[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

.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: ""
+            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/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 }}
@@ -57,34 +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: windows-2022
-          #   artifact-name: WinArm64Debug
-          #   architecture: x64
-          #   task: "build"
-          #   build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
-          #   outputs: "build/allOutputs"
-          # - os: windows-2022
-          #   artifact-name: WinArm64Release
-          #   architecture: x64
-          #   build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
-          #   task: "copyAllOutputs"
-          #   outputs: "build/allOutputs"
+            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:
@@ -117,20 +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"
@@ -162,27 +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'
@@ -201,6 +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/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

@@ -41,6 +41,10 @@ jobs:
         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 3.3.0)
+cmake_minimum_required(VERSION 3.11)
 project(allwpilib)
 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})
@@ -150,7 +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 )
 
@@ -172,6 +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)")
@@ -289,6 +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)
@@ -313,6 +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

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)

apriltag/CMakeLists.txt

@@ -7,7 +7,7 @@ include(FetchContent)
 FetchContent_Declare(
     apriltaglib
     GIT_REPOSITORY  https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG         e55b751f2465bd40a880d9acb87d24289e2af89e
+    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/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/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

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

@@ -24,6 +24,7 @@ plugins {
     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')
@@ -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 = '8.1'
+    gradleVersion = '8.4'
 }

buildSrc/build.gradle

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

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;
 };

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;
 

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;
 

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

@@ -219,13 +219,9 @@ model {
                                 nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
                             }
                         }
-                        sources {
-                            cpp {
-                                source {
-                                    srcDirs 'examples/' + "${key}"
-                                    include '**/*.cpp'
-                                }
-                            }
+                        sources.cpp.source {
+                            srcDirs 'examples/' + "${key}"
+                            include '**/*.cpp'
                         }
                     }
                 }
@@ -240,13 +236,9 @@ model {
                             nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
                         }
                     }
-                    sources {
-                        cpp {
-                            source {
-                                srcDirs 'examples/' + "${key}"
-                                include '**/*.cpp'
-                            }
-                        }
+                    sources.cpp.source {
+                        srcDirs 'examples/' + "${key}"
+                        include '**/*.cpp'
                     }
                 }
             }

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/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/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 {
 

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

@@ -7,16 +7,16 @@
 #include <memory>
 #include <string_view>
 
-#include <libssh/libssh.h>
-
-#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

@@ -427,7 +427,7 @@ void Downloader::ThreadMain() {
               continue;
             }
             lock.lock();
-          err : {}
+          err: {}
           }
           if (m_state == kDownload) {
             m_state = kDownloadDone;

docs/build.gradle

@@ -121,7 +121,13 @@ doxygen {
         exclude 'wpinet/uv/**'
 
         // json
+        exclude 'wpi/adl_serializer.h'
+        exclude 'wpi/byte_container_with_subtype.h'
+        exclude 'wpi/detail/**'
         exclude 'wpi/json.h'
+        exclude 'wpi/json_fwd.h'
+        exclude 'wpi/ordered_map.h'
+        exclude 'wpi/thirdparty/**'
 
         // memory
         exclude 'wpi/memory/**'
@@ -136,6 +142,8 @@ doxygen {
     //TODO: building memory docs causes search to break
     exclude 'wpi/memory/**'
 
+    exclude '*.pb.h'
+
     aliases 'effects=\\par <i>Effects:</i>^^',
             'notes=\\par <i>Notes:</i>^^',
             'requires=\\par <i>Requires:</i>^^',
@@ -209,7 +217,7 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 task generateJavaDocs(type: Javadoc) {
     classpath += project(":wpimath").sourceSets.main.compileClasspath
-    options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
+    options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
     options.addStringOption("tag", "pre:a:Pre-Condition")
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)

fieldImages/CMakeLists.txt

@@ -22,7 +22,7 @@ if (WITH_JAVA)
 endif()
 
 
-GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
+generate_resources(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
 
 
 add_library(fieldImages src/main/native/cpp/fields.cpp ${field_images_resources_src})

fieldImages/build.gradle

@@ -1,76 +1,69 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena')) {
+if (project.hasProperty('onlylinuxathena')) {
+    return;
+}
 
-    apply plugin: 'cpp'
-    apply plugin: 'c'
-    apply plugin: 'java'
-    apply plugin: 'google-test-test-suite'
-    apply plugin: 'visual-studio'
-    apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'cpp'
+apply plugin: 'java'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
 
-    if (OperatingSystem.current().isWindows()) {
-        apply plugin: 'windows-resources'
-    }
+if (OperatingSystem.current().isWindows()) {
+    apply plugin: 'windows-resources'
+}
 
-    dependencies {
-        implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
-        implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
-        implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
-    }
+dependencies {
+    implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+    implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
+    implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
+}
 
-    ext {
-        nativeName = 'fieldImages'
-        baseId = nativeName
-        groupId = 'edu.wpi.first.fieldImages'
-        devMain = "edu.wpi.first.fieldImages.DevMain"
-    }
+ext {
+    nativeName = 'fieldImages'
+    baseId = nativeName
+    groupId = 'edu.wpi.first.fieldImages'
+    devMain = "edu.wpi.first.fieldImages.DevMain"
+}
 
-    apply from: "${rootDir}/shared/resources.gradle"
-    apply from: "${rootDir}/shared/config.gradle"
-    apply from: "${rootDir}/shared/java/javacommon.gradle"
+apply from: "${rootDir}/shared/resources.gradle"
+apply from: "${rootDir}/shared/config.gradle"
+apply from: "${rootDir}/shared/java/javacommon.gradle"
 
-    def generateTask = createGenerateResourcesTask('main', 'FIELDS', 'fields', project)
+def generateTask = createGenerateResourcesTask('main', 'FIELDS', 'fields', project)
 
-    project(':').libraryBuild.dependsOn build
-    tasks.withType(CppCompile) {
-        dependsOn generateTask
-    }
+project(':').libraryBuild.dependsOn build
+tasks.withType(CppCompile) {
+    dependsOn generateTask
+}
 
-    sourceSets {
-        main {
-            resources {
-                srcDirs 'src/main/native/resources'
-            }
-        }
-    }
+sourceSets.main.resources {
+    srcDirs 'src/main/native/resources'
+}
 
-    model {
-        components {
-            "${nativeName}"(NativeLibrarySpec) {
-                baseName = 'fieldImages'
-                sources {
-                    cpp {
-                        source {
-                            srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
-                            include '**/*.cpp'
-                        }
-                        exportedHeaders {
-                            srcDirs 'src/main/native/include'
-                        }
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            baseName = 'fieldImages'
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/main/cpp"
+                        include '**/*.cpp'
                     }
-                    if (OperatingSystem.current().isWindows()) {
-                        rc {
-                            source {
-                                srcDirs 'src/main/native/win'
-                                include '*.rc'
-                            }
-                        }
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include'
+                    }
+                }
+                if (OperatingSystem.current().isWindows()) {
+                    rc.source {
+                        srcDirs 'src/main/native/win'
+                        include '*.rc'
                     }
                 }
             }
         }
     }
-
-    apply from: 'publish.gradle'
 }
+
+apply from: 'publish.gradle'

glass/.styleguide

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

glass/CMakeLists.txt

@@ -22,7 +22,7 @@ target_include_directories(libglass PUBLIC
                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/lib/native/include>
                            $<INSTALL_INTERFACE:${include_dest}/glass>)
 
-install(TARGETS libglass EXPORT libglass DESTINATION "${main_lib_dest}")
+install(TARGETS libglass EXPORT libglass)
 install(DIRECTORY src/lib/native/include/ DESTINATION "${include_dest}/glass")
 
 #
@@ -43,7 +43,7 @@ target_include_directories(libglassnt PUBLIC
                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/libnt/native/include>
                            $<INSTALL_INTERFACE:${include_dest}/glass>)
 
-install(TARGETS libglassnt EXPORT libglassnt DESTINATION "${main_lib_dest}")
+install(TARGETS libglassnt EXPORT libglassnt)
 install(DIRECTORY src/libnt/native/include/ DESTINATION "${include_dest}/glass")
 
 #
@@ -51,7 +51,7 @@ install(DIRECTORY src/libnt/native/include/ DESTINATION "${include_dest}/glass")
 #
 
 configure_file(src/app/generate/WPILibVersion.cpp.in WPILibVersion.cpp)
-GENERATE_RESOURCES(src/app/native/resources generated/app/cpp GLASS glass glass_resources_src)
+generate_resources(src/app/native/resources generated/app/cpp GLASS glass glass_resources_src)
 
 file(GLOB glass_src src/app/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
 
@@ -65,6 +65,7 @@ endif()
 
 add_executable(glass ${glass_src} ${glass_resources_src} ${glass_rc} ${APP_ICON_MACOSX})
 wpilib_link_macos_gui(glass)
+wpilib_target_warnings(glass)
 target_link_libraries(glass libglassnt libglass)
 
 if (WIN32)

glass/build.gradle

@@ -1,208 +1,201 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena')) {
-
-    description = "A different kind of dashboard"
-
-    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 = 'glass'
-    }
-
-    apply from: "${rootDir}/shared/resources.gradle"
-    apply from: "${rootDir}/shared/config.gradle"
-
-    def wpilibVersionFileInput = file("src/app/generate/WPILibVersion.cpp.in")
-    def wpilibVersionFileOutput = file("$buildDir/generated/app/cpp/WPILibVersion.cpp")
-
-    apply from: "${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('app', 'GLASS', 'glass', project)
-
-    project(':').libraryBuild.dependsOn build
-    tasks.withType(CppCompile) {
-        dependsOn generateTask
-        dependsOn generateCppVersion
-    }
-
-    nativeUtils.exportsConfigs {
-        glass {
-            x64ExcludeSymbols = [
-                '_CT??_R0?AV_System_error',
-                '_CT??_R0?AVexception',
-                '_CT??_R0?AVfailure',
-                '_CT??_R0?AVruntime_error',
-                '_CT??_R0?AVsystem_error',
-                '_CTA5?AVfailure',
-                '_TI5?AVfailure',
-                '_CT??_R0?AVout_of_range',
-                '_CTA3?AVout_of_range',
-                '_TI3?AVout_of_range',
-                '_CT??_R0?AVbad_cast'
-            ]
-        }
-    }
-
-    model {
-        components {
-            "${nativeName}"(NativeLibrarySpec) {
-                sources {
-                    cpp {
-                        source {
-                            srcDirs 'src/lib/native/cpp'
-                            include '**/*.cpp'
-                        }
-                        exportedHeaders {
-                            srcDirs 'src/lib/native/include'
-                        }
-                    }
-                }
-                binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        it.buildable = false
-                        return
-                    }
-                    if (it instanceof SharedLibraryBinarySpec) {
-                        it.buildable = false
-                        return
-                    }
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
-                    lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
-                    nativeUtils.useRequiredLibrary(it, 'imgui')
-                }
-                appendDebugPathToBinaries(binaries)
-            }
-            "${nativeName}nt"(NativeLibrarySpec) {
-                sources {
-                    cpp {
-                        source {
-                            srcDirs = ['src/libnt/native/cpp']
-                            include '**/*.cpp'
-                        }
-                        exportedHeaders {
-                            srcDirs 'src/libnt/native/include'
-                        }
-                    }
-                }
-                binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        it.buildable = false
-                        return
-                    }
-                    if (it instanceof SharedLibraryBinarySpec) {
-                        it.buildable = false
-                        return
-                    }
-                    lib library: nativeName, linkage: 'static'
-                    project(':ntcore').addNtcoreDependency(it, 'shared')
-                    lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
-                    lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
-                    nativeUtils.useRequiredLibrary(it, 'imgui')
-                }
-                appendDebugPathToBinaries(binaries)
-            }
-            // By default, a development executable will be generated. This is to help the case of
-            // testing specific functionality of the library.
-            "${nativeName}App"(NativeExecutableSpec) {
-                baseName = 'glass'
-                sources {
-                    cpp {
-                        source {
-                            srcDirs 'src/app/native/cpp', "$buildDir/generated/app/cpp"
-                            include '**/*.cpp'
-                        }
-                        exportedHeaders {
-                            srcDirs 'src/app/native/include'
-                        }
-                    }
-                    if (OperatingSystem.current().isWindows()) {
-                        rc {
-                            source {
-                                srcDirs 'src/app/native/win'
-                            }
-                        }
-                    }
-                }
-                binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        it.buildable = false
-                        return
-                    }
-                    lib project: ':cscore', library: 'cscore', linkage: 'static'
-                    lib library: 'glassnt', linkage: 'static'
-                    lib library: nativeName, linkage: 'static'
-                    project(':ntcore').addNtcoreDependency(it, 'static')
-                    lib project: ':wpinet', library: 'wpinet', linkage: 'static'
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-                    lib project: ':wpimath', library: 'wpimath', linkage: 'static'
-                    lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                    lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
-                    nativeUtils.useRequiredLibrary(it, 'opencv_static')
-                    nativeUtils.useRequiredLibrary(it, 'imgui')
-                    if (it.targetPlatform.operatingSystem.isWindows()) {
-                        it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
-                        it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'
-                    } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
-                        it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
-                    } else {
-                        it.linker.args << '-lX11'
-                        if (it.targetPlatform.name.startsWith('linuxarm')) {
-                            it.linker.args << '-lGL'
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    apply from: 'publish.gradle'
+if (project.hasProperty('onlylinuxathena')) {
+    return;
 }
+
+description = "A different kind of dashboard"
+
+apply plugin: 'cpp'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
+
+if (OperatingSystem.current().isWindows()) {
+    apply plugin: 'windows-resources'
+}
+
+ext {
+    nativeName = 'glass'
+}
+
+apply from: "${rootDir}/shared/resources.gradle"
+apply from: "${rootDir}/shared/config.gradle"
+
+def wpilibVersionFileInput = file("src/app/generate/WPILibVersion.cpp.in")
+def wpilibVersionFileOutput = file("$buildDir/generated/app/cpp/WPILibVersion.cpp")
+
+apply from: "${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('app', 'GLASS', 'glass', project)
+
+project(':').libraryBuild.dependsOn build
+tasks.withType(CppCompile) {
+    dependsOn generateTask
+    dependsOn generateCppVersion
+}
+
+nativeUtils.exportsConfigs {
+    glass {
+        x64ExcludeSymbols = [
+            '_CT??_R0?AV_System_error',
+            '_CT??_R0?AVexception',
+            '_CT??_R0?AVfailure',
+            '_CT??_R0?AVruntime_error',
+            '_CT??_R0?AVsystem_error',
+            '_CTA5?AVfailure',
+            '_TI5?AVfailure',
+            '_CT??_R0?AVout_of_range',
+            '_CTA3?AVout_of_range',
+            '_TI3?AVout_of_range',
+            '_CT??_R0?AVbad_cast'
+        ]
+    }
+}
+
+model {
+    components {
+        "${nativeName}"(NativeLibrarySpec) {
+            sources.cpp {
+                source {
+                    srcDirs 'src/lib/native/cpp'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/lib/native/include'
+                }
+            }
+            binaries.all {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    it.buildable = false
+                    return
+                }
+                if (it instanceof SharedLibraryBinarySpec) {
+                    it.buildable = false
+                    return
+                }
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
+                nativeUtils.useRequiredLibrary(it, 'imgui')
+            }
+            appendDebugPathToBinaries(binaries)
+        }
+        "${nativeName}nt"(NativeLibrarySpec) {
+            sources.cpp {
+                source {
+                    srcDirs = ['src/libnt/native/cpp']
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/libnt/native/include'
+                }
+            }
+            binaries.all {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    it.buildable = false
+                    return
+                }
+                if (it instanceof SharedLibraryBinarySpec) {
+                    it.buildable = false
+                    return
+                }
+                lib library: nativeName, linkage: 'static'
+                project(':ntcore').addNtcoreDependency(it, 'shared')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                lib project: ':fieldImages', library: 'fieldImages', linkage: 'shared'
+                nativeUtils.useRequiredLibrary(it, 'imgui')
+            }
+            appendDebugPathToBinaries(binaries)
+        }
+        // By default, a development executable will be generated. This is to help the case of
+        // testing specific functionality of the library.
+        "${nativeName}App"(NativeExecutableSpec) {
+            baseName = 'glass'
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/app/native/cpp', "$buildDir/generated/app/cpp"
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/app/native/include'
+                    }
+                }
+                if (OperatingSystem.current().isWindows()) {
+                    rc.source {
+                        srcDirs 'src/app/native/win'
+                    }
+                }
+            }
+            binaries.all {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    it.buildable = false
+                    return
+                }
+                lib project: ':cscore', library: 'cscore', linkage: 'static'
+                lib library: 'glassnt', linkage: 'static'
+                lib library: nativeName, linkage: 'static'
+                project(':ntcore').addNtcoreDependency(it, 'static')
+                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
+                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                lib project: ':fieldImages', library: 'fieldImages', linkage: 'static'
+                nativeUtils.useRequiredLibrary(it, 'opencv_static')
+                nativeUtils.useRequiredLibrary(it, 'imgui')
+                if (it.targetPlatform.operatingSystem.isWindows()) {
+                    it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'
+                    it.linker.args << '/DELAYLOAD:MF.dll' << '/DELAYLOAD:MFReadWrite.dll' << '/DELAYLOAD:MFPlat.dll' << '/delay:nobind'
+                } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
+                    it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
+                } else {
+                    it.linker.args << '-lX11'
+                    if (it.targetPlatform.name.startsWith('linuxarm')) {
+                        it.linker.args << '-lGL'
+                    }
+                }
+            }
+        }
+    }
+}
+
+apply from: 'publish.gradle'

glass/publish.gradle

@@ -84,51 +84,8 @@ model {
                         def applicationPath = binary.executable.file
                         def icon = file("$project.projectDir/src/app/native/mac/glass.icns")
 
-                        // Create the macOS bundle.
-                        def bundleTask = project.tasks.create("bundleGlassOsxApp" + binary.targetPlatform.architecture.name, Copy) {
-                            description("Creates a macOS application bundle for Glass")
-                            from(file("$project.projectDir/Info.plist"))
-                            into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/Contents"))
-                            into("MacOS") {
-                                with copySpec {
-                                    from binary.executable.file
-                                }
-                            }
-                            into("Resources") {
-                                with copySpec {
-                                    from icon
-                                }
-                            }
-
-                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
-
-                            doLast {
-                                if (project.hasProperty("developerID")) {
-                                    // Get path to binary.
-                                    exec {
-                                        workingDir rootDir
-                                        def args = [
-                                            "sh",
-                                            "-c",
-                                            "codesign --force --strict --deep " +
-                                            "--timestamp --options=runtime " +
-                                            "--verbose -s ${project.findProperty("developerID")} " +
-                                            "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/"
-                                        ]
-                                        commandLine args
-                                    }
-                                }
-                            }
-                        }
-
-                        // Reset the application path if we are creating a bundle.
-                        if (binary.targetPlatform.operatingSystem.isMacOsX()) {
-                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
-                            project.build.dependsOn bundleTask
-                        }
-
                         // Create the ZIP.
-                        def task = project.tasks.create("copyGlassExecutable" + binary.targetPlatform.architecture.name, Zip) {
+                        def task = project.tasks.create("copyGlassExecutable" + binary.targetPlatform.operatingSystem.name + binary.targetPlatform.architecture.name, Zip) {
                             description("Copies the Glass executable to the outputs directory.")
                             destinationDirectory = outputsFolder
 
@@ -153,6 +110,47 @@ model {
                         }
 
                         if (binary.targetPlatform.operatingSystem.isMacOsX()) {
+                            // Create the macOS bundle.
+                            def bundleTask = project.tasks.create("bundleGlassOsxApp" + binary.targetPlatform.architecture.name, Copy) {
+                                description("Creates a macOS application bundle for Glass")
+                                from(file("$project.projectDir/Info.plist"))
+                                into(file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/Contents"))
+                                into("MacOS") {
+                                    with copySpec {
+                                        from binary.executable.file
+                                    }
+                                }
+                                into("Resources") {
+                                    with copySpec {
+                                        from icon
+                                    }
+                                }
+
+                                inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
+                                doLast {
+                                    if (project.hasProperty("developerID")) {
+                                        // Get path to binary.
+                                        exec {
+                                            workingDir rootDir
+                                            def args = [
+                                                "sh",
+                                                "-c",
+                                                "codesign --force --strict --deep " +
+                                                "--timestamp --options=runtime " +
+                                                "--verbose -s ${project.findProperty("developerID")} " +
+                                                "$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name/Glass.app/"
+                                            ]
+                                            commandLine args
+                                        }
+                                    }
+                                }
+                            }
+
+                            // Reset the application path if we are creating a bundle.
+                            applicationPath = file("$project.buildDir/outputs/bundles/$binary.targetPlatform.architecture.name")
+                            project.build.dependsOn bundleTask
+
                             bundleTask.dependsOn binary.tasks.link
                             task.dependsOn(bundleTask)
                         }

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

@@ -8,7 +8,9 @@
 #include <fmt/format.h>
 #include <imgui.h>
 #include <ntcore_cpp.h>
+#include <wpi/StringExtras.h>
 #include <wpigui.h>
+#include <wpigui_openurl.h>
 
 #include "glass/Context.h"
 #include "glass/MainMenuBar.h"
@@ -281,6 +283,15 @@ int main(int argc, char** argv) {
       }
       ImGui::EndMenu();
     }
+
+    if (ImGui::BeginMenu("Docs")) {
+      if (ImGui::MenuItem("Online documentation")) {
+        wpi::gui::OpenURL(
+            "https://docs.wpilib.org/en/stable/docs/software/dashboards/"
+            "glass/");
+      }
+      ImGui::EndMenu();
+    }
   });
 
   gui::AddLateExecute([] {
@@ -317,11 +328,13 @@ int main(int argc, char** argv) {
       char nameBuf[32];
       const char* name = glfwGetKeyName(*gEnterKey, 0);
       if (!name) {
-        std::snprintf(nameBuf, sizeof(nameBuf), "%d", *gEnterKey);
+        wpi::format_to_n_c_str(nameBuf, sizeof(nameBuf), "{}", *gEnterKey);
+
         name = nameBuf;
       }
-      std::snprintf(editLabel, sizeof(editLabel), "%s###edit",
-                    gKeyEdit ? "(press key)" : name);
+      wpi::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
+                             gKeyEdit ? "(press key)" : name);
+
       if (ImGui::SmallButton(editLabel)) {
         gKeyEdit = true;
       }

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

@@ -6,18 +6,16 @@
 
 #include <algorithm>
 #include <cinttypes>
-#include <cstdio>
 #include <filesystem>
 
 #include <fmt/format.h>
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
-#include <wpi/json_serializer.h>
-#include <wpi/raw_istream.h>
 #include <wpi/raw_ostream.h>
 #include <wpi/timestamp.h>
 #include <wpigui.h>
@@ -131,14 +129,17 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
 
 static bool LoadWindowStorageImpl(const std::string& filename) {
   std::error_code ec;
-  wpi::raw_fd_istream is{filename, ec};
-  if (ec) {
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(filename, ec);
+  if (fileBuffer == nullptr || ec) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
                    ec.message().c_str());
     return false;
   } else {
     try {
-      return JsonToWindow(wpi::json::parse(is), filename.c_str());
+      return JsonToWindow(
+          wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
+          filename.c_str());
     } catch (wpi::json::parse_error& e) {
       ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
       return false;
@@ -149,8 +150,9 @@ static bool LoadWindowStorageImpl(const std::string& filename) {
 static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
                                 std::string_view rootName) {
   std::error_code ec;
-  wpi::raw_fd_istream is{filename, ec};
-  if (ec) {
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(filename, ec);
+  if (fileBuffer == nullptr || ec) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
                    ec.message().c_str());
     return false;
@@ -162,7 +164,9 @@ static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
       createdStorage = true;
     }
     try {
-      storage->FromJson(wpi::json::parse(is), filename.c_str());
+      storage->FromJson(
+          wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
+          filename.c_str());
     } catch (wpi::json::parse_error& e) {
       ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
       if (createdStorage) {
@@ -533,7 +537,8 @@ void glass::PushID(const char* str_id_begin, const char* str_id_end) {
 
 void glass::PushID(int int_id) {
   char buf[16];
-  std::snprintf(buf, sizeof(buf), "%d", int_id);
+  wpi::format_to_n_c_str(buf, sizeof(buf), "{}", int_id);
+
   PushStorageStack(buf);
   ImGui::PushID(int_id);
 }

glass/src/lib/native/cpp/MainMenuBar.cpp

@@ -4,9 +4,8 @@
 
 #include "glass/MainMenuBar.h"
 
-#include <cstdio>
-
 #include <imgui.h>
+#include <wpi/StringExtras.h>
 #include <wpigui.h>
 
 #include "glass/Context.h"
@@ -52,11 +51,11 @@ void MainMenuBar::Display() {
 
 #if 0
   char str[64];
-  std::snprintf(str, sizeof(str), "%.3f ms/frame (%.1f FPS)",
-                1000.0f / ImGui::GetIO().Framerate,
-                ImGui::GetIO().Framerate);
-  ImGui::SameLine(ImGui::GetWindowWidth() - ImGui::CalcTextSize(str).x -
-                  10);
+  wpi::format_to_n_c_str(str, sizeof(str), "{:.3f} ms/frame ({:.1f} FPS)",
+                         1000.0f / ImGui::GetIO().Framerate,
+                         ImGui::GetIO().Framerate);
+
+  ImGui::SameLine(ImGui::GetWindowWidth() - ImGui::CalcTextSize(str).x - 10);
   ImGui::Text("%s", str);
 #endif
   ImGui::EndMainMenuBar();

glass/src/lib/native/cpp/Window.cpp

@@ -56,9 +56,12 @@ void Window::Display() {
   }
 
   char label[128];
-  std::snprintf(label, sizeof(label), "%s###%s",
-                m_name.empty() ? m_defaultName.c_str() : m_name.c_str(),
-                m_id.c_str());
+  if (m_name.empty()) {
+    wpi::format_to_n_c_str(label, sizeof(label), "{}###{}", m_defaultName,
+                           m_id);
+  } else {
+    wpi::format_to_n_c_str(label, sizeof(label), "{}###{}", m_name, m_id);
+  }
 
   if (Begin(label, &m_visible, m_flags)) {
     if (m_renamePopupEnabled || m_view->HasSettings()) {

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

@@ -4,6 +4,8 @@
 
 #include "glass/hardware/AnalogGyro.h"
 
+#include <wpi/StringExtras.h>
+
 #include "glass/DataSource.h"
 #include "glass/other/DeviceTree.h"
 
@@ -11,7 +13,8 @@ using namespace glass;
 
 void glass::DisplayAnalogGyroDevice(AnalogGyroModel* model, int index) {
   char name[32];
-  std::snprintf(name, sizeof(name), "AnalogGyro[%d]", index);
+  wpi::format_to_n_c_str(name, sizeof(name), "AnalogGyro[{}]", index);
+
   if (BeginDevice(name)) {
     // angle
     if (auto angleData = model->GetAngleData()) {

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

@@ -5,6 +5,7 @@
 #include "glass/hardware/AnalogInput.h"
 
 #include <imgui.h>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -22,9 +23,9 @@ void glass::DisplayAnalogInput(AnalogInputModel* model, int index) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), index);
+    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
   } else {
-    std::snprintf(label, sizeof(label), "In[%d]###name", index);
+    wpi::format_to_n_c_str(label, sizeof(label), "In[{}]###name", index);
   }
 
   if (model->IsGyro()) {

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

@@ -4,6 +4,8 @@
 
 #include "glass/hardware/AnalogOutput.h"
 
+#include <wpi/StringExtras.h>
+
 #include "glass/Context.h"
 #include "glass/DataSource.h"
 #include "glass/Storage.h"
@@ -30,9 +32,9 @@ void glass::DisplayAnalogOutputsDevice(AnalogOutputsModel* model) {
       std::string& name = GetStorage().GetString("name");
       char label[128];
       if (!name.empty()) {
-        std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), i);
+        wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, i);
       } else {
-        std::snprintf(label, sizeof(label), "Out[%d]###name", i);
+        wpi::format_to_n_c_str(label, sizeof(label), "Out[{}]###name", i);
       }
 
       double value = analogOutData->GetValue();

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

@@ -6,6 +6,7 @@
 
 #include <fmt/format.h>
 #include <imgui.h>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -70,10 +71,11 @@ void glass::DisplayEncoder(EncoderModel* model) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    std::snprintf(label, sizeof(label), "%s [%d,%d]###header", name.c_str(),
-                  chA, chB);
+    wpi::format_to_n_c_str(label, sizeof(label), "{} [{},{}]###header", name,
+                           chA, chB);
   } else {
-    std::snprintf(label, sizeof(label), "Encoder[%d,%d]###header", chA, chB);
+    wpi::format_to_n_c_str(label, sizeof(label), "Encoder[{},{}]###header", chA,
+                           chB);
   }
 
   // header

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

@@ -5,12 +5,13 @@
 #include "glass/hardware/Gyro.h"
 
 #include <cmath>
+#include <numbers>
 
 #define IMGUI_DEFINE_MATH_OPERATORS
 
 #include <imgui.h>
 #include <imgui_internal.h>
-#include <numbers>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -65,7 +66,8 @@ void glass::DisplayGyro(GyroModel* m) {
                   color, 1.2f);
     if (major) {
       char txt[16];
-      std::snprintf(txt, sizeof(txt), "%d°", i);
+      wpi::format_to_n_c_str(txt, sizeof(txt), "{}°", i);
+
       draw->AddText(
           center + (direction * radius * 1.25) - ImGui::CalcTextSize(txt) * 0.5,
           primaryColor, txt, nullptr);

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

@@ -9,6 +9,7 @@
 
 #include <imgui.h>
 #include <wpi/SmallVector.h>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -46,10 +47,10 @@ bool glass::DisplayPCMSolenoids(PCMModel* model, int index,
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    std::snprintf(label, sizeof(label), "%s [%d]###header", name.c_str(),
-                  index);
+    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###header", name,
+                           index);
   } else {
-    std::snprintf(label, sizeof(label), "PCM[%d]###header", index);
+    wpi::format_to_n_c_str(label, sizeof(label), "PCM[{}]###header", index);
   }
 
   // header
@@ -111,7 +112,8 @@ void glass::DisplayCompressorDevice(PCMModel* model, int index,
 void glass::DisplayCompressorDevice(CompressorModel* model, int index,
                                     bool outputsEnabled) {
   char name[32];
-  std::snprintf(name, sizeof(name), "Compressor[%d]", index);
+  wpi::format_to_n_c_str(name, sizeof(name), "Compressor[{}]", index);
+
   if (BeginDevice(name)) {
     // output enabled
     if (auto runningData = model->GetRunningData()) {

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

@@ -5,6 +5,7 @@
 #include "glass/hardware/PWM.h"
 
 #include <imgui.h>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -22,9 +23,9 @@ void glass::DisplayPWM(PWMModel* model, int index, bool outputsEnabled) {
   std::string& name = GetStorage().GetString("name");
   char label[128];
   if (!name.empty()) {
-    std::snprintf(label, sizeof(label), "%s [%d]###name", name.c_str(), index);
+    wpi::format_to_n_c_str(label, sizeof(label), "{} [{}]###name", name, index);
   } else {
-    std::snprintf(label, sizeof(label), "PWM[%d]###name", index);
+    wpi::format_to_n_c_str(label, sizeof(label), "PWM[{}]###name", index);
   }
 
   int led = model->GetAddressableLED();

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

@@ -5,9 +5,9 @@
 #include "glass/hardware/PowerDistribution.h"
 
 #include <algorithm>
-#include <cstdio>
 
 #include <imgui.h>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/DataSource.h"
@@ -36,7 +36,8 @@ static float DisplayChannel(PowerDistributionModel& pdp, int channel) {
 
 void glass::DisplayPowerDistribution(PowerDistributionModel* model, int index) {
   char name[128];
-  std::snprintf(name, sizeof(name), "PowerDistribution[%d]", index);
+  wpi::format_to_n_c_str(name, sizeof(name), "PowerDistribution[{}]", index);
+
   if (CollapsingHeader(name)) {
     // temperature
     if (auto tempData = model->GetTemperatureData()) {

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

@@ -7,6 +7,7 @@
 #include <cinttypes>
 
 #include <imgui.h>
+#include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
 #include "glass/ContextInternal.h"
@@ -53,8 +54,11 @@ bool glass::BeginDevice(const char* id, ImGuiTreeNodeFlags flags) {
   // build label
   std::string& name = GetStorage().GetString("name");
   char label[128];
-  std::snprintf(label, sizeof(label), "%s###header",
-                name.empty() ? id : name.c_str());
+  if (name.empty()) {
+    wpi::format_to_n_c_str(label, sizeof(label), "{}###header", id);
+  } else {
+    wpi::format_to_n_c_str(label, sizeof(label), "{}###header", name);
+  }
 
   bool open = CollapsingHeader(label, flags);
   PopupEditName("header", &name);

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

@@ -24,12 +24,12 @@
 #include <portable-file-dialogs.h>
 #include <units/angle.h>
 #include <units/length.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
 #include <wpi/StringMap.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
-#include <wpi/raw_istream.h>
 #include <wpigui.h>
 
 #include "glass/Context.h"
@@ -238,7 +238,7 @@ class FieldInfo {
  private:
   void Reset();
   bool LoadImageImpl(const std::string& fn);
-  bool LoadJson(wpi::raw_istream& is, std::string_view filename);
+  bool LoadJson(std::span<const char> is, std::string_view filename);
   void LoadJsonFile(std::string_view jsonfile);
 
   std::unique_ptr<pfd::open_file> m_fileOpener;
@@ -423,12 +423,11 @@ void FieldInfo::LoadImage() {
       for (auto&& field : fields::GetFields()) {
         if (field.name == m_builtin) {
           auto jsonstr = field.getJson();
-          wpi::raw_mem_istream is{jsonstr.data(), jsonstr.size()};
           auto imagedata = field.getImage();
           auto texture = gui::Texture::CreateFromImage(
               reinterpret_cast<const unsigned char*>(imagedata.data()),
               imagedata.size());
-          if (texture && LoadJson(is, {})) {
+          if (texture && LoadJson({jsonstr.data(), jsonstr.size()}, {})) {
             m_texture = std::move(texture);
             m_imageWidth = m_texture.GetWidth();
             m_imageHeight = m_texture.GetHeight();
@@ -445,7 +444,7 @@ void FieldInfo::LoadImage() {
   }
 }
 
-bool FieldInfo::LoadJson(wpi::raw_istream& is, std::string_view filename) {
+bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
   // parse file
   wpi::json j;
   try {
@@ -532,12 +531,15 @@ bool FieldInfo::LoadJson(wpi::raw_istream& is, std::string_view filename) {
 
 void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
   std::error_code ec;
-  wpi::raw_fd_istream f(jsonfile, ec);
-  if (ec) {
+  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
+      wpi::MemoryBuffer::GetFile(jsonfile, ec);
+  if (fileBuffer == nullptr || ec) {
     std::fputs("GUI: could not open field JSON file\n", stderr);
     return;
   }
-  LoadJson(f, jsonfile);
+  LoadJson(
+      {reinterpret_cast<const char*>(fileBuffer->begin()), fileBuffer->size()},
+      jsonfile);
 }
 
 bool FieldInfo::LoadImageImpl(const std::string& fn) {

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

@@ -8,7 +8,6 @@
 
 #include <algorithm>
 #include <atomic>
-#include <cstdio>
 #include <cstring>
 #include <memory>
 #include <string>
@@ -16,6 +15,7 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <wpi/StringExtras.h>
 
 #if defined(__GNUC__)
 #pragma GCC diagnostic ignored "-Wformat-nonliteral"
@@ -321,8 +321,8 @@ PlotSeries::Action PlotSeries::EmitPlot(PlotView& view, double now, size_t i,
   CheckSource();
 
   char label[128];
-  std::snprintf(label, sizeof(label), "%s###name%d_%d", GetName(),
-                static_cast<int>(i), static_cast<int>(plotIndex));
+  wpi::format_to_n_c_str(label, sizeof(label), "{}###name{}_{}", GetName(),
+                         static_cast<int>(i), static_cast<int>(plotIndex));
 
   int size = m_size;
   int offset = m_offset;
@@ -580,8 +580,9 @@ void Plot::EmitPlot(PlotView& view, double now, bool paused, size_t i) {
   }
 
   char label[128];
-  std::snprintf(label, sizeof(label), "%s###plot%d", m_name.c_str(),
-                static_cast<int>(i));
+  wpi::format_to_n_c_str(label, sizeof(label), "{}###plot{}", m_name,
+                         static_cast<int>(i));
+
   ImPlotFlags plotFlags = (m_legend ? 0 : ImPlotFlags_NoLegend) |
                           (m_crosshairs ? ImPlotFlags_Crosshairs : 0) |
                           (m_mousePosition ? 0 : ImPlotFlags_NoMouseText);
@@ -937,14 +938,15 @@ void PlotView::Settings() {
 
     char name[64];
     if (!plot->GetName().empty()) {
-      std::snprintf(name, sizeof(name), "%s", plot->GetName().c_str());
+      wpi::format_to_n_c_str(name, sizeof(name), "{}", plot->GetName().c_str());
     } else {
-      std::snprintf(name, sizeof(name), "Plot %d", static_cast<int>(i));
+      wpi::format_to_n_c_str(name, sizeof(name), "Plot {}",
+                             static_cast<int>(i));
     }
 
     char label[90];
-    std::snprintf(label, sizeof(label), "%s###header%d", name,
-                  static_cast<int>(i));
+    wpi::format_to_n_c_str(label, sizeof(label), "{}###header{}", name,
+                           static_cast<int>(i));
 
     bool open = ImGui::CollapsingHeader(label);
 
@@ -1013,7 +1015,8 @@ void PlotProvider::DisplayMenu() {
     char id[32];
     size_t numWindows = m_windows.size();
     for (size_t i = 0; i <= numWindows; ++i) {
-      std::snprintf(id, sizeof(id), "Plot <%d>", static_cast<int>(i));
+      wpi::format_to_n_c_str(id, sizeof(id), "Plot <{}>", static_cast<int>(i));
+
       bool match = false;
       for (size_t j = 0; j < numWindows; ++j) {
         if (m_windows[j]->GetId() == id) {

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

@@ -4,9 +4,8 @@
 
 #include "glass/support/ExtraGuiWidgets.h"
 
-#include <imgui.h>
-
 #define IMGUI_DEFINE_MATH_OPERATORS
+#include <imgui.h>
 #include <imgui_internal.h>
 
 #include "glass/DataSource.h"

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

@@ -4,9 +4,6 @@
 
 #include "glass/support/NameSetting.h"
 
-#include <cstdio>
-#include <cstring>
-
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
 #include <wpi/StringExtras.h>
@@ -16,75 +13,80 @@ using namespace glass;
 void NameSetting::GetName(char* buf, size_t size,
                           const char* defaultName) const {
   if (!m_name.empty()) {
-    std::snprintf(buf, size, "%s", m_name.c_str());
+    wpi::format_to_n_c_str(buf, size, "{}", m_name);
   } else {
-    std::snprintf(buf, size, "%s", defaultName);
+    wpi::format_to_n_c_str(buf, size, "{}", defaultName);
   }
 }
 
 void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
                           int index) const {
   if (!m_name.empty()) {
-    std::snprintf(buf, size, "%s [%d]", m_name.c_str(), index);
+    wpi::format_to_n_c_str(buf, size, "{} [{}]", m_name, index);
   } else {
-    std::snprintf(buf, size, "%s[%d]", defaultName, index);
+    wpi::format_to_n_c_str(buf, size, "{}[{}]", defaultName, index);
   }
 }
 
 void NameSetting::GetName(char* buf, size_t size, const char* defaultName,
                           int index, int index2) const {
   if (!m_name.empty()) {
-    std::snprintf(buf, size, "%s [%d,%d]", m_name.c_str(), index, index2);
+    wpi::format_to_n_c_str(buf, size, "{} [{},{}]", m_name, index, index2);
   } else {
-    std::snprintf(buf, size, "%s[%d,%d]", defaultName, index, index2);
+    wpi::format_to_n_c_str(buf, size, "{}[{},{}]", defaultName, index, index2);
   }
 }
 
 void NameSetting::GetLabel(char* buf, size_t size,
                            const char* defaultName) const {
   if (!m_name.empty()) {
-    std::snprintf(buf, size, "%s###Name%s", m_name.c_str(), defaultName);
+    wpi::format_to_n_c_str(buf, size, "{}###Name{}", m_name, defaultName);
   } else {
-    std::snprintf(buf, size, "%s###Name%s", defaultName, defaultName);
+    wpi::format_to_n_c_str(buf, size, "{}###Name{}", defaultName, defaultName);
   }
 }
 
 void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
                            int index) const {
   if (!m_name.empty()) {
-    std::snprintf(buf, size, "%s [%d]###Name%d", m_name.c_str(), index, index);
+    wpi::format_to_n_c_str(buf, size, "{} [{}]###Name{}", m_name, index, index);
   } else {
-    std::snprintf(buf, size, "%s[%d]###Name%d", defaultName, index, index);
+    wpi::format_to_n_c_str(buf, size, "{}[{}]###Name{}", defaultName, index,
+                           index);
   }
 }
 
 void NameSetting::GetLabel(char* buf, size_t size, const char* defaultName,
                            int index, int index2) const {
   if (!m_name.empty()) {
-    std::snprintf(buf, size, "%s [%d,%d]###Name%d", m_name.c_str(), index,
-                  index2, index);
+    wpi::format_to_n_c_str(buf, size, "{} [{},{}]###Name{}", m_name, index,
+                           index2, index);
   } else {
-    std::snprintf(buf, size, "%s[%d,%d]###Name%d", defaultName, index, index2,
-                  index);
+    wpi::format_to_n_c_str(buf, size, "{}[{},{}]###Name{}", defaultName, index,
+                           index2, index);
   }
 }
 
 void NameSetting::PushEditNameId(int index) {
   char id[64];
-  std::snprintf(id, sizeof(id), "Name%d", index);
+  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", index);
+
   ImGui::PushID(id);
 }
 
 void NameSetting::PushEditNameId(const char* name) {
   char id[128];
-  std::snprintf(id, sizeof(id), "Name%s", name);
+  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", name);
+
   ImGui::PushID(id);
 }
 
 bool NameSetting::PopupEditName(int index) {
   bool rv = false;
+
   char id[64];
-  std::snprintf(id, sizeof(id), "Name%d", index);
+  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", index);
+
   if (ImGui::BeginPopupContextItem(id)) {
     ImGui::Text("Edit name:");
     if (InputTextName("##edit")) {
@@ -101,8 +103,10 @@ bool NameSetting::PopupEditName(int index) {
 
 bool NameSetting::PopupEditName(const char* name) {
   bool rv = false;
+
   char id[128];
-  std::snprintf(id, sizeof(id), "Name%s", name);
+  wpi::format_to_n_c_str(id, sizeof(id), "Name{}", name);
+
   if (ImGui::BeginPopupContextItem(id)) {
     ImGui::Text("Edit name:");
     if (InputTextName("##edit")) {

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

@@ -16,10 +16,7 @@
 
 #include <wpi/StringMap.h>
 #include <wpi/iterator_range.h>
-
-namespace wpi {
-class json;
-}  // namespace wpi
+#include <wpi/json_fwd.h>
 
 namespace glass {
 

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

@@ -9,6 +9,7 @@
 #include <string_view>
 #include <utility>
 
+#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 
 #include "glass/View.h"

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

@@ -10,6 +10,8 @@
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation2d.h>
+
+#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 #include <wpi/function_ref.h>
 

glass/src/lib/native/include/glass/other/Mechanism2D.h

@@ -6,6 +6,8 @@
 
 #include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation2d.h>
+
+#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 #include <wpi/function_ref.h>
 

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

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 
 namespace glass {

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

@@ -18,6 +18,8 @@
 #include <ntcore_cpp.h>
 #include <wpi/DenseMap.h>
 #include <wpi/json.h>
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#include <wpi/struct/DynamicStruct.h>
 
 #include "glass/Model.h"
 #include "glass/View.h"
@@ -31,7 +33,7 @@ class NetworkTablesModel : public Model {
   struct EntryValueTreeNode;
 
   struct ValueSource {
-    void UpdateFromValue(nt::Value&& v, std::string_view name,
+    void UpdateFromValue(NetworkTablesModel& model, std::string_view name,
                          std::string_view typeStr);
 
     /** The latest value. */
@@ -40,6 +42,9 @@ class NetworkTablesModel : public Model {
     /** String representation of the value (for arrays / complex values). */
     std::string valueStr;
 
+    /** Data type */
+    std::string typeStr;
+
     /** Data source (for numeric values). */
     std::unique_ptr<DataSource> source;
 
@@ -48,6 +53,15 @@ class NetworkTablesModel : public Model {
 
     /** Whether or not the children represent a map */
     bool valueChildrenMap = false;
+
+   private:
+    void UpdateDiscreteSource(std::string_view name, double value, int64_t time,
+                              bool digital = false);
+
+    template <typename T, typename MakeValue>
+    void UpdateDiscreteArray(std::string_view name, std::span<const T> arr,
+                             int64_t time, MakeValue makeValue,
+                             bool digital = false);
   };
 
   struct EntryValueTreeNode : public ValueSource {
@@ -64,6 +78,10 @@ class NetworkTablesModel : public Model {
     Entry& operator=(const Entry&) = delete;
     ~Entry();
 
+    void UpdateFromValue(NetworkTablesModel& model) {
+      ValueSource::UpdateFromValue(model, info.name, info.type_str);
+    }
+
     void UpdateTopic(nt::Event&& event) {
       if (std::holds_alternative<nt::TopicInfo>(event.data)) {
         UpdateInfo(std::get<nt::TopicInfo>(std::move(event.data)));
@@ -149,6 +167,9 @@ class NetworkTablesModel : public Model {
   Entry* GetEntry(std::string_view name);
   Entry* AddEntry(NT_Topic topic);
 
+  wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+  wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+
  private:
   void RebuildTree();
   void RebuildTreeImpl(std::vector<TreeNode>* tree, int category);
@@ -168,6 +189,9 @@ class NetworkTablesModel : public Model {
 
   std::map<std::string, Client, std::less<>> m_clients;
   Client m_server;
+
+  wpi::StructDescriptorDatabase m_structDb;
+  wpi::ProtobufMessageDatabase m_protoDb;
 };
 
 using NetworkTablesFlags = int;

googletest/CMakeLists.txt

@@ -19,3 +19,5 @@ endif()
 
 target_compile_features(gtest PUBLIC cxx_std_20)
 target_compile_features(gtest_main PUBLIC cxx_std_20)
+target_compile_features(gmock PUBLIC cxx_std_20)
+target_compile_features(gmock_main PUBLIC cxx_std_20)

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
 networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists

gradlew

@@ -83,7 +83,8 @@ done
 # This is normally unused
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -130,10 +131,13 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
@@ -141,7 +145,7 @@ if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
         # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC3045
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
@@ -149,7 +153,7 @@ if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
       '' | soft) :;; #(
       *)
         # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC3045
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -198,11 +202,11 @@ fi
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

hal/.styleguide

@@ -32,6 +32,7 @@ includeOtherLibs {
   ^FRC_FPGA_ChipObject/
   ^FRC_NetworkCommunication/
   ^fmt/
+  ^gtest/
   ^i2clib/
   ^llvm/
   ^opencv2/

hal/CMakeLists.txt

@@ -55,7 +55,7 @@ target_link_libraries(hal PUBLIC wpiutil)
 
 set_property(TARGET hal PROPERTY FOLDER "libraries")
 
-install(TARGETS hal EXPORT hal DESTINATION "${main_lib_dest}")
+install(TARGETS hal EXPORT hal)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen/ DESTINATION "${include_dest}/hal")
 
@@ -85,12 +85,7 @@ if (WITH_JAVA)
         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(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal)
-    else()
-        add_jar(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
-    endif()
+    add_jar(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
 
     get_property(HAL_JAR_FILE TARGET hal_jar PROPERTY JAR_FILE)
     install(FILES ${HAL_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -110,19 +105,10 @@ if (WITH_JAVA)
 
     set_property(TARGET haljni PROPERTY FOLDER "libraries")
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        target_include_directories(haljni PRIVATE ${JNI_INCLUDE_DIRS})
-        target_include_directories(haljni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    else()
-        target_link_libraries(haljni PRIVATE hal_jni_headers)
-    endif()
+    target_link_libraries(haljni PRIVATE hal_jni_headers)
     add_dependencies(haljni hal_jar)
 
-    if (MSVC)
-        install(TARGETS haljni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-    endif()
-
-    install(TARGETS haljni EXPORT haljni DESTINATION "${main_lib_dest}")
+    install(TARGETS haljni EXPORT haljni)
 
 endif()
 

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

@@ -190,6 +190,14 @@ public final class HAL extends JNIWrapper {
    */
   public static native boolean getRSLState();
 
+  /**
+   * Gets if the system time is valid.
+   *
+   * @return True if the system time is valid, false otherwise
+   * @see "HAL_GetSystemTimeValid"
+   */
+  public static native boolean getSystemTimeValid();
+
   /**
    * Gets a port handle for a specific channel and module.
    *

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

@@ -61,6 +61,14 @@ public final class HALUtil extends JNIWrapper {
    */
   public static native String getComments();
 
+  /**
+   * Returns the team number configured for the robot controller.
+   *
+   * @return team number, or 0 if not found.
+   * @see "HAL_GetTeamNumber"
+   */
+  public static native int getTeamNumber();
+
   /**
    * Reads the microsecond-resolution timer on the FPGA.
    *