[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

@@ -50,7 +50,7 @@ jobs:
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: configure
         run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
@@ -82,7 +82,7 @@ jobs:
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Run vcpkg
         uses: lukka/run-vcpkg@v11.1

.github/workflows/comment-command.yml

@@ -19,12 +19,12 @@ jobs:
               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

.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

@@ -37,7 +37,7 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Set release environment variable
@@ -61,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:
@@ -109,7 +109,7 @@ jobs:
     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
@@ -168,7 +168,7 @@ jobs:
     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
@@ -206,7 +206,7 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         if: |
           github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))

.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

@@ -41,7 +41,7 @@ jobs:
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: configure
         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 }} ..

.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

.styleguide

@@ -10,6 +10,7 @@ cppSrcFileInclude {
 }
 
 modifiableFileExclude {
+  cmake/toolchains/
   \.patch$
   gradlew
 }

CMakeLists.txt

@@ -1,12 +1,15 @@
 # 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()
@@ -16,7 +19,7 @@ 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)
+if(POLICY CMP0135)
     cmake_policy(SET CMP0135 NEW)
 endif()
 
@@ -24,7 +27,7 @@ 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)
@@ -35,31 +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_SOURCE "Build Java source jars" 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)
@@ -75,135 +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( 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)
 
 find_package(Protobuf REQUIRED)
-find_program(Quickbuf_EXECUTABLE
-    NAMES protoc-gen-quickbuf
-    DOC "The Quickbuf protoc plugin"
-)
+find_program(Quickbuf_EXECUTABLE NAMES protoc-gen-quickbuf DOC "The Quickbuf protoc plugin")
 
-if (WITH_FLAT_INSTALL)
-set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
-set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
-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)")
+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\}")
@@ -221,7 +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)
@@ -230,54 +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)
@@ -285,41 +350,49 @@ 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)
     add_subdirectory(sysid)
-    if (LIBSSH_FOUND)
+    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)
@@ -327,15 +400,15 @@ if (WITH_WPILIB)
     add_subdirectory(wpilibNewCommands)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)
-    if (WITH_EXAMPLES)
+    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)

README-CMAKE.md

@@ -12,6 +12,7 @@ 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.
@@ -44,6 +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)

apriltag/CMakeLists.txt

@@ -4,121 +4,146 @@ include(CompileWarnings)
 include(GenResources)
 include(FetchContent)
 
-FetchContent_Declare(
+fetchcontent_declare(
     apriltaglib
-    GIT_REPOSITORY  https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG         64be6ab26abf5e995321997fd0752c609a7e30f4
+    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)
-
-  install(TARGETS apriltagjni EXPORT apriltagjni)
+    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
+    add_dependencies(apriltagjni apriltag_jar)
 
+    install(TARGETS apriltagjni EXPORT apriltagjni)
 endif()
 
-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)
+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}")
+    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")
+    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 /wd4005 /wd4996)
+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 -Wno-type-limits)
+    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)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/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 share/apriltag)
+install(EXPORT apriltag DESTINATION share/apriltag)
 
-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

@@ -143,7 +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());
@@ -168,7 +168,7 @@ 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;
   }
 

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

@@ -22,7 +22,7 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
+  wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
@@ -49,6 +49,15 @@ 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:

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"
 
@@ -587,4 +588,30 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
   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

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/RawFrame.h>
 #include <wpi/SymbolExports.h>
 #include <wpi/json_fwd.h>
 
@@ -20,6 +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

@@ -93,7 +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
@@ -104,7 +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

@@ -74,6 +74,12 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    */
   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.

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

build.gradle

@@ -23,7 +23,7 @@ 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
 }
 
@@ -50,6 +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")) {
@@ -171,5 +174,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.4'
+    gradleVersion = '8.5'
 }

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2024.3.1"
+    implementation "edu.wpi.first:native-utils:2024.5.2"
 }

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")
@@ -15,28 +15,42 @@ 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()
 
-if (WITH_JAVA_SOURCE)
+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)
+    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}")
@@ -44,13 +58,15 @@ if (WITH_JAVA_SOURCE)
     set_property(TARGET cameraserver_src_jar PROPERTY FOLDER "java")
 endif()
 
-file(GLOB_RECURSE
-    cameraserver_native_src src/main/native/cpp/*.cpp)
+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})
 
@@ -59,15 +75,9 @@ set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
 install(TARGETS cameraserver EXPORT cameraserver)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")
 
-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})
@@ -76,7 +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/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

@@ -105,7 +105,7 @@ bool ReadConfig() {
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
+    j = wpi::json::parse(fileBuffer->GetCharBuffer());
   } catch (const wpi::json::parse_error& e) {
     fmt::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
                e.byte, e.what());

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();

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.

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

@@ -1,28 +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>)
+        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)
+    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

@@ -1,11 +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)
+    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: ${status_message}")
-  endif()
+    if(${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}")
+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()
+        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})
+    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()
+    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()

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/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()
@@ -31,9 +35,12 @@ 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 ${OpenCV_LIBS})
@@ -43,15 +50,9 @@ set_property(TARGET cscore PROPERTY FOLDER "libraries")
 install(TARGETS cscore EXPORT cscore)
 install(DIRECTORY src/main/native/include/ DESTINATION "${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 ${cscore_config_dir})
-install(EXPORT cscore DESTINATION ${cscore_config_dir})
+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)
 
 subdir_list(cscore_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
 foreach(example ${cscore_examples})
@@ -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)
@@ -90,36 +91,68 @@ 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)
 
-    add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore GENERATE_NATIVE_HEADERS cscore_jni_headers)
+    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})
@@ -130,18 +163,20 @@ if (WITH_JAVA)
     add_dependencies(cscorejni cscore_jar)
 
     install(TARGETS cscorejni EXPORT cscorejni)
-
 endif()
 
-if (WITH_JAVA_SOURCE)
+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)
+    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}")
@@ -149,7 +184,7 @@ if (WITH_JAVA_SOURCE)
     set_property(TARGET cscore_src_jar PROPERTY FOLDER "java")
 endif()
 
-if (WITH_TESTS)
+if(WITH_TESTS)
     wpilib_add_test(cscore src/test/native/cpp)
     target_link_libraries(cscore_test cscore gmock)
 endif()

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/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/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

@@ -13,6 +13,7 @@
 #include <string_view>
 #include <vector>
 
+#include <wpi/RawFrame.h>
 #include <wpi/SmallVector.h>
 #include <wpi/json_fwd.h>
 
@@ -60,14 +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;
@@ -316,8 +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);
 }

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

@@ -62,7 +62,7 @@ class RawCvSource : public RawSource {
   void PutFrame(cv::Mat& image);
 
  private:
-  RawFrame rawFrame;
+  wpi::RawFrame rawFrame;
 };
 
 /**
@@ -151,7 +151,7 @@ class RawCvSink : public RawSink {
   uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
  private:
-  RawFrame rawFrame;
+  wpi::RawFrame rawFrame;
 };
 
 inline RawCvSource::RawCvSource(std::string_view name, const VideoMode& mode)
@@ -168,7 +168,8 @@ inline void RawCvSource::PutFrame(cv::Mat& image) {
   rawFrame.width = image.cols;
   rawFrame.height = image.rows;
   rawFrame.totalData = image.total() * image.channels();
-  rawFrame.pixelFormat = image.channels() == 3 ? CS_PIXFMT_BGR : CS_PIXFMT_GRAY;
+  rawFrame.pixelFormat =
+      image.channels() == 3 ? WPI_PIXFMT_BGR : WPI_PIXFMT_GRAY;
   PutSourceFrame(m_handle, rawFrame, &m_status);
 }
 
@@ -201,7 +202,7 @@ inline uint64_t RawCvSink::GrabFrameNoTimeout(cv::Mat& image) {
 inline uint64_t RawCvSink::GrabFrameDirect(cv::Mat& image, double timeout) {
   rawFrame.height = 0;
   rawFrame.width = 0;
-  rawFrame.pixelFormat = CS_PixelFormat::CS_PIXFMT_BGR;
+  rawFrame.pixelFormat = WPI_PixelFormat::WPI_PIXFMT_BGR;
   m_status = RawSink::GrabFrame(rawFrame, timeout);
   if (m_status <= 0) {
     return m_status;
@@ -213,7 +214,7 @@ inline uint64_t RawCvSink::GrabFrameDirect(cv::Mat& image, double timeout) {
 inline uint64_t RawCvSink::GrabFrameNoTimeoutDirect(cv::Mat& image) {
   rawFrame.height = 0;
   rawFrame.width = 0;
-  rawFrame.pixelFormat = CS_PixelFormat::CS_PIXFMT_BGR;
+  rawFrame.pixelFormat = WPI_PixelFormat::WPI_PIXFMT_BGR;
   m_status = RawSink::GrabFrameNoTimeout(rawFrame);
   if (m_status <= 0) {
     return m_status;

cscore/src/main/native/linux/NetworkListener.cpp

@@ -89,6 +89,7 @@ void NetworkListener::Impl::Thread::Main() {
   std::memset(&addr, 0, sizeof(addr));
   addr.nl_family = AF_NETLINK;
   addr.nl_groups = RTMGRP_LINK | RTMGRP_IPV4_IFADDR;
+  // NOLINTNEXTLINE(modernize-avoid-bind)
   if (bind(sd, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr)) < 0) {
     ERROR("NetworkListener: could not create socket: {}", std::strerror(errno));
     ::close(sd);

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

@@ -99,8 +99,9 @@ WindowsMessagePump::WindowsMessagePump(
 
 WindowsMessagePump::~WindowsMessagePump() {
   auto res = SendMessageA(hwnd, WM_CLOSE, NULL, NULL);
-  if (m_mainThread.joinable())
+  if (m_mainThread.joinable()) {
     m_mainThread.join();
+  }
 }
 
 void WindowsMessagePump::ThreadMain(HANDLE eventHandle) {

datalogtool/CMakeLists.txt

@@ -9,7 +9,7 @@ generate_resources(src/main/native/resources generated/main/cpp DLT dlt datalogt
 
 file(GLOB datalogtool_src src/main/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
 
-if (WIN32)
+if(WIN32)
     set(datalogtool_rc src/main/native/win/datalogtool.rc)
 elseif(APPLE)
     set(MACOSX_BUNDLE_ICON_FILE datalogtool.icns)
@@ -17,12 +17,18 @@ elseif(APPLE)
     set_source_files_properties(${APP_ICON_MACOSX} PROPERTIES MACOSX_PACKAGE_LOCATION "Resources")
 endif()
 
-add_executable(datalogtool ${datalogtool_src} ${datalogtool_resources_src} ${datalogtool_rc} ${APP_ICON_MACOSX})
+add_executable(
+    datalogtool
+    ${datalogtool_src}
+    ${datalogtool_resources_src}
+    ${datalogtool_rc}
+    ${APP_ICON_MACOSX}
+)
 wpilib_link_macos_gui(datalogtool)
 target_link_libraries(datalogtool libglass ${LIBSSH_LIBRARIES})
 target_include_directories(datalogtool SYSTEM PRIVATE ${LIBSSH_INCLUDE_DIRS})
 
-if (WIN32)
+if(WIN32)
     set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)
 elseif(APPLE)
     set_target_properties(datalogtool PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "datalogTool")

docs/build.gradle

@@ -144,6 +144,10 @@ doxygen {
 
     exclude '*.pb.h'
 
+    // Save space by excluding protobuf and eigen
+    exclude 'Eigen/**'
+    exclude 'google/protobuf/**'
+
     aliases 'effects=\\par <i>Effects:</i>^^',
             'notes=\\par <i>Notes:</i>^^',
             'requires=\\par <i>Requires:</i>^^',
@@ -222,10 +226,7 @@ task generateJavaDocs(type: Javadoc) {
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
     options.linkSource(true)
-    dependsOn project(':hal').generateUsageReporting
-    dependsOn project(':ntcore').ntcoreGenerateJavaTypes
     dependsOn project(':wpilibj').generateJavaVersion
-    dependsOn project(':wpimath').generateNat
     source project(':apriltag').sourceSets.main.java
     source project(':cameraserver').sourceSets.main.java
     source project(':cscore').sourceSets.main.java

fieldImages/CMakeLists.txt

@@ -3,7 +3,7 @@ project(fieldImages)
 include(CompileWarnings)
 include(GenResources)
 
-if (WITH_JAVA)
+if(WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
 
@@ -11,30 +11,42 @@ if (WITH_JAVA)
     set(CMAKE_JAVA_INCLUDE_PATH fieldImages.jar ${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 src/main/native/resources/*.png src/main/native/resources/*.jpg)
-    add_jar(field_images_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES} OUTPUT_NAME fieldImages)
+    file(
+        GLOB_RECURSE JAVA_RESOURCES
+        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+        src/main/native/resources/*.json
+        src/main/native/resources/*.png
+        src/main/native/resources/*.jpg
+    )
+    add_jar(
+        field_images_jar
+        SOURCES ${JAVA_SOURCES}
+        RESOURCES
+        NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES}
+        OUTPUT_NAME fieldImages
+    )
 
     get_property(FIELD_IMAGES_JAR_FILE TARGET field_images_jar PROPERTY JAR_FILE)
     install(FILES ${FIELD_IMAGES_JAR_FILE} DESTINATION "${java_lib_dest}")
 
     set_property(TARGET field_images_jar PROPERTY FOLDER "java")
-
 endif()
 
-
 generate_resources(src/main/native/resources/edu/wpi/first/fields generated/main/cpp FIELDS fields field_images_resources_src)
 
-
 add_library(fieldImages src/main/native/cpp/fields.cpp ${field_images_resources_src})
 set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
 target_compile_features(fieldImages PUBLIC cxx_std_20)
-if (MSVC)
+if(MSVC)
     target_compile_options(fieldImages PUBLIC /bigobj)
 endif()
 wpilib_target_warnings(fieldImages)
 
-target_include_directories(fieldImages PUBLIC
-                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-                            $<INSTALL_INTERFACE:${include_dest}/fields>)
+target_include_directories(
+    fieldImages
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/fields>
+)

fieldImages/publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 def baseArtifactId = project.nativeName
 def artifactGroupId = project.groupId
-def cppZipBaseName = "_GROUP_edu_wpi_first_fieldIimages_ID_${baseArtifactId}-cpp_CLS"
+def cppZipBaseName = "_GROUP_edu_wpi_first_fieldImages_ID_${baseArtifactId}-cpp_CLS"
 
 def outputsFolder = file("$project.buildDir/outputs")
 

glass/CMakeLists.txt

@@ -18,9 +18,12 @@ set_property(TARGET libglass PROPERTY FOLDER "libraries")
 wpilib_target_warnings(libglass)
 target_link_libraries(libglass PUBLIC wpigui wpimath wpiutil fieldImages)
 
-target_include_directories(libglass PUBLIC
-                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/lib/native/include>
-                           $<INSTALL_INTERFACE:${include_dest}/glass>)
+target_include_directories(
+    libglass
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/lib/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/glass>
+)
 
 install(TARGETS libglass EXPORT libglass)
 install(DIRECTORY src/lib/native/include/ DESTINATION "${include_dest}/glass")
@@ -39,9 +42,12 @@ set_property(TARGET libglassnt PROPERTY FOLDER "libraries")
 wpilib_target_warnings(libglassnt)
 target_link_libraries(libglassnt PUBLIC ntcore libglass)
 
-target_include_directories(libglassnt PUBLIC
-                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/libnt/native/include>
-                           $<INSTALL_INTERFACE:${include_dest}/glass>)
+target_include_directories(
+    libglassnt
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/libnt/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/glass>
+)
 
 install(TARGETS libglassnt EXPORT libglassnt)
 install(DIRECTORY src/libnt/native/include/ DESTINATION "${include_dest}/glass")
@@ -55,7 +61,7 @@ generate_resources(src/app/native/resources generated/app/cpp GLASS glass glass_
 
 file(GLOB glass_src src/app/native/cpp/*.cpp ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.cpp)
 
-if (WIN32)
+if(WIN32)
     set(glass_rc src/app/native/win/glass.rc)
 elseif(APPLE)
     set(MACOSX_BUNDLE_ICON_FILE glass.icns)
@@ -68,18 +74,8 @@ wpilib_link_macos_gui(glass)
 wpilib_target_warnings(glass)
 target_link_libraries(glass libglassnt libglass)
 
-if (WIN32)
+if(WIN32)
     set_target_properties(glass PROPERTIES WIN32_EXECUTABLE YES)
 elseif(APPLE)
     set_target_properties(glass PROPERTIES MACOSX_BUNDLE YES OUTPUT_NAME "Glass")
 endif()
-
-#if (MSVC OR FLAT_INSTALL_WPILIB)
-#    set (wpigui_config_dir ${wpilib_dest})
-#else()
-#    set (wpigui_config_dir share/wpigui)
-#endif()
-
-#configure_file(wpigui-config.cmake.in ${CMAKE_BINARY_DIR}/wpigui-config.cmake )
-#install(FILES ${CMAKE_BINARY_DIR}/wpigui-config.cmake DESTINATION ${wpigui_config_dir})
-#install(EXPORT wpigui DESTINATION ${wpigui_config_dir})

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

@@ -137,9 +137,8 @@ static bool LoadWindowStorageImpl(const std::string& filename) {
     return false;
   } else {
     try {
-      return JsonToWindow(
-          wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
-          filename.c_str());
+      return JsonToWindow(wpi::json::parse(fileBuffer->GetCharBuffer()),
+                          filename.c_str());
     } catch (wpi::json::parse_error& e) {
       ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
       return false;
@@ -164,9 +163,8 @@ static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
       createdStorage = true;
     }
     try {
-      storage->FromJson(
-          wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
-          filename.c_str());
+      storage->FromJson(wpi::json::parse(fileBuffer->GetCharBuffer()),
+                        filename.c_str());
     } catch (wpi::json::parse_error& e) {
       ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
       if (createdStorage) {

googletest/CMakeLists.txt

@@ -1,14 +1,15 @@
 include(FetchContent)
 
-FetchContent_Declare(
+fetchcontent_declare(
     googletest
-    GIT_REPOSITORY  https://github.com/google/googletest.git
-    GIT_TAG         58d77fa8070e8cec2dc1ed015d66b454c8d78850 # 1.12.1
+    GIT_REPOSITORY https://github.com/google/googletest.git
+    GIT_TAG
+        58d77fa8070e8cec2dc1ed015d66b454c8d78850 # 1.12.1
 )
 
-FetchContent_GetProperties(googletest)
+fetchcontent_getproperties(googletest)
 if(NOT googletest_POPULATED)
-    FetchContent_Populate(googletest)
+    fetchcontent_populate(googletest)
 
     # Prevent overriding the parent project's compiler/linker
     # settings on Windows

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

hal/CMakeLists.txt

@@ -3,33 +3,18 @@ project(hal)
 include(CompileWarnings)
 include(AddTest)
 
-file(STRINGS src/generate/Instances.txt RAW_INSTANCES)
-file(STRINGS src/generate/ResourceType.txt RAW_RESOURCE_TYPES)
-
-SET(usage_reporting_types_cpp "")
-SET(usage_reporting_instances_cpp "")
-SET(usage_reporting_types "")
-SET(usage_reporting_instances "")
-
-foreach(ITEM ${RAW_INSTANCES})
-    list(APPEND usage_reporting_instances_cpp "    ${ITEM},")
-    list(APPEND usage_reporting_instances "\n    public static final int ${ITEM};")
-endforeach()
-
-foreach(ITEM ${RAW_RESOURCE_TYPES})
-    list(APPEND usage_reporting_types_cpp "    ${ITEM},")
-    list(APPEND usage_reporting_types "\n    public static final int ${ITEM};")
-endforeach()
-
-string(REPLACE ";" "\n" usage_reporting_types_cpp "${usage_reporting_types_cpp}")
-string(REPLACE ";" "\n" usage_reporting_instances_cpp "${usage_reporting_instances_cpp}")
-
-file(GLOB
-    hal_shared_native_src src/main/native/cpp/*.cpp
-    hal_shared_native_src src/main/native/cpp/cpp/*.cpp
-    hal_shared_native_src src/main/native/cpp/handles/*.cpp
-    hal_sim_native_src src/main/native/sim/*.cpp
-    hal_sim_native_src src/main/native/sim/mockdata/*.cpp)
+file(
+    GLOB hal_shared_native_src
+    src/main/native/cpp/*.cpp
+    hal_shared_native_src
+    src/main/native/cpp/cpp/*.cpp
+    hal_shared_native_src
+    src/main/native/cpp/handles/*.cpp
+    hal_sim_native_src
+    src/main/native/sim/*.cpp
+    hal_sim_native_src
+    src/main/native/sim/mockdata/*.cpp
+)
 add_library(hal ${hal_shared_native_src})
 wpilib_target_warnings(hal)
 set_target_properties(hal PROPERTIES DEBUG_POSTFIX "d")
@@ -40,37 +25,35 @@ else()
     target_sources(hal PRIVATE ${hal_sim_native_src})
 endif()
 
-configure_file(src/generate/FRCUsageReporting.h.in gen/hal/FRCUsageReporting.h)
-
 set_target_properties(hal PROPERTIES OUTPUT_NAME "wpiHal")
 
-target_include_directories(hal PUBLIC
-                $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-                            $<INSTALL_INTERFACE:${include_dest}/hal>)
+target_include_directories(
+    hal
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/hal>
+)
 
-target_include_directories(hal PUBLIC
-                $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/gen>
-                            $<INSTALL_INTERFACE:${include_dest}/hal>)
+target_include_directories(
+    hal
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/hal>
+)
 target_link_libraries(hal PUBLIC wpiutil)
 
 set_property(TARGET hal PROPERTY FOLDER "libraries")
 
 install(TARGETS hal EXPORT hal)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
-install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen/ DESTINATION "${include_dest}/hal")
+install(DIRECTORY src/generated/main/native/include/ DESTINATION "${include_dest}/hal")
 
-if (WITH_FLAT_INSTALL)
-    set (hal_config_dir ${wpilib_dest})
-else()
-    set (hal_config_dir share/hal)
-endif()
-
-configure_file(hal-config.cmake.in ${WPILIB_BINARY_DIR}/hal-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/hal-config.cmake DESTINATION ${hal_config_dir})
-install(EXPORT hal DESTINATION ${hal_config_dir})
+configure_file(hal-config.cmake.in ${WPILIB_BINARY_DIR}/hal-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/hal-config.cmake DESTINATION share/hal)
+install(EXPORT hal DESTINATION share/hal)
 
 # Java bindings
-if (WITH_JAVA)
+if(WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
@@ -80,15 +63,19 @@ if (WITH_JAVA)
 
     file(GLOB_RECURSE hal_shared_jni_src src/main/native/cpp/jni/*.cpp)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
-    add_jar(hal_jar ${JAVA_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
+    add_jar(
+        hal_jar
+        ${JAVA_SOURCES}
+        INCLUDE_JARS wpiutil_jar
+        OUTPUT_NAME wpiHal
+        GENERATE_NATIVE_HEADERS hal_jni_headers
+    )
 
-    get_property(HAL_JAR_FILE TARGET hal_jar PROPERTY JAR_FILE)
-    install(FILES ${HAL_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET hal_jar PROPERTY FOLDER "java")
+    install_jar(hal_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS hal_jar FILE hal_jar.cmake DESTINATION share/hal)
 
     add_library(haljni ${hal_shared_jni_src})
 
@@ -107,23 +94,27 @@ if (WITH_JAVA)
     add_dependencies(haljni hal_jar)
 
     install(TARGETS haljni EXPORT haljni)
-
 endif()
 
-if (WITH_JAVA_SOURCE)
+if(WITH_JAVA_SOURCE)
     find_package(Java REQUIRED)
     include(UseJava)
-    file(GLOB HAL_SOURCES src/main/java/edu/wpi/first/hal/*.java ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java)
+    file(GLOB HAL_SOURCES src/main/java/edu/wpi/first/hal/*.java src/generated/main/java/*.java)
     file(GLOB HAL_CAN_SOURCES src/main/java/edu/wpi/first/hal/can/*.java)
     file(GLOB HAL_SIMULATION_SOURCES src/main/java/edu/wpi/first/hal/simulation/*.java)
     file(GLOB HAL_UTIL_SOURCES src/main/java/edu/wpi/first/hal/util/*.java)
-    add_jar(hal_src_jar
-    RESOURCES NAMESPACE "edu/wpi/first/hal" ${HAL_SOURCES}
-    NAMESPACE "edu/wpi/first/hal/can" ${HAL_CAN_SOURCES}
-    NAMESPACE "edu/wpi/first/hal/communication" src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
-    NAMESPACE "edu/wpi/first/hal/simulation" ${HAL_SIMULATION_SOURCES}
-    NAMESPACE "edu/wpi/first/hal/util" ${HAL_UTIL_SOURCES}
-    OUTPUT_NAME wpiHal-sources)
+    add_jar(
+        hal_src_jar
+        RESOURCES
+        NAMESPACE "edu/wpi/first/hal" ${HAL_SOURCES}
+        NAMESPACE "edu/wpi/first/hal/can" ${HAL_CAN_SOURCES}
+        NAMESPACE
+            "edu/wpi/first/hal/communication"
+            src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
+        NAMESPACE "edu/wpi/first/hal/simulation" ${HAL_SIMULATION_SOURCES}
+        NAMESPACE "edu/wpi/first/hal/util" ${HAL_UTIL_SOURCES}
+        OUTPUT_NAME wpiHal-sources
+    )
 
     get_property(HAL_SRC_JAR_FILE TARGET hal_src_jar PROPERTY JAR_FILE)
     install(FILES ${HAL_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -131,7 +122,7 @@ if (WITH_JAVA_SOURCE)
     set_property(TARGET hal_src_jar PROPERTY FOLDER "java")
 endif()
 
-if (WITH_TESTS)
+if(WITH_TESTS)
     wpilib_add_test(hal src/test/native/cpp)
     target_link_libraries(hal_test hal gtest)
 endif()

hal/build.gradle

@@ -1,60 +1,9 @@
-def javaResourceFile = file("$buildDir/generated/java/edu/wpi/first/hal/FRCNetComm.java")
-def cppResourceFile = file("$buildDir/generated/headers/hal/FRCUsageReporting.h")
-
-def generateUsageReporting = tasks.register('generateUsageReporting') {
-    def javaBase = file('src/generate/FRCNetComm.java.in')
-    def cppBase = file('src/generate/FRCUsageReporting.h.in')
-
-    def instances = file('src/generate/Instances.txt')
-    def resourceType = file('src/generate/ResourceType.txt')
-
-    inputs.file(javaBase)
-    inputs.file(cppBase)
-    inputs.file(instances)
-    inputs.file(resourceType)
-
-    outputs.file(javaResourceFile)
-    outputs.file(cppResourceFile)
-
-    doLast {
-        def instanceTextJava = instances as String[]
-        def instanceTextCpp = instances as String[]
-        def resourceTextJava = resourceType as String[]
-        def resourceTextCpp = resourceType as String[]
-
-        instanceTextJava = instanceTextJava.collect {
-            "    public static final int ${it};"
-        }.join('\n')
-
-        instanceTextCpp = instanceTextCpp.collect {
-            "    ${it},"
-        }.join('\n')
-
-        resourceTextJava = resourceTextJava.collect {
-            "    public static final int ${it};"
-        }.join('\n')
-
-        resourceTextCpp = resourceTextCpp.collect {
-            "    ${it},"
-        }.join('\n')
-
-        javaResourceFile.text = javaBase.text.replace('${usage_reporting_types}', resourceTextJava).replace('${usage_reporting_instances}', instanceTextJava)
-        cppResourceFile.text = cppBase.text.replace('${usage_reporting_types_cpp}', resourceTextCpp).replace('${usage_reporting_instances_cpp}', instanceTextCpp)
-    }
-}
-
 ext {
     addHalDependency = { binary, shared->
-        binary.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
         binary.lib project: ':hal', library: 'hal', linkage: shared
     }
 
     addHalJniDependency = { binary->
-        binary.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
         binary.lib project: ':hal', library: 'halJNIShared', linkage: 'shared'
     }
 
@@ -62,16 +11,8 @@ ext {
     setBaseName = 'wpiHal'
     devMain = 'edu.wpi.first.hal.DevMain'
     niLibraries = true
-    generatedHeaders = "$buildDir/generated/headers"
-    jniSplitSetup = {
-        it.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
-    }
+    generatedHeaders = "src/generated/main/native/include"
     splitSetup = {
-        it.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
             it.sources {
                 athenaCpp(CppSourceSet) {
@@ -109,11 +50,7 @@ ext {
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
-sourceSets.main.java.srcDir "${buildDir}/generated/java/"
-
-compileJava {
-    dependsOn generateUsageReporting
-}
+sourceSets.main.java.srcDir "src/generated/main/java/edu/wpi/first/hal/"
 
 cppSourcesZip {
     from('src/main/native/athena') {
@@ -126,7 +63,6 @@ cppSourcesZip {
 }
 
 cppHeadersZip {
-    dependsOn generateUsageReporting
     from(generatedHeaders) {
         into '/'
     }
@@ -160,9 +96,6 @@ nativeUtils.exportsConfigs {
 model {
     binaries {
         all {
-            it.tasks.withType(AbstractNativeSourceCompileTask) {
-                it.dependsOn generateUsageReporting
-            }
             if (!(it instanceof NativeBinarySpec)) return
                 if (it.component.name != 'hal' && it.component.name != 'halBase') return
                 if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return

hal/generate_usage_reporting.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+import pathlib
+
+
+def main():
+    # Gets the folder this script is in (the hal/ directory)
+    HAL_ROOT = pathlib.Path(__file__).parent
+    java_package = "edu/wpi/first/hal"
+    (HAL_ROOT/"src/generated/main/native/include/hal").mkdir(parents=True, exist_ok=True)
+    (HAL_ROOT/f"src/generated/main/java/{java_package}").mkdir(parents=True, exist_ok=True)
+    usage_reporting_types_cpp = [] 
+    usage_reporting_instances_cpp = []
+    usage_reporting_types = []
+    usage_reporting_instances = []
+    with open(HAL_ROOT/"src/generate/Instances.txt") as instances:
+        for instance in instances:
+            usage_reporting_instances_cpp.append(f"    {instance.strip()},")
+            usage_reporting_instances.append(
+                f"    /** {instance.strip()}. */\n"
+                f"    public static final int {instance.strip()};")
+
+    with open(HAL_ROOT/"src/generate/ResourceType.txt") as resource_types:
+        for resource_type in resource_types:
+            usage_reporting_types_cpp.append(f"    {resource_type.strip()},")
+            usage_reporting_types.append(
+                f"    /** {resource_type.strip()}. */\n"
+                f"    public static final int {resource_type.strip()};")
+
+    with open(HAL_ROOT/"src/generate/FRCNetComm.java.in") as java_usage_reporting:
+        contents = (java_usage_reporting.read()
+            .replace(r"${usage_reporting_types}", "\n".join(usage_reporting_types))
+            .replace(r"${usage_reporting_instances}", "\n".join(usage_reporting_instances)))
+        
+        with open(HAL_ROOT/f"src/generated/main/java/{java_package}/FRCNetComm.java", "w") as java_out:
+            java_out.write(contents)
+
+    with open(HAL_ROOT/"src/generate/FRCUsageReporting.h.in") as cpp_usage_reporting:
+        contents = (cpp_usage_reporting.read()
+            .replace(r"${usage_reporting_types_cpp}", "\n".join(usage_reporting_types_cpp))
+            .replace(r"${usage_reporting_instances_cpp}", "\n".join(usage_reporting_instances_cpp)))
+
+        with open(HAL_ROOT/"src/generated/main/native/include/hal/FRCUsageReporting.h", "w") as cpp_out:
+            cpp_out.write(contents)
+
+
+if __name__ == "__main__":
+    main()

hal/hal-config.cmake.in

@@ -4,3 +4,6 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/hal.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/hal_jar.cmake)
+endif()

hal/src/generate/FRCNetComm.java.in

@@ -1,6 +1,8 @@
-/*
- * Autogenerated file! Do not manually edit this file.
- */
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
 
 package edu.wpi.first.hal;
 

hal/src/generate/FRCUsageReporting.h.in

@@ -1,3 +1,9 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
+
 #pragma once
 
 #include <stdint.h>

hal/src/generate/Instances.txt

@@ -12,6 +12,7 @@ kFramework_CommandControl = 3
 kFramework_Timed = 4
 kFramework_ROS = 5
 kFramework_RobotBuilder = 6
+kFramework_AdvantageKit = 7
 kRobotDrive_ArcadeStandard = 1
 kRobotDrive_ArcadeButtonSpin = 2
 kRobotDrive_ArcadeRatioCurve = 3

hal/src/generate/ResourceType.txt

@@ -100,3 +100,17 @@ kResourceType_CTRE_future11 = 98
 kResourceType_CTRE_future12 = 99
 kResourceType_CTRE_future13 = 100
 kResourceType_CTRE_future14 = 101
+kResourceType_ExponentialProfile = 102
+kResourceType_PS4Controller = 103
+kResourceType_PhotonCamera = 104
+kResourceType_PhotonPoseEstimator = 105
+kResourceType_PathPlannerPath = 106
+kResourceType_PathPlannerAuto = 107
+kResourceType_PathFindingCommand = 108
+kResourceType_Redux_future1 = 109
+kResourceType_Redux_future2 = 110
+kResourceType_Redux_future3 = 111
+kResourceType_Redux_future4 = 112
+kResourceType_Redux_future5 = 113
+kResourceType_RevSparkFlexCAN = 114
+kResourceType_RevSparkFlexPWM = 115

hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java

@@ -0,0 +1,370 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
+
+package edu.wpi.first.hal;
+
+/**
+ * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
+ */
+public class FRCNetComm {
+  /**
+   * Resource type from UsageReporting.
+   */
+  @SuppressWarnings("TypeName")
+  public static final class tResourceType {
+    private tResourceType() {
+    }
+
+    /** kResourceType_Controller = 0. */
+    public static final int kResourceType_Controller = 0;
+    /** kResourceType_Module = 1. */
+    public static final int kResourceType_Module = 1;
+    /** kResourceType_Language = 2. */
+    public static final int kResourceType_Language = 2;
+    /** kResourceType_CANPlugin = 3. */
+    public static final int kResourceType_CANPlugin = 3;
+    /** kResourceType_Accelerometer = 4. */
+    public static final int kResourceType_Accelerometer = 4;
+    /** kResourceType_ADXL345 = 5. */
+    public static final int kResourceType_ADXL345 = 5;
+    /** kResourceType_AnalogChannel = 6. */
+    public static final int kResourceType_AnalogChannel = 6;
+    /** kResourceType_AnalogTrigger = 7. */
+    public static final int kResourceType_AnalogTrigger = 7;
+    /** kResourceType_AnalogTriggerOutput = 8. */
+    public static final int kResourceType_AnalogTriggerOutput = 8;
+    /** kResourceType_CANJaguar = 9. */
+    public static final int kResourceType_CANJaguar = 9;
+    /** kResourceType_Compressor = 10. */
+    public static final int kResourceType_Compressor = 10;
+    /** kResourceType_Counter = 11. */
+    public static final int kResourceType_Counter = 11;
+    /** kResourceType_Dashboard = 12. */
+    public static final int kResourceType_Dashboard = 12;
+    /** kResourceType_DigitalInput = 13. */
+    public static final int kResourceType_DigitalInput = 13;
+    /** kResourceType_DigitalOutput = 14. */
+    public static final int kResourceType_DigitalOutput = 14;
+    /** kResourceType_DriverStationCIO = 15. */
+    public static final int kResourceType_DriverStationCIO = 15;
+    /** kResourceType_DriverStationEIO = 16. */
+    public static final int kResourceType_DriverStationEIO = 16;
+    /** kResourceType_DriverStationLCD = 17. */
+    public static final int kResourceType_DriverStationLCD = 17;
+    /** kResourceType_Encoder = 18. */
+    public static final int kResourceType_Encoder = 18;
+    /** kResourceType_GearTooth = 19. */
+    public static final int kResourceType_GearTooth = 19;
+    /** kResourceType_Gyro = 20. */
+    public static final int kResourceType_Gyro = 20;
+    /** kResourceType_I2C = 21. */
+    public static final int kResourceType_I2C = 21;
+    /** kResourceType_Framework = 22. */
+    public static final int kResourceType_Framework = 22;
+    /** kResourceType_Jaguar = 23. */
+    public static final int kResourceType_Jaguar = 23;
+    /** kResourceType_Joystick = 24. */
+    public static final int kResourceType_Joystick = 24;
+    /** kResourceType_Kinect = 25. */
+    public static final int kResourceType_Kinect = 25;
+    /** kResourceType_KinectStick = 26. */
+    public static final int kResourceType_KinectStick = 26;
+    /** kResourceType_PIDController = 27. */
+    public static final int kResourceType_PIDController = 27;
+    /** kResourceType_Preferences = 28. */
+    public static final int kResourceType_Preferences = 28;
+    /** kResourceType_PWM = 29. */
+    public static final int kResourceType_PWM = 29;
+    /** kResourceType_Relay = 30. */
+    public static final int kResourceType_Relay = 30;
+    /** kResourceType_RobotDrive = 31. */
+    public static final int kResourceType_RobotDrive = 31;
+    /** kResourceType_SerialPort = 32. */
+    public static final int kResourceType_SerialPort = 32;
+    /** kResourceType_Servo = 33. */
+    public static final int kResourceType_Servo = 33;
+    /** kResourceType_Solenoid = 34. */
+    public static final int kResourceType_Solenoid = 34;
+    /** kResourceType_SPI = 35. */
+    public static final int kResourceType_SPI = 35;
+    /** kResourceType_Task = 36. */
+    public static final int kResourceType_Task = 36;
+    /** kResourceType_Ultrasonic = 37. */
+    public static final int kResourceType_Ultrasonic = 37;
+    /** kResourceType_Victor = 38. */
+    public static final int kResourceType_Victor = 38;
+    /** kResourceType_Button = 39. */
+    public static final int kResourceType_Button = 39;
+    /** kResourceType_Command = 40. */
+    public static final int kResourceType_Command = 40;
+    /** kResourceType_AxisCamera = 41. */
+    public static final int kResourceType_AxisCamera = 41;
+    /** kResourceType_PCVideoServer = 42. */
+    public static final int kResourceType_PCVideoServer = 42;
+    /** kResourceType_SmartDashboard = 43. */
+    public static final int kResourceType_SmartDashboard = 43;
+    /** kResourceType_Talon = 44. */
+    public static final int kResourceType_Talon = 44;
+    /** kResourceType_HiTechnicColorSensor = 45. */
+    public static final int kResourceType_HiTechnicColorSensor = 45;
+    /** kResourceType_HiTechnicAccel = 46. */
+    public static final int kResourceType_HiTechnicAccel = 46;
+    /** kResourceType_HiTechnicCompass = 47. */
+    public static final int kResourceType_HiTechnicCompass = 47;
+    /** kResourceType_SRF08 = 48. */
+    public static final int kResourceType_SRF08 = 48;
+    /** kResourceType_AnalogOutput = 49. */
+    public static final int kResourceType_AnalogOutput = 49;
+    /** kResourceType_VictorSP = 50. */
+    public static final int kResourceType_VictorSP = 50;
+    /** kResourceType_PWMTalonSRX = 51. */
+    public static final int kResourceType_PWMTalonSRX = 51;
+    /** kResourceType_CANTalonSRX = 52. */
+    public static final int kResourceType_CANTalonSRX = 52;
+    /** kResourceType_ADXL362 = 53. */
+    public static final int kResourceType_ADXL362 = 53;
+    /** kResourceType_ADXRS450 = 54. */
+    public static final int kResourceType_ADXRS450 = 54;
+    /** kResourceType_RevSPARK = 55. */
+    public static final int kResourceType_RevSPARK = 55;
+    /** kResourceType_MindsensorsSD540 = 56. */
+    public static final int kResourceType_MindsensorsSD540 = 56;
+    /** kResourceType_DigitalGlitchFilter = 57. */
+    public static final int kResourceType_DigitalGlitchFilter = 57;
+    /** kResourceType_ADIS16448 = 58. */
+    public static final int kResourceType_ADIS16448 = 58;
+    /** kResourceType_PDP = 59. */
+    public static final int kResourceType_PDP = 59;
+    /** kResourceType_PCM = 60. */
+    public static final int kResourceType_PCM = 60;
+    /** kResourceType_PigeonIMU = 61. */
+    public static final int kResourceType_PigeonIMU = 61;
+    /** kResourceType_NidecBrushless = 62. */
+    public static final int kResourceType_NidecBrushless = 62;
+    /** kResourceType_CANifier = 63. */
+    public static final int kResourceType_CANifier = 63;
+    /** kResourceType_TalonFX = 64. */
+    public static final int kResourceType_TalonFX = 64;
+    /** kResourceType_CTRE_future1 = 65. */
+    public static final int kResourceType_CTRE_future1 = 65;
+    /** kResourceType_CTRE_future2 = 66. */
+    public static final int kResourceType_CTRE_future2 = 66;
+    /** kResourceType_CTRE_future3 = 67. */
+    public static final int kResourceType_CTRE_future3 = 67;
+    /** kResourceType_CTRE_future4 = 68. */
+    public static final int kResourceType_CTRE_future4 = 68;
+    /** kResourceType_CTRE_future5 = 69. */
+    public static final int kResourceType_CTRE_future5 = 69;
+    /** kResourceType_CTRE_future6 = 70. */
+    public static final int kResourceType_CTRE_future6 = 70;
+    /** kResourceType_LinearFilter = 71. */
+    public static final int kResourceType_LinearFilter = 71;
+    /** kResourceType_XboxController = 72. */
+    public static final int kResourceType_XboxController = 72;
+    /** kResourceType_UsbCamera = 73. */
+    public static final int kResourceType_UsbCamera = 73;
+    /** kResourceType_NavX = 74. */
+    public static final int kResourceType_NavX = 74;
+    /** kResourceType_Pixy = 75. */
+    public static final int kResourceType_Pixy = 75;
+    /** kResourceType_Pixy2 = 76. */
+    public static final int kResourceType_Pixy2 = 76;
+    /** kResourceType_ScanseSweep = 77. */
+    public static final int kResourceType_ScanseSweep = 77;
+    /** kResourceType_Shuffleboard = 78. */
+    public static final int kResourceType_Shuffleboard = 78;
+    /** kResourceType_CAN = 79. */
+    public static final int kResourceType_CAN = 79;
+    /** kResourceType_DigilentDMC60 = 80. */
+    public static final int kResourceType_DigilentDMC60 = 80;
+    /** kResourceType_PWMVictorSPX = 81. */
+    public static final int kResourceType_PWMVictorSPX = 81;
+    /** kResourceType_RevSparkMaxPWM = 82. */
+    public static final int kResourceType_RevSparkMaxPWM = 82;
+    /** kResourceType_RevSparkMaxCAN = 83. */
+    public static final int kResourceType_RevSparkMaxCAN = 83;
+    /** kResourceType_ADIS16470 = 84. */
+    public static final int kResourceType_ADIS16470 = 84;
+    /** kResourceType_PIDController2 = 85. */
+    public static final int kResourceType_PIDController2 = 85;
+    /** kResourceType_ProfiledPIDController = 86. */
+    public static final int kResourceType_ProfiledPIDController = 86;
+    /** kResourceType_Kinematics = 87. */
+    public static final int kResourceType_Kinematics = 87;
+    /** kResourceType_Odometry = 88. */
+    public static final int kResourceType_Odometry = 88;
+    /** kResourceType_Units = 89. */
+    public static final int kResourceType_Units = 89;
+    /** kResourceType_TrapezoidProfile = 90. */
+    public static final int kResourceType_TrapezoidProfile = 90;
+    /** kResourceType_DutyCycle = 91. */
+    public static final int kResourceType_DutyCycle = 91;
+    /** kResourceType_AddressableLEDs = 92. */
+    public static final int kResourceType_AddressableLEDs = 92;
+    /** kResourceType_FusionVenom = 93. */
+    public static final int kResourceType_FusionVenom = 93;
+    /** kResourceType_CTRE_future7 = 94. */
+    public static final int kResourceType_CTRE_future7 = 94;
+    /** kResourceType_CTRE_future8 = 95. */
+    public static final int kResourceType_CTRE_future8 = 95;
+    /** kResourceType_CTRE_future9 = 96. */
+    public static final int kResourceType_CTRE_future9 = 96;
+    /** kResourceType_CTRE_future10 = 97. */
+    public static final int kResourceType_CTRE_future10 = 97;
+    /** kResourceType_CTRE_future11 = 98. */
+    public static final int kResourceType_CTRE_future11 = 98;
+    /** kResourceType_CTRE_future12 = 99. */
+    public static final int kResourceType_CTRE_future12 = 99;
+    /** kResourceType_CTRE_future13 = 100. */
+    public static final int kResourceType_CTRE_future13 = 100;
+    /** kResourceType_CTRE_future14 = 101. */
+    public static final int kResourceType_CTRE_future14 = 101;
+    /** kResourceType_ExponentialProfile = 102. */
+    public static final int kResourceType_ExponentialProfile = 102;
+    /** kResourceType_PS4Controller = 103. */
+    public static final int kResourceType_PS4Controller = 103;
+    /** kResourceType_PhotonCamera = 104. */
+    public static final int kResourceType_PhotonCamera = 104;
+    /** kResourceType_PhotonPoseEstimator = 105. */
+    public static final int kResourceType_PhotonPoseEstimator = 105;
+    /** kResourceType_PathPlannerPath = 106. */
+    public static final int kResourceType_PathPlannerPath = 106;
+    /** kResourceType_PathPlannerAuto = 107. */
+    public static final int kResourceType_PathPlannerAuto = 107;
+    /** kResourceType_PathFindingCommand = 108. */
+    public static final int kResourceType_PathFindingCommand = 108;
+    /** kResourceType_Redux_future1 = 109. */
+    public static final int kResourceType_Redux_future1 = 109;
+    /** kResourceType_Redux_future2 = 110. */
+    public static final int kResourceType_Redux_future2 = 110;
+    /** kResourceType_Redux_future3 = 111. */
+    public static final int kResourceType_Redux_future3 = 111;
+    /** kResourceType_Redux_future4 = 112. */
+    public static final int kResourceType_Redux_future4 = 112;
+    /** kResourceType_Redux_future5 = 113. */
+    public static final int kResourceType_Redux_future5 = 113;
+    /** kResourceType_RevSparkFlexCAN = 114. */
+    public static final int kResourceType_RevSparkFlexCAN = 114;
+    /** kResourceType_RevSparkFlexPWM = 115. */
+    public static final int kResourceType_RevSparkFlexPWM = 115;
+  }
+
+  /**
+   * Instances from UsageReporting.
+   */
+  @SuppressWarnings("TypeName")
+  public static final class tInstances {
+    private tInstances() {
+    }
+
+    /** kLanguage_LabVIEW = 1. */
+    public static final int kLanguage_LabVIEW = 1;
+    /** kLanguage_CPlusPlus = 2. */
+    public static final int kLanguage_CPlusPlus = 2;
+    /** kLanguage_Java = 3. */
+    public static final int kLanguage_Java = 3;
+    /** kLanguage_Python = 4. */
+    public static final int kLanguage_Python = 4;
+    /** kLanguage_DotNet = 5. */
+    public static final int kLanguage_DotNet = 5;
+    /** kLanguage_Kotlin = 6. */
+    public static final int kLanguage_Kotlin = 6;
+    /** kCANPlugin_BlackJagBridge = 1. */
+    public static final int kCANPlugin_BlackJagBridge = 1;
+    /** kCANPlugin_2CAN = 2. */
+    public static final int kCANPlugin_2CAN = 2;
+    /** kFramework_Iterative = 1. */
+    public static final int kFramework_Iterative = 1;
+    /** kFramework_Simple = 2. */
+    public static final int kFramework_Simple = 2;
+    /** kFramework_CommandControl = 3. */
+    public static final int kFramework_CommandControl = 3;
+    /** kFramework_Timed = 4. */
+    public static final int kFramework_Timed = 4;
+    /** kFramework_ROS = 5. */
+    public static final int kFramework_ROS = 5;
+    /** kFramework_RobotBuilder = 6. */
+    public static final int kFramework_RobotBuilder = 6;
+    /** kFramework_AdvantageKit = 7. */
+    public static final int kFramework_AdvantageKit = 7;
+    /** kRobotDrive_ArcadeStandard = 1. */
+    public static final int kRobotDrive_ArcadeStandard = 1;
+    /** kRobotDrive_ArcadeButtonSpin = 2. */
+    public static final int kRobotDrive_ArcadeButtonSpin = 2;
+    /** kRobotDrive_ArcadeRatioCurve = 3. */
+    public static final int kRobotDrive_ArcadeRatioCurve = 3;
+    /** kRobotDrive_Tank = 4. */
+    public static final int kRobotDrive_Tank = 4;
+    /** kRobotDrive_MecanumPolar = 5. */
+    public static final int kRobotDrive_MecanumPolar = 5;
+    /** kRobotDrive_MecanumCartesian = 6. */
+    public static final int kRobotDrive_MecanumCartesian = 6;
+    /** kRobotDrive2_DifferentialArcade = 7. */
+    public static final int kRobotDrive2_DifferentialArcade = 7;
+    /** kRobotDrive2_DifferentialTank = 8. */
+    public static final int kRobotDrive2_DifferentialTank = 8;
+    /** kRobotDrive2_DifferentialCurvature = 9. */
+    public static final int kRobotDrive2_DifferentialCurvature = 9;
+    /** kRobotDrive2_MecanumCartesian = 10. */
+    public static final int kRobotDrive2_MecanumCartesian = 10;
+    /** kRobotDrive2_MecanumPolar = 11. */
+    public static final int kRobotDrive2_MecanumPolar = 11;
+    /** kRobotDrive2_KilloughCartesian = 12. */
+    public static final int kRobotDrive2_KilloughCartesian = 12;
+    /** kRobotDrive2_KilloughPolar = 13. */
+    public static final int kRobotDrive2_KilloughPolar = 13;
+    /** kDriverStationCIO_Analog = 1. */
+    public static final int kDriverStationCIO_Analog = 1;
+    /** kDriverStationCIO_DigitalIn = 2. */
+    public static final int kDriverStationCIO_DigitalIn = 2;
+    /** kDriverStationCIO_DigitalOut = 3. */
+    public static final int kDriverStationCIO_DigitalOut = 3;
+    /** kDriverStationEIO_Acceleration = 1. */
+    public static final int kDriverStationEIO_Acceleration = 1;
+    /** kDriverStationEIO_AnalogIn = 2. */
+    public static final int kDriverStationEIO_AnalogIn = 2;
+    /** kDriverStationEIO_AnalogOut = 3. */
+    public static final int kDriverStationEIO_AnalogOut = 3;
+    /** kDriverStationEIO_Button = 4. */
+    public static final int kDriverStationEIO_Button = 4;
+    /** kDriverStationEIO_LED = 5. */
+    public static final int kDriverStationEIO_LED = 5;
+    /** kDriverStationEIO_DigitalIn = 6. */
+    public static final int kDriverStationEIO_DigitalIn = 6;
+    /** kDriverStationEIO_DigitalOut = 7. */
+    public static final int kDriverStationEIO_DigitalOut = 7;
+    /** kDriverStationEIO_FixedDigitalOut = 8. */
+    public static final int kDriverStationEIO_FixedDigitalOut = 8;
+    /** kDriverStationEIO_PWM = 9. */
+    public static final int kDriverStationEIO_PWM = 9;
+    /** kDriverStationEIO_Encoder = 10. */
+    public static final int kDriverStationEIO_Encoder = 10;
+    /** kDriverStationEIO_TouchSlider = 11. */
+    public static final int kDriverStationEIO_TouchSlider = 11;
+    /** kADXL345_SPI = 1. */
+    public static final int kADXL345_SPI = 1;
+    /** kADXL345_I2C = 2. */
+    public static final int kADXL345_I2C = 2;
+    /** kCommand_Scheduler = 1. */
+    public static final int kCommand_Scheduler = 1;
+    /** kCommand2_Scheduler = 2. */
+    public static final int kCommand2_Scheduler = 2;
+    /** kSmartDashboard_Instance = 1. */
+    public static final int kSmartDashboard_Instance = 1;
+    /** kKinematics_DifferentialDrive = 1. */
+    public static final int kKinematics_DifferentialDrive = 1;
+    /** kKinematics_MecanumDrive = 2. */
+    public static final int kKinematics_MecanumDrive = 2;
+    /** kKinematics_SwerveDrive = 3. */
+    public static final int kKinematics_SwerveDrive = 3;
+    /** kOdometry_DifferentialDrive = 1. */
+    public static final int kOdometry_DifferentialDrive = 1;
+    /** kOdometry_MecanumDrive = 2. */
+    public static final int kOdometry_MecanumDrive = 2;
+    /** kOdometry_SwerveDrive = 3. */
+    public static final int kOdometry_SwerveDrive = 3;
+  }
+}

hal/src/generated/main/native/include/hal/FRCUsageReporting.h

@@ -0,0 +1,227 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// ifdef's definition is to allow for default parameters in C++.
+#ifdef __cplusplus
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource       the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context        a user specified context index
+ * @param feature        a user specified feature string
+ * @return               the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
+                   int32_t context = 0, const char* feature = nullptr);
+#else
+
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource       the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context        a user specified context index
+ * @param feature        a user specified feature string
+ * @return               the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
+                   const char* feature);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*
+ * Autogenerated file! Do not manually edit this file.
+ */
+
+#ifdef __cplusplus
+namespace HALUsageReporting {
+  enum tResourceType : int32_t {
+    kResourceType_Controller = 0,
+    kResourceType_Module = 1,
+    kResourceType_Language = 2,
+    kResourceType_CANPlugin = 3,
+    kResourceType_Accelerometer = 4,
+    kResourceType_ADXL345 = 5,
+    kResourceType_AnalogChannel = 6,
+    kResourceType_AnalogTrigger = 7,
+    kResourceType_AnalogTriggerOutput = 8,
+    kResourceType_CANJaguar = 9,
+    kResourceType_Compressor = 10,
+    kResourceType_Counter = 11,
+    kResourceType_Dashboard = 12,
+    kResourceType_DigitalInput = 13,
+    kResourceType_DigitalOutput = 14,
+    kResourceType_DriverStationCIO = 15,
+    kResourceType_DriverStationEIO = 16,
+    kResourceType_DriverStationLCD = 17,
+    kResourceType_Encoder = 18,
+    kResourceType_GearTooth = 19,
+    kResourceType_Gyro = 20,
+    kResourceType_I2C = 21,
+    kResourceType_Framework = 22,
+    kResourceType_Jaguar = 23,
+    kResourceType_Joystick = 24,
+    kResourceType_Kinect = 25,
+    kResourceType_KinectStick = 26,
+    kResourceType_PIDController = 27,
+    kResourceType_Preferences = 28,
+    kResourceType_PWM = 29,
+    kResourceType_Relay = 30,
+    kResourceType_RobotDrive = 31,
+    kResourceType_SerialPort = 32,
+    kResourceType_Servo = 33,
+    kResourceType_Solenoid = 34,
+    kResourceType_SPI = 35,
+    kResourceType_Task = 36,
+    kResourceType_Ultrasonic = 37,
+    kResourceType_Victor = 38,
+    kResourceType_Button = 39,
+    kResourceType_Command = 40,
+    kResourceType_AxisCamera = 41,
+    kResourceType_PCVideoServer = 42,
+    kResourceType_SmartDashboard = 43,
+    kResourceType_Talon = 44,
+    kResourceType_HiTechnicColorSensor = 45,
+    kResourceType_HiTechnicAccel = 46,
+    kResourceType_HiTechnicCompass = 47,
+    kResourceType_SRF08 = 48,
+    kResourceType_AnalogOutput = 49,
+    kResourceType_VictorSP = 50,
+    kResourceType_PWMTalonSRX = 51,
+    kResourceType_CANTalonSRX = 52,
+    kResourceType_ADXL362 = 53,
+    kResourceType_ADXRS450 = 54,
+    kResourceType_RevSPARK = 55,
+    kResourceType_MindsensorsSD540 = 56,
+    kResourceType_DigitalGlitchFilter = 57,
+    kResourceType_ADIS16448 = 58,
+    kResourceType_PDP = 59,
+    kResourceType_PCM = 60,
+    kResourceType_PigeonIMU = 61,
+    kResourceType_NidecBrushless = 62,
+    kResourceType_CANifier = 63,
+    kResourceType_TalonFX = 64,
+    kResourceType_CTRE_future1 = 65,
+    kResourceType_CTRE_future2 = 66,
+    kResourceType_CTRE_future3 = 67,
+    kResourceType_CTRE_future4 = 68,
+    kResourceType_CTRE_future5 = 69,
+    kResourceType_CTRE_future6 = 70,
+    kResourceType_LinearFilter = 71,
+    kResourceType_XboxController = 72,
+    kResourceType_UsbCamera = 73,
+    kResourceType_NavX = 74,
+    kResourceType_Pixy = 75,
+    kResourceType_Pixy2 = 76,
+    kResourceType_ScanseSweep = 77,
+    kResourceType_Shuffleboard = 78,
+    kResourceType_CAN = 79,
+    kResourceType_DigilentDMC60 = 80,
+    kResourceType_PWMVictorSPX = 81,
+    kResourceType_RevSparkMaxPWM = 82,
+    kResourceType_RevSparkMaxCAN = 83,
+    kResourceType_ADIS16470 = 84,
+    kResourceType_PIDController2 = 85,
+    kResourceType_ProfiledPIDController = 86,
+    kResourceType_Kinematics = 87,
+    kResourceType_Odometry = 88,
+    kResourceType_Units = 89,
+    kResourceType_TrapezoidProfile = 90,
+    kResourceType_DutyCycle = 91,
+    kResourceType_AddressableLEDs = 92,
+    kResourceType_FusionVenom = 93,
+    kResourceType_CTRE_future7 = 94,
+    kResourceType_CTRE_future8 = 95,
+    kResourceType_CTRE_future9 = 96,
+    kResourceType_CTRE_future10 = 97,
+    kResourceType_CTRE_future11 = 98,
+    kResourceType_CTRE_future12 = 99,
+    kResourceType_CTRE_future13 = 100,
+    kResourceType_CTRE_future14 = 101,
+    kResourceType_ExponentialProfile = 102,
+    kResourceType_PS4Controller = 103,
+    kResourceType_PhotonCamera = 104,
+    kResourceType_PhotonPoseEstimator = 105,
+    kResourceType_PathPlannerPath = 106,
+    kResourceType_PathPlannerAuto = 107,
+    kResourceType_PathFindingCommand = 108,
+    kResourceType_Redux_future1 = 109,
+    kResourceType_Redux_future2 = 110,
+    kResourceType_Redux_future3 = 111,
+    kResourceType_Redux_future4 = 112,
+    kResourceType_Redux_future5 = 113,
+    kResourceType_RevSparkFlexCAN = 114,
+    kResourceType_RevSparkFlexPWM = 115,
+  };
+  enum tInstances : int32_t {
+    kLanguage_LabVIEW = 1,
+    kLanguage_CPlusPlus = 2,
+    kLanguage_Java = 3,
+    kLanguage_Python = 4,
+    kLanguage_DotNet = 5,
+    kLanguage_Kotlin = 6,
+    kCANPlugin_BlackJagBridge = 1,
+    kCANPlugin_2CAN = 2,
+    kFramework_Iterative = 1,
+    kFramework_Simple = 2,
+    kFramework_CommandControl = 3,
+    kFramework_Timed = 4,
+    kFramework_ROS = 5,
+    kFramework_RobotBuilder = 6,
+    kFramework_AdvantageKit = 7,
+    kRobotDrive_ArcadeStandard = 1,
+    kRobotDrive_ArcadeButtonSpin = 2,
+    kRobotDrive_ArcadeRatioCurve = 3,
+    kRobotDrive_Tank = 4,
+    kRobotDrive_MecanumPolar = 5,
+    kRobotDrive_MecanumCartesian = 6,
+    kRobotDrive2_DifferentialArcade = 7,
+    kRobotDrive2_DifferentialTank = 8,
+    kRobotDrive2_DifferentialCurvature = 9,
+    kRobotDrive2_MecanumCartesian = 10,
+    kRobotDrive2_MecanumPolar = 11,
+    kRobotDrive2_KilloughCartesian = 12,
+    kRobotDrive2_KilloughPolar = 13,
+    kDriverStationCIO_Analog = 1,
+    kDriverStationCIO_DigitalIn = 2,
+    kDriverStationCIO_DigitalOut = 3,
+    kDriverStationEIO_Acceleration = 1,
+    kDriverStationEIO_AnalogIn = 2,
+    kDriverStationEIO_AnalogOut = 3,
+    kDriverStationEIO_Button = 4,
+    kDriverStationEIO_LED = 5,
+    kDriverStationEIO_DigitalIn = 6,
+    kDriverStationEIO_DigitalOut = 7,
+    kDriverStationEIO_FixedDigitalOut = 8,
+    kDriverStationEIO_PWM = 9,
+    kDriverStationEIO_Encoder = 10,
+    kDriverStationEIO_TouchSlider = 11,
+    kADXL345_SPI = 1,
+    kADXL345_I2C = 2,
+    kCommand_Scheduler = 1,
+    kCommand2_Scheduler = 2,
+    kSmartDashboard_Instance = 1,
+    kKinematics_DifferentialDrive = 1,
+    kKinematics_MecanumDrive = 2,
+    kKinematics_SwerveDrive = 3,
+    kOdometry_DifferentialDrive = 1,
+    kOdometry_MecanumDrive = 2,
+    kOdometry_SwerveDrive = 3,
+  };
+}
+#endif

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

@@ -131,8 +131,7 @@ public class DMAJNISample {
     }
 
     // + 2 Hack, but needed to not have to call into JNI
-    int value = readValue(data.m_valueType + 2, data.m_index);
-    return value;
+    return readValue(data.m_valueType + 2, data.m_index);
   }
 
   public void getAnalogAccumulator(int analogInputHandle, AccumulatorResult result) {

hal/src/main/native/athena/CANAPI.cpp

@@ -281,4 +281,19 @@ void HAL_ReadCANPacketTimeout(HAL_CANHandle handle, int32_t apiId,
     }
   }
 }
+
+uint32_t HAL_StartCANStream(HAL_CANHandle handle, int32_t apiId, int32_t depth,
+                            int32_t* status) {
+  auto can = canHandles->Get(handle);
+  if (!can) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  uint32_t messageId = CreateCANId(can.get(), apiId);
+
+  uint32_t session = 0;
+  HAL_CAN_OpenStreamSession(&session, messageId, 0x1FFFFFFF, depth, status);
+  return session;
+}
 }  // extern "C"

hal/src/main/native/athena/CTREPDP.cpp

@@ -10,6 +10,7 @@
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
+#include "hal/CAN.h"
 #include "hal/CANAPI.h"
 #include "hal/Errors.h"
 #include "hal/handles/IndexedHandleResource.h"
@@ -107,6 +108,8 @@ namespace {
 struct PDP {
   HAL_CANHandle canHandle;
   std::string previousAllocation;
+  bool streamHandleAllocated{false};
+  uint32_t streamSessionHandles[3];
 };
 }  // namespace
 
@@ -523,4 +526,241 @@ void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status) {
   HAL_WriteCANPacket(pdp->canHandle, pdpControl, 1, Control1, status);
 }
 
+uint32_t HAL_StartCANStream(HAL_CANHandle handle, int32_t apiId, int32_t depth,
+                            int32_t* status);
+
+void HAL_StartPDPStream(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (pdp->streamHandleAllocated) {
+    *status = RESOURCE_IS_ALLOCATED;
+    return;
+  }
+
+  pdp->streamSessionHandles[0] =
+      HAL_StartCANStream(pdp->canHandle, Status1, 50, status);
+  if (*status != 0) {
+    return;
+  }
+  pdp->streamSessionHandles[1] =
+      HAL_StartCANStream(pdp->canHandle, Status2, 50, status);
+  if (*status != 0) {
+    HAL_CAN_CloseStreamSession(pdp->streamSessionHandles[0]);
+    return;
+  }
+  pdp->streamSessionHandles[2] =
+      HAL_StartCANStream(pdp->canHandle, Status3, 50, status);
+  if (*status != 0) {
+    HAL_CAN_CloseStreamSession(pdp->streamSessionHandles[0]);
+    HAL_CAN_CloseStreamSession(pdp->streamSessionHandles[1]);
+    return;
+  }
+  pdp->streamHandleAllocated = true;
+}
+
+HAL_PowerDistributionChannelData* HAL_GetPDPStreamData(HAL_PDPHandle handle,
+                                                       int32_t* count,
+                                                       int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return nullptr;
+  }
+
+  if (!pdp->streamHandleAllocated) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return nullptr;
+  }
+
+  *count = 0;
+  // 3 streams, 6 channels per stream, 50 depth per stream
+  HAL_PowerDistributionChannelData* retData =
+      new HAL_PowerDistributionChannelData[3 * 6 * 50];
+
+  HAL_CANStreamMessage messages[50];
+  uint32_t messagesRead = 0;
+  HAL_CAN_ReadStreamSession(pdp->streamSessionHandles[0], messages, 50,
+                            &messagesRead, status);
+  if (*status < 0) {
+    goto Exit;
+  }
+
+  for (uint32_t i = 0; i < messagesRead; i++) {
+    PdpStatus1 pdpStatus;
+    std::memcpy(pdpStatus.data, messages[i].data, sizeof(messages[i].data));
+    uint32_t timestamp = messages[i].timeStamp;
+
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan1_h8) << 2) |
+         pdpStatus.bits.chan1_l2) *
+        0.125;
+    retData[*count].channel = 1;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan2_h6) << 4) |
+         pdpStatus.bits.chan2_l4) *
+        0.125;
+    retData[*count].channel = 2;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan3_h4) << 6) |
+         pdpStatus.bits.chan3_l6) *
+        0.125;
+    retData[*count].channel = 3;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan4_h2) << 8) |
+         pdpStatus.bits.chan4_l8) *
+        0.125;
+    retData[*count].channel = 4;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan5_h8) << 2) |
+         pdpStatus.bits.chan5_l2) *
+        0.125;
+    retData[*count].channel = 5;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan6_h6) << 4) |
+         pdpStatus.bits.chan6_l4) *
+        0.125;
+    retData[*count].channel = 6;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+  }
+
+  messagesRead = 0;
+  HAL_CAN_ReadStreamSession(pdp->streamSessionHandles[1], messages, 50,
+                            &messagesRead, status);
+  if (*status < 0) {
+    goto Exit;
+  }
+
+  for (uint32_t i = 0; i < messagesRead; i++) {
+    PdpStatus2 pdpStatus;
+    std::memcpy(pdpStatus.data, messages[i].data, sizeof(messages[i].data));
+    uint32_t timestamp = messages[i].timeStamp;
+
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan7_h8) << 2) |
+         pdpStatus.bits.chan7_l2) *
+        0.125;
+    retData[*count].channel = 7;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan8_h6) << 4) |
+         pdpStatus.bits.chan8_l4) *
+        0.125;
+    retData[*count].channel = 8;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan9_h4) << 6) |
+         pdpStatus.bits.chan9_l6) *
+        0.125;
+    retData[*count].channel = 9;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan10_h2) << 8) |
+         pdpStatus.bits.chan10_l8) *
+        0.125;
+    retData[*count].channel = 10;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan11_h8) << 2) |
+         pdpStatus.bits.chan11_l2) *
+        0.125;
+    retData[*count].channel = 11;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan12_h6) << 4) |
+         pdpStatus.bits.chan12_l4) *
+        0.125;
+    retData[*count].channel = 12;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+  }
+
+  messagesRead = 0;
+  HAL_CAN_ReadStreamSession(pdp->streamSessionHandles[2], messages, 50,
+                            &messagesRead, status);
+  if (*status < 0) {
+    goto Exit;
+  }
+
+  for (uint32_t i = 0; i < messagesRead; i++) {
+    PdpStatus3 pdpStatus;
+    std::memcpy(pdpStatus.data, messages[i].data, sizeof(messages[i].data));
+    uint32_t timestamp = messages[i].timeStamp;
+
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan13_h8) << 2) |
+         pdpStatus.bits.chan13_l2) *
+        0.125;
+    retData[*count].channel = 13;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan14_h6) << 4) |
+         pdpStatus.bits.chan14_l4) *
+        0.125;
+    retData[*count].channel = 14;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan15_h4) << 6) |
+         pdpStatus.bits.chan15_l6) *
+        0.125;
+    retData[*count].channel = 15;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+    retData[*count].current =
+        ((static_cast<uint32_t>(pdpStatus.bits.chan16_h2) << 8) |
+         pdpStatus.bits.chan16_l8) *
+        0.125;
+    retData[*count].channel = 16;
+    retData[*count].timestamp = timestamp;
+    (*count)++;
+  }
+
+Exit:
+  if (*status < 0) {
+    delete[] retData;
+    retData = nullptr;
+  }
+  return retData;
+}
+
+void HAL_StopPDPStream(HAL_PDPHandle handle, int32_t* status) {
+  auto pdp = pdpHandles->Get(handle);
+  if (pdp == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  if (!pdp->streamHandleAllocated) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return;
+  }
+
+  HAL_CAN_CloseStreamSession(pdp->streamSessionHandles[0]);
+  HAL_CAN_CloseStreamSession(pdp->streamSessionHandles[1]);
+  HAL_CAN_CloseStreamSession(pdp->streamSessionHandles[2]);
+
+  pdp->streamHandleAllocated = false;
+}
+
 }  // extern "C"

hal/src/main/native/athena/CTREPDP.h

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#include "hal/PowerDistribution.h"
 #include "hal/Types.h"
 
 /**
@@ -130,6 +131,15 @@ void HAL_ResetPDPTotalEnergy(HAL_PDPHandle handle, int32_t* status);
  * @param handle the module handle
  */
 void HAL_ClearPDPStickyFaults(HAL_PDPHandle handle, int32_t* status);
+
+void HAL_StartPDPStream(HAL_PDPHandle handle, int32_t* status);
+
+HAL_PowerDistributionChannelData* HAL_GetPDPStreamData(HAL_PDPHandle handle,
+                                                       int32_t* count,
+                                                       int32_t* status);
+
+void HAL_StopPDPStream(HAL_PDPHandle handle, int32_t* status);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/athena/FRCDriverStation.cpp

@@ -181,9 +181,10 @@ static int32_t HAL_GetMatchInfoInternal(HAL_MatchInfo* info) {
 namespace {
 struct TcpCache {
   TcpCache() { std::memset(this, 0, sizeof(*this)); }
-  void Update(uint32_t mask);
+  bool Update(uint32_t mask);
   void CloneTo(TcpCache* other) { std::memcpy(other, this, sizeof(*this)); }
 
+  bool hasReadMatchInfo = false;
   HAL_MatchInfo matchInfo;
   HAL_JoystickDescriptor descriptors[HAL_kMaxJoysticks];
 };
@@ -199,15 +200,25 @@ constexpr uint32_t combinedMatchInfoMask = kTcpRecvMask_MatchInfoOld |
                                            kTcpRecvMask_MatchInfo |
                                            kTcpRecvMask_GameSpecific;
 
-void TcpCache::Update(uint32_t mask) {
+bool TcpCache::Update(uint32_t mask) {
+  bool failedToReadInfo = false;
   if ((mask & combinedMatchInfoMask) != 0) {
-    HAL_GetMatchInfoInternal(&matchInfo);
+    int status = HAL_GetMatchInfoInternal(&matchInfo);
+    if (status != 0) {
+      failedToReadInfo = true;
+      if (!hasReadMatchInfo) {
+        std::memset(&matchInfo, 0, sizeof(matchInfo));
+      }
+    } else {
+      hasReadMatchInfo = true;
+    }
   }
   for (int i = 0; i < HAL_kMaxJoysticks; i++) {
     if ((mask & (1 << i)) != 0) {
       HAL_GetJoystickDescriptorInternal(i, &descriptors[i]);
     }
   }
+  return failedToReadInfo;
 }
 
 namespace hal::init {
@@ -532,13 +543,21 @@ HAL_Bool HAL_RefreshDSData(void) {
     if (controlWord.dsAttached) {
       newestControlWord = currentRead->controlWord;
     } else {
+      // Zero out the control word. When the DS has never been connected
+      // this returns garbage. And there is no way we can detect that.
+      std::memset(&controlWord, 0, sizeof(controlWord));
       newestControlWord = controlWord;
     }
   }
 
   uint32_t mask = tcpMask.exchange(0);
   if (mask != 0) {
-    tcpCache.Update(mask);
+    bool failedToReadMatchInfo = tcpCache.Update(mask);
+    if (failedToReadMatchInfo) {
+      // If we failed to read match info
+      // we want to try again next iteration
+      tcpMask.fetch_or(combinedMatchInfoMask);
+    }
     std::scoped_lock tcpLock(tcpCacheMutex);
     tcpCache.CloneTo(&tcpCurrent);
   }

hal/src/main/native/athena/HAL.cpp

@@ -4,6 +4,7 @@
 
 #include "hal/HAL.h"
 
+#include <dlfcn.h>
 #include <signal.h>  // linux for kill
 #include <sys/prctl.h>
 #include <unistd.h>
@@ -522,6 +523,35 @@ static bool killExistingProgram(int timeout, int mode) {
   return true;
 }
 
+static void SetupNowRio(void) {
+  nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+      nLoadOut::getTargetClass();
+
+  int32_t status = 0;
+
+  Dl_info info;
+  status = dladdr(reinterpret_cast<void*>(tHMB::create), &info);
+  if (status == 0) {
+    fmt::print(stderr, "Failed to call dladdr on chipobject {}\n", dlerror());
+    return;
+  }
+
+  void* chipObjectLibrary = dlopen(info.dli_fname, RTLD_LAZY);
+  if (chipObjectLibrary == nullptr) {
+    fmt::print(stderr, "Failed to call dlopen on chipobject {}\n", dlerror());
+    return;
+  }
+
+  std::unique_ptr<tHMB> hmb;
+  hmb.reset(tHMB::create(&status));
+  if (hmb == nullptr) {
+    fmt::print(stderr, "Failed to open HMB on chipobject {}\n", status);
+    dlclose(chipObjectLibrary);
+    return;
+  }
+  wpi::impl::SetupNowRio(chipObjectLibrary, std::move(hmb));
+}
+
 HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
   static std::atomic_bool initialized{false};
   static wpi::mutex initializeMutex;
@@ -562,14 +592,13 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     setNewDataSem(nullptr);
   });
 
-  // Setup WPI_Now to use FPGA timestamp
-  // this also sets nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass
-  wpi::impl::SetupNowRio();
+  SetupNowRio();
 
   int32_t status = 0;
 
   HAL_InitializeHMB(&status);
   if (status != 0) {
+    fmt::print(stderr, "Failed to open HAL HMB, status code {}\n", status);
     return false;
   }
   hmbBuffer = HAL_GetHMBBuffer();

hal/src/main/native/athena/PowerDistribution.cpp

@@ -273,4 +273,36 @@ void HAL_GetPowerDistributionStickyFaults(
   }
 }
 
+void HAL_StartPowerDistributionStream(HAL_PowerDistributionHandle handle,
+                                      int32_t* status) {
+  if (IsCtre(handle)) {
+    HAL_StartPDPStream(handle, status);
+  } else {
+    HAL_StartREVPDHStream(handle, status);
+  }
+}
+
+HAL_PowerDistributionChannelData* HAL_GetPowerDistributionStreamData(
+    HAL_PowerDistributionHandle handle, int32_t* count, int32_t* status) {
+  if (IsCtre(handle)) {
+    return HAL_GetPDPStreamData(handle, count, status);
+  } else {
+    return HAL_GetREVPDHStreamData(handle, count, status);
+  }
+}
+
+void HAL_FreePowerDistributionStreamData(HAL_PowerDistributionChannelData* data,
+                                         int32_t count) {
+  delete[] data;
+}
+
+void HAL_StopPowerDistributionStream(HAL_PowerDistributionHandle handle,
+                                     int32_t* status) {
+  if (IsCtre(handle)) {
+    HAL_StopPDPStream(handle, status);
+  } else {
+    HAL_StopREVPDHStream(handle, status);
+  }
+}
+
 }  // extern "C"