[apriltag] Add 2024 AprilTag locations (#6168)

pybind needs it.

.clang-format

@@ -145,6 +145,8 @@ LambdaBodyIndentation: Signature
 LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
+Macros:
+  - 'HAL_ENUM(name)=enum name'
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never

.clang-tidy

@@ -49,7 +49,6 @@ Checks:
   google-build-namespaces,
   google-explicit-constructor,
   google-global-names-in-headers,
-  google-readability-avoid-underscore-in-googletest-name,
   google-readability-casting,
   google-runtime-operator,
   misc-definitions-in-headers,

.github/workflows/cmake.yml

@@ -32,7 +32,7 @@ jobs:
 
       - name: Install QuickBuffers (Linux)
         if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb
 
       - name: Install opencv (macOS)
         run: brew install opencv protobuf@3 ninja

.github/workflows/gradle.yml

@@ -54,7 +54,7 @@ jobs:
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Check free disk space
         run: df .
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -159,7 +159,7 @@ jobs:
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.build-dir }}/${{ matrix.outputs }}
@@ -183,7 +183,7 @@ jobs:
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: Documentation
           path: docs/build/outputs
@@ -212,7 +212,7 @@ jobs:
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         if: |
           github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
@@ -255,7 +255,7 @@ jobs:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         if: |
           github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))

.github/workflows/lint-format.yml

@@ -35,7 +35,7 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch

.github/workflows/pregenerate.yml

@@ -15,12 +15,9 @@ jobs:
     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
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Set up Python 3.9
         uses: actions/setup-python@v4
         with:
@@ -28,13 +25,13 @@ jobs:
       - 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
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-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
+        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
@@ -42,7 +39,7 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > pregenerated-files-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: pregenerated-files-fixes
           path: pregenerated-files-fixes.patch

.github/workflows/sanitizers.yml

@@ -33,7 +33,7 @@ jobs:
 
       - name: Install QuickBuffers
         if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb
 
       - name: Run sccache-cache
         uses: mozilla-actions/sccache-action@v0.0.3

CMakeLists.txt

@@ -54,7 +54,7 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 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")
+endif()
 
 # 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)
@@ -82,6 +82,9 @@ option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
 # Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
 
+# Options for compilation flags.
+option(NO_WERROR "Disable -Werror flag during compilation" OFF)
+
 # 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)
@@ -211,7 +214,6 @@ endif()
 find_package(LIBSSH 0.7.1)
 
 find_package(Protobuf REQUIRED)
-find_program(Quickbuf_EXECUTABLE NAMES protoc-gen-quickbuf DOC "The Quickbuf protoc plugin")
 
 set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")

MAINTAINERS.md

@@ -1,5 +1,5 @@
 ## Publishing Third Party Dependencies
-Currently the 3rd party deps are imgui, opencv, and google test
+Currently the 3rd party deps are imgui, opencv, google test, libssh, and apriltaglib
 
 For publishing these dependencies, the version needs to be manually updated in the publish.gradle file of their respective repository.
 Then, in the azure build for the dependency you want to build for, manually start a pipeline build (As of current, this is the `Run Pipeline` button).
@@ -24,4 +24,4 @@ Upon pushing a tag, a release will be built, and the files will be uploaded to t
 Before publishing, make sure to update the version in build.gradle. Publishing must happen locally, using the command `./gradlew publishPlugin`. This does require your API key for publishing to be set.
 
 ## Building the installer
-Update the GradleRIO version in gradle.properties, and in the scripts folder in vscode, update the vscode extension. Then push, it will build the installer on azure.
+Update the GradleRIO version in gradle.properties, and in the scripts folder in vscode, update the vscode extension. To publish a release build, upload a new tag, and a release will automatically be built and published to artifactory and cloudflare.

MavenArtifacts.md

@@ -145,6 +145,11 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * wpinet
   * wpiutil
 
+* wpiunits
+
+* apriltag
+  * wpiutil
+  * wpimath
 
 ### Third Party Artifacts
 
@@ -152,6 +157,7 @@ This repository provides the builds of the following third party software.
 
 All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
 
+* apriltaglib
 * googletest
 * imgui
 * opencv

README-CMAKE.md

@@ -63,6 +63,8 @@ The following build options are available:
   * TODO
 * `OPENCV_JAVA_INSTALL_DIR`
   * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
+* `NO_WERROR` (OFF Default)
+  * This option will disable the `-Werror` compilation flag for non-MSVC builds.
 
 ## Build Setup
 

apriltag/README.md

@@ -0,0 +1,28 @@
+# AprilTag
+
+## Adding new field to AprilTagFields
+
+### Adding field JSON
+
+1. Add a field layout CSV file to `src/main/native/resources/edu/wpi/first/apriltag`
+    1. See docstring in `convert_apriltag_layouts.py` for more
+2. Run `convert_apriltag_layouts.py` in the same directory as this readme to generate the JSON
+3. That script overwrites all generated JSONs, so undo undesired changes if necessary
+4. Update the field dimensions at the bottom of the JSON
+    1. Length should be in meters from alliance wall to alliance wall
+    2. Width should be in meters from inside guardrail plastic to plastic
+
+### Java updates
+
+1. Update `src/main/java/edu/wpi/first/apriltag/AprilTagFields.java`
+    1. Add enum value for new field to `AprilTagFields`
+    2. Update `AprilTagFields.kDefaultField` if necessary
+
+### C++ updates
+
+1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h`
+    1. Add enum value for new field to `AprilTagFields`
+    2. Update `AprilTagFields::kDefaultField` if necessary
+2. Update `src/main/native/cpp/AprilTagFields.cpp`
+    1. Add resource getter prototype like `std::string_view GetResource_2024_crescendo_json()`
+    2. Add case for new field to switch in `LoadAprilTagLayoutField()`

apriltag/convert_apriltag_layouts.py

@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+
+"""
+This script converts all AprilTag field layout CSV files in
+src/main/native/resources/edu/wpi/first/apriltag to the JSON format
+AprilTagFields expects.
+
+The input CSV has the following format:
+
+* Columns: ID, X, Y, Z, Rotation
+* ID is a positive integer
+* X, Y, and Z are decimal inches
+* Rotation is yaw in degrees
+
+The values come from a table in the layout marking diagram (e.g.,
+https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf).
+"""
+
+import csv
+import json
+import os
+
+from wpimath import geometry, units
+import numpy as np
+
+
+def main():
+    # Find AprilTag field layout CSVs
+    filenames = [
+        os.path.join(dp, f)
+        for dp, dn, fn in os.walk("src/main/native/resources/edu/wpi/first/apriltag")
+        for f in fn
+        if f.endswith(".csv")
+    ]
+
+    for filename in filenames:
+        json_data = {"tags": [], "field": {"length": 0.0, "width": 0.0}}
+
+        # Read CSV and fill in JSON data
+        with open(filename, newline="") as csvfile:
+            reader = csv.reader(csvfile, delimiter=",")
+
+            # Skip header
+            next(reader)
+
+            for row in reader:
+                # Unpack row elements
+                id = int(row[0])
+                x = float(row[1])
+                y = float(row[2])
+                z = float(row[3])
+                rotation = float(row[4])
+
+                # Turn yaw into quaternion
+                q = geometry.Rotation3d(
+                    units.radians(0.0),
+                    units.radians(0.0),
+                    units.degreesToRadians(rotation),
+                ).getQuaternion()
+
+                json_data["tags"].append(
+                    {
+                        "ID": id,
+                        "pose": {
+                            "translation": {
+                                "x": units.inchesToMeters(x),
+                                "y": units.inchesToMeters(y),
+                                "z": units.inchesToMeters(z),
+                            },
+                            "rotation": {
+                                "quaternion": {
+                                    "W": q.W(),
+                                    "X": q.X(),
+                                    "Y": q.Y(),
+                                    "Z": q.Z(),
+                                }
+                            },
+                        },
+                    }
+                )
+
+        # Write JSON
+        with open(filename.replace(".csv", ".json"), "w") as f:
+            json.dump(json_data, f, indent=2)
+
+
+if __name__ == "__main__":
+    main()

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

@@ -11,14 +11,23 @@ import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
 
+/** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")
 public class AprilTag {
+  /** The tag's ID. */
   @JsonProperty(value = "ID")
   public int ID;
 
+  /** The tag's pose. */
   @JsonProperty(value = "pose")
   public Pose3d pose;
 
+  /**
+   * Constructs an AprilTag.
+   *
+   * @param ID The tag's ID.
+   * @param pose The tag's pose.
+   */
   @SuppressWarnings("ParameterName")
   @JsonCreator
   public AprilTag(
@@ -54,9 +63,9 @@ public class AprilTag {
    * @return A RawFrame containing the AprilTag image
    */
   public static RawFrame generate16h5AprilTagImage(int id) {
-    RawFrame generatedImage = new RawFrame();
-    AprilTagJNI.generate16h5AprilTagImage(id, generatedImage.getDataPtr());
-    return generatedImage;
+    RawFrame frame = new RawFrame();
+    AprilTagJNI.generate16h5AprilTagImage(frame, frame.getNativeObj(), id);
+    return frame;
   }
 
   /**
@@ -66,8 +75,8 @@ public class AprilTag {
    * @return A RawFrame containing the AprilTag image
    */
   public static RawFrame generate36h11AprilTagImage(int id) {
-    RawFrame generatedImage = new RawFrame();
-    AprilTagJNI.generate36h11AprilTagImage(id, generatedImage.getDataPtr());
-    return generatedImage;
+    RawFrame frame = new RawFrame();
+    AprilTagJNI.generate36h11AprilTagImage(frame, frame.getNativeObj(), id);
+    return frame;
   }
 }

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

@@ -57,8 +57,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     public boolean debug;
 
+    /** Default constructor. */
     public Config() {}
 
+    /**
+     * Constructs a detector configuration.
+     *
+     * @param numThreads How many threads should be used for computation.
+     * @param quadDecimate Quad decimation.
+     * @param quadSigma What Gaussian blur should be applied to the segmented image (used for quad
+     *     detection).
+     * @param refineEdges When true, the edges of the each quad are adjusted to "snap to" strong
+     *     gradients nearby.
+     * @param decodeSharpening How much sharpening should be done to decoded images.
+     * @param debug Debug mode.
+     */
     Config(
         int numThreads,
         float quadDecimate,
@@ -139,8 +152,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     public boolean deglitch;
 
+    /** Default constructor. */
     public QuadThresholdParameters() {}
 
+    /**
+     * Constructs quad threshold parameters.
+     *
+     * @param minClusterPixels Threshold used to reject quads containing too few pixels.
+     * @param maxNumMaxima How many corner candidates to consider when segmenting a group of pixels
+     *     into a quad.
+     * @param criticalAngle Critical angle, in radians.
+     * @param maxLineFitMSE When fitting lines to the contours, the maximum mean squared error
+     *     allowed.
+     * @param minWhiteBlackDiff Minimum brightness offset.
+     * @param deglitch Whether the thresholded image be should be deglitched.
+     */
     QuadThresholdParameters(
         int minClusterPixels,
         int maxNumMaxima,
@@ -182,6 +208,7 @@ public class AprilTagDetector implements AutoCloseable {
     }
   }
 
+  /** Constructs an AprilTagDetector. */
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
   }

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

@@ -44,8 +44,11 @@ import java.util.Optional;
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class AprilTagFieldLayout {
+  /** Common origin positions for the AprilTag coordinate system. */
   public enum OriginPosition {
+    /** Blue alliance wall, right side. */
     kBlueAllianceWallRightSide,
+    /** Red alliance wall, right side. */
     kRedAllianceWallRightSide,
   }
 

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

@@ -7,15 +7,22 @@ package edu.wpi.first.apriltag;
 import java.io.IOException;
 import java.io.UncheckedIOException;
 
+/** Loadable AprilTag field layouts. */
 public enum AprilTagFields {
+  /** 2022 Rapid React. */
   k2022RapidReact("2022-rapidreact.json"),
-  k2023ChargedUp("2023-chargedup.json");
+  /** 2023 Charged Up. */
+  k2023ChargedUp("2023-chargedup.json"),
+  /** 2024 Crescendo. */
+  k2024Crescendo("2024-crescendo.json");
 
+  /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2023ChargedUp;
+  public static final AprilTagFields kDefaultField = k2024Crescendo;
 
+  /** Resource filename. */
   public final String m_resourceFile;
 
   AprilTagFields(String resourceFile) {

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

@@ -29,10 +29,19 @@ public class AprilTagPoseEstimator {
       this.cy = cy;
     }
 
+    /** Tag size, in meters. */
     public double tagSize;
+
+    /** Camera horizontal focal length, in pixels. */
     public double fx;
+
+    /** Camera vertical focal length, in pixels. */
     public double fy;
+
+    /** Camera horizontal focal center, in pixels. */
     public double cx;
+
+    /** Camera vertical focal center, in pixels. */
     public double cy;
 
     @Override

apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -8,25 +8,41 @@ import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagDetector;
 import edu.wpi.first.apriltag.AprilTagPoseEstimate;
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.RawFrame;
 import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** AprilTag JNI. */
 public class AprilTagJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<AprilTagJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -190,7 +206,24 @@ public class AprilTagJNI {
       double cx,
       double cy);
 
-  public static native void generate16h5AprilTagImage(int id, long nativeAddr);
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
+   *
+   * @param frameObj generated frame (output parameter).
+   * @param frame raw frame handle
+   * @param id id
+   */
+  public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
 
-  public static native void generate36h11AprilTagImage(int id, long nativeAddr);
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
+   *
+   * @param frameObj generated frame (output parameter).
+   * @param frame raw frame handle
+   * @param id id
+   */
+  public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
+
+  /** Utility class. */
+  private AprilTagJNI() {}
 }

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

@@ -4,6 +4,8 @@
 
 #include "frc/apriltag/AprilTag.h"
 
+#include <cstring>
+
 #include <wpi/json.h>
 
 #ifdef _WIN32
@@ -20,40 +22,33 @@
 
 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;
+static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
+                          int id) {
+  image_u8_t* image = apriltag_to_image(family, id);
+  size_t totalDataSize = image->height * image->stride;
+  bool rv = frame->Reserve(totalDataSize);
+  std::memcpy(frame->data, image->buf, totalDataSize);
+  frame->size = totalDataSize;
+  frame->width = image->width;
+  frame->height = image->height;
+  frame->stride = image->stride;
+  frame->pixelFormat = WPI_PIXFMT_GRAY;
   image_u8_destroy(image);
-  tag36h11_destroy(tagFamily);
-  return markerFrame;
+  return rv;
 }
 
-wpi::RawFrame AprilTag::Generate16h5AprilTagImage(int id) {
+bool AprilTag::Generate36h11AprilTagImage(wpi::RawFrame* frame, int id) {
+  apriltag_family_t* tagFamily = tag36h11_create();
+  bool rv = FamilyToImage(frame, tagFamily, id);
+  tag36h11_destroy(tagFamily);
+  return rv;
+}
+
+bool AprilTag::Generate16h5AprilTagImage(wpi::RawFrame* frame, 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);
+  bool rv = FamilyToImage(frame, tagFamily, id);
   tag16h5_destroy(tagFamily);
-  return markerFrame;
+  return rv;
 }
 
 void frc::to_json(wpi::json& json, const AprilTag& apriltag) {

apriltag/src/main/native/cpp/AprilTagFields.cpp

@@ -11,6 +11,7 @@ namespace frc {
 // C++ generated from resource files
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
+std::string_view GetResource_2024_crescendo_json();
 
 AprilTagFieldLayout LoadAprilTagLayoutField(AprilTagField field) {
   std::string_view fieldString;
@@ -21,6 +22,9 @@ AprilTagFieldLayout LoadAprilTagLayoutField(AprilTagField field) {
     case AprilTagField::k2023ChargedUp:
       fieldString = GetResource_2023_chargedup_json();
       break;
+    case AprilTagField::k2024Crescendo:
+      fieldString = GetResource_2024_crescendo_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

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

@@ -2,9 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <jni.h>
+
 #include <cstdio>
 #include <cstring>
 
+#define WPI_RAWFRAME_JNI
+#include <wpi/RawFrame.h>
 #include <wpi/jni_util.h>
 
 #include "edu_wpi_first_apriltag_jni_AprilTagJNI.h"
@@ -25,6 +29,7 @@ static JClass quaternionCls;
 static JClass rotation3dCls;
 static JClass transform3dCls;
 static JClass translation3dCls;
+static JClass rawFrameCls;
 static JException illegalArgEx;
 static JException nullPointerEx;
 
@@ -37,7 +42,8 @@ static const JClassInit classes[] = {
     {"edu/wpi/first/math/geometry/Quaternion", &quaternionCls},
     {"edu/wpi/first/math/geometry/Rotation3d", &rotation3dCls},
     {"edu/wpi/first/math/geometry/Transform3d", &transform3dCls},
-    {"edu/wpi/first/math/geometry/Translation3d", &translation3dCls}};
+    {"edu/wpi/first/math/geometry/Translation3d", &translation3dCls},
+    {"edu/wpi/first/util/RawFrame", &rawFrameCls}};
 
 static const JExceptionInit exceptions[] = {
     {"java/lang/IllegalArgumentException", &illegalArgEx},
@@ -591,27 +597,38 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
 /*
  * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    generate16h5AprilTagImage
- * Signature: (IJ)V
+ * Signature: (Ljava/lang/Object;JI)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
-  (JNIEnv* env, jclass, jint id, jlong framePtr)
+  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
 {
-  wpi::RawFrame* javaRawFrame = (wpi::RawFrame*)framePtr;
-  *javaRawFrame = AprilTag::Generate16h5AprilTagImage(id);
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  if (!frame) {
+    nullPointerEx.Throw(env, "frame is null");
+    return;
+  }
+  bool newData = AprilTag::Generate16h5AprilTagImage(frame, id);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 /*
  * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    generate36h11AprilTagImage
- * Signature: (IJ)V
+ * Signature: (Ljava/lang/Object;JI)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
-  (JNIEnv* env, jclass, jint id, jlong framePtr)
+  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
 {
-  wpi::RawFrame* javaRawFrame = (wpi::RawFrame*)framePtr;
-  *javaRawFrame = AprilTag::Generate36h11AprilTagImage(id);
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  if (!frame) {
+    nullPointerEx.Throw(env, "frame is null");
+    return;
+  }
+  // function might reallocate
+  bool newData = AprilTag::Generate36h11AprilTagImage(frame, id);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 }  // extern "C"

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

@@ -12,18 +12,20 @@
 
 namespace frc {
 
+/**
+ * Represents an AprilTag's metadata.
+ */
 struct WPILIB_DLLEXPORT AprilTag {
+  /// The tag's ID.
   int ID;
 
+  /// The tag's pose.
   Pose3d pose;
 
-  /**
-   * 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);
+  static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
+  static bool Generate16h5AprilTagImage(wpi::RawFrame* frame, int id);
 };
 
 WPILIB_DLLEXPORT

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

@@ -38,8 +38,13 @@ namespace frc {
  * towards the opposing alliance). */
 class WPILIB_DLLEXPORT AprilTagFieldLayout {
  public:
+  /**
+   * Common origin positions for the AprilTag coordinate system.
+   */
   enum class OriginPosition {
+    /// Blue alliance wall, right side.
     kBlueAllianceWallRightSide,
+    /// Red alliance wall, right side.
     kRedAllianceWallRightSide,
   };
 

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

@@ -12,9 +12,16 @@
 
 namespace frc {
 
+/**
+ * Loadable AprilTag field layouts.
+ */
 enum class AprilTagField {
+  /// 2022 Rapid React.
   k2022RapidReact,
+  /// 2023 Charged Up.
   k2023ChargedUp,
+  /// 2024 Crescendo.
+  k2024Crescendo,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2024-crescendo.csv

@@ -0,0 +1,17 @@
+ID,X,Y,Z,Rotation
+1,593.68,9.68,53.38,120
+2,637.21,34.79,53.38,120
+3,652.73,196.17,57.13,180
+4,652.73,218.42,57.13,180
+5,578.77,323.00,53.38,270
+6,72.5,323.00,53.38,270
+7,-1.50,218.42,57.13,0
+8,-1.50,196.17,57.13,0
+9,14.02,34.79,53.38,60
+10,57.54,9.68,53.38,60
+11,468.69,146.19,52.00,300
+12,468.69,177.10,52.00,60
+13,441.74,161.62,52.00,180
+14,209.48,161.62,52.00,0
+15,182.73,177.10,52.00,120
+16,182.73,146.19,52.00,240

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2024-crescendo.json

@@ -0,0 +1,296 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 15.079471999999997,
+          "y": 0.24587199999999998,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 16.185134,
+          "y": 0.883666,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 16.579342,
+          "y": 4.982717999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 16.579342,
+          "y": 5.547867999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 14.700757999999999,
+          "y": 8.2042,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 1.8415,
+          "y": 8.2042,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": -0.038099999999999995,
+          "y": 5.547867999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": -0.038099999999999995,
+          "y": 4.982717999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 0.356108,
+          "y": 0.883666,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 1.4615159999999998,
+          "y": 0.24587199999999998,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 11.904726,
+          "y": 3.7132259999999997,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 11.904726,
+          "y": 4.49834,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 11.220196,
+          "y": 4.105148,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 5.320792,
+          "y": 4.105148,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 4.641342,
+          "y": 4.49834,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 4.641342,
+          "y": 3.7132259999999997,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.451,
+    "width": 8.211
+  }
+}

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

@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.util.PixelFormat;
+import org.junit.jupiter.api.Test;
+
+class AprilTagGenerationTest {
+  @Test
+  void test36h11() {
+    var frame = AprilTag.generate36h11AprilTagImage(1);
+    assertEquals(PixelFormat.kGray, frame.getPixelFormat());
+    assertEquals(10, frame.getWidth());
+    assertEquals(10, frame.getHeight());
+    int stride = frame.getStride();
+    assertEquals(stride * 10, frame.getSize());
+    // check the diagonal values
+    var data = frame.getData();
+    assertEquals(-1, data.get(stride * 0 + 0)); // outer border is white
+    assertEquals(0, data.get(stride * 1 + 1)); // inner border is black
+    assertEquals(-1, data.get(stride * 2 + 2));
+    assertEquals(-1, data.get(stride * 3 + 3));
+    assertEquals(-1, data.get(stride * 4 + 4));
+    assertEquals(0, data.get(stride * 5 + 5));
+    assertEquals(0, data.get(stride * 6 + 6));
+    assertEquals(-1, data.get(stride * 7 + 7));
+    assertEquals(0, data.get(stride * 8 + 8)); // inner border
+    assertEquals(-1, data.get(stride * 9 + 9)); // outer border
+  }
+}

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -14,7 +14,6 @@ import edu.wpi.first.cscore.VideoEvent;
 import edu.wpi.first.cscore.VideoException;
 import edu.wpi.first.cscore.VideoListener;
 import edu.wpi.first.cscore.VideoMode;
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
 import edu.wpi.first.cscore.VideoSink;
 import edu.wpi.first.cscore.VideoSource;
 import edu.wpi.first.networktables.BooleanEntry;
@@ -27,6 +26,7 @@ import edu.wpi.first.networktables.StringArrayPublisher;
 import edu.wpi.first.networktables.StringArrayTopic;
 import edu.wpi.first.networktables.StringEntry;
 import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.util.PixelFormat;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -39,6 +39,7 @@ import java.util.concurrent.atomic.AtomicInteger;
  * NetworkTables.
  */
 public final class CameraServer {
+  /** CameraServer base port. */
   public static final int kBasePort = 1181;
 
   private static final String kPublishName = "/CameraPublisher";
@@ -686,7 +687,7 @@ public final class CameraServer {
    */
   public static MjpegServer addSwitchedCamera(String name) {
     // create a dummy CvSource
-    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, 160, 120, 30);
+    CvSource source = new CvSource(name, PixelFormat.kMJPEG, 160, 120, 30);
     MjpegServer server = startAutomaticCapture(source);
     synchronized (CameraServer.class) {
       m_fixedSources.put(server.getHandle(), source.getHandle());
@@ -801,7 +802,7 @@ public final class CameraServer {
    * @return OpenCV source for the MJPEG stream
    */
   public static CvSource putVideo(String name, int width, int height) {
-    CvSource source = new CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height, 30);
+    CvSource source = new CvSource(name, PixelFormat.kMJPEG, width, height, 30);
     startAutomaticCapture(source);
     return source;
   }

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+/** CameraServer shared functions. */
 public interface CameraServerShared {
   /**
    * get the main thread id func.

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+/** Storage for CameraServerShared instance. */
 public final class CameraServerSharedStore {
   private static CameraServerShared cameraServerShared;
 

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

@@ -14,6 +14,7 @@ import org.opencv.core.Mat;
  * code. The easiest way to use this is to run it in a {@link VisionThread} and use the listener to
  * take snapshots of the pipeline's outputs.
  *
+ * @param <P> Vision pipeline type.
  * @see VisionPipeline
  * @see VisionThread
  * @see <a href="package-summary.html">vision</a>

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

@@ -22,10 +22,8 @@ namespace frc {
  */
 class CameraServer {
  public:
+  /// CameraServer base port.
   static constexpr uint16_t kBasePort = 1181;
-  static constexpr int kSize640x480 = 0;
-  static constexpr int kSize320x240 = 1;
-  static constexpr int kSize160x120 = 2;
 
   /**
    * Start automatically capturing images to send to the dashboard.

cmake/modules/CompileWarnings.cmake

@@ -1,9 +1,17 @@
 macro(wpilib_target_warnings target)
     if(NOT MSVC)
-        target_compile_options(
-            ${target}
-            PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter ${WPILIB_TARGET_WARNINGS}
+        set(WARNING_FLAGS
+            -Wall
+            -pedantic
+            -Wextra
+            -Wno-unused-parameter
+            ${WPILIB_TARGET_WARNINGS}
         )
+        if(NOT NO_WERROR)
+            set(WARNING_FLAGS ${WARNING_FLAGS} -Werror)
+        endif()
+
+        target_compile_options(${target} PRIVATE ${WARNING_FLAGS})
     else()
         target_compile_options(
             ${target}

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

@@ -9,21 +9,36 @@ import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 import org.opencv.core.Core;
 
+/** CameraServer CV JNI. */
 public class CameraServerCvJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<Core> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -72,4 +87,7 @@ public class CameraServerCvJNI {
   public static native long grabSinkFrame(int sink, long imageNativeObj);
 
   public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
+
+  /** Utility class. */
+  private CameraServerCvJNI() {}
 }

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

@@ -11,21 +11,36 @@ import java.nio.ByteBuffer;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.Consumer;
 
+/** CameraServer JNI. */
 public class CameraServerJNI {
   static boolean libraryLoaded = false;
 
   static RuntimeLoader<CameraServerJNI> loader = null;
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
 
   static {
@@ -182,21 +197,13 @@ public class CameraServerJNI {
   //
   // Image Source Functions
   //
+  public static native void putRawSourceFrame(int source, long frame);
+
   public static native void putRawSourceFrameBB(
-      int source, ByteBuffer data, int width, int height, int pixelFormat, int totalData);
+      int source, ByteBuffer data, int size, int width, int height, int stride, int pixelFormat);
 
-  public static native void putRawSourceFrame(
-      int source, long data, int width, int height, int pixelFormat, int totalData);
-
-  public static void putRawSourceFrame(int source, RawFrame raw) {
-    putRawSourceFrame(
-        source,
-        raw.getDataPtr(),
-        raw.getWidth(),
-        raw.getHeight(),
-        raw.getPixelFormat(),
-        raw.getTotalData());
-  }
+  public static native void putRawSourceFrameData(
+      int source, long data, int size, int width, int height, int stride, int pixelFormat);
 
   public static native void notifySourceError(int source, String msg);
 
@@ -263,47 +270,10 @@ public class CameraServerJNI {
   //
   public static native void setSinkDescription(int sink, String description);
 
-  private static native long grabRawSinkFrameImpl(
-      int sink,
-      RawFrame rawFrame,
-      long rawFramePtr,
-      ByteBuffer byteBuffer,
-      int width,
-      int height,
-      int pixelFormat);
+  public static native long grabRawSinkFrame(int sink, RawFrame frame, long nativeObj);
 
-  private static native long grabRawSinkFrameTimeoutImpl(
-      int sink,
-      RawFrame rawFrame,
-      long rawFramePtr,
-      ByteBuffer byteBuffer,
-      int width,
-      int height,
-      int pixelFormat,
-      double timeout);
-
-  public static long grabSinkFrame(int sink, RawFrame rawFrame) {
-    return grabRawSinkFrameImpl(
-        sink,
-        rawFrame,
-        rawFrame.getFramePtr(),
-        rawFrame.getDataByteBuffer(),
-        rawFrame.getWidth(),
-        rawFrame.getHeight(),
-        rawFrame.getPixelFormat());
-  }
-
-  public static long grabSinkFrameTimeout(int sink, RawFrame rawFrame, double timeout) {
-    return grabRawSinkFrameTimeoutImpl(
-        sink,
-        rawFrame,
-        rawFrame.getFramePtr(),
-        rawFrame.getDataByteBuffer(),
-        rawFrame.getWidth(),
-        rawFrame.getHeight(),
-        rawFrame.getPixelFormat(),
-        timeout);
-  }
+  public static native long grabRawSinkFrameTimeout(
+      int sink, RawFrame frame, long nativeObj, double timeout);
 
   public static native String getSinkError(int sink);
 
@@ -334,7 +304,9 @@ public class CameraServerJNI {
   // Telemetry Functions
   //
   public enum TelemetryKind {
+    /** kSourceBytesReceived. */
     kSourceBytesReceived(1),
+    /** kSourceFramesReceived. */
     kSourceFramesReceived(2);
 
     private final int value;
@@ -392,4 +364,7 @@ public class CameraServerJNI {
   public static native int runMainRunLoopTimeout(double timeoutSeconds);
 
   public static native void stopMainRunLoop();
+
+  /** Utility class. */
+  private CameraServerJNI() {}
 }

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

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.cscore;
 
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.util.PixelFormat;
 import org.opencv.core.Mat;
 
 /**

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.util.PixelFormat;
 import org.opencv.core.Mat;
 
 /**
@@ -32,7 +33,7 @@ public class CvSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public CvSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public CvSource(String name, PixelFormat pixelFormat, int width, int height, int fps) {
     super(CameraServerCvJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
   }
 

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

@@ -7,9 +7,13 @@ package edu.wpi.first.cscore;
 /** A source that represents a MJPEG-over-HTTP (IP) camera. */
 public class HttpCamera extends VideoCamera {
   public enum HttpCameraKind {
+    /** Unknown camera kind. */
     kUnknown(0),
+    /** MJPG Streamer camera. */
     kMJPGStreamer(1),
+    /** CS Core camera. */
     kCSCore(2),
+    /** Axis camera. */
     kAxis(3);
 
     private final int value;

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

@@ -12,6 +12,9 @@ public class VideoCamera extends VideoSource {
     public static final int kFixedOutdoor2 = 5000;
     public static final int kFixedFluorescent1 = 5100;
     public static final int kFixedFlourescent2 = 5200;
+
+    /** Default constructor. */
+    public WhiteBalance() {}
   }
 
   protected VideoCamera(int handle) {

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

@@ -8,26 +8,47 @@ package edu.wpi.first.cscore;
 @SuppressWarnings("MemberName")
 public class VideoEvent {
   public enum Kind {
+    /** Unknown video event. */
     kUnknown(0x0000),
+    /** Source Created event. */
     kSourceCreated(0x0001),
+    /** Source Destroyed event. */
     kSourceDestroyed(0x0002),
+    /** Source Connected event. */
     kSourceConnected(0x0004),
+    /** Source Disconnected event. */
     kSourceDisconnected(0x0008),
+    /** Source Video Modes Updated event. */
     kSourceVideoModesUpdated(0x0010),
+    /** Source VideoMode Changed event. */
     kSourceVideoModeChanged(0x0020),
+    /** Source Property Created event. */
     kSourcePropertyCreated(0x0040),
+    /** Source Property Value Updated event. */
     kSourcePropertyValueUpdated(0x0080),
+    /** Source Property Choices Updated event. */
     kSourcePropertyChoicesUpdated(0x0100),
+    /** Sink Source Changed event. */
     kSinkSourceChanged(0x0200),
+    /** Sink Created event. */
     kSinkCreated(0x0400),
+    /** Sink Destroyed event. */
     kSinkDestroyed(0x0800),
+    /** Sink Enabled event. */
     kSinkEnabled(0x1000),
+    /** Sink Disabled event. */
     kSinkDisabled(0x2000),
+    /** Network Interfaces Changed event. */
     kNetworkInterfacesChanged(0x4000),
+    /** Telemetry Updated event. */
     kTelemetryUpdated(0x8000),
+    /** Sink Property Created event. */
     kSinkPropertyCreated(0x10000),
+    /** Sink Property Value Updated event. */
     kSinkPropertyValueUpdated(0x20000),
+    /** Sink Property Choices Updated event. */
     kSinkPropertyChoicesUpdated(0x40000),
+    /** Usb Cameras Changed event. */
     kUsbCamerasChanged(0x80000);
 
     private final int value;

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

@@ -4,38 +4,12 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.util.PixelFormat;
 import java.util.Objects;
 
 /** Video mode. */
 @SuppressWarnings("MemberName")
 public class VideoMode {
-  public enum PixelFormat {
-    kUnknown(0),
-    kMJPEG(1),
-    kYUYV(2),
-    kRGB565(3),
-    kBGR(4),
-    kGray(5),
-    kY16(6),
-    kUYVY(7);
-
-    private final int value;
-
-    PixelFormat(int value) {
-      this.value = value;
-    }
-
-    public int getValue() {
-      return value;
-    }
-  }
-
-  private static final PixelFormat[] m_pixelFormatValues = PixelFormat.values();
-
-  public static PixelFormat getPixelFormatFromInt(int pixelFormat) {
-    return m_pixelFormatValues[pixelFormat];
-  }
-
   /**
    * Create a new video mode.
    *
@@ -45,7 +19,7 @@ public class VideoMode {
    * @param fps The camera's frames per second.
    */
   public VideoMode(int pixelFormat, int width, int height, int fps) {
-    this.pixelFormat = getPixelFormatFromInt(pixelFormat);
+    this.pixelFormat = PixelFormat.getFromInt(pixelFormat);
     this.width = width;
     this.height = height;
     this.fps = fps;

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

@@ -6,11 +6,17 @@ package edu.wpi.first.cscore;
 
 /** A source or sink property. */
 public class VideoProperty {
+  /** VideoProperty property types. */
   public enum Kind {
+    /** No specific property. */
     kNone(0),
+    /** Boolean property. */
     kBoolean(1),
+    /** Integer property. */
     kInteger(2),
+    /** String property. */
     kString(4),
+    /** Enum property. */
     kEnum(8);
 
     private final int value;

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

@@ -9,10 +9,15 @@ package edu.wpi.first.cscore;
  * (e.g. from a stereo or depth camera); these are called channels.
  */
 public class VideoSink implements AutoCloseable {
+  /** Video sink types. */
   public enum Kind {
+    /** Unknown video sink type. */
     kUnknown(0),
+    /** MJPEG video sink. */
     kMjpeg(2),
+    /** CV video sink. */
     kCv(4),
+    /** Raw video sink. */
     kRaw(8);
 
     private final int value;

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

@@ -4,16 +4,23 @@
 
 package edu.wpi.first.cscore;
 
+import edu.wpi.first.util.PixelFormat;
+
 /**
  * A source for video that provides a sequence of frames. Each frame may consist of multiple images
  * (e.g. from a stereo or depth camera); these are called channels.
  */
 public class VideoSource implements AutoCloseable {
   public enum Kind {
+    /** Unknown video source. */
     kUnknown(0),
+    /** USB video source. */
     kUsb(1),
+    /** HTTP video source. */
     kHttp(2),
+    /** CV video source. */
     kCv(4),
+    /** Raw video source. */
     kRaw(8);
 
     private final int value;
@@ -235,7 +242,7 @@ public class VideoSource implements AutoCloseable {
    * @param fps desired FPS
    * @return True if set successfully
    */
-  public boolean setVideoMode(VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public boolean setVideoMode(PixelFormat pixelFormat, int width, int height, int fps) {
     return CameraServerJNI.setSourceVideoMode(m_handle, pixelFormat.getValue(), width, height, fps);
   }
 
@@ -245,7 +252,7 @@ public class VideoSource implements AutoCloseable {
    * @param pixelFormat desired pixel format
    * @return True if set successfully
    */
-  public boolean setPixelFormat(VideoMode.PixelFormat pixelFormat) {
+  public boolean setPixelFormat(PixelFormat pixelFormat) {
     return CameraServerJNI.setSourcePixelFormat(m_handle, pixelFormat.getValue());
   }
 

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

@@ -33,7 +33,7 @@ public class RawSink extends ImageSink {
    * @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
    *     is in the same time base as wpi::Now(), and is in 1 us increments.
    */
-  protected long grabFrame(RawFrame frame) {
+  public long grabFrame(RawFrame frame) {
     return grabFrame(frame, 0.225);
   }
 
@@ -46,8 +46,8 @@ public class RawSink extends ImageSink {
    * @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
    *     is in the same time base as wpi::Now(), and is in 1 us increments.
    */
-  protected long grabFrame(RawFrame frame, double timeout) {
-    return CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
+  public long grabFrame(RawFrame frame, double timeout) {
+    return CameraServerJNI.grabRawSinkFrameTimeout(m_handle, frame, frame.getNativeObj(), timeout);
   }
 
   /**
@@ -58,7 +58,7 @@ public class RawSink extends ImageSink {
    * @return Frame time, or 0 on error (call getError() to obtain the error message); the frame time
    *     is in the same time base as wpi::Now(), and is in 1 us increments.
    */
-  protected long grabFrameNoTimeout(RawFrame frame) {
-    return CameraServerJNI.grabSinkFrame(m_handle, frame);
+  public long grabFrameNoTimeout(RawFrame frame) {
+    return CameraServerJNI.grabRawSinkFrame(m_handle, frame, frame.getNativeObj());
   }
 }

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

@@ -7,7 +7,9 @@ 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.PixelFormat;
 import edu.wpi.first.util.RawFrame;
+import java.nio.ByteBuffer;
 
 /**
  * A source for user code to provide video frames as raw bytes.
@@ -36,7 +38,7 @@ public class RawSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public RawSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
+  public RawSource(String name, PixelFormat pixelFormat, int width, int height, int fps) {
     super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
   }
 
@@ -45,35 +47,41 @@ public class RawSource extends ImageSource {
    *
    * @param image raw frame image
    */
-  protected void putFrame(RawFrame image) {
-    CameraServerJNI.putRawSourceFrame(m_handle, image);
+  public void putFrame(RawFrame image) {
+    CameraServerJNI.putRawSourceFrame(m_handle, image.getNativeObj());
   }
 
   /**
    * Put a raw image and notify sinks.
    *
-   * @param data raw frame data pointer
+   * @param data raw frame native data pointer
+   * @param size total size in bytes
    * @param width frame width
    * @param height frame height
+   * @param stride size of each row in bytes
    * @param pixelFormat pixel format
-   * @param totalData length of data in total
-   */
-  protected void putFrame(long data, int width, int height, int pixelFormat, int totalData) {
-    CameraServerJNI.putRawSourceFrame(m_handle, data, width, height, pixelFormat, totalData);
-  }
-
-  /**
-   * Put a raw image and notify sinks.
-   *
-   * @param data raw frame data pointer
-   * @param width frame width
-   * @param height frame height
-   * @param pixelFormat pixel format
-   * @param totalData length of data in total
    */
   protected void putFrame(
-      long data, int width, int height, VideoMode.PixelFormat pixelFormat, int totalData) {
-    CameraServerJNI.putRawSourceFrame(
-        m_handle, data, width, height, pixelFormat.getValue(), totalData);
+      long data, int size, int width, int height, int stride, PixelFormat pixelFormat) {
+    CameraServerJNI.putRawSourceFrameData(
+        m_handle, data, size, width, height, stride, pixelFormat.getValue());
+  }
+
+  /**
+   * Put a raw image and notify sinks.
+   *
+   * @param data raw frame native ByteBuffer
+   * @param width frame width
+   * @param height frame height
+   * @param stride size of each row in bytes
+   * @param pixelFormat pixel format
+   */
+  public void putFrame(
+      ByteBuffer data, int width, int height, int stride, PixelFormat pixelFormat) {
+    if (!data.isDirect()) {
+      throw new UnsupportedOperationException("ByteBuffer must be direct");
+    }
+    CameraServerJNI.putRawSourceFrameBB(
+        m_handle, data, data.limit(), width, height, stride, pixelFormat.getValue());
   }
 }

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

@@ -72,6 +72,23 @@ class Image {
     return cv::Mat{height, width, type, m_data.data()};
   }
 
+  int GetStride() const {
+    switch (pixelFormat) {
+      case VideoMode::kYUYV:
+      case VideoMode::kRGB565:
+      case VideoMode::kY16:
+      case VideoMode::kUYVY:
+        return 2 * width;
+      case VideoMode::kBGR:
+        return 3 * width;
+      case VideoMode::kGray:
+        return width;
+      case VideoMode::kMJPEG:
+      default:
+        return 0;
+    }
+  }
+
   cv::_InputArray AsInputArray() { return cv::_InputArray{m_data}; }
 
   bool Is(int width_, int height_) {

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

@@ -109,10 +109,10 @@ uint64_t RawSinkImpl::GrabFrameImpl(WPI_RawFrame& rawFrame,
   WPI_AllocateRawFrameData(&rawFrame, newImage->size());
   rawFrame.height = newImage->height;
   rawFrame.width = newImage->width;
+  rawFrame.stride = newImage->GetStride();
   rawFrame.pixelFormat = newImage->pixelFormat;
-  rawFrame.totalData = newImage->size();
-  std::copy(newImage->data(), newImage->data() + rawFrame.totalData,
-            rawFrame.data);
+  rawFrame.size = newImage->size();
+  std::copy(newImage->data(), newImage->data() + rawFrame.size, rawFrame.data);
 
   return incomingFrame.GetTime();
 }

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

@@ -39,10 +39,11 @@ void RawSourceImpl::PutFrame(const WPI_RawFrame& image) {
       type = CV_8UC1;
       break;
   }
-  cv::Mat finalImage{image.height, image.width, type, image.data};
+  cv::Mat finalImage{image.height, image.width, type, image.data,
+                     static_cast<size_t>(image.stride)};
   std::unique_ptr<Image> dest =
       AllocImage(static_cast<VideoMode::PixelFormat>(image.pixelFormat),
-                 image.width, image.height, image.totalData);
+                 image.width, image.height, image.size);
   finalImage.copyTo(dest->AsMat());
 
   SourceImpl::PutFrame(std::move(dest), wpi::Now());

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

@@ -7,6 +7,9 @@
 
 #include <fmt/format.h>
 #include <opencv2/core/core.hpp>
+
+#define WPI_RAWFRAME_JNI
+#include <wpi/RawFrame.h>
 #include <wpi/SmallString.h>
 #include <wpi/jni_util.h>
 
@@ -42,7 +45,8 @@ 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/VideoEvent", &videoEventCls},
+    {"edu/wpi/first/util/RawFrame", &rawFrameCls}};
 
 static const JExceptionInit exceptions[] = {
     {"edu/wpi/first/cscore/VideoException", &videoEx},
@@ -1219,48 +1223,78 @@ Java_edu_wpi_first_cscore_CameraServerCvJNI_putSourceFrame
   }
 }
 
-// int width, int height, int pixelFormat, int totalData
-
 /*
  * Class:     edu_wpi_first_cscore_CameraServerJNI
- * Method:    putRawSourceFrameBB
- * Signature: (ILjava/lang/Object;IIII)V
+ * Method:    putRawSourceFrame
+ * Signature: (IJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrameBB
-  (JNIEnv* env, jclass, jint source, jobject byteBuffer, jint width,
-   jint height, jint pixelFormat, jint totalData)
+Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrame
+  (JNIEnv* env, jclass, jint source, jlong framePtr)
 {
-  WPI_RawFrame rawFrame;
-  rawFrame.data =
-      reinterpret_cast<char*>(env->GetDirectBufferAddress(byteBuffer));
-  rawFrame.totalData = totalData;
-  rawFrame.pixelFormat = pixelFormat;
-  rawFrame.width = width;
-  rawFrame.height = height;
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  if (!frame) {
+    nullPointerEx.Throw(env, "frame is null");
+    return;
+  }
   CS_Status status = 0;
-  cs::PutSourceFrame(source, rawFrame, &status);
+  cs::PutSourceFrame(source, *frame, &status);
   CheckStatus(env, status);
 }
 
 /*
  * Class:     edu_wpi_first_cscore_CameraServerJNI
- * Method:    putRawSourceFrame
- * Signature: (IJIIII)V
+ * Method:    putRawSourceFrameBB
+ * Signature: (ILjava/lang/Object;IIIII)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrame
-  (JNIEnv* env, jclass, jint source, jlong ptr, jint width, jint height,
-   jint pixelFormat, jint totalData)
+Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrameBB
+  (JNIEnv* env, jclass, jint source, jobject data, jint size, jint width,
+   jint height, jint stride, jint pixelFormat)
 {
-  WPI_RawFrame rawFrame;
-  rawFrame.data = reinterpret_cast<char*>(static_cast<intptr_t>(ptr));
-  rawFrame.totalData = totalData;
-  rawFrame.pixelFormat = pixelFormat;
-  rawFrame.width = width;
-  rawFrame.height = height;
+  WPI_RawFrame frame;  // use WPI_Frame because we don't want the destructor
+  frame.data = static_cast<uint8_t*>(env->GetDirectBufferAddress(data));
+  if (!frame.data) {
+    nullPointerEx.Throw(env, "data is null");
+    return;
+  }
+  frame.freeFunc = nullptr;
+  frame.freeCbData = nullptr;
+  frame.size = size;
+  frame.width = width;
+  frame.height = height;
+  frame.stride = stride;
+  frame.pixelFormat = pixelFormat;
   CS_Status status = 0;
-  cs::PutSourceFrame(source, rawFrame, &status);
+  cs::PutSourceFrame(source, frame, &status);
+  CheckStatus(env, status);
+}
+
+/*
+ * Class:     edu_wpi_first_cscore_CameraServerJNI
+ * Method:    putRawSourceFrameData
+ * Signature: (IJIIIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_cscore_CameraServerJNI_putRawSourceFrameData
+  (JNIEnv* env, jclass, jint source, jlong data, jint size, jint width,
+   jint height, jint stride, jint pixelFormat)
+{
+  WPI_RawFrame frame;  // use WPI_Frame because we don't want the destructor
+  frame.data = reinterpret_cast<uint8_t*>(data);
+  if (!frame.data) {
+    nullPointerEx.Throw(env, "data is null");
+    return;
+  }
+  frame.freeFunc = nullptr;
+  frame.freeCbData = nullptr;
+  frame.size = size;
+  frame.width = width;
+  frame.height = height;
+  frame.stride = stride;
+  frame.pixelFormat = pixelFormat;
+  CS_Status status = 0;
+  cs::PutSourceFrame(source, frame, &status);
   CheckStatus(env, status);
 }
 
@@ -1721,72 +1755,47 @@ Java_edu_wpi_first_cscore_CameraServerCvJNI_grabSinkFrameTimeout
   }
 }
 
-static void SetRawFrameData(JNIEnv* env, jobject rawFrameObj,
-                            jobject byteBuffer, bool didChangeDataPtr,
-                            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));
-
-  if (didChangeDataPtr) {
-    byteBuffer = env->NewDirectByteBuffer(frame.data, frame.dataLength);
-  }
-
-  env->CallVoidMethod(
-      rawFrameObj, setMethod, byteBuffer, framePtr,
-      static_cast<jint>(frame.totalData), static_cast<jint>(frame.width),
-      static_cast<jint>(frame.height), static_cast<jint>(frame.pixelFormat));
-}
-
 /*
  * Class:     edu_wpi_first_cscore_CameraServerJNI
- * Method:    grabRawSinkFrameImpl
- * Signature: (ILjava/lang/Object;JLjava/lang/Object;III)J
+ * Method:    grabRawSinkFrame
+ * Signature: (ILjava/lang/Object;J)J
  */
 JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameImpl
-  (JNIEnv* env, jclass, jint sink, jobject rawFrameObj, jlong rawFramePtr,
-   jobject byteBuffer, jint width, jint height, jint pixelFormat)
+Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrame
+  (JNIEnv* env, jclass, jint sink, jobject frameObj, jlong framePtr)
 {
-  WPI_RawFrame* ptr =
-      reinterpret_cast<WPI_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
-  auto origDataPtr = ptr->data;
-  ptr->width = width;
-  ptr->height = height;
-  ptr->pixelFormat = pixelFormat;
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto origData = frame->data;
   CS_Status status = 0;
-  auto rv = cs::GrabSinkFrame(static_cast<CS_Sink>(sink), *ptr, &status);
+  auto rv = cs::GrabSinkFrame(static_cast<CS_Sink>(sink), *frame, &status);
   if (!CheckStatus(env, status)) {
     return 0;
   }
-  SetRawFrameData(env, rawFrameObj, byteBuffer, origDataPtr != ptr->data, *ptr);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame,
+                    origData != frame->data);
   return rv;
 }
 
 /*
  * Class:     edu_wpi_first_cscore_CameraServerJNI
- * Method:    grabRawSinkFrameTimeoutImpl
- * Signature: (ILjava/lang/Object;JLjava/lang/Object;IIID)J
+ * Method:    grabRawSinkFrameTimeout
+ * Signature: (ILjava/lang/Object;JD)J
  */
 JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameTimeoutImpl
-  (JNIEnv* env, jclass, jint sink, jobject rawFrameObj, jlong rawFramePtr,
-   jobject byteBuffer, jint width, jint height, jint pixelFormat,
+Java_edu_wpi_first_cscore_CameraServerJNI_grabRawSinkFrameTimeout
+  (JNIEnv* env, jclass, jint sink, jobject frameObj, jlong framePtr,
    jdouble timeout)
 {
-  WPI_RawFrame* ptr =
-      reinterpret_cast<WPI_RawFrame*>(static_cast<intptr_t>(rawFramePtr));
-  auto origDataPtr = ptr->data;
-  ptr->width = width;
-  ptr->height = height;
-  ptr->pixelFormat = pixelFormat;
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  auto origData = frame->data;
   CS_Status status = 0;
-  auto rv = cs::GrabSinkFrameTimeout(static_cast<CS_Sink>(sink), *ptr, timeout,
-                                     &status);
+  auto rv = cs::GrabSinkFrameTimeout(static_cast<CS_Sink>(sink), *frame,
+                                     timeout, &status);
   if (!CheckStatus(env, status)) {
     return 0;
   }
-  SetRawFrameData(env, rawFrameObj, byteBuffer, origDataPtr != ptr->data, *ptr);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame,
+                    origData != frame->data);
   return rv;
 }
 

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

@@ -44,10 +44,15 @@ class VideoProperty {
 
  public:
   enum Kind {
+    /// No specific property.
     kNone = CS_PROP_NONE,
+    /// Boolean property.
     kBoolean = CS_PROP_BOOLEAN,
+    /// Integer property.
     kInteger = CS_PROP_INTEGER,
+    /// String property.
     kString = CS_PROP_STRING,
+    /// Enum property.
     kEnum = CS_PROP_ENUM
   };
 
@@ -100,9 +105,13 @@ class VideoSource {
 
  public:
   enum Kind {
+    /// Unknown video source.
     kUnknown = CS_SOURCE_UNKNOWN,
+    /// USB video source.
     kUsb = CS_SOURCE_USB,
+    /// HTTP video source.
     kHttp = CS_SOURCE_HTTP,
+    /// CV video source.
     kCv = CS_SOURCE_CV
   };
 
@@ -471,9 +480,13 @@ class UsbCamera : public VideoCamera {
 class HttpCamera : public VideoCamera {
  public:
   enum HttpCameraKind {
+    /// Unknown camera kind.
     kUnknown = CS_HTTP_UNKNOWN,
+    /// MJPG Streamer camera.
     kMJPGStreamer = CS_HTTP_MJPGSTREAMER,
+    /// CS Core camera.
     kCSCore = CS_HTTP_CSCORE,
+    /// Axis camera.
     kAxis = CS_HTTP_AXIS
   };
 
@@ -716,8 +729,11 @@ class VideoSink {
 
  public:
   enum Kind {
+    /// Unknown sink type.
     kUnknown = CS_SINK_UNKNOWN,
+    /// MJPEG video sink.
     kMjpeg = CS_SINK_MJPEG,
+    /// CV video sink.
     kCv = CS_SINK_CV
   };
 

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

@@ -7,13 +7,14 @@ package edu.wpi.first.cscore;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertNotEquals;
 
+import edu.wpi.first.util.PixelFormat;
 import org.junit.jupiter.api.Test;
 
 class VideoModeTest {
   @Test
   void equalityTest() {
-    VideoMode a = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
-    VideoMode b = new VideoMode(VideoMode.PixelFormat.kMJPEG, 1920, 1080, 30);
+    VideoMode a = new VideoMode(PixelFormat.kMJPEG, 1920, 1080, 30);
+    VideoMode b = new VideoMode(PixelFormat.kMJPEG, 1920, 1080, 30);
 
     assertEquals(a, b);
     assertNotEquals(a, null);

datalogtool/src/main/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

datalogtool/src/main/native/cpp/DataLogThread.cpp

@@ -1,72 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "DataLogThread.h"
-
-#include <fmt/format.h>
-
-DataLogThread::~DataLogThread() {
-  if (m_thread.joinable()) {
-    m_active = false;
-    m_thread.join();
-  }
-}
-
-void DataLogThread::ReadMain() {
-  for (auto record : m_reader) {
-    if (!m_active) {
-      break;
-    }
-    ++m_numRecords;
-    if (record.IsStart()) {
-      wpi::log::StartRecordData data;
-      if (record.GetStartData(&data)) {
-        std::scoped_lock lock{m_mutex};
-        if (m_entries.find(data.entry) != m_entries.end()) {
-          fmt::print("...DUPLICATE entry ID, overriding\n");
-        }
-        m_entries[data.entry] = data;
-        m_entryNames.emplace(data.name, data);
-        sigEntryAdded(data);
-      } else {
-        fmt::print("Start(INVALID)\n");
-      }
-    } else if (record.IsFinish()) {
-      int entry;
-      if (record.GetFinishEntry(&entry)) {
-        std::scoped_lock lock{m_mutex};
-        auto it = m_entries.find(entry);
-        if (it == m_entries.end()) {
-          fmt::print("...ID not found\n");
-        } else {
-          m_entries.erase(it);
-        }
-      } else {
-        fmt::print("Finish(INVALID)\n");
-      }
-    } else if (record.IsSetMetadata()) {
-      wpi::log::MetadataRecordData data;
-      if (record.GetSetMetadataData(&data)) {
-        std::scoped_lock lock{m_mutex};
-        auto it = m_entries.find(data.entry);
-        if (it == m_entries.end()) {
-          fmt::print("...ID not found\n");
-        } else {
-          it->second.metadata = data.metadata;
-          auto nameIt = m_entryNames.find(it->second.name);
-          if (nameIt != m_entryNames.end()) {
-            nameIt->second.metadata = data.metadata;
-          }
-        }
-      } else {
-        fmt::print("SetMetadata(INVALID)\n");
-      }
-    } else if (record.IsControl()) {
-      fmt::print("Unrecognized control record\n");
-    }
-  }
-
-  sigDone();
-  m_done = true;
-}

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

@@ -1,71 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <atomic>
-#include <functional>
-#include <map>
-#include <string>
-#include <string_view>
-#include <thread>
-#include <utility>
-
-#include <wpi/DataLogReader.h>
-#include <wpi/DenseMap.h>
-#include <wpi/Signal.h>
-#include <wpi/mutex.h>
-
-class DataLogThread {
- public:
-  explicit DataLogThread(wpi::log::DataLogReader reader)
-      : m_reader{std::move(reader)}, m_thread{[=, this] { ReadMain(); }} {}
-  ~DataLogThread();
-
-  bool IsDone() const { return m_done; }
-  std::string_view GetBufferIdentifier() const {
-    return m_reader.GetBufferIdentifier();
-  }
-  unsigned int GetNumRecords() const { return m_numRecords; }
-  unsigned int GetNumEntries() const {
-    std::scoped_lock lock{m_mutex};
-    return m_entryNames.size();
-  }
-
-  // Passes wpi::log::StartRecordData to func
-  template <typename T>
-  void ForEachEntryName(T&& func) {
-    std::scoped_lock lock{m_mutex};
-    for (auto&& kv : m_entryNames) {
-      func(kv.second);
-    }
-  }
-
-  wpi::log::StartRecordData GetEntry(std::string_view name) const {
-    std::scoped_lock lock{m_mutex};
-    auto it = m_entryNames.find(name);
-    if (it == m_entryNames.end()) {
-      return {};
-    }
-    return it->second;
-  }
-
-  const wpi::log::DataLogReader& GetReader() const { return m_reader; }
-
-  // note: these are called on separate thread
-  wpi::sig::Signal_mt<const wpi::log::StartRecordData&> sigEntryAdded;
-  wpi::sig::Signal_mt<> sigDone;
-
- private:
-  void ReadMain();
-
-  wpi::log::DataLogReader m_reader;
-  mutable wpi::mutex m_mutex;
-  std::atomic_bool m_active{true};
-  std::atomic_bool m_done{false};
-  std::atomic<unsigned int> m_numRecords{0};
-  std::map<std::string, wpi::log::StartRecordData, std::less<>> m_entryNames;
-  wpi::DenseMap<int, wpi::log::StartRecordData> m_entries;
-  std::thread m_thread;
-};

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

@@ -27,7 +27,7 @@
 
 Downloader::Downloader(glass::Storage& storage)
     : m_serverTeam{storage.GetString("serverTeam")},
-      m_remoteDir{storage.GetString("remoteDir", "/home/lvuser")},
+      m_remoteDir{storage.GetString("remoteDir", "/home/lvuser/logs")},
       m_username{storage.GetString("username", "lvuser")},
       m_localDir{storage.GetString("localDir")},
       m_deleteAfter{storage.GetBool("deleteAfter", true)},

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

@@ -17,6 +17,7 @@
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <glass/Storage.h>
+#include <glass/support/DataLogReaderThread.h>
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
@@ -32,11 +33,10 @@
 #include <wpi/raw_ostream.h>
 
 #include "App.h"
-#include "DataLogThread.h"
 
 namespace {
 struct InputFile {
-  explicit InputFile(std::unique_ptr<DataLogThread> datalog);
+  explicit InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog);
 
   InputFile(std::string_view filename, std::string_view status)
       : filename{filename},
@@ -47,7 +47,7 @@ struct InputFile {
 
   std::string filename;
   std::string stem;
-  std::unique_ptr<DataLogThread> datalog;
+  std::unique_ptr<glass::DataLogReaderThread> datalog;
   std::string status;
   bool highlight = false;
 };
@@ -135,7 +135,7 @@ static void RebuildEntryTree() {
   }
 }
 
-InputFile::InputFile(std::unique_ptr<DataLogThread> datalog_)
+InputFile::InputFile(std::unique_ptr<glass::DataLogReaderThread> datalog_)
     : filename{datalog_->GetBufferIdentifier()},
       stem{fs::path{filename}.stem().string()},
       datalog{std::move(datalog_)} {
@@ -192,7 +192,7 @@ static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
   }
 
   return std::make_unique<InputFile>(
-      std::make_unique<DataLogThread>(std::move(reader)));
+      std::make_unique<glass::DataLogReaderThread>(std::move(reader)));
 }
 
 void DisplayInputFiles() {
@@ -284,9 +284,10 @@ static bool EmitEntry(const std::string& name, Entry& entry) {
     if (ImGui::IsItemHovered()) {
       ImGui::BeginTooltip();
       for (auto inputFile : entry.inputFiles) {
-        ImGui::Text(
-            "%s: %s", inputFile->stem.c_str(),
-            std::string{inputFile->datalog->GetEntry(entry.name).type}.c_str());
+        if (auto info = inputFile->datalog->GetEntry(entry.name)) {
+          ImGui::Text("%s: %s", inputFile->stem.c_str(),
+                      std::string{info->type}.c_str());
+        }
       }
       ImGui::EndTooltip();
     }
@@ -300,10 +301,10 @@ static bool EmitEntry(const std::string& name, Entry& entry) {
     if (ImGui::IsItemHovered()) {
       ImGui::BeginTooltip();
       for (auto inputFile : entry.inputFiles) {
-        ImGui::Text(
-            "%s: %s", inputFile->stem.c_str(),
-            std::string{inputFile->datalog->GetEntry(entry.name).metadata}
-                .c_str());
+        if (auto info = inputFile->datalog->GetEntry(entry.name)) {
+          ImGui::Text("%s: %s", inputFile->stem.c_str(),
+                      std::string{info->metadata}.c_str());
+        }
       }
       ImGui::EndTooltip();
     }

docs/build.gradle

@@ -208,21 +208,21 @@ configurations {
     }
 }
 
-ext {
-    sharedCvConfigs = [:]
-    staticCvConfigs = [:]
-    useJava = true
-    useCpp = false
-    skipDev = true
-    useDocumentation = true
-}
-
-apply from: "${rootDir}/shared/opencv.gradle"
-
 task generateJavaDocs(type: Javadoc) {
-    classpath += project(":wpimath").sourceSets.main.compileClasspath
+    classpath += project(":wpilibj").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
+    options.links("https://docs.opencv.org/4.x/javadoc/")
     options.addStringOption("tag", "pre:a:Pre-Condition")
+    options.addBooleanOption("Xdoclint/package:-edu.wpi.first.math.proto," +
+            "-edu.wpi.first.math.controller.proto," +
+            "-edu.wpi.first.math.controller.struct," +
+            "-edu.wpi.first.math.geometry.proto," +
+            "-edu.wpi.first.math.geometry.struct," +
+            "-edu.wpi.first.math.kinematics.proto," +
+            "-edu.wpi.first.math.kinematics.struct," +
+            "-edu.wpi.first.math.system.plant.proto," +
+            "-edu.wpi.first.math.system.plant.struct," +
+            "-edu.wpi.first.math.trajectory.proto", true)
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
     options.linkSource(true)

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

@@ -15,12 +15,13 @@ public enum Fields {
   k2021GalacticSearchB("2021-galacticsearchb.json"),
   k2021Slalom("2021-slalompath.json"),
   k2022RapidReact("2022-rapidreact.json"),
-  k2023ChargedUp("2023-chargedup.json");
+  k2023ChargedUp("2023-chargedup.json"),
+  k2024Crescendo("2024-crescendo.json");
 
   public static final String kBaseResourceDir = "/edu/wpi/first/fields/";
 
   /** Alias to the current game. */
-  public static final Fields kDefaultField = k2023ChargedUp;
+  public static final Fields kDefaultField = k2024Crescendo;
 
   public final String m_resourceFile;
 

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

@@ -15,10 +15,13 @@
 #include "fields/2021-slalom.h"
 #include "fields/2022-rapidreact.h"
 #include "fields/2023-chargedup.h"
+#include "fields/2024-crescendo.h"
 
 using namespace fields;
 
 static const Field kFields[] = {
+    {"2024 Crescendo", GetResource_2024_crescendo_json,
+     GetResource_2024_field_png},
     {"2023 Charged Up", GetResource_2023_chargedup_json,
      GetResource_2023_field_png},
     {"2022 Rapid React", GetResource_2022_rapidreact_json,

fieldImages/src/main/native/include/fields/2024-crescendo.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2024_crescendo_json();
+std::string_view GetResource_2024_field_png();
+}  // namespace fields

fieldImages/src/main/native/resources/edu/wpi/first/fields/2024-crescendo.json

@@ -0,0 +1,19 @@
+{
+  "game": "Crescendo",
+  "field-image": "2024-field.png",
+  "field-corners": {
+    "top-left": [
+      46,
+      36
+    ],
+    "bottom-right": [
+      1088,
+      544
+    ]
+  },
+  "field-size": [
+    54.27083,
+    26.2916
+  ],
+  "field-unit": "foot"
+}

glass/src/app/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */

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

@@ -178,8 +178,6 @@ static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
 
 static bool LoadStorageImpl(Context* ctx, std::string_view dir,
                             std::string_view name) {
-  WorkspaceResetImpl();
-
   bool rv = true;
   for (auto&& root : ctx->storageRoots) {
     std::string filename;
@@ -421,6 +419,7 @@ std::string glass::GetStorageDir() {
 bool glass::LoadStorage(std::string_view dir) {
   SaveStorage();
   SetStorageDir(dir);
+  WorkspaceResetImpl();
   LoadWindowStorageImpl((fs::path{gContext->storageLoadDir} /
                          fmt::format("{}-window.json", gContext->storageName))
                             .string());

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

@@ -29,6 +29,16 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
         callback(*v);
       }
     };
+    // Workaround to allow for the input of inf, -inf, and nan
+    auto createTuningParameterNoFilter =
+        [flag](const char* name, double* v,
+               std::function<void(double)> callback) {
+          ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
+          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
+                                 "%.3f", flag)) {
+            callback(*v);
+          }
+        };
 
     if (auto p = m->GetPData()) {
       double value = p->GetValue();
@@ -47,6 +57,11 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
       createTuningParameter("Setpoint", &value,
                             [=](auto v) { m->SetSetpoint(v); });
     }
+    if (auto s = m->GetIZoneData()) {
+      double value = s->GetValue();
+      createTuningParameterNoFilter("IZone", &value,
+                                    [=](auto v) { m->SetIZone(v); });
+    }
   } else {
     ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
     ImGui::Text("Unknown PID Controller");

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

@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "glass/other/ProfiledPIDController.h"
+
+#include <string>
+
+#include <imgui.h>
+
+#include "glass/Context.h"
+#include "glass/DataSource.h"
+
+using namespace glass;
+
+void glass::DisplayProfiledPIDController(ProfiledPIDControllerModel* m) {
+  if (auto name = m->GetName()) {
+    ImGui::Text("%s", name);
+    ImGui::Separator();
+  }
+
+  if (m->Exists()) {
+    auto flag = m->IsReadOnly() ? ImGuiInputTextFlags_ReadOnly
+                                : ImGuiInputTextFlags_None;
+    auto createTuningParameter = [flag](const char* name, double* v,
+                                        std::function<void(double)> callback) {
+      ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
+      if (ImGui::InputDouble(name, v, 0.0, 0.0, "%.3f", flag)) {
+        callback(*v);
+      }
+    };
+    // Workaround to allow for the input of inf, -inf, and nan
+    auto createTuningParameterNoFilter =
+        [flag](const char* name, double* v,
+               std::function<void(double)> callback) {
+          ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
+          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
+                                 "%.3f", flag)) {
+            callback(*v);
+          }
+        };
+
+    if (auto p = m->GetPData()) {
+      double value = p->GetValue();
+      createTuningParameter("P", &value, [=](auto v) { m->SetP(v); });
+    }
+    if (auto i = m->GetIData()) {
+      double value = i->GetValue();
+      createTuningParameter("I", &value, [=](auto v) { m->SetI(v); });
+    }
+    if (auto d = m->GetDData()) {
+      double value = d->GetValue();
+      createTuningParameter("D", &value, [=](auto v) { m->SetD(v); });
+    }
+    if (auto s = m->GetGoalData()) {
+      double value = s->GetValue();
+      createTuningParameter("Goal", &value, [=](auto v) { m->SetGoal(v); });
+    }
+    if (auto s = m->GetIZoneData()) {
+      double value = s->GetValue();
+      createTuningParameterNoFilter("IZone", &value,
+                                    [=](auto v) { m->SetIZone(v); });
+    }
+  } else {
+    ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+    ImGui::Text("Unknown PID Controller");
+    ImGui::PopStyleColor();
+  }
+}

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

@@ -0,0 +1,124 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "glass/support/DataLogReaderThread.h"
+
+#include <utility>
+
+#include <fmt/format.h>
+#include <wpi/StringExtras.h>
+
+using namespace glass;
+
+DataLogReaderThread::~DataLogReaderThread() {
+  if (m_thread.joinable()) {
+    m_active = false;
+    m_thread.join();
+  }
+}
+
+void DataLogReaderThread::ReadMain() {
+  wpi::SmallDenseMap<
+      int, std::pair<DataLogReaderEntry*, std::span<const uint8_t>>, 8>
+      schemaEntries;
+
+  for (auto recordIt = m_reader.begin(), recordEnd = m_reader.end();
+       recordIt != recordEnd; ++recordIt) {
+    auto& record = *recordIt;
+    if (!m_active) {
+      break;
+    }
+    ++m_numRecords;
+    if (record.IsStart()) {
+      DataLogReaderEntry data;
+      if (record.GetStartData(&data)) {
+        std::scoped_lock lock{m_mutex};
+        auto& entryPtr = m_entriesById[data.entry];
+        if (entryPtr) {
+          fmt::print("...DUPLICATE entry ID, overriding\n");
+        }
+        auto [it, isNew] = m_entriesByName.emplace(data.name, data);
+        if (isNew) {
+          it->second.ranges.emplace_back(recordIt, recordEnd);
+        }
+        entryPtr = &it->second;
+        if (data.type == "structschema" ||
+            data.type == "proto:FileDescriptorProto") {
+          schemaEntries.try_emplace(data.entry, entryPtr,
+                                    std::span<const uint8_t>{});
+        }
+        sigEntryAdded(data);
+      } else {
+        fmt::print("Start(INVALID)\n");
+      }
+    } else if (record.IsFinish()) {
+      int entry;
+      if (record.GetFinishEntry(&entry)) {
+        std::scoped_lock lock{m_mutex};
+        auto it = m_entriesById.find(entry);
+        if (it == m_entriesById.end()) {
+          fmt::print("...ID not found\n");
+        } else {
+          it->second->ranges.back().m_end = recordIt;
+          m_entriesById.erase(it);
+        }
+      } else {
+        fmt::print("Finish(INVALID)\n");
+      }
+    } else if (record.IsSetMetadata()) {
+      wpi::log::MetadataRecordData data;
+      if (record.GetSetMetadataData(&data)) {
+        std::scoped_lock lock{m_mutex};
+        auto it = m_entriesById.find(data.entry);
+        if (it == m_entriesById.end()) {
+          fmt::print("...ID not found\n");
+        } else {
+          it->second->metadata = data.metadata;
+        }
+      } else {
+        fmt::print("SetMetadata(INVALID)\n");
+      }
+    } else if (record.IsControl()) {
+      fmt::print("Unrecognized control record\n");
+    } else {
+      auto it = schemaEntries.find(record.GetEntry());
+      if (it != schemaEntries.end()) {
+        it->second.second = record.GetRaw();
+      }
+    }
+  }
+
+  // build schema databases
+  for (auto&& schemaPair : schemaEntries) {
+    auto name = schemaPair.second.first->name;
+    auto data = schemaPair.second.second;
+    if (data.empty()) {
+      continue;
+    }
+    if (wpi::starts_with(name, "NT:")) {
+      name = wpi::drop_front(name, 3);
+    }
+    if (wpi::starts_with(name, "/.schema/struct:")) {
+      auto typeStr = wpi::drop_front(name, 16);
+      std::string_view schema{reinterpret_cast<const char*>(data.data()),
+                              data.size()};
+      std::string err;
+      auto desc = m_structDb.Add(typeStr, schema, &err);
+      if (!desc) {
+        fmt::print("could not decode struct '{}' schema '{}': {}\n", name,
+                   schema, err);
+      }
+    } else if (wpi::starts_with(name, "/.schema/proto:")) {
+      // protobuf descriptor handling
+      auto filename = wpi::drop_front(name, 15);
+      if (!m_protoDb.Add(filename, data)) {
+        fmt::print("could not decode protobuf '{}' filename '{}'\n", name,
+                   filename);
+      }
+    }
+  }
+
+  sigDone();
+  m_done = true;
+}

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

@@ -16,11 +16,13 @@ class PIDControllerModel : public Model {
   virtual DataSource* GetIData() = 0;
   virtual DataSource* GetDData() = 0;
   virtual DataSource* GetSetpointData() = 0;
+  virtual DataSource* GetIZoneData() = 0;
 
   virtual void SetP(double value) = 0;
   virtual void SetI(double value) = 0;
   virtual void SetD(double value) = 0;
   virtual void SetSetpoint(double value) = 0;
+  virtual void SetIZone(double value) = 0;
 };
 void DisplayPIDController(PIDControllerModel* m);
 }  // namespace glass

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

@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "glass/Model.h"
+
+namespace glass {
+class DataSource;
+class ProfiledPIDControllerModel : public Model {
+ public:
+  virtual const char* GetName() const = 0;
+
+  virtual DataSource* GetPData() = 0;
+  virtual DataSource* GetIData() = 0;
+  virtual DataSource* GetDData() = 0;
+  virtual DataSource* GetGoalData() = 0;
+  virtual DataSource* GetIZoneData() = 0;
+
+  virtual void SetP(double value) = 0;
+  virtual void SetI(double value) = 0;
+  virtual void SetD(double value) = 0;
+  virtual void SetGoal(double value) = 0;
+  virtual void SetIZone(double value) = 0;
+};
+void DisplayProfiledPIDController(ProfiledPIDControllerModel* m);
+}  // namespace glass

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

@@ -0,0 +1,101 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <atomic>
+#include <functional>
+#include <map>
+#include <string>
+#include <string_view>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include <wpi/DataLogReader.h>
+#include <wpi/DenseMap.h>
+#include <wpi/Signal.h>
+#include <wpi/mutex.h>
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#include <wpi/struct/DynamicStruct.h>
+
+namespace glass {
+
+class DataLogReaderRange {
+ public:
+  DataLogReaderRange(wpi::log::DataLogReader::iterator begin,
+                     wpi::log::DataLogReader::iterator end)
+      : m_begin{begin}, m_end{end} {}
+
+  wpi::log::DataLogReader::iterator begin() const { return m_begin; }
+  wpi::log::DataLogReader::iterator end() const { return m_end; }
+
+  wpi::log::DataLogReader::iterator m_begin;
+  wpi::log::DataLogReader::iterator m_end;
+};
+
+class DataLogReaderEntry : public wpi::log::StartRecordData {
+ public:
+  std::vector<DataLogReaderRange> ranges;  // ranges where this entry is valid
+};
+
+class DataLogReaderThread {
+ public:
+  explicit DataLogReaderThread(wpi::log::DataLogReader reader)
+      : m_reader{std::move(reader)}, m_thread{[this] { ReadMain(); }} {}
+  ~DataLogReaderThread();
+
+  bool IsDone() const { return m_done; }
+  std::string_view GetBufferIdentifier() const {
+    return m_reader.GetBufferIdentifier();
+  }
+  unsigned int GetNumRecords() const { return m_numRecords; }
+  unsigned int GetNumEntries() const {
+    std::scoped_lock lock{m_mutex};
+    return m_entriesByName.size();
+  }
+
+  // Passes Entry& to func
+  template <typename T>
+  void ForEachEntryName(T&& func) {
+    std::scoped_lock lock{m_mutex};
+    for (auto&& kv : m_entriesByName) {
+      func(kv.second);
+    }
+  }
+
+  const DataLogReaderEntry* GetEntry(std::string_view name) const {
+    std::scoped_lock lock{m_mutex};
+    auto it = m_entriesByName.find(name);
+    if (it == m_entriesByName.end()) {
+      return nullptr;
+    }
+    return &it->second;
+  }
+
+  wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+  wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+
+  const wpi::log::DataLogReader& GetReader() const { return m_reader; }
+
+  // note: these are called on separate thread
+  wpi::sig::Signal_mt<const DataLogReaderEntry&> sigEntryAdded;
+  wpi::sig::Signal_mt<> sigDone;
+
+ private:
+  void ReadMain();
+
+  wpi::log::DataLogReader m_reader;
+  mutable wpi::mutex m_mutex;
+  std::atomic_bool m_active{true};
+  std::atomic_bool m_done{false};
+  std::atomic<unsigned int> m_numRecords{0};
+  std::map<std::string, DataLogReaderEntry, std::less<>> m_entriesByName;
+  wpi::DenseMap<int, DataLogReaderEntry*> m_entriesById;
+  wpi::StructDescriptorDatabase m_structDb;
+  wpi::ProtobufMessageDatabase m_protoDb;
+  std::thread m_thread;
+};
+
+}  // namespace glass

glass/src/libnt/native/cpp/NTPIDController.cpp

@@ -23,10 +23,12 @@ NTPIDControllerModel::NTPIDControllerModel(nt::NetworkTableInstance inst,
       m_d{inst.GetDoubleTopic(fmt::format("{}/d", path)).GetEntry(0)},
       m_setpoint{
           inst.GetDoubleTopic(fmt::format("{}/setpoint", path)).GetEntry(0)},
+      m_iZone{inst.GetDoubleTopic(fmt::format("{}/izone", path)).GetEntry(0)},
       m_pData{fmt::format("NTPIDCtrlP:{}", path)},
       m_iData{fmt::format("NTPIDCtrlI:{}", path)},
       m_dData{fmt::format("NTPIDCtrlD:{}", path)},
       m_setpointData{fmt::format("NTPIDCtrlStpt:{}", path)},
+      m_iZoneData{fmt::format("NTPIDCtrlIZone:{}", path)},
       m_nameValue{wpi::rsplit(path, '/').second} {}
 
 void NTPIDControllerModel::SetP(double value) {
@@ -44,6 +46,9 @@ void NTPIDControllerModel::SetD(double value) {
 void NTPIDControllerModel::SetSetpoint(double value) {
   m_setpoint.Set(value);
 }
+void NTPIDControllerModel::SetIZone(double value) {
+  m_iZone.Set(value);
+}
 
 void NTPIDControllerModel::Update() {
   for (auto&& v : m_name.ReadQueue()) {
@@ -61,6 +66,9 @@ void NTPIDControllerModel::Update() {
   for (auto&& v : m_setpoint.ReadQueue()) {
     m_setpointData.SetValue(v.value, v.time);
   }
+  for (auto&& v : m_iZone.ReadQueue()) {
+    m_iZoneData.SetValue(v.value, v.time);
+  }
   for (auto&& v : m_controllable.ReadQueue()) {
     m_controllableValue = v.value;
   }

glass/src/libnt/native/cpp/NTProfiledPIDController.cpp

@@ -0,0 +1,80 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "glass/networktables/NTProfiledPIDController.h"
+
+#include <fmt/format.h>
+#include <wpi/StringExtras.h>
+
+using namespace glass;
+
+NTProfiledPIDControllerModel::NTProfiledPIDControllerModel(
+    std::string_view path)
+    : NTProfiledPIDControllerModel(nt::NetworkTableInstance::GetDefault(),
+                                   path) {}
+
+NTProfiledPIDControllerModel::NTProfiledPIDControllerModel(
+    nt::NetworkTableInstance inst, std::string_view path)
+    : m_inst{inst},
+      m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
+      m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
+                         .Subscribe(false)},
+      m_p{inst.GetDoubleTopic(fmt::format("{}/p", path)).GetEntry(0)},
+      m_i{inst.GetDoubleTopic(fmt::format("{}/i", path)).GetEntry(0)},
+      m_d{inst.GetDoubleTopic(fmt::format("{}/d", path)).GetEntry(0)},
+      m_goal{inst.GetDoubleTopic(fmt::format("{}/goal", path)).GetEntry(0)},
+      m_iZone{inst.GetDoubleTopic(fmt::format("{}/izone", path)).GetEntry(0)},
+      m_pData{fmt::format("NTPIDCtrlP:{}", path)},
+      m_iData{fmt::format("NTPIDCtrlI:{}", path)},
+      m_dData{fmt::format("NTPIDCtrlD:{}", path)},
+      m_goalData{fmt::format("NTPIDCtrlGoal:{}", path)},
+      m_iZoneData{fmt::format("NTPIDCtrlIZone:{}", path)},
+      m_nameValue{wpi::rsplit(path, '/').second} {}
+
+void NTProfiledPIDControllerModel::SetP(double value) {
+  m_p.Set(value);
+}
+
+void NTProfiledPIDControllerModel::SetI(double value) {
+  m_i.Set(value);
+}
+
+void NTProfiledPIDControllerModel::SetD(double value) {
+  m_d.Set(value);
+}
+
+void NTProfiledPIDControllerModel::SetGoal(double value) {
+  m_goal.Set(value);
+}
+void NTProfiledPIDControllerModel::SetIZone(double value) {
+  m_iZone.Set(value);
+}
+
+void NTProfiledPIDControllerModel::Update() {
+  for (auto&& v : m_name.ReadQueue()) {
+    m_nameValue = std::move(v.value);
+  }
+  for (auto&& v : m_p.ReadQueue()) {
+    m_pData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_i.ReadQueue()) {
+    m_iData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_d.ReadQueue()) {
+    m_dData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_goal.ReadQueue()) {
+    m_goalData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_iZone.ReadQueue()) {
+    m_iZoneData.SetValue(v.value, v.time);
+  }
+  for (auto&& v : m_controllable.ReadQueue()) {
+    m_controllableValue = v.value;
+  }
+}
+
+bool NTProfiledPIDControllerModel::Exists() {
+  return m_goal.Exists();
+}

glass/src/libnt/native/cpp/NTStringChooser.cpp

@@ -5,6 +5,7 @@
 #include "glass/networktables/NTStringChooser.h"
 
 #include <fmt/format.h>
+#include <wpi/json.h>
 
 using namespace glass;
 
@@ -16,17 +17,17 @@ NTStringChooserModel::NTStringChooserModel(nt::NetworkTableInstance inst,
     : m_inst{inst},
       m_default{
           m_inst.GetStringTopic(fmt::format("{}/default", path)).Subscribe("")},
-      m_selected{
-          m_inst.GetStringTopic(fmt::format("{}/selected", path)).GetEntry("")},
+      m_selected{m_inst.GetStringTopic(fmt::format("{}/selected", path))
+                     .Subscribe("")},
+      m_selectedPub{m_inst.GetStringTopic(fmt::format("{}/selected", path))
+                        .PublishEx("string", {{"retained", true}})},
       m_active{
           m_inst.GetStringTopic(fmt::format("{}/active", path)).Subscribe("")},
       m_options{m_inst.GetStringArrayTopic(fmt::format("{}/options", path))
-                    .Subscribe({})} {
-  m_selected.GetTopic().SetRetained(true);
-}
+                    .Subscribe({})} {}
 
 void NTStringChooserModel::SetSelected(std::string_view val) {
-  m_selected.Set(val);
+  m_selectedPub.Set(val);
 }
 
 void NTStringChooserModel::Update() {

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

@@ -879,7 +879,10 @@ void NetworkTablesModel::Update() {
           } else if (desc->IsValid()) {
             // loop over all entries with this type and update
             for (auto&& entryPair : m_entries) {
-              auto ts = entryPair.second->info.type_str;
+              if (!entryPair.second) {
+                continue;
+              }
+              std::string_view ts = entryPair.second->info.type_str;
               if (!wpi::starts_with(ts, "struct:")) {
                 continue;
               }
@@ -901,7 +904,10 @@ void NetworkTablesModel::Update() {
           } else {
             // loop over all protobuf entries and update (conservatively)
             for (auto&& entryPair : m_entries) {
-              auto& ts = entryPair.second->info.type_str;
+              if (!entryPair.second) {
+                continue;
+              }
+              std::string_view ts = entryPair.second->info.type_str;
               if (wpi::starts_with(ts, "proto:")) {
                 entryPair.second->UpdateFromValue(*this);
               }

glass/src/libnt/native/cpp/NetworkTablesProvider.cpp

@@ -83,6 +83,18 @@ void NetworkTablesProvider::DisplayMenu() {
       // FIXME: enabled?
       // data is the last item, so is guaranteed to be null-terminated
       ImGui::MenuItem(path.back().data(), nullptr, &visible, true);
+      // Add type label to smartdashboard sendables
+      if (wpi::starts_with(entry->name, "/SmartDashboard/")) {
+        auto typeEntry = m_typeCache.FindValue(entry->name);
+        if (typeEntry) {
+          ImGui::SameLine();
+          ImGui::PushStyleColor(ImGuiCol_Text, IM_COL32(96, 96, 96, 255));
+          ImGui::Text("%s", typeEntry->stringVal.c_str());
+          ImGui::PopStyleColor();
+          ImGui::SameLine();
+          ImGui::Dummy(ImVec2(10.0f, 0.0f));
+        }
+      }
       if (!wasVisible && visible) {
         Show(entry.get(), entry->window);
       } else if (wasVisible && !visible && entry->window) {

glass/src/libnt/native/cpp/StandardNetworkTables.cpp

@@ -14,6 +14,7 @@
 #include "glass/networktables/NTMechanism2D.h"
 #include "glass/networktables/NTMotorController.h"
 #include "glass/networktables/NTPIDController.h"
+#include "glass/networktables/NTProfiledPIDController.h"
 #include "glass/networktables/NTStringChooser.h"
 #include "glass/networktables/NTSubsystem.h"
 #include "glass/networktables/NetworkTablesProvider.h"
@@ -141,6 +142,18 @@ void glass::AddStandardNetworkTablesViews(NetworkTablesProvider& provider) {
           DisplayPIDController(static_cast<NTPIDControllerModel*>(model));
         });
       });
+  provider.Register(
+      NTProfiledPIDControllerModel::kType,
+      [](nt::NetworkTableInstance inst, const char* path) {
+        return std::make_unique<NTProfiledPIDControllerModel>(inst, path);
+      },
+      [](Window* win, Model* model, const char* path) {
+        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
+        return MakeFunctionView([=] {
+          DisplayProfiledPIDController(
+              static_cast<NTProfiledPIDControllerModel*>(model));
+        });
+      });
   provider.Register(
       NTMotorControllerModel::kType,
       [](nt::NetworkTableInstance inst, const char* path) {

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

@@ -29,11 +29,13 @@ class NTPIDControllerModel : public PIDControllerModel {
   DataSource* GetIData() override { return &m_iData; }
   DataSource* GetDData() override { return &m_dData; }
   DataSource* GetSetpointData() override { return &m_setpointData; }
+  DataSource* GetIZoneData() override { return &m_iZoneData; }
 
   void SetP(double value) override;
   void SetI(double value) override;
   void SetD(double value) override;
   void SetSetpoint(double value) override;
+  void SetIZone(double value) override;
 
   void Update() override;
   bool Exists() override;
@@ -47,11 +49,13 @@ class NTPIDControllerModel : public PIDControllerModel {
   nt::DoubleEntry m_i;
   nt::DoubleEntry m_d;
   nt::DoubleEntry m_setpoint;
+  nt::DoubleEntry m_iZone;
 
   DataSource m_pData;
   DataSource m_iData;
   DataSource m_dData;
   DataSource m_setpointData;
+  DataSource m_iZoneData;
 
   std::string m_nameValue;
   bool m_controllableValue = false;

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

@@ -0,0 +1,64 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string>
+#include <string_view>
+
+#include <networktables/BooleanTopic.h>
+#include <networktables/DoubleTopic.h>
+#include <networktables/NetworkTableInstance.h>
+#include <networktables/StringTopic.h>
+
+#include "glass/DataSource.h"
+#include "glass/other/ProfiledPIDController.h"
+
+namespace glass {
+class NTProfiledPIDControllerModel : public ProfiledPIDControllerModel {
+ public:
+  static constexpr const char* kType = "ProfiledPIDController";
+
+  explicit NTProfiledPIDControllerModel(std::string_view path);
+  NTProfiledPIDControllerModel(nt::NetworkTableInstance inst,
+                               std::string_view path);
+
+  const char* GetName() const override { return m_nameValue.c_str(); }
+
+  DataSource* GetPData() override { return &m_pData; }
+  DataSource* GetIData() override { return &m_iData; }
+  DataSource* GetDData() override { return &m_dData; }
+  DataSource* GetGoalData() override { return &m_goalData; }
+  DataSource* GetIZoneData() override { return &m_iZoneData; }
+
+  void SetP(double value) override;
+  void SetI(double value) override;
+  void SetD(double value) override;
+  void SetGoal(double value) override;
+  void SetIZone(double value) override;
+
+  void Update() override;
+  bool Exists() override;
+  bool IsReadOnly() override { return !m_controllableValue; }
+
+ private:
+  nt::NetworkTableInstance m_inst;
+  nt::StringSubscriber m_name;
+  nt::BooleanSubscriber m_controllable;
+  nt::DoubleEntry m_p;
+  nt::DoubleEntry m_i;
+  nt::DoubleEntry m_d;
+  nt::DoubleEntry m_goal;
+  nt::DoubleEntry m_iZone;
+
+  DataSource m_pData;
+  DataSource m_iData;
+  DataSource m_dData;
+  DataSource m_goalData;
+  DataSource m_iZoneData;
+
+  std::string m_nameValue;
+  bool m_controllableValue = false;
+};
+}  // namespace glass

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

@@ -39,7 +39,8 @@ class NTStringChooserModel : public StringChooserModel {
  private:
   nt::NetworkTableInstance m_inst;
   nt::StringSubscriber m_default;
-  nt::StringEntry m_selected;
+  nt::StringSubscriber m_selected;
+  nt::StringPublisher m_selectedPub;
   nt::StringSubscriber m_active;
   nt::StringArraySubscriber m_options;
 

hal/build.gradle

@@ -50,7 +50,7 @@ ext {
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
-sourceSets.main.java.srcDir "src/generated/main/java/edu/wpi/first/hal/"
+sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 
 cppSourcesZip {
     from('src/main/native/athena') {

hal/src/generate/FRCNetComm.java.in

@@ -9,7 +9,7 @@ package edu.wpi.first.hal;
 /**
  * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
  */
-public class FRCNetComm {
+public final class FRCNetComm {
   /**
    * Resource type from UsageReporting.
    */
@@ -31,4 +31,7 @@ ${usage_reporting_types}
 
 ${usage_reporting_instances}
   }
+
+  /** Utility class. */
+  private FRCNetComm() {}
 }

hal/src/generate/Instances.txt

@@ -45,6 +45,7 @@ kADXL345_I2C = 2
 kCommand_Scheduler = 1
 kCommand2_Scheduler = 2
 kSmartDashboard_Instance = 1
+kSmartDashboard_LiveWindow = 2
 kKinematics_DifferentialDrive = 1
 kKinematics_MecanumDrive = 2
 kKinematics_SwerveDrive = 3

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

@@ -9,7 +9,7 @@ package edu.wpi.first.hal;
 /**
  * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
  */
-public class FRCNetComm {
+public final class FRCNetComm {
   /**
    * Resource type from UsageReporting.
    */
@@ -354,6 +354,8 @@ public class FRCNetComm {
     public static final int kCommand2_Scheduler = 2;
     /** kSmartDashboard_Instance = 1. */
     public static final int kSmartDashboard_Instance = 1;
+    /** kSmartDashboard_LiveWindow = 2. */
+    public static final int kSmartDashboard_LiveWindow = 2;
     /** kKinematics_DifferentialDrive = 1. */
     public static final int kKinematics_DifferentialDrive = 1;
     /** kKinematics_MecanumDrive = 2. */
@@ -367,4 +369,7 @@ public class FRCNetComm {
     /** kOdometry_SwerveDrive = 3. */
     public static final int kOdometry_SwerveDrive = 3;
   }
+
+  /** Utility class. */
+  private FRCNetComm() {}
 }

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

@@ -216,6 +216,7 @@ namespace HALUsageReporting {
     kCommand_Scheduler = 1,
     kCommand2_Scheduler = 2,
     kSmartDashboard_Instance = 1,
+    kSmartDashboard_LiveWindow = 2,
     kKinematics_DifferentialDrive = 1,
     kKinematics_MecanumDrive = 2,
     kKinematics_SwerveDrive = 3,

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

@@ -59,4 +59,7 @@ public class AccelerometerJNI extends JNIWrapper {
    * @return the Z acceleration
    */
   public static native double getAccelerometerZ();
+
+  /** Utility class. */
+  private AccelerometerJNI() {}
 }

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

@@ -13,6 +13,9 @@ public class AccumulatorResult {
   /** The number of sample value was accumulated over. */
   public long count;
 
+  /** Constructs an AccumulatorResult. */
+  public AccumulatorResult() {}
+
   /**
    * Set the value and count.
    *

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

@@ -97,4 +97,7 @@ public class AddressableLEDJNI extends JNIWrapper {
    * @see "HAL_StopAddressableLEDOutput"
    */
   public static native void stop(int handle);
+
+  /** Utility class. */
+  private AddressableLEDJNI() {}
 }

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

@@ -4,12 +4,20 @@
 
 package edu.wpi.first.hal;
 
+/** Alliance station ID. */
 public enum AllianceStationID {
+  /** Unknown. */
   Unknown,
+  /** Red 1. */
   Red1,
+  /** Red 2. */
   Red2,
+  /** Red 3. */
   Red3,
+  /** Blue 1. */
   Blue1,
+  /** Blue 2. */
   Blue2,
+  /** Blue 3. */
   Blue3
 }

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

@@ -126,4 +126,7 @@ public class AnalogGyroJNI extends JNIWrapper {
    * @see "HAL_GetAnalogGyroCenter"
    */
   public static native int getAnalogGyroCenter(int handle);
+
+  /** Utility class. */
+  private AnalogGyroJNI() {}
 }

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

@@ -84,6 +84,16 @@ public class AnalogJNI extends JNIWrapper {
    */
   public static native boolean checkAnalogInputChannel(int channel);
 
+  /**
+   * Checks that the analog output channel number is valid.
+   *
+   * <p>Verifies that the analog channel number is one of the legal channel numbers. Channel numbers
+   * are 0-based.
+   *
+   * @param channel The analog output channel number.
+   * @return Analog channel is valid
+   * @see "HAL_CheckAnalogOutputChannel"
+   */
   public static native boolean checkAnalogOutputChannel(int channel);
 
   /**
@@ -95,8 +105,22 @@ public class AnalogJNI extends JNIWrapper {
    */
   public static native void setAnalogInputSimDevice(int handle, int device);
 
+  /**
+   * Sets an analog output value.
+   *
+   * @param portHandle the analog output handle
+   * @param voltage the voltage (0-5v) to output
+   * @see "HAL_SetAnalogOutput"
+   */
   public static native void setAnalogOutput(int portHandle, double voltage);
 
+  /**
+   * Gets the current analog output value.
+   *
+   * @param portHandle the analog output handle
+   * @return the current output voltage (0-5v)
+   * @see "HAL_GetAnalogOutput"
+   */
   public static native double getAnalogOutput(int portHandle);
 
   /**
@@ -497,4 +521,7 @@ public class AnalogJNI extends JNIWrapper {
    * @see "HAL_GetAnalogTriggerFPGAIndex"
    */
   public static native int getAnalogTriggerFPGAIndex(int analogTriggerHandle);
+
+  /** Utility class. */
+  private AnalogJNI() {}
 }

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

@@ -177,4 +177,7 @@ public class CANAPIJNI extends JNIWrapper {
    */
   public static native boolean readCANPacketTimeout(
       int handle, int apiId, int timeoutMs, CANData data);
+
+  /** Utility class. */
+  private CANAPIJNI() {}
 }

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

@@ -0,0 +1,117 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+/**
+ * CAN API Types.
+ *
+ * <p>This class defines enums for CAN device types and manufacturer IDs as specified in the WPILib
+ * documentation: https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html
+ */
+@SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass")
+public final class CANAPITypes {
+  /**
+   * FRC CAN device type.
+   *
+   * <p>This enum represents different types of CAN devices. Teams are encouraged to use the
+   * kMiscellaneous for custom or miscellaneous devices.
+   *
+   * @see <a href=
+   *     "https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html">CAN
+   *     Device Types</a>
+   */
+  public enum CANDeviceType {
+    /** Broadcast. */
+    kBroadcast(0),
+    /** Robot controller. */
+    kRobotController(1),
+    /** Motor controller. */
+    kMotorController(2),
+    /** Relay controller. */
+    kRelayController(3),
+    /** Gyro sensor. */
+    kGyroSensor(4),
+    /** Accelerometer. */
+    kAccelerometer(5),
+    /** Ultrasonic sensor. */
+    kUltrasonicSensor(6),
+    /** Gear tooth sensor. */
+    kGearToothSensor(7),
+    /** Power distribution. */
+    kPowerDistribution(8),
+    /** Pneumatics. */
+    kPneumatics(9),
+    /** Miscellaneous. */
+    kMiscellaneous(10),
+    /** IO breakout. */
+    kIOBreakout(11),
+    /** Firmware update. */
+    kFirmwareUpdate(31);
+
+    @SuppressWarnings("PMD.MemberName")
+    public final int id;
+
+    CANDeviceType(int id) {
+      this.id = id;
+    }
+  }
+
+  /**
+   * FRC CAN manufacturer ID.
+   *
+   * <p>This enum represents different manufacturer IDs for CAN devices. Teams are encouraged to use
+   * the kTeamUse manufacturer ID for custom or team-specific devices.
+   *
+   * @see <a href=
+   *     "https://docs.wpilib.org/en/stable/docs/software/can-devices/can-addressing.html">CAN
+   *     Manufacturer IDs</a>
+   */
+  public enum CANManufacturer {
+    /** Broadcast. */
+    kBroadcast(0),
+    /** National Instruments. */
+    kNI(1),
+    /** Luminary Micro. */
+    kLM(2),
+    /** DEKA Research and Development Corp. */
+    kDEKA(3),
+    /** Cross the Road Electronics. */
+    kCTRE(4),
+    /** REV Robotics. */
+    kREV(5),
+    /** Grapple. */
+    kGrapple(6),
+    /** MindSensors. */
+    kMS(7),
+    /** Team use. */
+    kTeamUse(8),
+    /** Kauai Labs. */
+    kKauaiLabs(9),
+    /** Copperforge. */
+    kCopperforge(10),
+    /** Playing With Fusion. */
+    kPWF(11),
+    /** Studica. */
+    kStudica(12),
+    /** TheThriftyBot. */
+    kTheThriftyBot(13),
+    /** Redux Robotics. */
+    kReduxRobotics(14),
+    /** AndyMark. */
+    kAndyMark(15),
+    /** Vivid-Hosting. */
+    kVividHosting(16);
+
+    @SuppressWarnings("PMD.MemberName")
+    public final int id;
+
+    CANManufacturer(int id) {
+      this.id = id;
+    }
+  }
+
+  /** Utility class. */
+  private CANAPITypes() {}
+}

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

@@ -15,6 +15,9 @@ public class CANData {
   /** CAN frame timestamp in milliseconds. */
   public long timestamp;
 
+  /** Default constructor. */
+  public CANData() {}
+
   /**
    * API used from JNI to set the data.
    *

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

@@ -17,6 +17,9 @@ public class CANStreamMessage {
   @SuppressWarnings("MemberName")
   public int messageID;
 
+  /** Default constructor. */
+  public CANStreamMessage() {}
+
   /**
    * API used from JNI to set the data.
    *

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

@@ -221,4 +221,7 @@ public class CTREPCMJNI extends JNIWrapper {
    * @see "HAL_SetCTREPCMOneShotDuration"
    */
   public static native void setOneShotDuration(int handle, int index, int durMs);
+
+  /** Utility class. */
+  private CTREPCMJNI() {}
 }

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

@@ -17,4 +17,7 @@ public class ConstantsJNI extends JNIWrapper {
    * @see "HAL_GetSystemClockTicksPerMicrosecond"
    */
   public static native int getSystemClockTicksPerMicrosecond();
+
+  /** Utility class. */
+  private ConstantsJNI() {}
 }

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

@@ -13,6 +13,9 @@ public class ControlWord {
   private boolean m_fmsAttached;
   private boolean m_dsAttached;
 
+  /** Default constructor. */
+  public ControlWord() {}
+
   void update(
       boolean enabled,
       boolean autonomous,

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

@@ -279,4 +279,7 @@ public class CounterJNI extends JNIWrapper {
    * @see "HAL_SetCounterReverseDirection"
    */
   public static native void setCounterReverseDirection(int counterHandle, boolean reverseDirection);
+
+  /** Utility class. */
+  private CounterJNI() {}
 }