[hal] Add usage reporting ids from 2024v2 image (#6041)

There was also an issue where the clock zero offset would be incorrect due to the system time updating. This solves that issue for the Rio.

.gersemirc

@@ -0,0 +1,6 @@
+color: false
+definitions: []
+line_length: 100
+list_expansion: favour-inlining
+quiet: false
+unsafe: false

.gitattributes

@@ -3,3 +3,8 @@
 *.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf
+
+# Generated files
+hal/src/generated/** linguist-generated
+ntcore/src/generated/** linguist-generated
+wpimath/src/generated/** linguist-generated

.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@v4
+
       - 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 sccache-cache
+        uses: mozilla-actions/sccache-action@v0.0.3
+
+      - name: Install jinja
+        run: python -m pip install jinja2
+
+      - uses: actions/checkout@v4
+
+      - name: Run vcpkg
+        uses: lukka/run-vcpkg@v11.1
+        with:
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
+          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
+
+      - name: configure
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      # Build wpiutil at full speed, wpimath depends on wpiutil
+      - name: build wpiutil
+        working-directory: build
+        run: cmake --build . --parallel $(nproc) --target wpiutil/all
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      # Build wpimath slow to prevent OOM
+      - name: build wpimath
+        working-directory: build
+        run: cmake --build . --parallel 1 --target wpimath/all
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      # Build everything else fast
+      - name: build
+        working-directory: build
+        run: cmake --build . --parallel $(nproc)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+
+      - name: test
+        working-directory: build
+        # UnitTest_test segfaults on exit occasionally
+        run: ctest --output-on-failure -E 'UnitTest'

.github/workflows/comment-command.yml

@@ -9,22 +9,22 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v4
+        uses: actions/github-script@v6
         with:
           script: |
             const {owner, repo} = context.issue
-            github.reactions.createForIssueComment({
+            github.rest.reactions.createForIssueComment({
               owner,
               repo,
               comment_id: context.payload.comment.id,
               content: "rocket",
             });
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
+          fetch-depth: 0
           token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
       - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Checkout PR
@@ -34,7 +34,7 @@ jobs:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Setup Java

.github/workflows/documentation.yml

@@ -16,7 +16,7 @@ jobs:
     if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           persist-credentials: false

.github/workflows/fix_compile_commands.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import argparse
+import json
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Fix compile_commands.json generated by Gradle"
+    )
+    parser.add_argument("filename", help="compile_commands.json location")
+    cmd_args = parser.parse_args()
+
+    # Read JSON
+    with open(cmd_args.filename) as f:
+        data = json.load(f)
+
+    for obj in data:
+        out_args = []
+
+        # Filter out -isystem flags that cause false positives
+        iter_args = iter(obj["arguments"])
+        for arg in iter_args:
+            if arg == "-isystem":
+                next_arg = next(iter_args)
+
+                # /usr/lib/gcc/x86_64-pc-linux-gnu/13.2.1/include/xmmintrin.h:54:1:
+                # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
+                if not next_arg.startswith("/usr/lib/gcc/"):
+                    out_args += ["-isystem", next_arg]
+            else:
+                out_args.append(arg)
+
+        obj["arguments"] = out_args
+
+    # Write JSON
+    with open(cmd_args.filename, "w") as f:
+        json.dump(data, f, indent=2)
+
+
+if __name__ == "__main__":
+    main()

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

@@ -10,5 +10,5 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: gradle/wrapper-validation-action@v1

.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
@@ -26,19 +26,34 @@ jobs:
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-22.04
-    container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v3
+      - 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@v4
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
       - name: Build with Gradle
-        run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - name: Check free disk space
+        run: df .
       - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
@@ -46,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:
@@ -57,38 +72,44 @@ 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:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v3
@@ -117,26 +138,37 @@ 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"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v3
@@ -161,28 +193,51 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - name: Free Disk Space
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+        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@v4
+        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)
+          java-version: 17
+      - name: Combine (Main)
         if: |
           github.repository_owner == 'wpilibsuite' &&
           github.ref == 'refs/heads/main'
@@ -201,6 +256,9 @@ jobs:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           name: Maven
           path: ~/releases

.github/workflows/lint-format.yml

@@ -15,11 +15,11 @@ jobs:
     name: "wpiformat"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: 3.8
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2023.36
       - name: Run
         run: wpiformat
       - name: Check output
@@ -53,11 +53,12 @@ jobs:
     runs-on: ubuntu-22.04
     container: wpilib/roborio-cross-ubuntu:2023-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
@@ -67,21 +68,27 @@ jobs:
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
-        run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
+        run: |
+          ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
+          ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
+          ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
       - name: List changed files
         run: wpiformat -list-changed-files
-      - name: Run clang-tidy
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+      - name: Run clang-tidy release
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
+      - name: Run clang-tidy debug
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
   javaformat:
     name: "Java format"
     runs-on: ubuntu-22.04
     container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Run Java format
@@ -95,7 +102,7 @@ jobs:
     name: "Documentation"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v3

.github/workflows/pregenerate.yml

@@ -0,0 +1,49 @@
+name: Check Pregenerated Files
+
+on:
+  pull_request:
+  push:
+    branches-ignore:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  update:
+    name: "Update"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.9
+      - name: Install jinja
+        run: python -m pip install jinja2
+      - name: Install protobuf dependencies
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf-1.3.2-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.2-linux-x86_64.exe
+      - name: Run hal
+        run: ./hal/generate_usage_reporting.py
+      - name: Run ntcore
+        run: ./ntcore/generate_topics.py
+      - name: Run wpimath
+        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.2-linux-x86_64.exe
+      - name: Add untracked files to index so they count as changes
+        run: git add -A
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > pregenerated-files-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v3
+        with:
+          name: pregenerated-files-fixes
+          path: pregenerated-files-fixes.patch
+        if: ${{ failure() }}

.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@v4
+
       - 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 -DWITH_JAVA=OFF ${{ 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

@@ -15,10 +15,11 @@ jobs:
     name: "Update"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.9
@@ -41,6 +42,10 @@ 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 +66,10 @@ 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

@@ -10,6 +10,7 @@ cppSrcFileInclude {
 }
 
 modifiableFileExclude {
+  cmake/toolchains/
   \.patch$
   gradlew
 }
@@ -29,8 +30,9 @@ includeOtherLibs {
   ^Eigen/
   ^cameraserver/
   ^cscore
-  ^drake/
   ^fmt/
+  ^gtest/
+  ^google/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -1,25 +1,33 @@
 # Disable in-source builds to prevent source tree corruption.
 if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
-  message(FATAL_ERROR "
+    message(
+        FATAL_ERROR
+        "
 FATAL: In-source builds are not allowed.
        You should create a separate directory for build files.
-")
+"
+    )
 endif()
 
-if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
+if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
     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})
 
-INCLUDE(CPack)
+include(CPack)
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
@@ -30,30 +38,32 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
 set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${WPILIB_BINARY_DIR}/jar)
 
 # use, i.e. don't skip the full RPATH for the build tree
-SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
 
 # when building, don't use the install RPATH already
 # (but later on when installing)
-SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
 
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 
 # add the automatically determined parts of the RPATH
 # which point to directories outside the build tree to the install RPATH
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # the RPATH to be used when installing, but only if it's not a system directory
-LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
-IF("${isSystemDir}" STREQUAL "-1")
-   SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-ENDIF("${isSystemDir}" STREQUAL "-1")
+list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+if("${isSystemDir}" STREQUAL "-1")
+    set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+endif("${isSystemDir}" STREQUAL "-1")
 
 # Options for building certain parts of the repo. Everything is built by default.
 option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
-option(WITH_JAVA "Include java and JNI in the build" ON)
+option(WITH_JAVA "Include Java and JNI in the build" ON)
+option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
+option(WITH_WPIUNITS "Build wpiunits" ON)
 option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
@@ -69,130 +79,152 @@ option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
 option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
 
-# Options for installation.
-option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
-
 # Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
 
 # Set default build type to release with debug info (i.e. release mode optimizations
 # are performed, but debug info still exists).
-if (NOT CMAKE_BUILD_TYPE)
-    set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
 endif()
 
-if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "
+if(WITH_JAVA AND NOT BUILD_SHARED_LIBS)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build static libs with Java enabled.
        Static libs requires both BUILD_SHARED_LIBS=OFF and
        WITH_JAVA=OFF
-")
+"
+    )
 endif()
 
-if (WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "
+if(WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build static libs with simulation modules enabled.
        Static libs requires both BUILD_SHARED_LIBS=OFF and
        WITH_SIMULATION_MODULES=OFF
-")
+"
+    )
 endif()
 
-if (NOT WITH_JAVA OR NOT WITH_CSCORE)
+if(NOT WITH_JAVA OR NOT WITH_CSCORE)
     if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        message(WARNING "
+        message(
+            WARNING
+            "
 WARNING: OpenCV Java dir set but java is not enabled!
 It will be ignored.
-")
+"
+        )
     endif()
 endif()
 
-if (NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
-    message(FATAL_ERROR "
+if(NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build simulation modules with wpilib disabled.
        Enable wpilib by setting WITH_WPILIB=ON
-")
+"
+    )
 endif()
 
-if (NOT WITH_NTCORE AND WITH_CSCORE)
-    message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_CSCORE)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build cameraserver without ntcore.
        Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+    )
 endif()
 
-if (NOT WITH_NTCORE AND WITH_GUI)
-    message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_GUI)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build GUI modules without ntcore.
        Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+    )
 endif()
 
-if (NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
-    message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build simulation modules without ntcore.
        Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+    )
 endif()
 
-if (NOT WITH_NTCORE AND WITH_WPILIB)
-    message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_WPILIB)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build wpilib without ntcore.
        Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+    )
 endif()
 
-if (NOT WITH_WPIMATH AND WITH_WPILIB)
-    message(FATAL_ERROR "
+if(NOT WITH_WPIMATH AND WITH_WPILIB)
+    message(
+        FATAL_ERROR
+        "
 FATAL: Cannot build wpilib without wpimath.
        Enable wpimath by setting WITH_WPIMATH=ON
-")
+"
+    )
 endif()
 
-set( wpilib_dest "")
-set( include_dest include )
-set( main_lib_dest lib )
-set( java_lib_dest java )
-set( jni_lib_dest jni )
-
-if (WITH_FLAT_INSTALL)
-    set (wpilib_config_dir ${wpilib_dest})
-else()
-    set (wpilib_config_dir share/wpilib)
+if(NOT WITH_WPIUNITS AND WITH_WPIMATH AND WITH_JAVA)
+    message(
+        FATAL_ERROR
+        "
+FATAL: Cannot build Java wpimath without wpiunits.
+       Enable wpiunits by setting WITH_WPIUNITS=ON or disable the Java build by setting WITH_JAVA=OFF
+"
+    )
 endif()
 
-if (USE_SYSTEM_LIBUV)
-set (LIBUV_SYSTEM_REPLACE "
+set(include_dest include)
+set(java_lib_dest java)
+set(jni_lib_dest jni)
+
+if(USE_SYSTEM_LIBUV)
+    set(LIBUV_SYSTEM_REPLACE
+        "
 find_dependency(libuv CONFIG)
-")
+"
+    )
 endif()
 
-if (USE_SYSTEM_EIGEN)
-set (EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
+if(USE_SYSTEM_EIGEN)
+    set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
 endif()
 
 find_package(LIBSSH 0.7.1)
 
-if (WITH_FLAT_INSTALL)
-set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
-set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
-set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
-set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
-set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
-set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
-set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
-set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
-else()
-set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
-set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
-set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
+find_package(Protobuf REQUIRED)
+find_program(Quickbuf_EXECUTABLE NAMES protoc-gen-quickbuf DOC "The Quickbuf protoc plugin")
+
+set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
+set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
 set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
-set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
 set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
+set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-endif()
+set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
+set(WPIUNITS_DEP_REPLACE "find_dependency(wpiunits)")
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
@@ -210,7 +242,15 @@ if(isMultiConfig)
         list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
     endif()
 else()
-    set(allowedBuildTypes Asan Tsan Ubsan Debug Release RelWithDebInfo MinSizeRel)
+    set(allowedBuildTypes
+        Asan
+        Tsan
+        Ubsan
+        Debug
+        Release
+        RelWithDebInfo
+        MinSizeRel
+    )
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
 
     if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
@@ -219,54 +259,90 @@ else()
 endif()
 
 set(CMAKE_C_FLAGS_ASAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Asan build type or configuration." FORCE)
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
+    CACHE STRING
+    "Flags used by the C compiler for Asan build type or configuration."
+    FORCE
+)
 
 set(CMAKE_CXX_FLAGS_ASAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Asan build type or configuration." FORCE)
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
+    CACHE STRING
+    "Flags used by the C++ compiler for Asan build type or configuration."
+    FORCE
+)
 
 set(CMAKE_EXE_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
-    "Linker flags to be used to create executables for Asan build type." FORCE)
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
+    CACHE STRING
+    "Linker flags to be used to create executables for Asan build type."
+    FORCE
+)
 
 set(CMAKE_SHARED_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
-    "Linker lags to be used to create shared libraries for Asan build type." FORCE)
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
+    CACHE STRING
+    "Linker lags to be used to create shared libraries for Asan build type."
+    FORCE
+)
 
 set(CMAKE_C_FLAGS_TSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Tsan build type or configuration." FORCE)
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
+    CACHE STRING
+    "Flags used by the C compiler for Tsan build type or configuration."
+    FORCE
+)
 
 set(CMAKE_CXX_FLAGS_TSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Tsan build type or configuration." FORCE)
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
+    CACHE STRING
+    "Flags used by the C++ compiler for Tsan build type or configuration."
+    FORCE
+)
 
 set(CMAKE_EXE_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
-    "Linker flags to be used to create executables for Tsan build type." FORCE)
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
+    CACHE STRING
+    "Linker flags to be used to create executables for Tsan build type."
+    FORCE
+)
 
 set(CMAKE_SHARED_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
-    "Linker lags to be used to create shared libraries for Tsan build type." FORCE)
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
+    CACHE STRING
+    "Linker lags to be used to create shared libraries for Tsan build type."
+    FORCE
+)
 
 set(CMAKE_C_FLAGS_UBSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Ubsan build type or configuration." FORCE)
+    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
+    CACHE STRING
+    "Flags used by the C compiler for Ubsan build type or configuration."
+    FORCE
+)
 
 set(CMAKE_CXX_FLAGS_UBSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Ubsan build type or configuration." FORCE)
+    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
+    CACHE STRING
+    "Flags used by the C++ compiler for Ubsan build type or configuration."
+    FORCE
+)
 
 set(CMAKE_EXE_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all" CACHE STRING
-    "Linker flags to be used to create executables for Ubsan build type." FORCE)
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all"
+    CACHE STRING
+    "Linker flags to be used to create executables for Ubsan build type."
+    FORCE
+)
 
 set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined" CACHE STRING
-    "Linker lags to be used to create shared libraries for Ubsan build type." FORCE)
+    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined"
+    CACHE STRING
+    "Linker lags to be used to create shared libraries for Ubsan build type."
+    FORCE
+)
 
-if (WITH_TESTS)
+if(WITH_TESTS)
     enable_testing()
     add_subdirectory(googletest)
     include(GoogleTest)
@@ -274,54 +350,65 @@ endif()
 
 add_subdirectory(wpiutil)
 
-if (WITH_NTCORE)
+if(WITH_NTCORE)
     add_subdirectory(wpinet)
     add_subdirectory(ntcore)
 endif()
 
-if (WITH_WPIMATH)
+if(WITH_WPIMATH)
+    if(WITH_JAVA)
+        add_subdirectory(wpiunits)
+    endif()
     add_subdirectory(wpimath)
 endif()
 
-if (WITH_GUI)
+if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
+    # In case of building wpiunits standalone
+    add_subdirectory(wpiunits)
+endif()
+
+if(WITH_GUI)
     add_subdirectory(fieldImages)
     add_subdirectory(imgui)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
-    if (LIBSSH_FOUND)
+    add_subdirectory(sysid)
+    if(LIBSSH_FOUND)
         add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
     endif()
 endif()
 
-if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
+if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
     set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
     add_subdirectory(hal)
 endif()
 
-if (WITH_CSCORE)
+if(WITH_CSCORE)
     set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
     set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
     add_subdirectory(cscore)
     add_subdirectory(cameraserver)
 endif()
 
-if (WITH_WPILIB)
+if(WITH_WPILIB)
     set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(wpilibNewCommands)
-    if (WITH_EXAMPLES)
+    add_subdirectory(romiVendordep)
+    add_subdirectory(xrpVendordep)
+    if(WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()
     add_subdirectory(myRobot)
 endif()
 
-if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
+if(WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
     add_subdirectory(simulation)
 endif()
 
-configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})
+configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)

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 +12,20 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * halsim
 * wpigui
 * wpimath
+* wpiunits
+* 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.
 
@@ -29,6 +35,8 @@ The following build options are available:
 
 * `WITH_JAVA` (ON Default)
   * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_JAVA_SOURCE` (ON Default)
+  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
 * `WITH_SHARED_LIBS` (ON Default)
   * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
 * `WITH_CSCORE` (ON Default)
@@ -37,6 +45,8 @@ The following build options are available:
   * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet and wpilib as well, irrespective of their specific options.
 * `WITH_WPIMATH` (ON Default)
   * This option will build the wpimath library. This option must be on to build wpilib.
+* `WITH_WPIUNITS` (ON Default)
+  * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
 * `WITH_WPILIB` (ON Default)
   * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
 * `WITH_EXAMPLES` (ON Default)
@@ -93,7 +103,7 @@ Using the libraries from C++ is the easiest way to use the built libraries.
 To do so, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
 
 ```
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.11)
 project(vision_app) # Project Name Here
 
 find_package(wpilib REQUIRED)

README.md

@@ -88,9 +88,24 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 
 `./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
 
-`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests.
+`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests. `./gradlew testDesktop` will run both `testDesktopJava` and `testDesktopCpp`.
 
-`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
+`testDesktopCpp`, `testDesktopJava`, and `testDesktop` tasks also exist for the following projects:
+
+- `apriltag`
+- `cameraserver`
+- `cscore`
+- `hal`
+- `ntcore`
+- `wpilibNewCommands`
+- `wpimath`
+- `wpinet`
+- `wpiunits`
+- `wpiutil`
+- `romiVendordep`
+- `xrpVendordep`
+
+These can be ran with `./gradlew :projectName:task`.
 
 `./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
 

apriltag/CMakeLists.txt

@@ -4,114 +4,146 @@ include(CompileWarnings)
 include(GenResources)
 include(FetchContent)
 
-FetchContent_Declare(
+fetchcontent_declare(
     apriltaglib
-    GIT_REPOSITORY  https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG         e55b751f2465bd40a880d9acb87d24289e2af89e
+    GIT_REPOSITORY https://github.com/wpilibsuite/apriltag.git
+    GIT_TAG 64be6ab26abf5e995321997fd0752c609a7e30f4
 )
 
 # Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI
-FetchContent_GetProperties(apriltaglib)
+fetchcontent_getproperties(apriltaglib)
 if(NOT apriltaglib_POPULATED)
-    FetchContent_Populate(apriltaglib)
+    fetchcontent_populate(apriltaglib)
 endif()
 
 aux_source_directory(${apriltaglib_SOURCE_DIR}/common APRILTAGLIB_COMMON_SRC)
 file(GLOB TAG_FILES ${apriltaglib_SOURCE_DIR}/tag*.c)
-set(APRILTAGLIB_SRCS ${apriltaglib_SOURCE_DIR}/apriltag.c ${apriltaglib_SOURCE_DIR}/apriltag_pose.c ${apriltaglib_SOURCE_DIR}/apriltag_quad_thresh.c)
+set(APRILTAGLIB_SRCS
+    ${apriltaglib_SOURCE_DIR}/apriltag.c
+    ${apriltaglib_SOURCE_DIR}/apriltag_pose.c
+    ${apriltaglib_SOURCE_DIR}/apriltag_quad_thresh.c
+)
 
 file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
 
-if (WITH_JAVA)
-  find_package(Java REQUIRED)
-  find_package(JNI REQUIRED)
-  include(UseJava)
-  set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+if(WITH_JAVA)
+    find_package(Java REQUIRED)
+    find_package(JNI REQUIRED)
+    include(UseJava)
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
-  set(CMAKE_JNI_TARGET true)
+    set(CMAKE_JNI_TARGET true)
 
-  file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-  file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
-  find_file(OPENCV_JAR_FILE
-    NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
-    PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/share/java
-    NO_DEFAULT_PATH)
+    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
+    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    find_file(
+        OPENCV_JAR_FILE
+        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
+        PATHS
+            ${OPENCV_JAVA_INSTALL_DIR}
+            ${OpenCV_INSTALL_PATH}/bin
+            ${OpenCV_INSTALL_PATH}/share/java
+        NO_DEFAULT_PATH
+    )
 
-  set(CMAKE_JAVA_INCLUDE_PATH apriltag.jar ${EJML_JARS} ${JACKSON_JARS})
+    set(CMAKE_JAVA_INCLUDE_PATH apriltag.jar ${EJML_JARS} ${JACKSON_JARS})
 
-  file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-  file(GLOB_RECURSE JAVA_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/main/native/resources/*.json)
-  add_jar(apriltag_jar
-    SOURCES ${JAVA_SOURCES}
-    RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-    INCLUDE_JARS wpimath_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
-    OUTPUT_NAME apriltag
-    GENERATE_NATIVE_HEADERS apriltag_jni_headers)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(
+        GLOB_RECURSE JAVA_RESOURCES
+        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+        src/main/native/resources/*.json
+    )
+    add_jar(
+        apriltag_jar
+        SOURCES ${JAVA_SOURCES}
+        RESOURCES
+        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
+        INCLUDE_JARS wpimath_jar wpiunits_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
+        OUTPUT_NAME apriltag
+        GENERATE_NATIVE_HEADERS apriltag_jni_headers
+    )
 
-  get_property(APRILTAG_JAR_FILE TARGET apriltag_jar PROPERTY JAR_FILE)
-  install(FILES ${APRILTAG_JAR_FILE} DESTINATION "${java_lib_dest}")
+    install_jar(apriltag_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
 
-  set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
+    add_library(apriltagjni ${apriltag_jni_src})
+    wpilib_target_warnings(apriltagjni)
+    target_link_libraries(apriltagjni PUBLIC apriltag)
 
-  add_library(apriltagjni ${apriltag_jni_src})
-  wpilib_target_warnings(apriltagjni)
-  target_link_libraries(apriltagjni PUBLIC apriltag)
+    set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
 
-  set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
-
-  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}")
+    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
+    add_dependencies(apriltagjni apriltag_jar)
 
+    install(TARGETS apriltagjni EXPORT apriltagjni)
 endif()
 
-GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
+if(WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB APRILTAG_SOURCES src/main/java/edu/wpi/first/apriltag/*.java)
+    add_jar(
+        apriltag_src_jar
+        RESOURCES
+        NAMESPACE "edu/wpi/first/apriltag" ${APRILTAG_SOURCES}
+        NAMESPACE
+            "edu/wpi/first/apriltag/jni"
+            src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
+        OUTPUT_NAME apriltag-sources
+    )
+
+    get_property(APRILTAG_SRC_JAR_FILE TARGET apriltag_src_jar PROPERTY JAR_FILE)
+    install(FILES ${APRILTAG_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
+endif()
+
+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)
 
-add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${APRILTAGLIB_SRCS} ${APRILTAGLIB_COMMON_SRC} ${TAG_FILES})
+add_library(
+    apriltag
+    ${apriltag_native_src}
+    ${apriltag_resources_src}
+    ${APRILTAGLIB_SRCS}
+    ${APRILTAGLIB_COMMON_SRC}
+    ${TAG_FILES}
+)
 set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET apriltag PROPERTY FOLDER "libraries")
 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)
+if(MSVC)
+    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)
 
-target_include_directories(apriltag PUBLIC
-  $<BUILD_INTERFACE:${apriltaglib_SOURCE_DIR}>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-  $<INSTALL_INTERFACE:${include_dest}/apriltag>)
+target_include_directories(
+    apriltag
+    PUBLIC
+        $<BUILD_INTERFACE:${apriltaglib_SOURCE_DIR}>
+        $<BUILD_INTERFACE:${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()
+configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/apriltag)
+install(EXPORT apriltag DESTINATION share/apriltag)
 
-if (WITH_FLAT_INSTALL)
-    set (apriltag_config_dir ${wpilib_dest})
-else()
-    set (apriltag_config_dir share/apriltag)
-endif()
-
-configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION ${apriltag_config_dir})
-install(EXPORT apriltag DESTINATION ${apriltag_config_dir})
-
-if (WITH_TESTS)
+if(WITH_TESTS)
     wpilib_add_test(apriltag src/test/native/cpp)
     target_include_directories(apriltag_test PRIVATE src/test/native/include)
     target_link_libraries(apriltag_test apriltag gmock_main)

apriltag/apriltag-config.cmake.in

@@ -5,3 +5,6 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/apriltag.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/apriltag_jar.cmake)
+endif()

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

@@ -6,7 +6,9 @@ package edu.wpi.first.apriltag;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
 
 @SuppressWarnings("MemberName")
@@ -44,4 +46,28 @@ public class AprilTag {
   public String toString() {
     return "AprilTag(ID: " + ID + ", pose: " + pose + ")";
   }
+
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
+   *
+   * @param id id
+   * @return A RawFrame containing the AprilTag image
+   */
+  public static RawFrame generate16h5AprilTagImage(int id) {
+    RawFrame generatedImage = new RawFrame();
+    AprilTagJNI.generate16h5AprilTagImage(id, generatedImage.getDataPtr());
+    return generatedImage;
+  }
+
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
+   *
+   * @param id id
+   * @return A RawFrame containing the AprilTag image
+   */
+  public static RawFrame generate36h11AprilTagImage(int id) {
+    RawFrame generatedImage = new RawFrame();
+    AprilTagJNI.generate36h11AprilTagImage(id, generatedImage.getDataPtr());
+    return generatedImage;
+  }
 }

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

@@ -72,7 +72,7 @@ public class AprilTagDetection {
    * @return Homography matrix
    */
   public Matrix<N3, N3> getHomographyMatrix() {
-    return new MatBuilder<>(Nat.N3(), Nat.N3()).fill(m_homography);
+    return MatBuilder.fill(Nat.N3(), Nat.N3(), m_homography);
   }
 
   /**
@@ -95,7 +95,7 @@ public class AprilTagDetection {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point X coordinate
@@ -106,7 +106,7 @@ public class AprilTagDetection {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point Y coordinate
@@ -117,7 +117,8 @@ public class AprilTagDetection {
 
   /**
    * Gets the corners of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. The first set of corner coordinates are the coordinates for the bottom left
+   * corner.
    *
    * @return Corner point array (X and Y for each corner in order)
    */

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

@@ -244,7 +244,7 @@ public class AprilTagDetector implements AutoCloseable {
    * Adds a family of tags to be detected.
    *
    * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected maximum number of bits to correct
+   * @param bitsCorrected Maximum number of bits to correct
    * @throws IllegalArgumentException if family name not recognized
    */
   public void addFamily(String fam, int bitsCorrected) {
@@ -270,6 +270,8 @@ public class AprilTagDetector implements AutoCloseable {
   /**
    * Detect tags from an 8-bit image.
    *
+   * <p>The image must be grayscale.
+   *
    * @param img 8-bit OpenCV Mat image
    * @return Results (array of AprilTagDetection)
    */

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

@@ -113,6 +113,26 @@ public class AprilTagFieldLayout {
     return new ArrayList<>(m_apriltags.values());
   }
 
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return length, in meters
+   */
+  @JsonIgnore
+  public double getFieldLength() {
+    return m_fieldDimensions.fieldLength;
+  }
+
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return width, in meters
+   */
+  @JsonIgnore
+  public double getFieldWidth() {
+    return m_fieldDimensions.fieldWidth;
+  }
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
    * calculated from the field dimensions.
@@ -123,7 +143,7 @@ public class AprilTagFieldLayout {
    * @param origin The predefined origin
    */
   @JsonIgnore
-  public void setOrigin(OriginPosition origin) {
+  public final void setOrigin(OriginPosition origin) {
     switch (origin) {
       case kBlueAllianceWallRightSide:
         setOrigin(new Pose3d());
@@ -148,10 +168,20 @@ public class AprilTagFieldLayout {
    * @param origin The new origin for tag transformations
    */
   @JsonIgnore
-  public void setOrigin(Pose3d origin) {
+  public final void setOrigin(Pose3d origin) {
     m_origin = origin;
   }
 
+  /**
+   * Returns the origin used for tag pose transformation.
+   *
+   * @return the origin
+   */
+  @JsonIgnore
+  public Pose3d getOrigin() {
+    return m_origin;
+  }
+
   /**
    * Gets an AprilTag pose by its ID.
    *
@@ -199,9 +229,16 @@ 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/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -44,31 +44,119 @@ public class AprilTagJNI {
     }
   }
 
+  /**
+   * Constructs an AprilTag detector engine.
+   *
+   * @return The detector engine handle
+   */
   public static native long createDetector();
 
+  /**
+   * Destroys an AprilTag detector engine.
+   *
+   * @param det The detector engine handle
+   */
   public static native void destroyDetector(long det);
 
+  /**
+   * Sets the detector engine configuration.
+   *
+   * @param det The detector engine handle
+   * @param config A configuration
+   */
   public static native void setDetectorConfig(long det, AprilTagDetector.Config config);
 
+  /**
+   * Gets the detector engine configuration.
+   *
+   * @param det The detector engine handle
+   * @return The configuration
+   */
   public static native AprilTagDetector.Config getDetectorConfig(long det);
 
+  /**
+   * Sets the detector engine quad threshold parameters.
+   *
+   * @param det The detector engine handle
+   * @param params Quad threshold parameters
+   */
   public static native void setDetectorQTP(
       long det, AprilTagDetector.QuadThresholdParameters params);
 
+  /**
+   * Gets the detector engine quad threshold parameters.
+   *
+   * @param det The detector engine handle
+   * @return Quad threshold parameters
+   */
   public static native AprilTagDetector.QuadThresholdParameters getDetectorQTP(long det);
 
+  /**
+   * Adds a family of tags to be detected by the detector engine.
+   *
+   * @param det The detector engine handle
+   * @param fam Family name, e.g. "tag16h5"
+   * @param bitsCorrected Maximum number of bits to correct
+   * @return False if family can't be found
+   */
   public static native boolean addFamily(long det, String fam, int bitsCorrected);
 
+  /**
+   * Removes a family of tags from the detector.
+   *
+   * @param det The detector engine handle
+   * @param fam Family name, e.g. "tag16h5"
+   */
   public static native void removeFamily(long det, String fam);
 
+  /**
+   * Unregister all families.
+   *
+   * @param det The detector engine handle
+   */
   public static native void clearFamilies(long det);
 
+  /**
+   * Detect tags from an 8-bit image.
+   *
+   * @param det The detector engine handle
+   * @param width The width of the image
+   * @param height The height of the image
+   * @param stride The number of bytes between image rows (often the same as width)
+   * @param bufAddr The address of the image buffer
+   * @return The results (array of AprilTagDetection)
+   */
   public static native AprilTagDetection[] detect(
       long det, int width, int height, int stride, long bufAddr);
 
+  /**
+   * Estimates the pose of the tag using the homography method described in [1].
+   *
+   * @param homography Homography 3x3 matrix data
+   * @param tagSize The tag size, in meters
+   * @param fx The camera horizontal focal length, in pixels
+   * @param fy The camera vertical focal length, in pixels
+   * @param cx The camera horizontal focal center, in pixels
+   * @param cy The camera vertical focal center, in pixels
+   * @return Pose estimate
+   */
   public static native Transform3d estimatePoseHomography(
       double[] homography, double tagSize, double fx, double fy, double cx, double cy);
 
+  /**
+   * Estimates the pose of the tag. This returns one or two possible poses for the tag, along with
+   * the object-space error of each.
+   *
+   * @param homography Homography 3x3 matrix data
+   * @param corners Corner point array (X and Y for each corner in order)
+   * @param tagSize The tag size, in meters
+   * @param fx The camera horizontal focal length, in pixels
+   * @param fy The camera vertical focal length, in pixels
+   * @param cx The camera horizontal focal center, in pixels
+   * @param cy The camera vertical focal center, in pixels
+   * @param nIters Number of iterations
+   * @return Initial and (possibly) second pose estimates
+   */
   public static native AprilTagPoseEstimate estimatePoseOrthogonalIteration(
       double[] homography,
       double[] corners,
@@ -79,6 +167,20 @@ public class AprilTagJNI {
       double cy,
       int nIters);
 
+  /**
+   * Estimates tag pose. This method is an easier to use interface to
+   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the pose with the lower
+   * object-space error.
+   *
+   * @param homography Homography 3x3 matrix data
+   * @param corners Corner point array (X and Y for each corner in order)
+   * @param tagSize The tag size, in meters
+   * @param fx The camera horizontal focal length, in pixels
+   * @param fy The camera vertical focal length, in pixels
+   * @param cx The camera horizontal focal center, in pixels
+   * @param cy The camera vertical focal center, in pixels
+   * @return Pose estimate
+   */
   public static native Transform3d estimatePose(
       double[] homography,
       double[] corners,
@@ -87,4 +189,8 @@ public class AprilTagJNI {
       double fy,
       double cx,
       double cy);
+
+  public static native void generate16h5AprilTagImage(int id, long nativeAddr);
+
+  public static native void generate36h11AprilTagImage(int id, long nativeAddr);
 }

apriltag/src/main/native/cpp/AprilTag.cpp

@@ -6,8 +6,56 @@
 
 #include <wpi/json.h>
 
+#ifdef _WIN32
+#pragma warning(disable : 4200)
+#elif defined(__clang__)
+#pragma clang diagnostic ignored "-Wc99-extensions"
+#elif defined(__GNUC__)
+#pragma GCC diagnostic ignored "-Wpedantic"
+#endif
+
+#include "apriltag.h"
+#include "tag16h5.h"
+#include "tag36h11.h"
+
 using namespace frc;
 
+wpi::RawFrame AprilTag::Generate36h11AprilTagImage(int id) {
+  apriltag_family_t* tagFamily = tag36h11_create();
+  image_u8_t* image = apriltag_to_image(tagFamily, id);
+  wpi::RawFrame markerFrame{};
+  size_t totalDataSize = image->height * image->stride * sizeof(char);
+  markerFrame.data = static_cast<char*>(
+      std::calloc(image->height * image->stride, sizeof(char)));
+  std::memcpy(markerFrame.data, image->buf, totalDataSize);
+  markerFrame.dataLength = image->width;
+  markerFrame.height = image->height;
+  markerFrame.pixelFormat = WPI_PIXFMT_GRAY;
+  markerFrame.width = image->stride;
+  markerFrame.totalData = totalDataSize;
+  image_u8_destroy(image);
+  tag36h11_destroy(tagFamily);
+  return markerFrame;
+}
+
+wpi::RawFrame AprilTag::Generate16h5AprilTagImage(int id) {
+  apriltag_family_t* tagFamily = tag16h5_create();
+  image_u8_t* image = apriltag_to_image(tagFamily, id);
+  wpi::RawFrame markerFrame{};
+  size_t totalDataSize = image->height * image->stride * sizeof(char);
+  markerFrame.data = static_cast<char*>(
+      std::calloc(image->height * image->stride, sizeof(char)));
+  std::memcpy(markerFrame.data, image->buf, totalDataSize);
+  markerFrame.dataLength = image->width;
+  markerFrame.height = image->height;
+  markerFrame.pixelFormat = WPI_PIXFMT_GRAY;
+  markerFrame.width = image->stride;
+  markerFrame.totalData = totalDataSize;
+  image_u8_destroy(image);
+  tag16h5_destroy(tagFamily);
+  return markerFrame;
+}
+
 void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
   json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
 }

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->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
@@ -42,6 +41,23 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
+units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+  return m_fieldLength;
+}
+
+units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
+  return m_fieldWidth;
+}
+
+std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
+  std::vector<AprilTag> tags;
+  tags.reserve(m_apriltags.size());
+  for (const auto& tag : m_apriltags) {
+    tags.emplace_back(tag.second);
+  }
+  return tags;
+}
+
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
@@ -60,6 +76,10 @@ void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
   m_origin = origin;
 }
 
+Pose3d AprilTagFieldLayout::GetOrigin() const {
+  return m_origin;
+}
+
 std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {

apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp

@@ -8,6 +8,7 @@
 #include <wpi/jni_util.h>
 
 #include "edu_wpi_first_apriltag_jni_AprilTagJNI.h"
+#include "frc/apriltag/AprilTag.h"
 #include "frc/apriltag/AprilTagDetector.h"
 #include "frc/apriltag/AprilTagPoseEstimator.h"
 
@@ -504,15 +505,14 @@ 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 +530,7 @@ 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 +541,7 @@ 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 +549,7 @@ 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 +567,7 @@ 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 +578,40 @@ 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));
+}
+
+/*
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
+ * Method:    generate16h5AprilTagImage
+ * Signature: (IJ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
+  (JNIEnv* env, jclass, jint id, jlong framePtr)
+{
+  wpi::RawFrame* javaRawFrame = (wpi::RawFrame*)framePtr;
+  *javaRawFrame = AprilTag::Generate16h5AprilTagImage(id);
+}
+
+/*
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
+ * Method:    generate36h11AprilTagImage
+ * Signature: (IJ)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
+  (JNIEnv* env, jclass, jint id, jlong framePtr)
+{
+  wpi::RawFrame* javaRawFrame = (wpi::RawFrame*)framePtr;
+  *javaRawFrame = AprilTag::Generate36h11AprilTagImage(id);
 }
 
 }  // extern "C"

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

@@ -4,14 +4,12 @@
 
 #pragma once
 
+#include <wpi/RawFrame.h>
 #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 {
@@ -23,6 +21,9 @@ struct WPILIB_DLLEXPORT AprilTag {
    * Checks equality between this AprilTag and another object.
    */
   bool operator==(const AprilTag&) const = default;
+
+  static wpi::RawFrame Generate36h11AprilTagImage(int id);
+  static wpi::RawFrame Generate16h5AprilTagImage(int id);
 };
 
 WPILIB_DLLEXPORT

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 {
 
 /**
@@ -94,7 +93,7 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag.
+   * wrap counter-clock wise around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point
@@ -105,7 +104,8 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
 
   /**
    * Gets the corners of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag.
+   * wrap counter-clock wise around the tag. The first set of corner coordinates
+   * are the coordinates for the bottom left corner.
    *
    * @param cornersBuf Corner point array (X and Y for each corner in order)
    * @return Corner point array (copy of cornersBuf span)

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

@@ -205,7 +205,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
    * Adds a family of tags to be detected.
    *
    * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected
+   * @param bitsCorrected Maximum number of bits to correct
    * @return False if family can't be found
    */
   bool AddFamily(std::string_view fam, int bitsCorrected = 2);
@@ -226,6 +226,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   /**
    * Detect tags from an 8-bit image.
+   * The image must be grayscale.
    *
    * @param width width of the image
    * @param height height of the image
@@ -237,6 +238,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   /**
    * Detect tags from an 8-bit image.
+   * The image must be grayscale.
    *
    * @param width width of the image
    * @param height height of the image

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
@@ -65,6 +62,24 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
   AprilTagFieldLayout(std::vector<AprilTag> apriltags,
                       units::meter_t fieldLength, units::meter_t fieldWidth);
 
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return length
+   */
+  units::meter_t GetFieldLength() const;
+
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return width
+   */
+  units::meter_t GetFieldWidth() const;
+
+  /**
+   * Returns a vector of all the april tags used in this layout.
+   * @return list of tags
+   */
+  std::vector<AprilTag> GetTags() const;
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame
    * origins. The origins are calculated from the field dimensions.
@@ -86,6 +101,12 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    */
   void SetOrigin(const Pose3d& origin);
 
+  /**
+   * Returns the origin used for tag pose transformation.
+   * @return the origin
+   */
+  Pose3d GetOrigin() const;
+
   /**
    * Gets an AprilTag pose by its ID.
    *

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

@@ -12,7 +12,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.util.Units;
-import java.io.IOException;
 import java.util.Optional;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
@@ -28,7 +27,7 @@ class LoadConfigTest {
   }
 
   @Test
-  void test2022RapidReact() throws IOException {
+  void test2022RapidReact() {
     AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
 
     // Blue Hangar Truss - Hub

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

@@ -23,7 +23,8 @@ plugins {
     id 'net.ltgt.errorprone' version '3.1.0' apply false
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
     id 'com.diffplug.spotless' version '6.20.0' apply false
-    id 'com.github.spotbugs' version '5.1.3' apply false
+    id 'com.github.spotbugs' version '6.0.2' apply false
+    id 'com.google.protobuf' version '0.9.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -49,6 +50,9 @@ buildScan {
     publishAlways()
 }
 
+import com.github.spotbugs.snom.Effort
+ext.spotbugsEffort = Effort.MAX
+
 ext.licenseFile = files("$rootDir/LICENSE.md", "$rootDir/ThirdPartyNotices.txt")
 
 if (project.hasProperty("publishVersion")) {
@@ -109,8 +113,10 @@ subprojects {
     }
 
     plugins.withType(JavaPlugin) {
-        sourceCompatibility = 11
-        targetCompatibility = 11
+        java {
+            sourceCompatibility = 11
+            targetCompatibility = 11
+        }
     }
 
     apply from: "${rootDir}/shared/java/javastyle.gradle"
@@ -126,6 +132,7 @@ subprojects {
 
     tasks.withType(JavaCompile) {
         options.compilerArgs.add '-XDstringConcat=inline'
+        options.encoding = 'UTF-8'
     }
 
     // Enables UTF-8 support in Javadoc
@@ -167,5 +174,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.1'
+    gradleVersion = '8.5'
 }

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2024.0.0"
+    implementation "edu.wpi.first:native-utils:2024.5.2"
 }

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)
         }
       }

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -28,7 +28,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
     private boolean checkJreVersion = true;
 
-    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2023:17.0.5u7-1"
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-1"
 
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {

cameraserver/.styleguide

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

cameraserver/CMakeLists.txt

@@ -3,10 +3,10 @@ project(cameraserver)
 include(CompileWarnings)
 include(AddTest)
 
-find_package( OpenCV REQUIRED )
+find_package(OpenCV REQUIRED)
 
 # Java bindings
-if (WITH_JAVA)
+if(WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
     set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
@@ -15,47 +15,69 @@ if (WITH_JAVA)
 
     set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
 
-    find_file(OPENCV_JAR_FILE NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin NO_DEFAULT_PATH)
+    find_file(
+        OPENCV_JAR_FILE
+        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
+        PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin
+        NO_DEFAULT_PATH
+    )
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
 
-    add_jar(cameraserver_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar cscore_jar ntcore_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cameraserver)
-
-    get_property(CAMERASERVER_JAR_FILE TARGET cameraserver_jar PROPERTY JAR_FILE)
-    install(FILES ${CAMERASERVER_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET cameraserver_jar PROPERTY FOLDER "java")
+    add_jar(
+        cameraserver_jar
+        ${JAVA_SOURCES}
+        INCLUDE_JARS wpiutil_jar cscore_jar ntcore_jar ${OPENCV_JAR_FILE}
+        OUTPUT_NAME cameraserver
+    )
 
+    install_jar(cameraserver_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(
+        TARGETS cameraserver_jar
+        FILE cameraserver_jar.cmake
+        DESTINATION share/cameraserver
+    )
 endif()
 
-file(GLOB_RECURSE
-    cameraserver_native_src src/main/native/cpp/*.cpp)
+if(WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB CAMERASERVER_SOURCES src/main/java/edu/wpi/first/cameraserver/*.java)
+    file(GLOB VISION_SOURCES src/main/java/edu/wpi/first/vision/*.java)
+    add_jar(
+        cameraserver_src_jar
+        RESOURCES
+        NAMESPACE "edu/wpi/first/cameraserver" ${CAMERASERVER_SOURCES}
+        NAMESPACE "edu/wpi/first/vision" ${VISION_SOURCES}
+        OUTPUT_NAME cameraserver-sources
+    )
+
+    get_property(CAMERASERVER_SRC_JAR_FILE TARGET cameraserver_src_jar PROPERTY JAR_FILE)
+    install(FILES ${CAMERASERVER_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET cameraserver_src_jar PROPERTY FOLDER "java")
+endif()
+
+file(GLOB_RECURSE cameraserver_native_src src/main/native/cpp/*.cpp)
 add_library(cameraserver ${cameraserver_native_src})
 set_target_properties(cameraserver PROPERTIES DEBUG_POSTFIX "d")
-target_include_directories(cameraserver PUBLIC
-                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-                            $<INSTALL_INTERFACE:${include_dest}/cameraserver>)
+target_include_directories(
+    cameraserver
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/cameraserver>
+)
 wpilib_target_warnings(cameraserver)
 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()
-    set (cameraserver_config_dir share/cameraserver)
-endif()
-
-configure_file(cameraserver-config.cmake.in ${WPILIB_BINARY_DIR}/cameraserver-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/cameraserver-config.cmake DESTINATION ${cameraserver_config_dir})
-install(EXPORT cameraserver DESTINATION ${cameraserver_config_dir})
+configure_file(cameraserver-config.cmake.in ${WPILIB_BINARY_DIR}/cameraserver-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/cameraserver-config.cmake DESTINATION share/cameraserver)
+install(EXPORT cameraserver DESTINATION share/cameraserver)
 
 file(GLOB multiCameraServer_src multiCameraServer/src/main/native/cpp/*.cpp)
 add_executable(multiCameraServer ${multiCameraServer_src})
@@ -64,7 +86,7 @@ target_link_libraries(multiCameraServer cameraserver)
 
 set_property(TARGET multiCameraServer PROPERTY FOLDER "examples")
 
-if (WITH_TESTS)
+if(WITH_TESTS)
     wpilib_add_test(cameraserver src/test/native/cpp)
     target_link_libraries(cameraserver_test cameraserver gtest)
 endif()

cameraserver/cameraserver-config.cmake.in

@@ -7,3 +7,6 @@ find_dependency(OpenCV)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/cameraserver.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/cameraserver_jar.cmake)
+endif()

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/java/edu/wpi/Main.java

@@ -98,7 +98,7 @@ public final class Main {
     // parse file
     JsonElement top;
     try {
-      top = new JsonParser().parse(Files.newBufferedReader(Paths.get(configFile)));
+      top = JsonParser.parseReader(Files.newBufferedReader(Paths.get(configFile)));
     } catch (IOException ex) {
       System.err.println("could not open '" + configFile + "': " + ex);
       return false;

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->GetCharBuffer());
   } 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/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -114,7 +114,7 @@ public final class CameraServer {
     }
 
     @Override
-    public void close() throws Exception {
+    public void close() {
       if (m_booleanValueEntry != null) {
         m_booleanValueEntry.close();
       }
@@ -745,6 +745,34 @@ public final class CameraServer {
     return newsink;
   }
 
+  /**
+   * Get OpenCV access to the specified camera. This allows you to get images from the camera for
+   * image processing on the roboRIO.
+   *
+   * @param camera Camera (e.g. as returned by startAutomaticCapture).
+   * @param pixelFormat Desired pixelFormat of the camera
+   * @return OpenCV sink for the specified camera
+   */
+  public static CvSink getVideo(VideoSource camera, PixelFormat pixelFormat) {
+    String name = "opencv_" + camera.getName();
+
+    synchronized (CameraServer.class) {
+      VideoSink sink = m_sinks.get(name);
+      if (sink != null) {
+        VideoSink.Kind kind = sink.getKind();
+        if (kind != VideoSink.Kind.kCv) {
+          throw new VideoException("expected OpenCV sink, but got " + kind);
+        }
+        return (CvSink) sink;
+      }
+    }
+
+    CvSink newsink = new CvSink(name, pixelFormat);
+    newsink.setSource(camera);
+    addServer(newsink);
+    return newsink;
+  }
+
   /**
    * Get OpenCV access to the specified camera. This allows you to get images from the camera for
    * image processing on the roboRIO.

cameraserver/src/main/java/edu/wpi/first/vision/VisionThread.java

@@ -21,6 +21,7 @@ public class VisionThread extends Thread {
    *
    * @param visionRunner the runner for a vision pipeline
    */
+  @SuppressWarnings("this-escape")
   public VisionThread(VisionRunner<?> visionRunner) {
     super(visionRunner::runForever, "WPILib Vision Thread");
     setDaemon(true);

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

@@ -622,6 +622,33 @@ cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera) {
   return newsink;
 }
 
+cs::CvSink CameraServer::GetVideo(const cs::VideoSource& camera,
+                                  cs::VideoMode::PixelFormat pixelFormat) {
+  auto& inst = ::GetInstance();
+  wpi::SmallString<64> name{"opencv_"};
+  name += camera.GetName();
+
+  {
+    std::scoped_lock lock(inst.m_mutex);
+    auto it = inst.m_sinks.find(name);
+    if (it != inst.m_sinks.end()) {
+      auto kind = it->second.GetKind();
+      if (kind != cs::VideoSink::kCv) {
+        auto csShared = GetCameraServerShared();
+        csShared->SetCameraServerError("expected OpenCV sink, but got {}",
+                                       static_cast<int>(kind));
+        return cs::CvSink{};
+      }
+      return *static_cast<cs::CvSink*>(&it->second);
+    }
+  }
+
+  cs::CvSink newsink{name.str(), pixelFormat};
+  newsink.SetSource(camera);
+  AddServer(newsink);
+  return newsink;
+}
+
 cs::CvSink CameraServer::GetVideo(std::string_view name) {
   auto& inst = ::GetInstance();
   cs::VideoSource source;
@@ -638,6 +665,23 @@ cs::CvSink CameraServer::GetVideo(std::string_view name) {
   return GetVideo(source);
 }
 
+cs::CvSink CameraServer::GetVideo(std::string_view name,
+                                  cs::VideoMode::PixelFormat pixelFormat) {
+  auto& inst = ::GetInstance();
+  cs::VideoSource source;
+  {
+    std::scoped_lock lock(inst.m_mutex);
+    auto it = inst.m_sources.find(name);
+    if (it == inst.m_sources.end()) {
+      auto csShared = GetCameraServerShared();
+      csShared->SetCameraServerError("could not find camera {}", name);
+      return cs::CvSink{};
+    }
+    source = it->second;
+  }
+  return GetVideo(source, pixelFormat);
+}
+
 cs::CvSource CameraServer::PutVideo(std::string_view name, int width,
                                     int height) {
   ::GetInstance();
@@ -717,22 +761,3 @@ 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

@@ -191,6 +191,17 @@ class CameraServer {
    */
   static cs::CvSink GetVideo(const cs::VideoSource& camera);
 
+  /**
+   * Get OpenCV access to the specified camera.  This allows you to get
+   * images from the camera for image processing on the roboRIO.
+   *
+   * @param camera Camera (e.g. as returned by startAutomaticCapture).
+   * @param pixelFormat The desired pixelFormat of captured frames from the
+   * camera
+   */
+  static cs::CvSink GetVideo(const cs::VideoSource& camera,
+                             cs::VideoMode::PixelFormat pixelFormat);
+
   /**
    * Get OpenCV access to the specified camera.  This allows you to get
    * images from the camera for image processing on the roboRIO.
@@ -199,6 +210,17 @@ class CameraServer {
    */
   static cs::CvSink GetVideo(std::string_view name);
 
+  /**
+   * Get OpenCV access to the specified camera.  This allows you to get
+   * images from the camera for image processing on the roboRIO.
+   *
+   * @param name Camera name
+   * @param pixelFormat The desired pixelFormat of captured frames from the
+   * camera
+   */
+  static cs::CvSink GetVideo(std::string_view name,
+                             cs::VideoMode::PixelFormat pixelFormat);
+
   /**
    * Create a MJPEG stream with OpenCV input. This can be called to pass custom
    * annotated images to the dashboard.
@@ -267,17 +289,6 @@ 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/AddTest.cmake

@@ -4,10 +4,10 @@ macro(wpilib_add_test name srcdir)
     file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
     add_executable(${name}_test ${test_src})
     wpilib_target_warnings(${name}_test)
-    if (BUILD_SHARED_LIBS)
+    if(BUILD_SHARED_LIBS)
         target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
     endif()
-    if (MSVC)
+    if(MSVC)
         target_compile_options(${name}_test PRIVATE /wd4101 /wd4251)
     endif()
     add_test(NAME ${name} COMMAND ${name}_test)

cmake/modules/CompileWarnings.cmake

@@ -1,15 +1,48 @@
 macro(wpilib_target_warnings target)
     if(NOT MSVC)
-        target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter ${WPILIB_TARGET_WARNINGS})
+        target_compile_options(
+            ${target}
+            PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter ${WPILIB_TARGET_WARNINGS}
+        )
     else()
-        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /WX /D_CRT_SECURE_NO_WARNINGS ${WPILIB_TARGET_WARNINGS})
+        target_compile_options(
+            ${target}
+            PRIVATE
+                /wd4146
+                /wd4244
+                /wd4251
+                /wd4267
+                /WX
+                /D_CRT_SECURE_NO_WARNINGS
+                ${WPILIB_TARGET_WARNINGS}
+        )
     endif()
 
     # Suppress C++-specific OpenCV warning; C compiler rejects it with an error
     # https://github.com/opencv/opencv/issues/20269
     if(UNIX AND NOT APPLE)
-        target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-enum-enum-conversion>)
+        target_compile_options(
+            ${target}
+            PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-enum-enum-conversion>
+        )
     elseif(UNIX AND APPLE)
-        target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:CXX>:-Wno-deprecated-anon-enum-enum-conversion>)
+        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/FindLIBSSH.cmake

@@ -38,30 +38,28 @@ if(LIBSSH_LIBRARIES AND LIBSSH_INCLUDE_DIRS)
     # in cache already
     set(LIBSSH_FOUND TRUE)
 else()
-    find_path(LIBSSH_INCLUDE_DIR
-        NAMES
-        libssh/libssh.h
+    find_path(
+        LIBSSH_INCLUDE_DIR
+        NAMES libssh/libssh.h
         PATHS
-        /usr/include
-        /usr/local/include
-        /opt/local/include
-        /sw/include
-        ${CMAKE_INCLUDE_PATH}
-        ${CMAKE_INSTALL_PREFIX}/include
+            /usr/include
+            /usr/local/include
+            /opt/local/include
+            /sw/include
+            ${CMAKE_INCLUDE_PATH}
+            ${CMAKE_INSTALL_PREFIX}/include
     )
 
-    find_library(LIBSSH_LIBRARY
-        NAMES
-        ssh.so
-        libssh.so
-        libssh.dylib
+    find_library(
+        LIBSSH_LIBRARY
+        NAMES ssh.so libssh.so libssh.dylib
         PATHS
-        /usr/lib
-        /usr/local/lib
-        /opt/local/lib
-        /sw/lib
-        ${CMAKE_LIBRARY_PATH}
-        ${CMAKE_INSTALL_PREFIX}/lib
+            /usr/lib
+            /usr/local/lib
+            /opt/local/lib
+            /sw/lib
+            ${CMAKE_LIBRARY_PATH}
+            ${CMAKE_INSTALL_PREFIX}/lib
     )
 
     if(LIBSSH_INCLUDE_DIR AND LIBSSH_LIBRARY)
@@ -71,34 +69,60 @@ else()
         else()
             set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh.h)
         endif()
-        file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_MAJOR
-            REGEX "#define[ ]+LIBSSH_VERSION_MAJOR[ ]+[0-9]+")
+        file(
+            STRINGS
+            ${LIBSSH_HEADER_PATH}
+            LIBSSH_VERSION_MAJOR
+            REGEX "#define[ ]+LIBSSH_VERSION_MAJOR[ ]+[0-9]+"
+        )
         if(NOT LIBSSH_VERSION_MAJOR)
-            message(STATUS "LIBSSH_VERSION_MAJOR not found, assuming libssh is too old and cannot be used!")
+            message(
+                STATUS
+                "LIBSSH_VERSION_MAJOR not found, assuming libssh is too old and cannot be used!"
+            )
             set(LIBSSH_INCLUDE_DIR "LIBSSH_INCLUDE_DIR-NOTFOUND")
             set(LIBSSH_LIBRARY "LIBSSH_LIBRARY-NOTFOUND")
         else()
             string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MAJOR ${LIBSSH_VERSION_MAJOR})
-            file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_MINOR
-                REGEX "#define[ ]+LIBSSH_VERSION_MINOR[ ]+[0-9]+")
+            file(
+                STRINGS
+                ${LIBSSH_HEADER_PATH}
+                LIBSSH_VERSION_MINOR
+                REGEX "#define[ ]+LIBSSH_VERSION_MINOR[ ]+[0-9]+"
+            )
             string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MINOR ${LIBSSH_VERSION_MINOR})
-            file(STRINGS ${LIBSSH_HEADER_PATH} LIBSSH_VERSION_PATCH
-                REGEX "#define[ ]+LIBSSH_VERSION_MICRO[ ]+[0-9]+")
+            file(
+                STRINGS
+                ${LIBSSH_HEADER_PATH}
+                LIBSSH_VERSION_PATCH
+                REGEX "#define[ ]+LIBSSH_VERSION_MICRO[ ]+[0-9]+"
+            )
             string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_PATCH ${LIBSSH_VERSION_PATCH})
 
-            set(LIBSSH_VERSION ${LIBSSH_VERSION_MAJOR}.${LIBSSH_VERSION_MINOR}.${LIBSSH_VERSION_PATCH})
+            set(LIBSSH_VERSION
+                ${LIBSSH_VERSION_MAJOR}.${LIBSSH_VERSION_MINOR}.${LIBSSH_VERSION_PATCH}
+            )
 
             if(LIBSSH_VERSION VERSION_LESS 0.8.0)
                 # libssh_threads also needs to be linked for these versions
-                string(REPLACE "libssh.so" "libssh_threads.so"
+                string(
+                    REPLACE
+                    "libssh.so"
+                    "libssh_threads.so"
                     LIBSSH_THREADS_LIBRARY
                     ${LIBSSH_LIBRARY}
                 )
-                string(REPLACE "libssh.dylib" "libssh_threads.dylib"
+                string(
+                    REPLACE
+                    "libssh.dylib"
+                    "libssh_threads.dylib"
                     LIBSSH_THREADS_LIBRARY
                     ${LIBSSH_THREADS_LIBRARY}
                 )
-                string(REPLACE "ssh.so" "ssh_threads.so"
+                string(
+                    REPLACE
+                    "ssh.so"
+                    "ssh_threads.so"
                     LIBSSH_THREADS_LIBRARY
                     ${LIBSSH_THREADS_LIBRARY}
                 )
@@ -110,7 +134,10 @@ else()
     set(LIBSSH_LIBRARIES ${LIBSSH_LIBRARY} ${LIBSSH_THREADS_LIBRARY})
     mark_as_advanced(LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES)
 
-    find_package_handle_standard_args(LIBSSH FOUND_VAR LIBSSH_FOUND
+    find_package_handle_standard_args(
+        LIBSSH
+        FOUND_VAR LIBSSH_FOUND
         REQUIRED_VARS LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES
-        VERSION_VAR LIBSSH_VERSION)
+        VERSION_VAR LIBSSH_VERSION
+    )
 endif()

cmake/modules/GenResources.cmake

@@ -1,26 +1,30 @@
-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(
-      OUTPUT ${output}
-      COMMAND ${CMAKE_COMMAND}
-        "-Dinput=${input}"
-        "-Doutput=${output}"
-        "-Dprefix=${prefix}"
-        "-Dnamespace=${namespace}"
-        -P "${SCRIPTS_DIR}/GenResource.cmake"
-      MAIN_DEPENDENCY ${input}
-      DEPENDS ${SCRIPTS_DIR}/GenResource.cmake
-      VERBATIM
-    )
-  ENDFOREACH()
-ENDMACRO()
+        add_custom_command(
+            OUTPUT ${output}
+            COMMAND
+                ${CMAKE_COMMAND} "-Dinput=${input}" "-Doutput=${output}" "-Dprefix=${prefix}"
+                "-Dnamespace=${namespace}" -P "${scripts_dir}/GenResource.cmake"
+            MAIN_DEPENDENCY ${input}
+            DEPENDS ${scripts_dir}/GenResource.cmake
+            VERBATIM
+        )
+    endforeach()
+endmacro()

cmake/modules/LinkMacOSGUI.cmake

@@ -1,5 +1,8 @@
 macro(wpilib_link_macos_gui target)
-    if (APPLE)
-        set_target_properties(${target} PROPERTIES LINK_FLAGS "-framework Metal -framework QuartzCore")
+    if(APPLE)
+        set_target_properties(
+            ${target}
+            PROPERTIES LINK_FLAGS "-framework Metal -framework QuartzCore"
+        )
     endif()
 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/scripts/GenResource.cmake

@@ -1,23 +1,35 @@
 # Parameters: input output prefix namespace
-FILE(READ ${input} fileHex HEX)
-STRING(LENGTH "${fileHex}" fileHexSize)
-MATH(EXPR fileSize "${fileHexSize} / 2")
+file(READ ${input} fileHex HEX)
+string(LENGTH "${fileHex}" fileHexSize)
+math(EXPR fileSize "${fileHexSize} / 2")
 
-GET_FILENAME_COMPONENT(inputBase ${input} NAME)
-STRING(REGEX REPLACE "[^a-zA-Z0-9]" "_" funcName "${inputBase}")
-SET(funcName "GetResource_${funcName}")
+get_filename_component(inputBase ${input} NAME)
+string(REGEX REPLACE "[^a-zA-Z0-9]" "_" funcName "${inputBase}")
+set(funcName "GetResource_${funcName}")
 
-FILE(WRITE "${output}" "#include <stddef.h>\n#include <string_view>\nextern \"C\" {\nstatic const unsigned char contents[] = {")
+file(
+    WRITE
+    "${output}"
+    "#include <stddef.h>\n#include <string_view>\nextern \"C\" {\nstatic const unsigned char contents[] = {"
+)
 
-STRING(REGEX MATCHALL ".." outputData "${fileHex}")
-STRING(REGEX REPLACE ";" ", 0x" outputData "${outputData}")
-FILE(APPEND "${output}" " 0x${outputData} };\n")
-FILE(APPEND "${output}" "const unsigned char* ${prefix}${funcName}(size_t* len) {\n  *len = ${fileSize};\n  return contents;\n}\n}\n")
+string(REGEX MATCHALL ".." outputData "${fileHex}")
+string(REGEX REPLACE ";" ", 0x" outputData "${outputData}")
+file(APPEND "${output}" " 0x${outputData} };\n")
+file(
+    APPEND
+    "${output}"
+    "const unsigned char* ${prefix}${funcName}(size_t* len) {\n  *len = ${fileSize};\n  return contents;\n}\n}\n"
+)
 
-IF(NOT namespace STREQUAL "")
-  FILE(APPEND "${output}" "namespace ${namespace} {\n")
-ENDIF()
-FILE(APPEND "${output}" "std::string_view ${funcName}() {\n  return std::string_view(reinterpret_cast<const char*>(contents), ${fileSize});\n}\n")
-IF(NOT namespace STREQUAL "")
-  FILE(APPEND "${output}" "}\n")
-ENDIF()
+if(NOT namespace STREQUAL "")
+    file(APPEND "${output}" "namespace ${namespace} {\n")
+endif()
+file(
+    APPEND
+    "${output}"
+    "std::string_view ${funcName}() {\n  return std::string_view(reinterpret_cast<const char*>(contents), ${fileSize});\n}\n"
+)
+if(NOT namespace STREQUAL "")
+    file(APPEND "${output}" "}\n")
+endif()

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;

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

@@ -190,12 +190,12 @@ struct RelayHandle {
   HAL_RelayHandle handle = 0;
 };
 
-#define ASSERT_LAST_ERROR_STATUS(status, x)                          \
-  do {                                                               \
-    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
-    const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
-    static_cast<void>(lastErrorMessageInMacro);                      \
-    ASSERT_EQ(status, x);                                            \
+#define ASSERT_LAST_ERROR_STATUS(status, x)                \
+  do {                                                     \
+    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                 \
+    [[maybe_unused]] const char* lastErrorMessageInMacro = \
+        HAL_GetLastError(&status);                         \
+    ASSERT_EQ(status, x);                                  \
   } while (0)
 
 }  // namespace hlt

cscore/.styleguide

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

cscore/CMakeLists.txt

@@ -5,10 +5,9 @@ include(CompileWarnings)
 include(AddTest)
 include(LinkMacOSGUI)
 
-find_package( OpenCV REQUIRED )
+find_package(OpenCV REQUIRED)
 
-file(GLOB
-    cscore_native_src src/main/native/cpp/*.cpp)
+file(GLOB cscore_native_src src/main/native/cpp/*.cpp)
 file(GLOB cscore_linux_src src/main/native/linux/*.cpp)
 file(GLOB cscore_osx_src src/main/native/osx/*.cpp)
 file(GLOB cscore_osx_objc_src src/main/native/objcpp/*.mm)
@@ -18,10 +17,15 @@ add_library(cscore ${cscore_native_src})
 set_target_properties(cscore PROPERTIES DEBUG_POSTFIX "d")
 
 if(NOT MSVC)
-    if (APPLE)
+    if(APPLE)
         target_sources(cscore PRIVATE ${cscore_osx_src} ${cscore_osx_objc_src})
         target_compile_options(cscore PRIVATE "-fobjc-arc")
-        set_target_properties(cscore PROPERTIES LINK_FLAGS "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo")
+        set_target_properties(
+            cscore
+            PROPERTIES
+                LINK_FLAGS
+                    "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo"
+        )
     else()
         target_sources(cscore PRIVATE ${cscore_linux_src})
     endif()
@@ -31,29 +35,26 @@ else()
     target_compile_definitions(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
 endif()
 
-target_include_directories(cscore PUBLIC
-                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-                            $<INSTALL_INTERFACE:${include_dest}/cscore>)
+target_include_directories(
+    cscore
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/cscore>
+)
 target_include_directories(cscore PRIVATE src/main/native/cpp)
 wpilib_target_warnings(cscore)
 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)
-    set (cscore_config_dir ${wpilib_dest})
-else()
-    set (cscore_config_dir share/cscore)
-endif()
+configure_file(cscore-config.cmake.in ${WPILIB_BINARY_DIR}/cscore-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/cscore-config.cmake DESTINATION share/cscore)
+install(EXPORT cscore DESTINATION share/cscore)
 
-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)
@@ -68,7 +69,7 @@ foreach(example ${cscore_examples})
         add_executable(cscore_${example} ${cscore_example_src})
         wpilib_target_warnings(cscore_${example})
 
-        if (${example} STREQUAL "usbviewer")
+        if(${example} STREQUAL "usbviewer")
             wpilib_link_macos_gui(cscore_${example})
         endif()
 
@@ -78,7 +79,7 @@ foreach(example ${cscore_examples})
 endforeach()
 
 # Java bindings
-if (WITH_JAVA)
+if(WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
@@ -90,64 +91,100 @@ if (WITH_JAVA)
         set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
     endif()
 
-    find_file(OPENCV_JAR_FILE NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/share/java NO_DEFAULT_PATH)
-    find_file(OPENCV_JNI_FILE NAMES libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.so
-                                    libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dylib
-                                    opencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
-                                    PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/bin/Release ${OpenCV_INSTALL_PATH}/bin/Debug ${OpenCV_INSTALL_PATH}/lib ${OpenCV_INSTALL_PATH}/lib/jni NO_DEFAULT_PATH)
+    find_file(
+        OPENCV_JAR_FILE
+        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
+        PATHS
+            ${OPENCV_JAVA_INSTALL_DIR}
+            ${OpenCV_INSTALL_PATH}/bin
+            ${OpenCV_INSTALL_PATH}/share/java
+        NO_DEFAULT_PATH
+    )
+    find_file(
+        OPENCV_JNI_FILE
+        NAMES
+            libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.so
+            libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dylib
+            opencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
+        PATHS
+            ${OPENCV_JAVA_INSTALL_DIR}
+            ${OpenCV_INSTALL_PATH}/bin
+            ${OpenCV_INSTALL_PATH}/bin/Release
+            ${OpenCV_INSTALL_PATH}/bin/Debug
+            ${OpenCV_INSTALL_PATH}/lib
+            ${OpenCV_INSTALL_PATH}/lib/jni
+        NO_DEFAULT_PATH
+    )
 
-    file(GLOB
-        cscore_jni_src src/main/native/cpp/jni/CameraServerJNI.cpp)
+    file(GLOB cscore_jni_src src/main/native/cpp/jni/CameraServerJNI.cpp)
 
     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}")
+    install_jar(cscore_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS cscore_jar FILE cscore_jar.cmake DESTINATION share/cscore)
     install(FILES ${OPENCV_JAR_FILE} DESTINATION "${java_lib_dest}")
 
-    if (MSVC)
+    if(MSVC)
         install(FILES ${OPENCV_JNI_FILE} DESTINATION "${jni_lib_dest}")
 
         foreach(cvFile ${OpenCV_LIBS})
-            find_file(${cvFile}Loc NAMES ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
-                              PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/bin/Release ${OpenCV_INSTALL_PATH}/bin/Debug ${OpenCV_INSTALL_PATH}/lib NO_DEFAULT_PATH)
+            find_file(
+                ${cvFile}Loc
+                NAMES
+                    ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
+                PATHS
+                    ${OPENCV_JAVA_INSTALL_DIR}
+                    ${OpenCV_INSTALL_PATH}/bin
+                    ${OpenCV_INSTALL_PATH}/bin/Release
+                    ${OpenCV_INSTALL_PATH}/bin/Debug
+                    ${OpenCV_INSTALL_PATH}/lib
+                NO_DEFAULT_PATH
+            )
             install(FILES ${${cvFile}Loc} DESTINATION "${jni_lib_dest}")
         endforeach()
     endif()
 
-    set_property(TARGET cscore_jar PROPERTY FOLDER "java")
-
     add_library(cscorejni ${cscore_jni_src})
     wpilib_target_warnings(cscorejni)
     target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})
 
     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()
 
-if (WITH_TESTS)
+if(WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB CSCORE_SOURCES src/main/java/edu/wpi/first/cscore/*.java)
+    file(GLOB CSCORE_RAW_SOURCES src/main/java/edu/wpi/first/cscore/raw/*.java)
+    add_jar(
+        cscore_src_jar
+        RESOURCES
+        NAMESPACE "edu/wpi/first/cscore" ${CSCORE_SOURCES}
+        NAMESPACE "edu/wpi/first/cscore/raw" ${CSCORE_RAW_SOURCES}
+        OUTPUT_NAME cscore-sources
+    )
+
+    get_property(CSCORE_SRC_JAR_FILE TARGET cscore_src_jar PROPERTY JAR_FILE)
+    install(FILES ${CSCORE_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET cscore_src_jar PROPERTY FOLDER "java")
+endif()
+
+if(WITH_TESTS)
     wpilib_add_test(cscore src/test/native/cpp)
     target_link_libraries(cscore_test cscore gmock)
 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/cscore-config.cmake.in

@@ -5,3 +5,6 @@ find_dependency(OpenCV)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/cscore.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/cscore_jar.cmake)
+endif()

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

@@ -64,7 +64,7 @@ public class CameraServerCvJNI {
 
   public static native void putSourceFrame(int source, long imageNativeObj);
 
-  public static native int createCvSink(String name);
+  public static native int createCvSink(String name, int pixelFormat);
 
   // public static native int createCvSinkCallback(String name,
   //                            void (*processFrame)(long time));

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

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.cscore;
 
-import edu.wpi.first.cscore.raw.RawFrame;
+import edu.wpi.first.util.RawFrame;
 import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.nio.ByteBuffer;
@@ -387,10 +387,6 @@ public class CameraServerJNI {
 
   public static native String[] getNetworkInterfaces();
 
-  public static native long allocateRawFrame();
-
-  public static native void freeRawFrame(long frame);
-
   public static native void runMainRunLoop();
 
   public static native int runMainRunLoopTimeout(double timeoutSeconds);

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import org.opencv.core.Mat;
 
 /**
@@ -16,9 +17,20 @@ public class CvSink extends ImageSink {
    * get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
+   * @param pixelFormat Source pixel format
+   */
+  public CvSink(String name, PixelFormat pixelFormat) {
+    super(CameraServerCvJNI.createCvSink(name, pixelFormat.getValue()));
+  }
+
+  /**
+   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * get each new image. Defaults to kBGR for pixelFormat
+   *
+   * @param name Source name (arbitrary unique identifier)
    */
   public CvSink(String name) {
-    super(CameraServerCvJNI.createCvSink(name));
+    this(name, PixelFormat.kBGR);
   }
 
   /// Create a sink for accepting OpenCV images in a separate thread.

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

@@ -102,7 +102,7 @@ public class VideoListener implements AutoCloseable {
                       listener.accept(event);
                     } catch (Throwable throwable) {
                       System.err.println(
-                          "Unhandled exception during listener callback: " + throwable.toString());
+                          "Unhandled exception during listener callback: " + throwable);
                       throwable.printStackTrace();
                     }
                   }

cscore/src/main/java/edu/wpi/first/cscore/raw/RawSink.java

@@ -6,6 +6,7 @@ package edu.wpi.first.cscore.raw;
 
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.ImageSink;
+import edu.wpi.first.util.RawFrame;
 
 /**
  * A sink for user code to accept video frames as raw bytes.

cscore/src/main/java/edu/wpi/first/cscore/raw/RawSource.java

@@ -7,6 +7,7 @@ package edu.wpi.first.cscore.raw;
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.ImageSource;
 import edu.wpi.first.cscore.VideoMode;
+import edu.wpi.first.util.RawFrame;
 
 /**
  * A source for user code to provide video frames as raw bytes.

cscore/src/main/native/cpp/CvSinkImpl.cpp

@@ -19,16 +19,18 @@
 using namespace cs;
 
 CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
-                       Notifier& notifier, Telemetry& telemetry)
-    : SinkImpl{name, logger, notifier, telemetry} {
+                       Notifier& notifier, Telemetry& telemetry,
+                       VideoMode::PixelFormat pixelFormat)
+    : SinkImpl{name, logger, notifier, telemetry}, m_pixelFormat{pixelFormat} {
   m_active = true;
   // m_thread = std::thread(&CvSinkImpl::ThreadMain, this);
 }
 
 CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
                        Notifier& notifier, Telemetry& telemetry,
+                       VideoMode::PixelFormat pixelFormat,
                        std::function<void(uint64_t time)> processFrame)
-    : SinkImpl{name, logger, notifier, telemetry} {}
+    : SinkImpl{name, logger, notifier, telemetry}, m_pixelFormat{pixelFormat} {}
 
 CvSinkImpl::~CvSinkImpl() {
   Stop();
@@ -65,7 +67,7 @@ uint64_t CvSinkImpl::GrabFrame(cv::Mat& image) {
     return 0;  // signal error
   }
 
-  if (!frame.GetCv(image)) {
+  if (!frame.GetCv(image, m_pixelFormat)) {
     // Shouldn't happen, but just in case...
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
     return 0;
@@ -91,7 +93,7 @@ uint64_t CvSinkImpl::GrabFrame(cv::Mat& image, double timeout) {
     return 0;  // signal error
   }
 
-  if (!frame.GetCv(image)) {
+  if (!frame.GetCv(image, m_pixelFormat)) {
     // Shouldn't happen, but just in case...
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
     return 0;
@@ -127,20 +129,23 @@ void CvSinkImpl::ThreadMain() {
 
 namespace cs {
 
-CS_Sink CreateCvSink(std::string_view name, CS_Status* status) {
+CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
+                     CS_Status* status) {
   auto& inst = Instance::GetInstance();
   return inst.CreateSink(
       CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry));
+                                               inst.telemetry, pixelFormat));
 }
 
 CS_Sink CreateCvSinkCallback(std::string_view name,
+                             VideoMode::PixelFormat pixelFormat,
                              std::function<void(uint64_t time)> processFrame,
                              CS_Status* status) {
   auto& inst = Instance::GetInstance();
   return inst.CreateSink(
-      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry, processFrame));
+      CS_SINK_CV,
+      std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
+                                   inst.telemetry, pixelFormat, processFrame));
 }
 
 static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
@@ -206,15 +211,19 @@ void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
 
 extern "C" {
 
-CS_Sink CS_CreateCvSink(const char* name, CS_Status* status) {
-  return cs::CreateCvSink(name, status);
+CS_Sink CS_CreateCvSink(const char* name, enum WPI_PixelFormat pixelFormat,
+                        CS_Status* status) {
+  return cs::CreateCvSink(
+      name, static_cast<VideoMode::PixelFormat>(pixelFormat), status);
 }
 
-CS_Sink CS_CreateCvSinkCallback(const char* name, void* data,
+CS_Sink CS_CreateCvSinkCallback(const char* name,
+                                enum WPI_PixelFormat pixelFormat, void* data,
                                 void (*processFrame)(void* data, uint64_t time),
                                 CS_Status* status) {
   return cs::CreateCvSinkCallback(
-      name, [=](uint64_t time) { processFrame(data, time); }, status);
+      name, static_cast<VideoMode::PixelFormat>(pixelFormat),
+      [=](uint64_t time) { processFrame(data, time); }, status);
 }
 
 void CS_SetSinkDescription(CS_Sink sink, const char* description,

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

@@ -25,9 +25,9 @@ class SourceImpl;
 class CvSinkImpl : public SinkImpl {
  public:
   CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry);
+             Telemetry& telemetry, VideoMode::PixelFormat pixelFormat);
   CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry,
+             Telemetry& telemetry, VideoMode::PixelFormat pixelFormat,
              std::function<void(uint64_t time)> processFrame);
   ~CvSinkImpl() override;
 
@@ -42,6 +42,7 @@ class CvSinkImpl : public SinkImpl {
   std::atomic_bool m_active;  // set to false to terminate threads
   std::thread m_thread;
   std::function<void(uint64_t time)> m_processFrame;
+  VideoMode::PixelFormat m_pixelFormat;
 };
 
 }  // namespace cs

cscore/src/main/native/cpp/Frame.cpp

@@ -709,8 +709,9 @@ Image* Frame::GetImageImpl(int width, int height,
   return ConvertImpl(cur, pixelFormat, requiredJpegQuality, defaultJpegQuality);
 }
 
-bool Frame::GetCv(cv::Mat& image, int width, int height) {
-  Image* rawImage = GetImage(width, height, VideoMode::kBGR);
+bool Frame::GetCv(cv::Mat& image, int width, int height,
+                  VideoMode::PixelFormat pixelFormat) {
+  Image* rawImage = GetImage(width, height, pixelFormat);
   if (!rawImage) {
     return false;
   }

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

@@ -219,10 +219,11 @@ class Frame {
                         defaultQuality);
   }
 
-  bool GetCv(cv::Mat& image) {
-    return GetCv(image, GetOriginalWidth(), GetOriginalHeight());
+  bool GetCv(cv::Mat& image, VideoMode::PixelFormat pixelFormat) {
+    return GetCv(image, GetOriginalWidth(), GetOriginalHeight(), pixelFormat);
   }
-  bool GetCv(cv::Mat& image, int width, int height);
+  bool GetCv(cv::Mat& image, int width, int height,
+             VideoMode::PixelFormat pixelFormat);
 
  private:
   Image* ConvertImpl(Image* image, VideoMode::PixelFormat pixelFormat,

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/RawSinkImpl.cpp

@@ -40,7 +40,7 @@ void RawSinkImpl::Stop() {
   }
 }
 
-uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image) {
+uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image) {
   SetEnabled(true);
 
   auto source = GetSource();
@@ -60,7 +60,7 @@ uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image) {
   return GrabFrameImpl(image, frame);
 }
 
-uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image, double timeout) {
+uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout) {
   SetEnabled(true);
 
   auto source = GetSource();
@@ -80,11 +80,11 @@ uint64_t RawSinkImpl::GrabFrame(CS_RawFrame& image, double timeout) {
   return GrabFrameImpl(image, frame);
 }
 
-uint64_t RawSinkImpl::GrabFrameImpl(CS_RawFrame& rawFrame,
+uint64_t RawSinkImpl::GrabFrameImpl(WPI_RawFrame& rawFrame,
                                     Frame& incomingFrame) {
   Image* newImage = nullptr;
 
-  if (rawFrame.pixelFormat == CS_PixelFormat::CS_PIXFMT_UNKNOWN) {
+  if (rawFrame.pixelFormat == WPI_PixelFormat::WPI_PIXFMT_UNKNOWN) {
     // Always get incoming image directly on unknown
     newImage = incomingFrame.GetExistingImage(0);
   } else {
@@ -106,7 +106,7 @@ uint64_t RawSinkImpl::GrabFrameImpl(CS_RawFrame& rawFrame,
     return 0;
   }
 
-  CS_AllocateRawFrameData(&rawFrame, newImage->size());
+  WPI_AllocateRawFrameData(&rawFrame, newImage->size());
   rawFrame.height = newImage->height;
   rawFrame.width = newImage->width;
   rawFrame.pixelFormat = newImage->pixelFormat;
@@ -159,7 +159,7 @@ CS_Sink CreateRawSinkCallback(std::string_view name,
                                           inst.telemetry, processFrame));
 }
 
-uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status) {
+uint64_t GrabSinkFrame(CS_Sink sink, WPI_RawFrame& image, CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data || data->kind != CS_SINK_RAW) {
     *status = CS_INVALID_HANDLE;
@@ -168,7 +168,7 @@ uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status) {
   return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image);
 }
 
-uint64_t GrabSinkFrameTimeout(CS_Sink sink, CS_RawFrame& image, double timeout,
+uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
                               CS_Status* status) {
   auto data = Instance::GetInstance().GetSink(sink);
   if (!data || data->kind != CS_SINK_RAW) {
@@ -192,12 +192,12 @@ CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
       name, [=](uint64_t time) { processFrame(data, time); }, status);
 }
 
-uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct CS_RawFrame* image,
+uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct WPI_RawFrame* image,
                              CS_Status* status) {
   return cs::GrabSinkFrame(sink, *image, status);
 }
 
-uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct CS_RawFrame* image,
+uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* image,
                                     double timeout, CS_Status* status) {
   return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
 }

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

@@ -32,13 +32,13 @@ class RawSinkImpl : public SinkImpl {
 
   void Stop();
 
-  uint64_t GrabFrame(CS_RawFrame& frame);
-  uint64_t GrabFrame(CS_RawFrame& frame, double timeout);
+  uint64_t GrabFrame(WPI_RawFrame& frame);
+  uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
 
  private:
   void ThreadMain();
 
-  uint64_t GrabFrameImpl(CS_RawFrame& rawFrame, Frame& incomingFrame);
+  uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);
 
   std::atomic_bool m_active;  // set to false to terminate threads
   std::thread m_thread;

cscore/src/main/native/cpp/RawSourceImpl.cpp

@@ -21,7 +21,7 @@ RawSourceImpl::RawSourceImpl(std::string_view name, wpi::Logger& logger,
 
 RawSourceImpl::~RawSourceImpl() = default;
 
-void RawSourceImpl::PutFrame(const CS_RawFrame& image) {
+void RawSourceImpl::PutFrame(const WPI_RawFrame& image) {
   int type;
   switch (image.pixelFormat) {
     case VideoMode::kYUYV:
@@ -57,7 +57,7 @@ CS_Source CreateRawSource(std::string_view name, const VideoMode& mode,
                                               inst.telemetry, mode));
 }
 
-void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
+void PutSourceFrame(CS_Source source, const WPI_RawFrame& image,
                     CS_Status* status) {
   auto data = Instance::GetInstance().GetSource(source);
   if (!data || data->kind != CS_SOURCE_RAW) {
@@ -75,7 +75,7 @@ CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
                              status);
 }
 
-void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
+void CS_PutRawSourceFrame(CS_Source source, const struct WPI_RawFrame* image,
                           CS_Status* status) {
   return cs::PutSourceFrame(source, *image, status);
 }

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

@@ -25,7 +25,7 @@ class RawSourceImpl : public ConfigurableSourceImpl {
   ~RawSourceImpl() override;
 
   // Raw-specific functions
-  void PutFrame(const CS_RawFrame& image);
+  void PutFrame(const WPI_RawFrame& image);
 
  private:
   std::atomic_bool m_connected{true};

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

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

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

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

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

@@ -181,7 +181,7 @@ CS_Bool CS_SetSourceVideoMode(CS_Source source, const CS_VideoMode* mode,
 }
 
 CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
-                                      enum CS_PixelFormat pixelFormat,
+                                      enum WPI_PixelFormat pixelFormat,
                                       int width, int height, int fps,
                                       CS_Status* status) {
   return cs::SetSourceVideoMode(
@@ -193,7 +193,7 @@ CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
 }
 
 CS_Bool CS_SetSourcePixelFormat(CS_Source source,
-                                enum CS_PixelFormat pixelFormat,
+                                enum WPI_PixelFormat pixelFormat,
                                 CS_Status* status) {
   return cs::SetSourcePixelFormat(
       source,
@@ -541,25 +541,4 @@ void CS_FreeNetworkInterfaces(char** interfaces, int count) {
   std::free(interfaces);
 }
 
-void CS_AllocateRawFrameData(CS_RawFrame* frame, int requestedSize) {
-  if (frame->dataLength >= requestedSize) {
-    return;
-  }
-  if (frame->data) {
-    frame->data =
-        static_cast<char*>(wpi::safe_realloc(frame->data, requestedSize));
-  } else {
-    frame->data = static_cast<char*>(wpi::safe_malloc(requestedSize));
-  }
-  frame->dataLength = requestedSize;
-}
-
-void CS_FreeRawFrameData(CS_RawFrame* frame) {
-  if (frame->data) {
-    std::free(frame->data);
-    frame->data = nullptr;
-    frame->dataLength = 0;
-  }
-}
-
 }  // extern "C"

cscore/src/main/native/cpp/jni/CameraServerJNI.cpp

@@ -10,7 +10,6 @@
 #include <wpi/SmallString.h>
 #include <wpi/jni_util.h>
 
-#include "cscore_cpp.h"
 #include "cscore_cv.h"
 #include "cscore_raw.h"
 #include "cscore_runloop.h"
@@ -43,8 +42,7 @@ static JNIEnv* listenerEnv = nullptr;
 static const JClassInit classes[] = {
     {"edu/wpi/first/cscore/UsbCameraInfo", &usbCameraInfoCls},
     {"edu/wpi/first/cscore/VideoMode", &videoModeCls},
-    {"edu/wpi/first/cscore/VideoEvent", &videoEventCls},
-    {"edu/wpi/first/cscore/raw/RawFrame", &rawFrameCls}};
+    {"edu/wpi/first/cscore/VideoEvent", &videoEventCls}};
 
 static const JExceptionInit exceptions[] = {
     {"edu/wpi/first/cscore/VideoException", &videoEx},
@@ -1233,7 +1231,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrameBB
   (JNIEnv* env, jclass, jint source, jobject byteBuffer, jint width,
    jint height, jint pixelFormat, jint totalData)
 {
-  CS_RawFrame rawFrame;
+  WPI_RawFrame rawFrame;
   rawFrame.data =
       reinterpret_cast<char*>(env->GetDirectBufferAddress(byteBuffer));
   rawFrame.totalData = totalData;
@@ -1255,7 +1253,7 @@ Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrame
   (JNIEnv* env, jclass, jint source, jlong ptr, jint width, jint height,
    jint pixelFormat, jint totalData)
 {
-  CS_RawFrame rawFrame;
+  WPI_RawFrame rawFrame;
   rawFrame.data = reinterpret_cast<char*>(static_cast<intptr_t>(ptr));
   rawFrame.totalData = totalData;
   rawFrame.pixelFormat = pixelFormat;
@@ -1392,18 +1390,20 @@ Java_edu_wpi_first_cscore_CameraServerJNI_createMjpegServer
 /*
  * Class:     edu_wpi_first_cscore_CameraServerCvJNI
  * Method:    createCvSink
- * Signature: (Ljava/lang/String;)I
+ * Signature: (Ljava/lang/String;I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_cscore_CameraServerCvJNI_createCvSink
-  (JNIEnv* env, jclass, jstring name)
+  (JNIEnv* env, jclass, jstring name, jint pixelFormat)
 {
   if (!name) {
     nullPointerEx.Throw(env, "name cannot be null");
     return 0;
   }
   CS_Status status = 0;
-  auto val = cs::CreateCvSink(JStringRef{env, name}.str(), &status);
+  auto val = cs::CreateCvSink(
+      JStringRef{env, name}.str(),
+      static_cast<cs::VideoMode::PixelFormat>(pixelFormat), &status);
   CheckStatus(env, status);
   return val;
 }
@@ -1723,7 +1723,7 @@ Java_edu_wpi_first_cscore_CameraServerCvJNI_grabSinkFrameTimeout
 
 static void SetRawFrameData(JNIEnv* env, jobject rawFrameObj,
                             jobject byteBuffer, bool didChangeDataPtr,
-                            const CS_RawFrame& frame) {
+                            const WPI_RawFrame& frame) {
   static jmethodID setMethod =
       env->GetMethodID(rawFrameCls, "setData", "(Ljava/nio/ByteBuffer;JIIII)V");
   jlong framePtr = static_cast<jlong>(reinterpret_cast<intptr_t>(frame.data));
@@ -1748,8 +1748,8 @@ Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameImpl
   (JNIEnv* env, jclass, jint sink, jobject rawFrameObj, jlong rawFramePtr,
    jobject byteBuffer, jint width, jint height, jint pixelFormat)
 {
-  CS_RawFrame* ptr =
-      reinterpret_cast<CS_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
+  WPI_RawFrame* ptr =
+      reinterpret_cast<WPI_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
   auto origDataPtr = ptr->data;
   ptr->width = width;
   ptr->height = height;
@@ -1774,8 +1774,8 @@ Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameTimeoutImpl
    jobject byteBuffer, jint width, jint height, jint pixelFormat,
    jdouble timeout)
 {
-  CS_RawFrame* ptr =
-      reinterpret_cast<CS_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
+  WPI_RawFrame* ptr =
+      reinterpret_cast<WPI_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
   auto origDataPtr = ptr->data;
   ptr->width = width;
   ptr->height = height;
@@ -2199,34 +2199,6 @@ Java_edu_wpi_first_cscore_CameraServerJNI_setLogger
       minLevel);
 }
 
-/*
- * Class:     edu_wpi_first_cscore_CameraServerJNI
- * Method:    allocateRawFrame
- * Signature: ()J
- */
-JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_cscore_CameraServerJNI_allocateRawFrame
-  (JNIEnv*, jclass)
-{
-  cs::RawFrame* rawFrame = new cs::RawFrame{};
-  intptr_t rawFrameIntPtr = reinterpret_cast<intptr_t>(rawFrame);
-  return static_cast<jlong>(rawFrameIntPtr);
-}
-
-/*
- * Class:     edu_wpi_first_cscore_CameraServerJNI
- * Method:    freeRawFrame
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_cscore_CameraServerJNI_freeRawFrame
-  (JNIEnv*, jclass, jlong rawFrame)
-{
-  cs::RawFrame* ptr =
-      reinterpret_cast<cs::RawFrame*>(static_cast<intptr_t>(rawFrame));
-  delete ptr;
-}
-
 /*
  * Class:     edu_wpi_first_cscore_CameraServerJNI
  * Method:    runMainRunLoop

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

@@ -7,6 +7,8 @@
 
 #include <stdint.h>
 
+#include <wpi/RawFrame.h>
+
 #ifdef __cplusplus
 #include <cstddef>
 #else
@@ -84,20 +86,6 @@ enum CS_LogLevel {
   CS_LOG_DEBUG4 = 6
 };
 
-/**
- * Pixel formats
- */
-enum CS_PixelFormat {
-  CS_PIXFMT_UNKNOWN = 0,
-  CS_PIXFMT_MJPEG,
-  CS_PIXFMT_YUYV,
-  CS_PIXFMT_RGB565,
-  CS_PIXFMT_BGR,
-  CS_PIXFMT_GRAY,
-  CS_PIXFMT_Y16,
-  CS_PIXFMT_UYVY
-};
-
 /**
  * Video mode
  */
@@ -302,11 +290,11 @@ void CS_GetSourceVideoMode(CS_Source source, CS_VideoMode* mode,
 CS_Bool CS_SetSourceVideoMode(CS_Source source, const CS_VideoMode* mode,
                               CS_Status* status);
 CS_Bool CS_SetSourceVideoModeDiscrete(CS_Source source,
-                                      enum CS_PixelFormat pixelFormat,
+                                      enum WPI_PixelFormat pixelFormat,
                                       int width, int height, int fps,
                                       CS_Status* status);
 CS_Bool CS_SetSourcePixelFormat(CS_Source source,
-                                enum CS_PixelFormat pixelFormat,
+                                enum WPI_PixelFormat pixelFormat,
                                 CS_Status* status);
 CS_Bool CS_SetSourceResolution(CS_Source source, int width, int height,
                                CS_Status* status);
@@ -382,8 +370,10 @@ void CS_SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
  */
 CS_Sink CS_CreateMjpegServer(const char* name, const char* listenAddress,
                              int port, CS_Status* status);
-CS_Sink CS_CreateCvSink(const char* name, CS_Status* status);
-CS_Sink CS_CreateCvSinkCallback(const char* name, void* data,
+CS_Sink CS_CreateCvSink(const char* name, enum WPI_PixelFormat pixelFormat,
+                        CS_Status* status);
+CS_Sink CS_CreateCvSinkCallback(const char* name,
+                                enum WPI_PixelFormat pixelFormat, void* data,
                                 void (*processFrame)(void* data, uint64_t time),
                                 CS_Status* status);
 /** @} */

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

@@ -13,7 +13,9 @@
 #include <string_view>
 #include <vector>
 
+#include <wpi/RawFrame.h>
 #include <wpi/SmallVector.h>
+#include <wpi/json_fwd.h>
 
 #include "cscore_c.h"
 
@@ -23,10 +25,6 @@
 #pragma warning(disable : 26495)
 #endif
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 /** CameraServer (cscore) namespace */
 namespace cs {
 
@@ -63,14 +61,14 @@ struct UsbCameraInfo {
  */
 struct VideoMode : public CS_VideoMode {
   enum PixelFormat {
-    kUnknown = CS_PIXFMT_UNKNOWN,
-    kMJPEG = CS_PIXFMT_MJPEG,
-    kYUYV = CS_PIXFMT_YUYV,
-    kRGB565 = CS_PIXFMT_RGB565,
-    kBGR = CS_PIXFMT_BGR,
-    kGray = CS_PIXFMT_GRAY,
-    kY16 = CS_PIXFMT_Y16,
-    kUYVY = CS_PIXFMT_UYVY
+    kUnknown = WPI_PIXFMT_UNKNOWN,
+    kMJPEG = WPI_PIXFMT_MJPEG,
+    kYUYV = WPI_PIXFMT_YUYV,
+    kRGB565 = WPI_PIXFMT_RGB565,
+    kBGR = WPI_PIXFMT_BGR,
+    kGray = WPI_PIXFMT_GRAY,
+    kY16 = WPI_PIXFMT_Y16,
+    kUYVY = WPI_PIXFMT_UYVY
   };
   VideoMode() {
     pixelFormat = 0;
@@ -319,8 +317,10 @@ void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
  */
 CS_Sink CreateMjpegServer(std::string_view name, std::string_view listenAddress,
                           int port, CS_Status* status);
-CS_Sink CreateCvSink(std::string_view name, CS_Status* status);
+CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
+                     CS_Status* status);
 CS_Sink CreateCvSinkCallback(std::string_view name,
+                             VideoMode::PixelFormat pixelFormat,
                              std::function<void(uint64_t time)> processFrame,
                              CS_Status* status);
 

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

@@ -127,8 +127,10 @@ class CvSink : public ImageSink {
    * image.
    *
    * @param name Source name (arbitrary unique identifier)
+   * @param pixelFormat Source pixel format
    */
-  explicit CvSink(std::string_view name);
+  explicit CvSink(std::string_view name, VideoMode::PixelFormat pixelFormat =
+                                             VideoMode::PixelFormat::kBGR);
 
   /**
    * Create a sink for accepting OpenCV images in a separate thread.
@@ -141,9 +143,10 @@ class CvSink : public ImageSink {
    *        time=0 if an error occurred.  processFrame should call GetImage()
    *        or GetError() as needed, but should not call (except in very
    *        unusual circumstances) WaitForImage().
+   * @param pixelFormat Source pixel format
    */
-  CvSink(std::string_view name,
-         std::function<void(uint64_t time)> processFrame);
+  CvSink(std::string_view name, std::function<void(uint64_t time)> processFrame,
+         VideoMode::PixelFormat pixelFormat = VideoMode::PixelFormat::kBGR);
 
   /**
    * Wait for the next frame and get the image.
@@ -184,13 +187,15 @@ inline void CvSource::PutFrame(cv::Mat& image) {
   PutSourceFrame(m_handle, image, &m_status);
 }
 
-inline CvSink::CvSink(std::string_view name) {
-  m_handle = CreateCvSink(name, &m_status);
+inline CvSink::CvSink(std::string_view name,
+                      VideoMode::PixelFormat pixelFormat) {
+  m_handle = CreateCvSink(name, pixelFormat, &m_status);
 }
 
 inline CvSink::CvSink(std::string_view name,
-                      std::function<void(uint64_t time)> processFrame) {
-  m_handle = CreateCvSinkCallback(name, processFrame, &m_status);
+                      std::function<void(uint64_t time)> processFrame,
+                      VideoMode::PixelFormat pixelFormat) {
+  m_handle = CreateCvSinkCallback(name, pixelFormat, processFrame, &m_status);
 }
 
 inline uint64_t CvSink::GrabFrame(cv::Mat& image, double timeout) const {

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

@@ -9,36 +9,23 @@
 
 #include "cscore_c.h"
 
+// NOLINTBEGIN
 #ifdef __cplusplus
 #include "cscore_oo.h"
 #endif
 
-/**
- * Raw Frame
- */
-typedef struct CS_RawFrame {  // NOLINT
-  char* data;
-  int dataLength;
-  int pixelFormat;
-  int width;
-  int height;
-  int totalData;
-} CS_RawFrame;
-
 #ifdef __cplusplus
 extern "C" {
 #endif
+// NOLINTEND
 
 /**
  * @defgroup cscore_raw_cfunc Raw Image Functions
  * @{
  */
-void CS_AllocateRawFrameData(CS_RawFrame* frame, int requestedSize);
-void CS_FreeRawFrameData(CS_RawFrame* frame);
-
-uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct CS_RawFrame* rawImage,
+uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct WPI_RawFrame* rawImage,
                              CS_Status* status);
-uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct CS_RawFrame* rawImage,
+uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* rawImage,
                                     double timeout, CS_Status* status);
 
 CS_Sink CS_CreateRawSink(const char* name, CS_Status* status);
@@ -48,7 +35,7 @@ CS_Sink CS_CreateRawSinkCallback(const char* name, void* data,
                                                       uint64_t time),
                                  CS_Status* status);
 
-void CS_PutRawSourceFrame(CS_Source source, const struct CS_RawFrame* image,
+void CS_PutRawSourceFrame(CS_Source source, const struct WPI_RawFrame* image,
                           CS_Status* status);
 
 CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
@@ -62,19 +49,6 @@ CS_Source CS_CreateRawSource(const char* name, const CS_VideoMode* mode,
 #ifdef __cplusplus
 namespace cs {
 
-struct RawFrame : public CS_RawFrame {
-  RawFrame() {
-    data = nullptr;
-    dataLength = 0;
-    pixelFormat = CS_PIXFMT_UNKNOWN;
-    width = 0;
-    height = 0;
-    totalData = 0;
-  }
-
-  ~RawFrame() { CS_FreeRawFrameData(this); }
-};
-
 /**
  * @defgroup cscore_raw_func Raw Image Functions
  * @{
@@ -88,10 +62,10 @@ CS_Sink CreateRawSinkCallback(std::string_view name,
                               std::function<void(uint64_t time)> processFrame,
                               CS_Status* status);
 
-void PutSourceFrame(CS_Source source, const CS_RawFrame& image,
+void PutSourceFrame(CS_Source source, const WPI_RawFrame& image,
                     CS_Status* status);
-uint64_t GrabSinkFrame(CS_Sink sink, CS_RawFrame& image, CS_Status* status);
-uint64_t GrabSinkFrameTimeout(CS_Sink sink, CS_RawFrame& image, double timeout,
+uint64_t GrabSinkFrame(CS_Sink sink, WPI_RawFrame& image, CS_Status* status);
+uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
                               CS_Status* status);
 
 /**
@@ -129,7 +103,7 @@ class RawSource : public ImageSource {
    *
    * @param image raw frame image
    */
-  void PutFrame(RawFrame& image);
+  void PutFrame(wpi::RawFrame& image);
 };
 
 /**
@@ -177,7 +151,7 @@ class RawSink : public ImageSink {
    *         and is in 1 us increments.
    */
   [[nodiscard]]
-  uint64_t GrabFrame(RawFrame& image, double timeout = 0.225) const;
+  uint64_t GrabFrame(wpi::RawFrame& image, double timeout = 0.225) const;
 
   /**
    * Wait for the next frame and get the image.  May block forever.
@@ -188,7 +162,7 @@ class RawSink : public ImageSink {
    *         and is in 1 us increments.
    */
   [[nodiscard]]
-  uint64_t GrabFrameNoTimeout(RawFrame& image) const;
+  uint64_t GrabFrameNoTimeout(wpi::RawFrame& image) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {
@@ -202,7 +176,7 @@ inline RawSource::RawSource(std::string_view name,
       CreateRawSource(name, VideoMode{format, width, height, fps}, &m_status);
 }
 
-inline void RawSource::PutFrame(RawFrame& image) {
+inline void RawSource::PutFrame(wpi::RawFrame& image) {
   m_status = 0;
   PutSourceFrame(m_handle, image, &m_status);
 }
@@ -216,12 +190,12 @@ inline RawSink::RawSink(std::string_view name,
   m_handle = CreateRawSinkCallback(name, processFrame, &m_status);
 }
 
-inline uint64_t RawSink::GrabFrame(RawFrame& image, double timeout) const {
+inline uint64_t RawSink::GrabFrame(wpi::RawFrame& image, double timeout) const {
   m_status = 0;
   return GrabSinkFrameTimeout(m_handle, image, timeout, &m_status);
 }
 
-inline uint64_t RawSink::GrabFrameNoTimeout(RawFrame& image) const {
+inline uint64_t RawSink::GrabFrameNoTimeout(wpi::RawFrame& image) const {
   m_status = 0;
   return GrabSinkFrame(m_handle, image, &m_status);
 }