@ -5,6 +5,7 @@
 package edu.wpi.first.apriltag;
 
 import java.io.IOException;
+import java.io.UncheckedIOException;
 
 public enum AprilTagFields {
   k2022RapidReact("2022-rapidreact.json"),
@@ -25,9 +26,14 @@ public enum AprilTagFields {
    * Get a {@link AprilTagFieldLayout} from the resource JSON.
    *
    * @return AprilTagFieldLayout of the field
-   * @throws IOException If the layout does not exist
+   * @throws UncheckedIOException If the layout does not exist
    */
-  public AprilTagFieldLayout loadAprilTagLayoutField() throws IOException {
-    return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+  public AprilTagFieldLayout loadAprilTagLayoutField() {
+    try {
+      return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+    } catch (IOException e) {
+      throw new UncheckedIOException(
+          "Could not load AprilTagFieldLayout from " + m_resourceFile, e);
+    }
   }
 }

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -8,22 +8,21 @@
 
 #include <units/angle.h>
 #include <units/length.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/json.h>
-#include <wpi/raw_istream.h>
 #include <wpi/raw_ostream.h>
 
 using namespace frc;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  std::error_code error_code;
-
-  wpi::raw_fd_istream input{path, error_code};
-  if (error_code) {
+  std::error_code ec;
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(path, ec);
+  if (fileBuffer == nullptr || ec) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json;
-  input >> json;
+  wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;

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/cpp/jni/AprilTagJNI.cpp

@@ -504,15 +504,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseHomography
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.EstimateHomography(
-                              std::span<const double, 9>{harr.array()}));
+  return MakeJObject(env, estimator.EstimateHomography(harr));
 }
 
 /*
@@ -530,7 +529,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
@@ -541,7 +540,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     nullPointerEx.Throw(env, "corners cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef carr{env, corners};
+  JSpan<const jdouble, 8> carr{env, corners};
   if (carr.size() != 8) {
     illegalArgEx.Throw(env, "corners array must be size 8");
     return nullptr;
@@ -549,9 +548,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env,
-                     estimator.EstimateOrthogonalIteration(
-                         std::span<const double, 9>{harr.array()},
-                         std::span<const double, 8>{carr.array()}, nIters));
+                     estimator.EstimateOrthogonalIteration(harr, carr, nIters));
 }
 
 /*
@@ -569,7 +566,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
@@ -580,16 +577,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
     nullPointerEx.Throw(env, "corners cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef carr{env, corners};
+  JSpan<const jdouble, 8> carr{env, corners};
   if (carr.size() != 8) {
     illegalArgEx.Throw(env, "corners array must be size 8");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(
-      env, estimator.Estimate(std::span<const double, 9>{harr.array()},
-                              std::span<const double, 8>{carr.array()}));
+  return MakeJObject(env, estimator.Estimate(harr, carr));
 }
 
 }  // extern "C"

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

@@ -5,13 +5,10 @@
 #pragma once
 
 #include <wpi/SymbolExports.h>
+#include <wpi/json_fwd.h>
 
 #include "frc/geometry/Pose3d.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 namespace frc {
 
 struct WPILIB_DLLEXPORT AprilTag {

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

@@ -9,10 +9,9 @@
 #include <span>
 #include <string_view>
 
+#include <Eigen/Core>
 #include <wpi/SymbolExports.h>
 
-#include "frc/EigenCore.h"
-
 namespace frc {
 
 /**

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

@@ -11,14 +11,11 @@
 
 #include <units/length.h>
 #include <wpi/SymbolExports.h>
+#include <wpi/json_fwd.h>
 
 #include "frc/apriltag/AprilTag.h"
 #include "frc/geometry/Pose3d.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 namespace frc {
 /**
  * Class for representing a layout of AprilTags on a field and reading them from
@@ -79,7 +76,7 @@ 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/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/native/cpp/AprilTagDetectorTest.cpp

@@ -2,8 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
+
 #include "frc/apriltag/AprilTagDetector.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

apriltag/src/test/native/cpp/AprilTagJsonTest.cpp

@@ -4,12 +4,12 @@
 
 #include <vector>
 
+#include <gtest/gtest.h>
 #include <wpi/json.h>
 
 #include "frc/apriltag/AprilTag.h"
 #include "frc/apriltag/AprilTagFieldLayout.h"
 #include "frc/geometry/Pose3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp

@@ -4,12 +4,12 @@
 
 #include <vector>
 
+#include <gtest/gtest.h>
 #include <wpi/json.h>
 
 #include "frc/apriltag/AprilTag.h"
 #include "frc/apriltag/AprilTagFieldLayout.h"
 #include "frc/geometry/Pose3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

apriltag/src/test/native/cpp/LoadConfigTest.cpp

@@ -2,8 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
+
 #include "frc/apriltag/AprilTagFields.h"
-#include "gtest/gtest.h"
 
 namespace frc {
 

apriltag/src/test/native/cpp/main.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
 
 int main(int argc, char** argv) {
   ::testing::InitGoogleTest(&argc, argv);

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 +20,11 @@ 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
+    id 'com.google.protobuf' version '0.9.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -94,8 +95,8 @@ 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 {
@@ -109,8 +110,10 @@ subprojects {
     }
 
     plugins.withType(JavaPlugin) {
-        sourceCompatibility = 11
-        targetCompatibility = 11
+        java {
+            sourceCompatibility = 11
+            targetCompatibility = 11
+        }
     }
 
     apply from: "${rootDir}/shared/java/javastyle.gradle"
@@ -126,6 +129,7 @@ subprojects {
 
     tasks.withType(JavaCompile) {
         options.compilerArgs.add '-XDstringConcat=inline'
+        options.encoding = 'UTF-8'
     }
 
     // Enables UTF-8 support in Javadoc
@@ -167,5 +171,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '7.5.1'
+    gradleVersion = '8.4'
 }

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2023.11.1"
+    implementation "edu.wpi.first:native-utils:2024.3.1"
 }

buildSrc/src/main/groovy/MultiBuilds.groovy

@@ -9,6 +9,7 @@ import org.gradle.language.base.internal.ProjectLayout;
 import org.gradle.language.base.plugins.ComponentModelBasePlugin;
 import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
 import org.gradle.model.ModelMap;
+import org.gradle.internal.os.OperatingSystem
 import edu.wpi.first.toolchain.ToolchainExtension
 import org.gradle.model.Mutate;
 import org.gradle.api.plugins.ExtensionContainer;
@@ -60,12 +61,16 @@ class MultiBuilds implements Plugin<Project> {
     @CompileStatic
     void disableReleaseGoogleTest(BinaryContainer binaries, ProjectLayout projectLayout) {
       def project = (Project) projectLayout.projectIdentifier
-      if (project.hasProperty('testRelease')) {
+      if (project.hasProperty('testOther')) {
         return
       }
+      def check_string = 'release'
+      if (project.hasProperty('buildServer') && !OperatingSystem.current().isWindows()) {
+        check_string = 'debug'
+      }
       binaries.withType(GoogleTestTestSuiteBinarySpec) { oSpec ->
         GoogleTestTestSuiteBinarySpec spec = (GoogleTestTestSuiteBinarySpec) oSpec
-        if (spec.buildType.name == 'release') {
+        if (spec.buildType.name == check_string) {
           Rules.setBuildableFalseDynamically(spec)
         }
       }

cameraserver/.styleguide

@@ -13,6 +13,7 @@ repoRootNameOverride {
 
 includeOtherLibs {
   ^fmt/
+  ^gtest/
   ^hal/
   ^networktables/
   ^opencv2/

cameraserver/CMakeLists.txt

@@ -40,13 +40,9 @@ target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})
 
 set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
 
-install(TARGETS cameraserver EXPORT cameraserver DESTINATION "${main_lib_dest}")
+install(TARGETS cameraserver EXPORT cameraserver)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")
 
-if (WITH_JAVA AND MSVC)
-    install(TARGETS cameraserver RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-endif()
-
 if (WITH_FLAT_INSTALL)
     set (cameraserver_config_dir ${wpilib_dest})
 else()

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

@@ -18,7 +18,9 @@ ext {
 
 apply from: "${rootDir}/shared/opencv.gradle"
 
-mainClassName = 'edu.wpi.Main'
+application {
+    mainClass = 'edu.wpi.Main'
+}
 
 apply plugin: 'com.github.johnrengelman.shadow'
 
@@ -29,7 +31,7 @@ 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 +61,9 @@ 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/multiCameraServer/src/main/native/cpp/main.cpp

@@ -8,11 +8,12 @@
 #include <thread>
 #include <vector>
 
+#include <fmt/core.h>
 #include <networktables/NetworkTableInstance.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fmt/raw_ostream.h>
 #include <wpi/json.h>
-#include <wpi/raw_istream.h>
 #include <wpi/raw_ostream.h>
 
 #include "cameraserver/CameraServer.h"
@@ -63,10 +64,6 @@ struct CameraConfig {
 
 std::vector<CameraConfig> cameras;
 
-wpi::raw_ostream& ParseError() {
-  return wpi::errs() << "config error in '" << configFile << "': ";
-}
-
 bool ReadCameraConfig(const wpi::json& config) {
   CameraConfig c;
 
@@ -74,7 +71,8 @@ bool ReadCameraConfig(const wpi::json& config) {
   try {
     c.name = config.at("name").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    ParseError() << "could not read camera name: " << e.what() << '\n';
+    fmt::print(stderr, "config error in '{}': could not read camera name: {}\n",
+               configFile, e.what());
     return false;
   }
 
@@ -82,8 +80,9 @@ bool ReadCameraConfig(const wpi::json& config) {
   try {
     c.path = config.at("path").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    ParseError() << "camera '" << c.name
-                 << "': could not read path: " << e.what() << '\n';
+    fmt::print(stderr,
+               "config error in '{}': camera '{}': could not read path: {}\n",
+               configFile, c.name, e.what());
     return false;
   }
 
@@ -96,25 +95,27 @@ bool ReadCameraConfig(const wpi::json& config) {
 bool ReadConfig() {
   // open config file
   std::error_code ec;
-  wpi::raw_fd_istream is(configFile, ec);
-  if (ec) {
-    wpi::errs() << "could not open '" << configFile << "': " << ec.message()
-                << '\n';
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(configFile, ec);
+  if (fileBuffer == nullptr || ec) {
+    fmt::print(stderr, "could not open '{}': {}\n", configFile, ec.message());
     return false;
   }
 
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse(is);
+    j = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
   } catch (const wpi::json::parse_error& e) {
-    fmt::print(ParseError(), "byte {}: {}\n", e.byte, e.what());
+    fmt::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
+               e.byte, e.what());
     return false;
   }
 
   // top level must be an object
   if (!j.is_object()) {
-    ParseError() << "must be JSON object\n";
+    fmt::print(stderr, "config error in '{}': must be JSON object\n",
+               configFile);
     return false;
   }
 
@@ -122,7 +123,8 @@ bool ReadConfig() {
   try {
     team = j.at("team").get<unsigned int>();
   } catch (const wpi::json::exception& e) {
-    ParseError() << "could not read team number: " << e.what() << '\n';
+    fmt::print(stderr, "config error in '{}': could not read team number: {}\n",
+               configFile, e.what());
     return false;
   }
 
@@ -135,10 +137,14 @@ bool ReadConfig() {
       } else if (wpi::equals_lower(str, "server")) {
         server = true;
       } else {
-        ParseError() << "could not understand ntmode value '" << str << "'\n";
+        fmt::print(
+            stderr,
+            "config error in '{}': could not understand ntmode value '{}'\n",
+            configFile, str);
       }
     } catch (const wpi::json::exception& e) {
-      ParseError() << "could not read ntmode: " << e.what() << '\n';
+      fmt::print(stderr, "config error in '{}': could not read ntmode: {}\n",
+                 configFile, e.what());
     }
   }
 
@@ -150,7 +156,8 @@ bool ReadConfig() {
       }
     }
   } catch (const wpi::json::exception& e) {
-    ParseError() << "could not read cameras: " << e.what() << '\n';
+    fmt::print(stderr, "config error in '{}': could not read cameras: {}\n",
+               configFile, e.what());
     return false;
   }
 

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

@@ -717,22 +717,3 @@ void CameraServer::RemoveCamera(std::string_view name) {
   std::scoped_lock lock(inst.m_mutex);
   inst.m_sources.erase(name);
 }
-
-void CameraServer::SetSize(int size) {
-  auto& inst = ::GetInstance();
-  std::scoped_lock lock(inst.m_mutex);
-  if (inst.m_primarySourceName.empty()) {
-    return;
-  }
-  auto it = inst.m_sources.find(inst.m_primarySourceName);
-  if (it == inst.m_sources.end()) {
-    return;
-  }
-  if (size == kSize160x120) {
-    it->second.SetResolution(160, 120);
-  } else if (size == kSize320x240) {
-    it->second.SetResolution(320, 240);
-  } else if (size == kSize640x480) {
-    it->second.SetResolution(640, 480);
-  }
-}

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

@@ -267,17 +267,6 @@ class CameraServer {
    */
   static void RemoveCamera(std::string_view name);
 
-  /**
-   * Sets the size of the image to use. Use the public kSize constants to set
-   * the correct mode, or set it directly on a camera and call the appropriate
-   * StartAutomaticCapture method.
-   *
-   * @deprecated Use SetResolution on the UsbCamera returned by
-   *             StartAutomaticCapture() instead.
-   * @param size The size to use
-   */
-  static void SetSize(int size);
-
  private:
   CameraServer() = default;
 };

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

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

cmake/modules/CompileWarnings.cmake

@@ -12,4 +12,17 @@ macro(wpilib_target_warnings target)
     elseif(UNIX AND APPLE)
         target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-anon-enum-enum-conversion>)
     endif()
+
+    # Suppress warning "enumeration types with a fixed underlying type are a
+    # Clang extension"
+    if(APPLE)
+      target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-fixed-enum-extension>)
+    endif()
+
+    # Compress debug info with GCC
+    if ((${CMAKE_BUILD_TYPE} STREQUAL "Debug" OR
+         ${CMAKE_BUILD_TYPE} STREQUAL "RelWithDebInfo") AND
+        ${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
+      target_compile_options(${target} PRIVATE -gz=zlib)
+    endif()
 endmacro()

cmake/modules/DownloadAndCheck.cmake

@@ -0,0 +1,11 @@
+macro(download_and_check source destination)
+  file(DOWNLOAD ${source} ${destination} STATUS download_status)
+  list(GET download_status 0 status_code)
+  list(GET download_status 1 status_message)
+
+  if(${status_code} EQUAL 0)
+    message(VERBOSE "Download of \"${source}\" successful.")
+  else()
+    message(FATAL_ERROR "Download of \"${source}\" failed: ${status_message}")
+  endif()
+endmacro()

cmake/modules/GenResources.cmake

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

cmake/modules/SubDirList.cmake

@@ -1,17 +1,17 @@
-MACRO(SUBDIR_LIST result curdir)
-  FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
-  SET(dirlist "")
-  FOREACH(child ${children})
-    IF(IS_DIRECTORY ${curdir}/${child})
-      LIST(APPEND dirlist ${child})
-    ENDIF()
-  ENDFOREACH()
-  SET(${result} ${dirlist})
-ENDMACRO()
+macro(subdir_list result curdir)
+  file(GLOB children RELATIVE ${curdir} ${curdir}/*)
+  set(dirlist "")
+  foreach(child ${children})
+    if(IS_DIRECTORY ${curdir}/${child})
+      list(APPEND dirlist ${child})
+    endif()
+  endforeach()
+  set(${result} ${dirlist})
+endmacro()
 
-MACRO(ADD_ALL_SUBDIRECTORIES curdir)
-  SUBDIR_LIST (_SUBPROJECTS ${curdir})
-  FOREACH (dir ${_SUBPROJECTS})
-    ADD_SUBDIRECTORY (${dir})
-  ENDFOREACH ()
-ENDMACRO()
+macro(add_all_subdirectories curdir)
+  subdir_list(_SUBPROJECTS ${curdir})
+  foreach(dir ${_SUBPROJECTS})
+    add_subdirectory(${dir})
+  endforeach()
+endmacro()

cmake/toolchains/gnu.toolchain.cmake

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.3.0)
+cmake_minimum_required(VERSION 3.11)
 
 # load settings in case of "try compile"
 set(TOOLCHAIN_CONFIG_FILE "${WPILIB_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")

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

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
 #include <hal/AnalogInput.h>
 #include <hal/AnalogOutput.h>
 #include <wpi/SmallVector.h>
 
 #include "CrossConnects.h"
 #include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
 
 using namespace hlt;
 

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

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
 #include <hal/DIO.h>
 #include <wpi/SmallVector.h>
 
 #include "CrossConnects.h"
 #include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
 
 using namespace hlt;
 

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

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
 #include <hal/HAL.h>
 
 #include "CrossConnects.h"
 #include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
 
 using namespace hlt;
 
@@ -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/Main.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
 
 int main(int argc, char** argv) {
   testing::InitGoogleTest(&argc, argv);

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

@@ -5,6 +5,7 @@
 #include <atomic>
 #include <thread>
 
+#include <gtest/gtest.h>
 #include <hal/DMA.h>
 #include <hal/HAL.h>
 #include <wpi/SmallVector.h>
@@ -13,7 +14,6 @@
 
 #include "CrossConnects.h"
 #include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
 
 using namespace hlt;
 
@@ -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(),

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

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
 #include <hal/AnalogInput.h>
 #include <hal/Relay.h>
 #include <wpi/SmallVector.h>
 
 #include "CrossConnects.h"
 #include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
 
 using namespace hlt;
 

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

@@ -2,12 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
 #include <hal/Relay.h>
 #include <wpi/SmallVector.h>
 
 #include "CrossConnects.h"
 #include "LifetimeWrappers.h"
-#include "gtest/gtest.h"
 
 using namespace hlt;
 

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

@@ -6,9 +6,9 @@
 #include <thread>
 
 #include <fmt/core.h>
+#include <gtest/gtest.h>
 #include <hal/HAL.h>
 
-#include "gtest/gtest.h"
 #include "mockds/MockDS.h"
 
 using namespace std::chrono_literals;

cscore/.styleguide

@@ -36,6 +36,7 @@ repoRootNameOverride {
 
 includeOtherLibs {
   ^fmt/
+  ^gtest/
   ^opencv2/
   ^support/
   ^tcpsockets/

cscore/CMakeLists.txt

@@ -40,7 +40,7 @@ target_link_libraries(cscore PUBLIC wpinet wpiutil ${OpenCV_LIBS})
 
 set_property(TARGET cscore PROPERTY FOLDER "libraries")
 
-install(TARGETS cscore EXPORT cscore DESTINATION "${main_lib_dest}")
+install(TARGETS cscore EXPORT cscore)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")
 
 if (WITH_FLAT_INSTALL)
@@ -53,7 +53,7 @@ configure_file(cscore-config.cmake.in ${WPILIB_BINARY_DIR}/cscore-config.cmake )
 install(FILES ${WPILIB_BINARY_DIR}/cscore-config.cmake DESTINATION ${cscore_config_dir})
 install(EXPORT cscore DESTINATION ${cscore_config_dir})
 
-SUBDIR_LIST(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
+subdir_list(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
 foreach(example ${cscore_examples})
     file(GLOB cscore_example_src examples/${example}/*.cpp)
     unset(add_libs)
@@ -102,12 +102,7 @@ if (WITH_JAVA)
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-        add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore)
-    else()
-        add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore GENERATE_NATIVE_HEADERS cscore_jni_headers)
-    endif()
+    add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore GENERATE_NATIVE_HEADERS cscore_jni_headers)
 
     get_property(CSCORE_JAR_FILE TARGET cscore_jar PROPERTY JAR_FILE)
     install(FILES ${CSCORE_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -131,19 +126,10 @@ if (WITH_JAVA)
 
     set_property(TARGET cscorejni PROPERTY FOLDER "libraries")
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        target_include_directories(cscorejni PRIVATE ${JNI_INCLUDE_DIRS})
-        target_include_directories(cscorejni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    else()
-        target_link_libraries(cscorejni PRIVATE cscore_jni_headers)
-    endif()
+    target_link_libraries(cscorejni PRIVATE cscore_jni_headers)
     add_dependencies(cscorejni cscore_jar)
 
-    if (MSVC)
-        install(TARGETS cscorejni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-    endif()
-
-    install(TARGETS cscorejni EXPORT cscorejni DESTINATION "${main_lib_dest}")
+    install(TARGETS cscorejni EXPORT cscorejni)
 
 endif()
 

cscore/build.gradle

@@ -36,7 +36,6 @@ model {
                         srcDir 'src/main/native/include'
                         include '**/*.h'
                     }
-
                 }
             }
             binaries.all {
@@ -216,15 +215,14 @@ model {
                                     it.linker.args << '-lGL'
                                 }
                             }
-                        }
-                        sources {
-                            cpp {
-                                source {
-                                    srcDirs 'examples/' + "${key}"
-                                    include '**/*.cpp'
-                                }
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
                             }
                         }
+                        sources.cpp.source {
+                            srcDirs 'examples/' + "${key}"
+                            include '**/*.cpp'
+                        }
                     }
                 }
             } else {
@@ -234,15 +232,14 @@ model {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
-                    }
-                    sources {
-                        cpp {
-                            source {
-                                srcDirs 'examples/' + "${key}"
-                                include '**/*.cpp'
-                            }
+                        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
                         }
                     }
+                    sources.cpp.source {
+                        srcDirs 'examples/' + "${key}"
+                        include '**/*.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/HttpCameraImpl.cpp

@@ -193,7 +193,8 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
   auto [mediaType, contentType] = wpi::split(conn->contentType.str(), ';');
   mediaType = wpi::trim(mediaType);
   if (mediaType != "multipart/x-mixed-replace") {
-    SWARNING("\"{}\": unrecognized Content-Type \"{}\"", req.host, mediaType);
+    SWARNING("\"{}\": unrecognized Content-Type \"{}\"", req.host.str(),
+             mediaType);
     std::scoped_lock lock(m_mutex);
     m_streamConn = nullptr;
     return nullptr;
@@ -216,7 +217,8 @@ wpi::HttpConnection* HttpCameraImpl::DeviceStreamConnect(
   }
 
   if (boundary.empty()) {
-    SWARNING("\"{}\": empty multi-part boundary or no Content-Type", req.host);
+    SWARNING("\"{}\": empty multi-part boundary or no Content-Type",
+             req.host.str());
     std::scoped_lock lock(m_mutex);
     m_streamConn = nullptr;
     return nullptr;
@@ -281,8 +283,8 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
   // Check the content type (if present)
   if (!contentTypeBuf.str().empty() &&
       !wpi::starts_with(contentTypeBuf, "image/jpeg")) {
-    auto errMsg =
-        fmt::format("received unknown Content-Type \"{}\"", contentTypeBuf);
+    auto errMsg = fmt::format("received unknown Content-Type \"{}\"",
+                              contentTypeBuf.str());
     SWARNING("{}", errMsg);
     PutError(errMsg, wpi::Now());
     return false;

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/MjpegServerImpl.cpp

@@ -400,12 +400,12 @@ void MjpegServerImpl::ConnThread::SendHTML(wpi::raw_ostream& os,
           fmt::print(os,
                      "<input id=\"{0}{1}\" type=\"radio\" name=\"{0}\" "
                      "value=\"{2}\" onclick=\"update('{0}', {1})\"",
-                     name, j, ch_name);
+                     name, j, ch_name.str());
           if (j == valE) {
             os << " checked";
           }
           fmt::print(os, " /><label for=\"{}{}\">{}</label>\n", name, j,
-                     ch_name);
+                     ch_name.str());
         }
         break;
       }
@@ -543,7 +543,7 @@ void MjpegServerImpl::ConnThread::SendJSON(wpi::raw_ostream& os,
         for (char ch : *choice) {
           ch_name.push_back(std::isprint(ch) ? ch : ' ');
         }
-        fmt::print(os, "\"{}\": \"{}\"", j, ch_name);
+        fmt::print(os, "\"{}\": \"{}\"", j, ch_name.str());
       }
       os << "}\n";
     }

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

@@ -14,6 +14,7 @@
 #include <vector>
 
 #include <wpi/StringMap.h>
+#include <wpi/json_fwd.h>
 #include <wpi/mutex.h>
 
 #include "PropertyImpl.h"
@@ -23,7 +24,6 @@ namespace wpi {
 class Logger;
 template <typename T>
 class SmallVectorImpl;
-class json;
 }  // namespace wpi
 
 namespace cs {

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

@@ -10,14 +10,11 @@
 #include <string_view>
 
 #include <wpi/Logger.h>
+#include <wpi/json_fwd.h>
 #include <wpi/mutex.h>
 
 #include "SourceImpl.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 namespace cs {
 
 class Frame;

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

@@ -14,6 +14,7 @@
 
 #include <wpi/Logger.h>
 #include <wpi/condition_variable.h>
+#include <wpi/json_fwd.h>
 #include <wpi/mutex.h>
 
 #include "Frame.h"
@@ -22,10 +23,6 @@
 #include "PropertyContainer.h"
 #include "cscore_cpp.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 namespace cs {
 
 class Notifier;

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

@@ -14,6 +14,7 @@
 #include <vector>
 
 #include <wpi/SmallVector.h>
+#include <wpi/json_fwd.h>
 
 #include "cscore_c.h"
 
@@ -23,10 +24,6 @@
 #pragma warning(disable : 26495)
 #endif
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 /** CameraServer (cscore) namespace */
 namespace cs {
 
@@ -262,7 +259,7 @@ 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/linux/UsbCameraImpl.cpp

@@ -486,7 +486,7 @@ void UsbCameraImpl::CameraThreadMain() {
         // If the name is what we expect...
         std::string_view name{raw_name.c_str()};
         SDEBUG4("got event on '{}' ({}) compare to '{}' ({}) mask {}", name,
-                name.size(), base, base.size(), event.mask);
+                name.size(), base.str(), base.size(), event.mask);
         if (name == base) {
           if ((event.mask & IN_DELETE) != 0) {
             wasStreaming = m_streaming;

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);
+  }
+}

cscore/src/test/native/cpp/CameraSourceTest.cpp

@@ -2,8 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <gtest/gtest.h>
+
 #include "cscore.h"
-#include "gtest/gtest.h"
 
 namespace cs {
 

cscore/src/test/native/cpp/main.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
 
 int main(int argc, char** argv) {
   ::testing::InitGoogleTest(&argc, argv);

datalogtool/.styleguide

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

datalogtool/CMakeLists.txt

@@ -5,7 +5,7 @@ include(GenResources)
 include(LinkMacOSGUI)
 
 configure_file(src/main/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
-GENERATE_RESOURCES(src/main/native/resources generated/main/cpp DLT dlt datalogtool_resources_src)
+generate_resources(src/main/native/resources generated/main/cpp DLT dlt datalogtool_resources_src)
 
 file(GLOB datalogtool_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
 

datalogtool/build.gradle

@@ -1,126 +1,123 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena')) {
-
-    description = "roboRIO Team Number Setter"
-
-    apply plugin: 'cpp'
-    apply plugin: 'c'
-    apply plugin: 'google-test-test-suite'
-    apply plugin: 'visual-studio'
-    apply plugin: 'edu.wpi.first.NativeUtils'
-
-    if (OperatingSystem.current().isWindows()) {
-        apply plugin: 'windows-resources'
-    }
-
-    ext {
-        nativeName = 'datalogtool'
-    }
-
-    apply from: "${rootDir}/shared/resources.gradle"
-    apply from: "${rootDir}/shared/config.gradle"
-
-    def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
-    def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
-
-    apply from: "${rootDir}/shared/libssh.gradle"
-    apply from: "${rootDir}/shared/imgui.gradle"
-
-    task generateCppVersion() {
-        description = 'Generates the wpilib version class'
-        group = 'WPILib'
-
-        outputs.file wpilibVersionFileOutput
-        inputs.file wpilibVersionFileInput
-
-        if (wpilibVersioning.releaseMode) {
-            outputs.upToDateWhen { false }
-        }
-
-        // We follow a simple set of checks to determine whether we should generate a new version file:
-        // 1. If the release type is not development, we generate a new version file
-        // 2. If there is no generated version number, we generate a new version file
-        // 3. If there is a generated build number, and the release type is development, then we will
-        //    only generate if the publish task is run.
-        doLast {
-            def version = wpilibVersioning.version.get()
-            println "Writing version ${version} to $wpilibVersionFileOutput"
-
-            if (wpilibVersionFileOutput.exists()) {
-                wpilibVersionFileOutput.delete()
-            }
-            def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
-            wpilibVersionFileOutput.write(read)
-        }
-    }
-
-    gradle.taskGraph.addTaskExecutionGraphListener { graph ->
-        def willPublish = graph.hasTask(publish)
-        if (willPublish) {
-            generateCppVersion.outputs.upToDateWhen { false }
-        }
-    }
-
-    def generateTask = createGenerateResourcesTask('main', 'DLT', 'dlt', project)
-
-    project(':').libraryBuild.dependsOn build
-    tasks.withType(CppCompile) {
-        dependsOn generateTask
-        dependsOn generateCppVersion
-    }
-
-    model {
-        components {
-            // By default, a development executable will be generated. This is to help the case of
-            // testing specific functionality of the library.
-            "${nativeName}"(NativeExecutableSpec) {
-                baseName = 'datalogtool'
-                sources {
-                    cpp {
-                        source {
-                            srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
-                            include '**/*.cpp'
-                        }
-                        exportedHeaders {
-                            srcDirs 'src/main/native/include'
-                        }
-                    }
-                    if (OperatingSystem.current().isWindows()) {
-                        rc {
-                            source {
-                                srcDirs 'src/main/native/win'
-                                include '*.rc'
-                            }
-                        }
-                    }
-                }
-                binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        it.buildable = false
-                        return
-                    }
-                    it.cppCompiler.define("LIBSSH_STATIC")
-                    lib project: ':glass', library: 'glass', linkage: 'static'
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-                    lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                    nativeUtils.useRequiredLibrary(it, 'imgui', 'libssh')
-                    if (it.targetPlatform.operatingSystem.isWindows()) {
-                        it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
-                        it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'
-                    } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
-                        it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
-                        it.linker.args << '-framework' << 'Kerberos'
-                    } else {
-                        it.linker.args << '-lX11'
-                        if (it.targetPlatform.name.startsWith('linuxarm')) {
-                            it.linker.args << '-lGL'
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    apply from: 'publish.gradle'
+if (project.hasProperty('onlylinuxathena')) {
+    return;
 }
+
+description = "roboRIO Team Number Setter"
+
+apply plugin: 'cpp'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+if (OperatingSystem.current().isWindows()) {
+    apply plugin: 'windows-resources'
+}
+
+ext {
+    nativeName = 'datalogtool'
+}
+
+apply from: "${rootDir}/shared/resources.gradle"
+apply from: "${rootDir}/shared/config.gradle"
+
+def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
+def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
+
+apply from: "${rootDir}/shared/libssh.gradle"
+apply from: "${rootDir}/shared/imgui.gradle"
+
+task generateCppVersion() {
+    description = 'Generates the wpilib version class'
+    group = 'WPILib'
+
+    outputs.file wpilibVersionFileOutput
+    inputs.file wpilibVersionFileInput
+
+    if (wpilibVersioning.releaseMode) {
+        outputs.upToDateWhen { false }
+    }
+
+    // We follow a simple set of checks to determine whether we should generate a new version file:
+    // 1. If the release type is not development, we generate a new version file
+    // 2. If there is no generated version number, we generate a new version file
+    // 3. If there is a generated build number, and the release type is development, then we will
+    //    only generate if the publish task is run.
+    doLast {
+        def version = wpilibVersioning.version.get()
+        println "Writing version ${version} to $wpilibVersionFileOutput"
+
+        if (wpilibVersionFileOutput.exists()) {
+            wpilibVersionFileOutput.delete()
+        }
+        def read = wpilibVersionFileInput.text.replace('${wpilib_version}', version)
+        wpilibVersionFileOutput.write(read)
+    }
+}
+
+gradle.taskGraph.addTaskExecutionGraphListener { graph ->
+    def willPublish = graph.hasTask(publish)
+    if (willPublish) {
+        generateCppVersion.outputs.upToDateWhen { false }
+    }
+}
+
+def generateTask = createGenerateResourcesTask('main', 'DLT', 'dlt', project)
+
+project(':').libraryBuild.dependsOn build
+tasks.withType(CppCompile) {
+    dependsOn generateTask
+    dependsOn generateCppVersion
+}
+
+model {
+    components {
+        // By default, a development executable will be generated. This is to help the case of
+        // testing specific functionality of the library.
+        "${nativeName}"(NativeExecutableSpec) {
+            baseName = 'datalogtool'
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include'
+                    }
+                }
+                if (OperatingSystem.current().isWindows()) {
+                    rc.source {
+                        srcDirs 'src/main/native/win'
+                        include '*.rc'
+                    }
+                }
+            }
+            binaries.all {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    it.buildable = false
+                    return
+                }
+                it.cppCompiler.define("LIBSSH_STATIC")
+                lib project: ':glass', library: 'glass', linkage: 'static'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                nativeUtils.useRequiredLibrary(it, 'imgui', 'libssh')
+                if (it.targetPlatform.operatingSystem.isWindows()) {
+                    it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+                    it.linker.args << 'ws2_32.lib' << 'advapi32.lib' << 'crypt32.lib' << 'user32.lib'
+                } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                    it.linker.args << '-framework' << 'Kerberos'
+                } else {
+                    it.linker.args << '-lX11'
+                    if (it.targetPlatform.name.startsWith('linuxarm')) {
+                        it.linker.args << '-lGL'
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: 'publish.gradle'

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

@@ -4,19 +4,19 @@
 
 #include "App.h"
 
-#include <libssh/libssh.h>
-
 #include <memory>
 #include <string_view>
 
-#define IMGUI_DEFINE_MATH_OPERATORS
-
 #include <glass/Context.h>
 #include <glass/MainMenuBar.h>
 #include <glass/Storage.h>
+#include <libssh/libssh.h>
+
+#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <wpigui.h>
+#include <wpigui_openurl.h>
 
 #include "Downloader.h"
 #include "Exporter.h"
@@ -93,6 +93,15 @@ static void DisplayMainMenu() {
     ImGui::EndMenu();
   }
 
+  if (ImGui::BeginMenu("Docs")) {
+    if (ImGui::MenuItem("Online documentation")) {
+      wpi::gui::OpenURL(
+          "https://docs.wpilib.org/en/stable/docs/software/telemetry/"
+          "datalog.html");
+    }
+    ImGui::EndMenu();
+  }
+
   ImGui::EndMainMenuBar();
 
   if (about) {

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

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 
 void SetNextWindowPos(const ImVec2& pos, ImGuiCond cond = 0,

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();
               }
 
@@ -381,20 +420,53 @@ 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;
               }
               continue;
             }
             lock.lock();
-          err : {}
+          err: {}
           }
           if (m_state == kDownload) {
             m_state = kDownloadDone;
           }
           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);