[apriltag] Fix GCC 14 calloc() warning (#6773)

Testing on a Rio showed that the joystick inputs are not zeroed, they just don't update.

.clang-format

@@ -28,6 +28,11 @@ AlignConsecutiveMacros:
   AcrossComments:  false
   AlignCompound:   false
   PadOperators:    false
+AlignConsecutiveShortCaseStatements:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCaseColons: false
 AlignEscapedNewlines: Left
 AlignOperands:   Align
 AlignTrailingComments:
@@ -141,10 +146,13 @@ IntegerLiteralSeparator:
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+KeepEmptyLinesAtEOF: false
 LambdaBodyIndentation: Signature
 LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
+Macros:
+  - 'HAL_ENUM(name)=enum name'
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never
@@ -199,6 +207,7 @@ RawStringFormats:
 ReferenceAlignment: Pointer
 ReflowComments:  true
 RemoveBracesLLVM: false
+RemoveParentheses: Leave
 RemoveSemicolon: false
 RequiresClausePosition: OwnLine
 RequiresExpressionIndentation: OuterScope
@@ -216,6 +225,7 @@ SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
+SpaceBeforeJsonColon: false
 SpaceBeforeParens: ControlStatements
 SpaceBeforeParensOptions:
   AfterControlStatements: true
@@ -230,23 +240,28 @@ SpaceBeforeParensOptions:
 SpaceBeforeRangeBasedForLoopColon: true
 SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
-SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
 SpacesInAngles:  Never
-SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
-SpacesInCStyleCastParentheses: false
 SpacesInLineCommentPrefix:
   Minimum:         1
   Maximum:         -1
-SpacesInParentheses: false
+SpacesInParens:  Never
+SpacesInParensOptions:
+  InCStyleCasts:   false
+  InConditionalStatements: false
+  InEmptyParentheses: false
+  Other:           false
 SpacesInSquareBrackets: false
 Standard:        c++20
+StatementAttributeLikeMacros:
+  - Q_EMIT
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
+VerilogBreakBetweenInstancePorts: true
 WhitespaceSensitiveMacros:
   - BOOST_PP_STRINGIZE
   - CF_SWIFT_NAME

.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,

.gersemirc

@@ -1,5 +1,5 @@
 color: false
-definitions: []
+definitions: [cmake/modules]
 line_length: 100
 list_expansion: favour-inlining
 quiet: false

.gitattributes

@@ -1,10 +1,12 @@
+*.cpp text eol=lf
 *.gradle text eol=lf
+*.h text eol=lf
+*.inc text eol=lf
 *.java text eol=lf
+*.jinja text eol=lf
 *.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf
 
 # Generated files
-hal/src/generated/** linguist-generated
-ntcore/src/generated/** linguist-generated
-wpimath/src/generated/** linguist-generated
+*/src/generated/** linguist-generated

.github/workflows/cmake.yml

@@ -16,11 +16,11 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2024-22.04
             flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-12
+          - os: macOS-14
             name: macOS
             container: ""
-            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
+            env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -28,27 +28,14 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Install QuickBuffers (Linux)
-        if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
-
-      - name: Install opencv (macOS)
+      - name: Install dependencies (macOS)
         run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
-      - name: Set up Python 3.8 (macOS)
-        if: runner.os == 'macOS'
-        uses: actions/setup-python@v4
-        with:
-          python-version: 3.8
-
       - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.3
-
-      - name: Install jinja
-        run: python -m pip install jinja2
+        uses: mozilla-actions/sccache-action@v0.0.5
 
       - uses: actions/checkout@v4
 
@@ -71,45 +58,27 @@ jobs:
     name: "Build - Windows"
     runs-on: windows-2022
     steps:
-      - uses: ilammy/msvc-dev-cmd@v1
+      - uses: ilammy/msvc-dev-cmd@v1.13.0
 
       - name: Install CMake
-        uses: lukka/get-cmake@v3.27.6
+        uses: lukka/get-cmake@v3.29.3
 
       - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.3
-
-      - name: Install jinja
-        run: python -m pip install jinja2
+        uses: mozilla-actions/sccache-action@v0.0.5
 
       - uses: actions/checkout@v4
 
       - name: Run vcpkg
-        uses: lukka/run-vcpkg@v11.1
+        uses: lukka/run-vcpkg@v11.5
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
+          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
 
       - name: configure
-        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
         env:
           SCCACHE_GHA_ENABLED: "true"
 
-      # Build wpiutil at full speed, wpimath depends on wpiutil
-      - name: build wpiutil
-        working-directory: build
-        run: cmake --build . --parallel $(nproc) --target wpiutil/all
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      # Build wpimath slow to prevent OOM
-      - name: build wpimath
-        working-directory: build
-        run: cmake --build . --parallel 1 --target wpimath/all
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      # Build everything else fast
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)

.github/workflows/command-robotpy-pr.yml

@@ -0,0 +1,26 @@
+name: Comment on PR for robotpy
+
+on:
+  pull_request_target:
+    types:
+      - opened
+    paths:
+      - 'wpilibNewCommands/**'
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write
+
+    runs-on: ubuntu-latest
+    steps:
+      - name: Comment on PR
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.createComment({
+                issue_number: context.issue.number,
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                body: 'This PR modifies commands. Please open a corresponding PR in [Python Commands](https://github.com/robotpy/robotpy-commands-v2/) and include a link to this PR.'
+            })

.github/workflows/comment-command.yml

@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           script: |
             const {owner, repo} = context.issue
@@ -33,17 +33,17 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Setup Java
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 11
+          distribution: 'temurin'
+          java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2024.34
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply

.github/workflows/documentation.yml

@@ -20,10 +20,10 @@ jobs:
         with:
           fetch-depth: 0
           persist-credentials: false
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 17
       - name: Set environment variables (Development)
         run: |
           echo "BRANCH=development" >> $GITHUB_ENV
@@ -41,11 +41,11 @@ jobs:
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.8.0
+        uses: webfactory/ssh-agent@v0.9.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
       - name: Deploy 🚀
-        uses: JamesIves/github-pages-deploy-action@v4.4.1
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
         with:
           ssh-key: true
           repository-name: wpilibsuite/wpilibsuite.github.io
@@ -54,7 +54,7 @@ jobs:
           single-commit: true
           folder: docs/build/docs
       - name: Trigger Workflow
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
           script: |

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

@@ -11,4 +11,4 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: gradle/wrapper-validation-action@v1
+      - uses: gradle/actions/wrapper-validation@v3

.github/workflows/gradle.yml

@@ -54,14 +54,14 @@ 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
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 12
+      MACOSX_DEPLOYMENT_TARGET: 13
     strategy:
       fail-fast: false
       matrix:
@@ -70,55 +70,49 @@ jobs:
             artifact-name: Win64Debug
             architecture: x64
             task: "build"
-            build-options: "-PciDebugOnly --max-workers 1"
+            build-options: "-PciDebugOnly"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: Win64Release
             architecture: x64
-            build-options: "-PciReleaseOnly --max-workers 1"
+            build-options: "-PciReleaseOnly"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: WinArm64Debug
             architecture: x64
             task: "build"
-            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: WinArm64Release
             architecture: x64
-            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
-          - os: macOS-12
+          - os: macOS-14
             artifact-name: macOS
-            architecture: x64
+            architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
-            build-dir: "."
           - os: windows-2022
             artifact-name: Win32
             architecture: x86
             task: ":ntcoreffi:build"
             outputs: "ntcoreffi/build/outputs"
-            build-dir: "c:\\work"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
+          distribution: 'temurin'
           java-version: 17
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v1
+        uses: wpilibsuite/import-signing-certificate@v2
         with:
           certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
@@ -138,31 +132,26 @@ jobs:
       - name: Set Java Heap Size
         run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
         if: matrix.artifact-name == 'Win32'
-      - name: Configure build directory (Windows)
-        run: xcopy . ${{ matrix.build-dir }} /i /s /e /h /q
-        if: matrix.os == 'windows-2022'
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        working-directory: ${{ matrix.build-dir }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        working-directory: ${{ matrix.build-dir }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.build-dir }}/${{ matrix.outputs }}
+          path: ${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"
@@ -171,10 +160,10 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 17
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
@@ -183,7 +172,7 @@ 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 +201,7 @@ 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'))
@@ -230,12 +219,12 @@ jobs:
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         if: |
           github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
-          distribution: 'zulu'
+          distribution: 'temurin'
           java-version: 17
       - name: Combine (Main)
         if: |
@@ -255,10 +244,25 @@ 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'))
         with:
           name: Maven
           path: ~/releases
+
+  dispatch:
+    name: dispatch
+    needs: [combine]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          startsWith(github.ref, 'refs/tags/v')
+        with:
+          token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}
+          repository: wpilibsuite/smartdashboard
+          event-type: tag
+          client-payload: '{"package_name": "allwpilib", "package_version": "${{ github.ref_name }}"}'

.github/workflows/lint-format.yml

@@ -22,12 +22,12 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2023.36
+        run: pip3 install wpiformat==2024.34
       - name: Run
         run: wpiformat
       - name: Check output
@@ -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
@@ -51,7 +51,7 @@ jobs:
   tidy:
     name: "clang-tidy"
     runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -61,12 +61,12 @@ jobs:
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2024.34
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
@@ -105,9 +105,9 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 21
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/pregenerate.yml

@@ -1,49 +1,50 @@
-name: Check Pregenerated Files
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  update:
-    name: "Update"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.9
-        uses: actions/setup-python@v4
-        with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf-1.3.2-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.2-linux-x86_64.exe
-      - name: Run hal
-        run: ./hal/generate_usage_reporting.py
-      - name: Run ntcore
-        run: ./ntcore/generate_topics.py
-      - name: Run wpimath
-        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.2-linux-x86_64.exe
-      - name: Add untracked files to index so they count as changes
-        run: git add -A
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > pregenerated-files-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v3
-        with:
-          name: pregenerated-files-fixes
-          path: pregenerated-files-fixes.patch
-        if: ${{ failure() }}
+name: Check Pregenerated Files
+
+on:
+  pull_request:
+  push:
+    branches-ignore:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  update:
+    name: "Update"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v5
+        with:
+          python-version: 3.9
+      - name: Install jinja
+        run: python -m pip install jinja2
+      - name: Install protobuf dependencies
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/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 --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Run HIDs
+        run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
+      - name: Run PWM Controllers
+        run: ./wpilibj/generate_pwm_motor_controllers.py && ./wpilibc/generate_pwm_motor_controllers.py
+      - name: Add untracked files to index so they count as changes
+        run: git add -A
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > pregenerated-files-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pregenerated-files-fixes
+          path: pregenerated-files-fixes.patch
+        if: ${{ failure() }}

.github/workflows/sanitizers.yml

@@ -29,17 +29,10 @@ jobs:
     container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build
-
-      - name: Install QuickBuffers
-        if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java clang-14 libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.3
-
-      - name: Install jinja
-        run: python -m pip install jinja2
+        uses: mozilla-actions/sccache-action@v0.0.5
 
       - uses: actions/checkout@v4
 

.github/workflows/tools.yml

@@ -0,0 +1,144 @@
+name: Tools
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  YEAR: 2024
+
+jobs:
+  build-artifacts:
+    name: "Build - WPILib"
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Build WPILib with Gradle
+        uses: addnab/docker-run-action@v3
+        with:
+          image: wpilib/roborio-cross-ubuntu:2024-22.04
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
+          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+      - uses: actions/upload-artifact@v4
+        with:
+          name: MavenArtifacts
+          path: |
+            development
+          retention-days: 1
+
+  Robotbuilder:
+    name: "Build - RobotBuilder"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/robotbuilder
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - name: Patch RobotBuilder to use local development
+        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
+      - name: Install and run xvfb
+        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Build RobotBuilder with Gradle
+        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
+      - name: Summarize RobotBuilder Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
+        with:
+          files: |
+            build/test-results/test/TEST*.xml
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: TestResults
+          path: |
+            build/reports/
+      - uses: actions/upload-artifact@v4
+        with:
+          name: RobotBuilder Build
+          path: |
+            build/libs/
+          retention-days: 7
+
+  Shuffleboard:
+    name: "Build - Shuffleboard"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/shuffleboard
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Install dependencies
+        run: sudo apt-get install -y libgtk2.0-0
+      - name: Build with Gradle
+        run: ./gradlew build -x Javadoc
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Shuffleboard Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+  PathWeaver:
+    name: "Build - PathWeaver"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/PathWeaver
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Build with Gradle
+        run: ./gradlew build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: PathWeaver Build
+          path: |
+            build/allOutputs/
+          retention-days: 7

.github/workflows/upstream-utils.yml

@@ -23,7 +23,7 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.9
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: 3.9
       - name: Configure committer identity
@@ -70,6 +70,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_protobuf.py
+      - name: Run update_sleipnir.py
+        run: |
+          cd upstream_utils
+          ./update_sleipnir.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.styleguide

@@ -20,6 +20,7 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
+  wpilibc/src/generated/
 }
 
 repoRootNameOverride {

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)
@@ -64,7 +64,7 @@ option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
 option(WITH_WPIUNITS "Build wpiunits" ON)
-option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
+option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" 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)
@@ -195,6 +198,9 @@ endif()
 set(include_dest include)
 set(java_lib_dest java)
 set(jni_lib_dest jni)
+if(WITH_JAVA)
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+endif()
 
 if(USE_SYSTEM_LIBUV)
     set(LIBUV_SYSTEM_REPLACE
@@ -211,7 +217,6 @@ 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)")
@@ -282,7 +287,7 @@ set(CMAKE_EXE_LINKER_FLAGS_ASAN
 set(CMAKE_SHARED_LINKER_FLAGS_ASAN
     "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
     CACHE STRING
-    "Linker lags to be used to create shared libraries for Asan build type."
+    "Linker flags to be used to create shared libraries for Asan build type."
     FORCE
 )
 
@@ -310,7 +315,7 @@ set(CMAKE_EXE_LINKER_FLAGS_TSAN
 set(CMAKE_SHARED_LINKER_FLAGS_TSAN
     "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
     CACHE STRING
-    "Linker lags to be used to create shared libraries for Tsan build type."
+    "Linker flags to be used to create shared libraries for Tsan build type."
     FORCE
 )
 
@@ -338,7 +343,7 @@ set(CMAKE_EXE_LINKER_FLAGS_UBSAN
 set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
     "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined"
     CACHE STRING
-    "Linker lags to be used to create shared libraries for Ubsan build type."
+    "Linker flags to be used to create shared libraries for Ubsan build type."
     FORCE
 )
 
@@ -403,7 +408,7 @@ if(WITH_WPILIB)
     if(WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()
-    add_subdirectory(myRobot)
+    add_subdirectory(developerRobot)
 endif()
 
 if(WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)

CONTRIBUTING.md

@@ -12,11 +12,11 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## General Contribution Rules
 
-- Everything in the library must work for the 3000+ teams that will be using it.
+- Everything in the library must work for the 4000+ teams that will be using it.
 - We need to be able to maintain submitted changes, even if you are no longer working on the project.
 - Tool suite changes must be generally useful to a broad range of teams
 - Excluding bug fixes, changes in one language generally need to have corresponding changes in other languages.
-    - Some features, such the addition of C++11 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only.
+    - Some features, such the addition of C++23 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only. New language features added to C++ must be wrappable in Python for [RobotPy](https://github.com/robotpy).
     - Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
 - Changes should have tests.
 - Code should be well documented.
@@ -27,7 +27,8 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 - Bug reports and fixes
     - We will generally accept bug fixes without too much question. If they are only implemented for one language, we will implement them for any other necessary languages. Bug reports are also welcome, please submit them to our GitHub issue tracker.
 - While we do welcome improvements to the API, there are a few important rules to consider:
-    - Features must be added to both WPILibC and WPILibJ, with rare exceptions.
+    - Features must be added to Java (WPILibJ), C++ (WPILibC), with rare exceptions.
+        - Most of Python (RobotPy) is created by wrapping WPILibC with pybind11 via robotpy-build. However, new features to the command framework should also be submitted to [robotpy-commands-v2](https://github.com/robotpy/robotpy-commands-v2) as the command framework is reimplemented in Python.
     - During competition season, we will not merge any new feature additions. We want to ensure that the API is stable during the season to help minimize issues for teams.
     - Ask about large changes before spending a bunch of time on them! You can create a new issue on our GitHub tracker for feature request/discussion and talk about it with us there.
     - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
@@ -79,6 +80,8 @@ xₖ₊₁ = Axₖ + Buₖ
 
 Changes should be submitted as a Pull Request against the main branch of WPILib. For most changes, commits will be squashed upon merge. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. We may ask you to break a PR into multiple standalone PRs or commits for rebase within one PR to separate unrelated changes. No change will be merged unless it is up to date with the current main branch. We do this to make sure that the git history isn't too cluttered.
 
+During the build season, breaking changes or other changes intended for the next season can be created as a pull request against the development branch of WPILib. After the season is over, the changes in the development branch will be merged into main.
+
 ### Merge Process
 
 When you first submit changes, GitHub Actions will attempt to run `./gradlew check` on your change. If this fails, you will need to fix any issues that it sees. Once Actions passes, we will begin the review process in more earnest. One or more WPILib team members will review your change. This will be a back-and-forth process with the WPILib team and the greater community. Once we are satisfied that your change is ready, we will allow our hosted instance to test it. This will run the full gamut of checks, including integration tests on actual hardware. Once all tests have passed and the team is satisfied, we will merge your change into the WPILib repository.

DevelopmentBuilds.md

@@ -19,7 +19,7 @@ To build a project using a development build, find the build.gradle file and ope
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.+'
-wpi.versions.wpimathVersion = 'YEAR.+
+wpi.versions.wpimathVersion = 'YEAR.+'
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -89,15 +89,4 @@ wpi.versions.wpimathVersion = 'YEAR.424242.+'
 
 # roboRIO Development
 
-This repo contains a myRobot project built in way to do full project development without needing to do a full publish into GradleRIO. These also only require building the minimum amount of binaries for the roboRIO, so the builds are much faster as well.
-
-The setup only works if the roboRIO is USB connected. If an alternate IP address is preferred, the `address` block in myRobot\build.gradle can be changed to point to another address.
-
-The following 3 tasks can be used for deployment:
-* `:myRobot:deployShared` deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
-* `:myRobot:deployStatic` deploys the C++ project with all dependencies statically linked.
-* `:myRobot:deployJava` deploys the Java project and all required dependencies. Also installs the JRE if not currently installed.
-
-Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
-
-From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).
+See the [developerRobot](developerRobot/README.md) subproject.

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

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).
@@ -18,10 +18,10 @@ Desktop tools publish to the development repo on every push to main. To publish
 
 ## Publishing VS Code
 Before publishing, make sure to update the gradlerio version in `vscode-wpilib/resources/gradle/version.txt` Also make sure the gradle wrapper version matches the wrapper required by gradlerio.
-Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub. For publishing to the marketplace, you need a Microsoft account and to be added as a maintainer.
+Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub.
 
 ## Publishing GradleRIO
 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

@@ -1,31 +1,41 @@
 # WPILib CMake Support
 
-WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although it is supported on Windows, these docs will only go over Linux builds.
+WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although macOS is supported, these docs will only go over Linux and Windows builds, but should mostly work for macOS as well. If you are stuck, you can look at the GitHub workflows for any OS to see how it works.
 
 ## Libraries that get built
-* wpiutil
-* ntcore
-* cscore
+* apriltag
 * cameraserver
-* hal
-* wpilib
-* halsim
+* cscore
+* hal (simulation HAL only)
+* ntcore
+* romiVendordep
+* simulation extensions
 * wpigui
-* wpimath
-* wpiunits
+* wpilib (wpilibc, wpilibj, and myRobot)
 * wpilibNewCommands
+* wpimath
+* wpinet
+* wpiunits
+* wpiutil
+* xrpVendordep
 
-By default, all libraries except for the HAL and WPILib get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs.
+## GUI apps that get built
+* datalogtool
+* glass
+* outlineviewer
+* roborioteamnumbersetter
+* sysid
+* halsim_gui (if simulation extensions are enabled)
+
+By default, all libraries get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs. Data Log Tool and the roboRIO Team Number Setter are only built if libssh is available.
 
 ## Prerequisites
 
-The jinja2 pip package is needed to generate classes for NT4's pubsub.
-
-The protobuf library and compiler are needed for protobuf generation. The QuickBuffers protoc-gen package is also required when Java is being built; this can be obtained from https://github.com/HebiRobotics/QuickBuffers/releases/.
+The protobuf library and compiler are needed for protobuf generation.
 
 OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
 
-If you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
+If you want JNI and Java, you will need a JDK of at least version 17 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
 
 If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
 
@@ -33,36 +43,38 @@ If you are building with unit tests or simulation modules, you will also need an
 
 The following build options are available:
 
-* `WITH_JAVA` (ON Default)
-  * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
-* `WITH_JAVA_SOURCE` (ON Default)
-  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
-* `WITH_SHARED_LIBS` (ON Default)
-  * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
+* `BUILD_SHARED_LIBS` (ON Default)
+  * This option will cause CMake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
 * `WITH_CSCORE` (ON Default)
-  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is off, the OpenCV build requirement is removed.
+  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver. If this is off, the OpenCV build requirement is removed.
+* `WITH_EXAMPLES` (OFF Default)
+  * This option will build C++ examples.
+* `WITH_GUI` (ON Default)
+  * This option will build GUI items. If this is off, and `WITH_SIMULATION_MODULES` is on, the simulation GUI will not be built.
+* `WITH_JAVA` (ON Default)
+  * This option will enable Java and JNI builds. If this is on, `BUILD_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_JAVA_SOURCE` (`WITH_JAVA` Default)
+  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
 * `WITH_NTCORE` (ON Default)
-  * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet and wpilib as well, irrespective of their specific options.
+  * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet, and will cause an error if `WITH_WPILIB` is enabled.
+* `WITH_SIMULATION_MODULES` (ON Default)
+  * This option will build simulation modules.
+* `WITH_TESTS` (ON Default)
+  * This option will build C++ unit tests. These can be run via `ctest -C <config>`, where `<config>` is the build configuration, e.g. `Debug` or `Release`.
+* `WITH_WPILIB` (ON Default)
+  * This option will build the HAL and wpilibc/j during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for the roboRIO.
 * `WITH_WPIMATH` (ON Default)
   * This option will build the wpimath library. This option must be on to build wpilib.
 * `WITH_WPIUNITS` (ON Default)
   * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
-* `WITH_WPILIB` (ON Default)
-  * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
-* `WITH_EXAMPLES` (ON Default)
-  * This option will build C++ examples.
-* `WITH_TESTS` (ON Default)
-  * This option will build C++ unit tests. These can be run via `make test`.
-* `WITH_GUI` (ON Default)
-  * This option will build GUI items.
-* `WITH_SIMULATION_MODULES` (ON Default)
-  * This option will build simulation modules, including wpigui and the HALSim plugins.
 * `WITH_EXTERNAL_HAL` (OFF Default)
-  * TODO
+  * This option will build wpilib with an externally built HAL.
 * `EXTERNAL_HAL_FILE`
-  * TODO
+  * Set this option to the CMake File of the externally built HAL. NOTE: set it to the file itself, not the folder the file is located in!
 * `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
 
@@ -76,24 +88,28 @@ cmake path/to/allwpilib/root
 
 If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake` command. This will check for any dependencies. If everything works properly this will succeed. If not, please check out the troubleshooting section for help.
 
-If you want, you can also use `ccmake` in order to visually set these properties as well. [Here](https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html) is the link to the documentation for that program.
+If you want, you can also use `ccmake` in order to visually set these properties as well. [Here](https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html) is the link to the documentation for that program. On Windows, you can use `cmake-gui` instead.
+
+Note that if you are cross-compiling, you will need to override the protobuf options manually to point to the libraries for the target platform. Leave the protoc binary location as the path to the binary for the host platform, since protoc needs to execute on the host platform.
 
 ## Building
 
-Once you have cmake setup. run `make` from the directory you configured CMake in. This will build all libraries possible. If you have a multicore system, we recommend running `make` with multiple jobs. The usual rule of thumb is 1.5x the number of cores you have. To run a multiple job build, run the following command with x being the number of jobs you want.
+Once you have CMake setup. run `cmake --build .` from the directory you configured CMake in. This will build all libraries possible. We recommend running `cmake --build .` with multiple jobs. For allwpilib, a good rule of thumb is one worker for every 2 GB of available RAM. To run a multiple job build, run the following command with x being the number of jobs you want.
 
 ```
-make -jx
+cmake --build . --parallel x
 ```
 
-The `ninja` generator is also supported, and can be enabled by passing `-GNinja` to the initial `cmake` command.
+Note: wpimath takes gigabytes of RAM to compile. Because of this, the compilers may crash while building due to a lack of memory and your computer may slow down. If you have less than 16 GB of RAM available, you may want to consider building it separately first by adding `--target wpimath` and running it with ~3 jobs to prevent crashes from running out of memory.
+
+To build with a certain configuration, like `Debug` or `Release`, add `--config <config>`, where `<config>` is the name of the configuration you want to build with.
 
 ## Installing
 
-After build, the easiest way to use the libraries is to install them. Run the following command to install the libraries. This will install them so that they can be used from external cmake projects.
+After build, the easiest way to use the libraries is to install them. Run the following command to install the libraries. This will install them so that they can be used from external CMake projects.
 
 ```
-sudo make install
+sudo cmake --build . --target install
 ```
 
 ## Using the installed libraries for C++.
@@ -102,7 +118,7 @@ Using the libraries from C++ is the easiest way to use the built libraries.
 
 To do so, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
 
-```
+```cmake
 cmake_minimum_required(VERSION 3.11)
 project(vision_app) # Project Name Here
 
@@ -112,7 +128,7 @@ add_executable(my_vision_app main.cpp) # executable name as first parameter
 target_link_libraries(my_vision_app cameraserver ntcore cscore wpiutil)
 ```
 
-If you are using them, `wpilibc` and `hal` should be added before the `cameraserver` declaration in the `target_link_libraries` function.
+If you want to use other libraries or are building a robot program, `wpilibc` and `hal` should be added in the `target_link_libraries` function, along with any other libraries you plan on using, e.g. `wpimath`.
 
 Add a `main.cpp` file to contain your code, and create a build folder. Move into the build folder, and run
 
@@ -120,11 +136,43 @@ Add a `main.cpp` file to contain your code, and create a build folder. Move into
 cmake /path/to/folder/containing/CMakeLists
 ```
 
-After that, run `make`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
+After that, run `cmake --build .`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
 
 
 ## Using the installed libraries for Java
-TODO
+
+Using the built JARs is move involved than using the C++ libraries, but mostly consists of adding the correct directories to PATH.
+
+Add the directory where the JARs are located (e.g, `/usr/local/java`) to PATH. If you are on Windows, you also need to add the `lib`, `bin`, and `share` directories to PATH. Then, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
+
+```cmake
+cmake_minimum_required(VERSION 3.11)
+project(robot)
+
+find_package(Java REQUIRED COMPONENTS Development)
+include(UseJava)
+find_package(wpilib REQUIRED)
+find_jar(opencvJar opencv-xxx PATHS ENV PATH) # Change to OpenCV version
+
+file(GLOB_RECURSE JAVA_SOURCES *.java)
+# If you want Gradle compatibility or you are using one of the templates/examples, comment out the above line and uncomment this line instead:
+# file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+add_jar(robot ${JAVA_SOURCES}
+    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar wpilibNewCommands_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
+export_jars(TARGETS robot FILE robot.jar)
+```
+This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
+Add a `Main.java` file to contain your code, and create a build folder. Move into the build folder, and run
+
+```
+cmake /path/to/folder/containing/CMakeLists
+```
+
+After that, run `cmake --build .` to create your JAR file. To execute the JAR file, you need to include the wpilib JARs and your JAR in the classpath, and execute your Java program's entry point. If you are using cscore or cameraserver, you also need to include the path to the OpenCV JAR. If you built it from source, it will be in your OpenCV build directory. If it's installed on the system, CMake may find it from PATH, but you will likely need to locate the JAR and manually give CMake the JAR directory. If you are on Linux, you will also need to add the path of the libraries to `LD_LIBRARY_PATH`. This can be done by prepending `LD_LIBRARY_PATH=/path/to/libraries` to the Java command. If you need to add more paths, separate them with colons. The final command should look like `java -cp "robot.jar:/path/to/library_jars/*" main.package.Main`, using a semicolon to separate paths instead of a colon if you are on Windows. If you are on Linux, the final command should look more like `LD_LIBRARY_PATH=/path/to/libraries java -cp robot.jar:/path/to/library_jars/* main.package.Main`.
+
+## Using vendordeps
+
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVenderdep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
 
 ## Troubleshooting
 Below are some common issues that are run into when building.
@@ -151,7 +199,7 @@ CMake Error at cscore/CMakeLists.txt:3 (find_package):
   installed.
 ```
 
-If you get that, you need make sure opencv was installed, and then reattempt to configure. If that doesn't work, set the `OpenCV_DIR` variable to the directory where you built OpenCV.
+If you get that, you need make sure OpenCV was installed, and then reattempt to configure. If that doesn't work, set the `OpenCV_DIR` variable to the directory where you built OpenCV.
 
 #### Missing Java
 
@@ -165,3 +213,18 @@ CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:
 If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
 
 In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.
+
+#### Java: Can't find dependent libraries
+
+If one of the libraries can't be found, you will get an error similar to this one:
+
+```
+java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
+        attempted to load for platform /windows/x86-64/
+Last Load Error:
+C:\Program Files (x86)\allwpilib\bin\wpiHaljni.dll: Can't find dependent libraries
+```
+
+If you get this error, that's usually an indication that not all your libraries are in your PATH. The two libraries that should be in your PATH are OpenCV and protobuf. If the error is coming from cscore, it's likely you're missing OpenCV. Otherwise, it's likely you're missing protobuf.
+
+Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

README.md

@@ -20,11 +20,11 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
   - [Running examples in simulation](#running-examples-in-simulation)
   - [Publishing](#publishing)
   - [Structure and Organization](#structure-and-organization)
-- [Contributing to WPILib](#contributing-to-wpilib)
+- [Contributing to WPILib](./CONTRIBUTING.md)
 
 ## WPILib Mission
 
-The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
+The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, Python, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
 
 # Quick Start
 
@@ -41,11 +41,11 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 ## Requirements
 
-- [JDK 11](https://adoptium.net/temurin/releases/?version=11)
+- [JDK 17](https://adoptium.net/temurin/releases/?version=17)
     - Note that the JRE is insufficient; the full JDK is required
-    - On Ubuntu, run `sudo apt install openjdk-11-jdk`
-    - On Windows, install the JDK 11 .msi from the link above
-    - On macOS, install the JDK 11 .pkg from the link above
+    - On Ubuntu, run `sudo apt install openjdk-17-jdk`
+    - On Windows, install the JDK 17 .msi from the link above
+    - On macOS, install the JDK 17 .pkg from the link above
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
@@ -60,7 +60,7 @@ On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be ab
 
 ## Setup
 
-Clone the WPILib repository and follow the instructions above for installing any required tooling.
+Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.
 
 See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
 
@@ -179,7 +179,3 @@ The hal directory contains more C++ code meant to run on the roboRIO. HAL is an
 The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
 
 The [styleguide repository](https://github.com/wpilibsuite/styleguide) contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document [here](CONTRIBUTING.md#coding-guidelines).
-
-# Contributing to WPILib
-
-See [CONTRIBUTING.md](CONTRIBUTING.md).

ThirdPartyNotices.txt

@@ -43,6 +43,7 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
+Sleipnir              wpimath/src/main/native/thirdparty/sleipnir
 
 ==============================================================================
 Google Test License
@@ -1204,3 +1205,23 @@ distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
+
+================
+2024 Field Image
+================
+2024 Field Image from MikLast: https://www.chiefdelphi.com/t/2024-crescendo-top-down-field-renders/447764
+
+================
+Sleipnir License
+================
+Copyright (c) Sleipnir contributors
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

apriltag/CMakeLists.txt

@@ -7,7 +7,7 @@ include(FetchContent)
 fetchcontent_declare(
     apriltaglib
     GIT_REPOSITORY https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG 64be6ab26abf5e995321997fd0752c609a7e30f4
+    GIT_TAG da208cc38c1b78fe89861616d44c0692e76b6b8b
 )
 
 # Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI
@@ -30,7 +30,6 @@ if(WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     set(CMAKE_JNI_TARGET true)
 
@@ -43,6 +42,8 @@ if(WITH_JAVA)
             ${OPENCV_JAVA_INSTALL_DIR}
             ${OpenCV_INSTALL_PATH}/bin
             ${OpenCV_INSTALL_PATH}/share/java
+            ${OpenCV_INSTALL_PATH}/share/java/opencv4
+            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
         NO_DEFAULT_PATH
     )
 
@@ -63,6 +64,7 @@ if(WITH_JAVA)
         OUTPUT_NAME apriltag
         GENERATE_NATIVE_HEADERS apriltag_jni_headers
     )
+    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
 
     install_jar(apriltag_jar DESTINATION ${java_lib_dest})
     install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
@@ -77,6 +79,7 @@ if(WITH_JAVA)
     add_dependencies(apriltagjni apriltag_jar)
 
     install(TARGETS apriltagjni EXPORT apriltagjni)
+    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
 endif()
 
 if(WITH_JAVA_SOURCE)
@@ -99,7 +102,13 @@ if(WITH_JAVA_SOURCE)
     set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
 endif()
 
-generate_resources(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
+generate_resources(
+    src/main/native/resources/edu/wpi/first/apriltag
+    generated/main/cpp
+    APRILTAG
+    frc
+    apriltag_resources_src
+)
 
 file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
 
@@ -137,6 +146,7 @@ target_include_directories(
 )
 
 install(TARGETS apriltag EXPORT apriltag)
+export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/apriltag")
 
 configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake)

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 +1,89 @@
+#!/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)
+            f.write("\n")
+
+
+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(
@@ -30,11 +39,7 @@ public class AprilTag {
 
   @Override
   public boolean equals(Object obj) {
-    if (obj instanceof AprilTag) {
-      var other = (AprilTag) obj;
-      return ID == other.ID && pose.equals(other.pose);
-    }
-    return false;
+    return obj instanceof AprilTag tag && ID == tag.ID && pose.equals(tag.pose);
   }
 
   @Override
@@ -54,9 +59,9 @@ 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 +71,8 @@ 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,
@@ -86,12 +99,8 @@ public class AprilTagDetector implements AutoCloseable {
 
     @Override
     public boolean equals(Object obj) {
-      if (!(obj instanceof Config)) {
-        return false;
-      }
-
-      Config other = (Config) obj;
-      return numThreads == other.numThreads
+      return obj instanceof Config other
+          && numThreads == other.numThreads
           && quadDecimate == other.quadDecimate
           && quadSigma == other.quadSigma
           && refineEdges == other.refineEdges
@@ -139,8 +148,21 @@ 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,
@@ -168,12 +190,8 @@ public class AprilTagDetector implements AutoCloseable {
 
     @Override
     public boolean equals(Object obj) {
-      if (!(obj instanceof QuadThresholdParameters)) {
-        return false;
-      }
-
-      QuadThresholdParameters other = (QuadThresholdParameters) obj;
-      return minClusterPixels == other.minClusterPixels
+      return obj instanceof QuadThresholdParameters other
+          && minClusterPixels == other.minClusterPixels
           && maxNumMaxima == other.maxNumMaxima
           && criticalAngle == other.criticalAngle
           && maxLineFitMSE == other.maxLineFitMSE
@@ -182,6 +200,7 @@ public class AprilTagDetector implements AutoCloseable {
     }
   }
 
+  /** Constructs an AprilTagDetector. */
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
   }

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

@@ -16,6 +16,7 @@ import edu.wpi.first.math.geometry.Translation3d;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.io.UncheckedIOException;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -44,8 +45,11 @@ 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,
   }
 
@@ -144,19 +148,14 @@ public class AprilTagFieldLayout {
    */
   @JsonIgnore
   public final void setOrigin(OriginPosition origin) {
-    switch (origin) {
-      case kBlueAllianceWallRightSide:
-        setOrigin(new Pose3d());
-        break;
-      case kRedAllianceWallRightSide:
-        setOrigin(
-            new Pose3d(
-                new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
-                new Rotation3d(0, 0, Math.PI)));
-        break;
-      default:
-        throw new IllegalArgumentException("Unsupported enum value");
-    }
+    var pose =
+        switch (origin) {
+          case kBlueAllianceWallRightSide -> Pose3d.kZero;
+          case kRedAllianceWallRightSide -> new Pose3d(
+              new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
+              new Rotation3d(0, 0, Math.PI));
+        };
+    setOrigin(pose);
   }
 
   /**
@@ -218,6 +217,29 @@ public class AprilTagFieldLayout {
     new ObjectMapper().writeValue(path.toFile(), this);
   }
 
+  /**
+   * Get an official {@link AprilTagFieldLayout}.
+   *
+   * @param field The loadable AprilTag field layout.
+   * @return AprilTagFieldLayout of the field.
+   * @throws UncheckedIOException If the layout does not exist.
+   */
+  public static AprilTagFieldLayout loadField(AprilTagFields field) {
+    if (field.m_fieldLayout == null) {
+      try {
+        field.m_fieldLayout = loadFromResource(field.m_resourceFile);
+      } catch (IOException e) {
+        throw new UncheckedIOException(
+            "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
+      }
+    }
+    // Copy layout because the layout's origin is mutable
+    return new AprilTagFieldLayout(
+        field.m_fieldLayout.getTags(),
+        field.m_fieldLayout.getFieldLength(),
+        field.m_fieldLayout.getFieldWidth());
+  }
+
   /**
    * Deserializes a field layout from a resource within a internal jar file.
    *
@@ -244,11 +266,9 @@ public class AprilTagFieldLayout {
 
   @Override
   public boolean equals(Object obj) {
-    if (obj instanceof AprilTagFieldLayout) {
-      var other = (AprilTagFieldLayout) obj;
-      return m_apriltags.equals(other.m_apriltags) && m_origin.equals(other.m_origin);
-    }
-    return false;
+    return obj instanceof AprilTagFieldLayout layout
+        && m_apriltags.equals(layout.m_apriltags)
+        && m_origin.equals(layout.m_origin);
   }
 
   @Override
@@ -261,11 +281,11 @@ public class AprilTagFieldLayout {
   private static class FieldDimensions {
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "length")
-    public double fieldLength;
+    public final double fieldLength;
 
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "width")
-    public double fieldWidth;
+    public final double fieldWidth;
 
     @JsonCreator()
     FieldDimensions(

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

@@ -4,20 +4,28 @@
 
 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;
 
+  AprilTagFieldLayout m_fieldLayout;
+
   AprilTagFields(String resourceFile) {
     m_resourceFile = kBaseResourceDir + resourceFile;
   }
@@ -27,13 +35,10 @@ public enum AprilTagFields {
    *
    * @return AprilTagFieldLayout of the field
    * @throws UncheckedIOException If the layout does not exist
+   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public AprilTagFieldLayout loadAprilTagLayoutField() {
-    try {
-      return AprilTagFieldLayout.loadFromResource(m_resourceFile);
-    } catch (IOException e) {
-      throw new UncheckedIOException(
-          "Could not load AprilTagFieldLayout from " + m_resourceFile, e);
-    }
+    return AprilTagFieldLayout.loadField(this);
   }
 }

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
@@ -46,12 +55,8 @@ public class AprilTagPoseEstimator {
 
     @Override
     public boolean equals(Object obj) {
-      if (!(obj instanceof Config)) {
-        return false;
-      }
-
-      Config other = (Config) obj;
-      return tagSize == other.tagSize
+      return obj instanceof Config other
+          && tagSize == other.tagSize
           && fx == other.fx
           && fy == other.fy
           && cx == other.cx

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

@@ -8,34 +8,45 @@ 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 {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader =
-            new RuntimeLoader<>(
-                "apriltagjni", RuntimeLoader.getDefaultExtractionRoot(), AprilTagJNI.class);
-        loader.loadLibrary();
+        RuntimeLoader.loadLibrary("apriltagjni");
       } catch (IOException ex) {
         ex.printStackTrace();
         System.exit(1);
@@ -190,7 +201,24 @@ 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/AprilTagFieldLayout.cpp

@@ -125,3 +125,37 @@ void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
   layout.m_fieldWidth =
       units::meter_t{json.at("field").at("width").get<double>()};
 }
+
+// Use namespace declaration for forward declaration
+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();
+
+}  // namespace frc
+
+AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
+  std::string_view fieldString;
+  switch (field) {
+    case AprilTagField::k2022RapidReact:
+      fieldString = GetResource_2022_rapidreact_json();
+      break;
+    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");
+  }
+
+  wpi::json json = wpi::json::parse(fieldString);
+  return json.get<AprilTagFieldLayout>();
+}
+
+AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+  return AprilTagFieldLayout::LoadField(field);
+}

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

@@ -1,32 +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 "frc/apriltag/AprilTagFields.h"
-
-#include <wpi/json.h>
-
-namespace frc {
-
-// C++ generated from resource files
-std::string_view GetResource_2022_rapidreact_json();
-std::string_view GetResource_2023_chargedup_json();
-
-AprilTagFieldLayout LoadAprilTagLayoutField(AprilTagField field) {
-  std::string_view fieldString;
-  switch (field) {
-    case AprilTagField::k2022RapidReact:
-      fieldString = GetResource_2022_rapidreact_json();
-      break;
-    case AprilTagField::k2023ChargedUp:
-      fieldString = GetResource_2023_chargedup_json();
-      break;
-    case AprilTagField::kNumFields:
-      throw std::invalid_argument("Invalid Field");
-  }
-
-  wpi::json json = wpi::json::parse(fieldString);
-  return json.get<AprilTagFieldLayout>();
-}
-
-}  // namespace frc

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

@@ -14,6 +14,7 @@
 #include <wpi/json_fwd.h>
 
 #include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagFields.h"
 #include "frc/geometry/Pose3d.h"
 
 namespace frc {
@@ -38,11 +39,24 @@ 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,
   };
 
+  /**
+   * Loads an AprilTagFieldLayout from a predefined field
+   *
+   * @param field The predefined field
+   * @return AprilTagFieldLayout of the field
+   */
+  static AprilTagFieldLayout LoadField(AprilTagField field);
+
   AprilTagFieldLayout() = default;
 
   /**
@@ -147,4 +161,15 @@ void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
 WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
 
+/**
+ * Loads an AprilTagFieldLayout from a predefined field
+ *
+ * @param field The predefined field
+ * @return AprilTagFieldLayout of the field
+ * @deprecated Use AprilTagFieldLayout::LoadField() instead
+ */
+[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
+WPILIB_DLLEXPORT AprilTagFieldLayout
+LoadAprilTagLayoutField(AprilTagField field);
+
 }  // namespace frc

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

@@ -8,25 +8,22 @@
 
 #include <wpi/SymbolExports.h>
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
-
 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
   kNumFields,
 };
 
-/**
- * Loads an AprilTagFieldLayout from a predefined field
- *
- * @param field The predefined field
- */
-WPILIB_DLLEXPORT AprilTagFieldLayout
-LoadAprilTagLayoutField(AprilTagField field);
-
 }  // namespace frc

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": 16.541,
+    "width": 8.211
+  }
+}

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

@@ -29,15 +29,10 @@ class AprilTagDetectorTest {
   @SuppressWarnings("MemberName")
   AprilTagDetector detector;
 
-  static RuntimeLoader<Core> loader;
-
   @BeforeAll
   static void beforeAll() {
     try {
-      loader =
-          new RuntimeLoader<>(
-              Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-      loader.loadLibrary();
+      RuntimeLoader.loadLibrary(Core.NATIVE_LIBRARY_NAME);
     } catch (IOException ex) {
       fail(ex);
     }
@@ -158,7 +153,7 @@ class AprilTagDetectorTest {
       var estimator =
           new AprilTagPoseEstimator(new AprilTagPoseEstimator.Config(0.2, 500, 500, 320, 240));
       AprilTagPoseEstimate est = estimator.estimateOrthogonalIteration(results[0], 200);
-      assertEquals(new Transform3d(), est.pose2);
+      assertEquals(Transform3d.kZero, est.pose2);
       Transform3d pose = estimator.estimate(results[0]);
       assertEquals(est.pose1, pose);
     } finally {

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
+  }
+}

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

@@ -19,7 +19,7 @@ class AprilTagPoseSetOriginTest {
     var layout =
         new AprilTagFieldLayout(
             List.of(
-                new AprilTag(1, new Pose3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0))),
+                new AprilTag(1, Pose3d.kZero),
                 new AprilTag(
                     2,
                     new Pose3d(
@@ -40,7 +40,7 @@ class AprilTagPoseSetOriginTest {
         new Pose3d(
             new Translation3d(
                 Units.feetToMeters(50.0), Units.feetToMeters(23.0), Units.feetToMeters(4)),
-            new Rotation3d(0.0, 0.0, 0)),
+            Rotation3d.kZero),
         layout.getTagPose(2).orElse(null));
   }
 }

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

@@ -20,8 +20,8 @@ class AprilTagSerializationTest {
     var layout =
         new AprilTagFieldLayout(
             List.of(
-                new AprilTag(1, new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0))),
-                new AprilTag(3, new Pose3d(0, 1, 0, new Rotation3d(0, 0, 0)))),
+                new AprilTag(1, Pose3d.kZero),
+                new AprilTag(3, new Pose3d(0, 1, 0, Rotation3d.kZero))),
             Units.feetToMeters(54.0),
             Units.feetToMeters(27.0));
 

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

@@ -22,13 +22,14 @@ class LoadConfigTest {
   @ParameterizedTest
   @EnumSource(AprilTagFields.class)
   void testLoad(AprilTagFields field) {
-    AprilTagFieldLayout layout = Assertions.assertDoesNotThrow(field::loadAprilTagLayoutField);
+    AprilTagFieldLayout layout =
+        Assertions.assertDoesNotThrow(() -> AprilTagFieldLayout.loadField(field));
     assertNotNull(layout);
   }
 
   @Test
   void test2022RapidReact() {
-    AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
+    AprilTagFieldLayout layout = AprilTagFieldLayout.loadField(AprilTagFields.k2022RapidReact);
 
     // Blue Hangar Truss - Hub
     Pose3d expectedPose =
@@ -36,7 +37,7 @@ class LoadConfigTest {
             Units.inchesToMeters(127.272),
             Units.inchesToMeters(216.01),
             Units.inchesToMeters(67.932),
-            new Rotation3d(0, 0, 0));
+            Rotation3d.kZero);
     Optional<Pose3d> maybePose = layout.getTagPose(1);
     assertTrue(maybePose.isPresent());
     assertEquals(expectedPose, maybePose.get());

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

@@ -4,6 +4,7 @@
 
 #include <gtest/gtest.h>
 
+#include "frc/apriltag/AprilTagFieldLayout.h"
 #include "frc/apriltag/AprilTagFields.h"
 
 namespace frc {
@@ -20,7 +21,7 @@ std::vector<AprilTagField> GetAllFields() {
 
 TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
   AprilTagFieldLayout layout =
-      LoadAprilTagLayoutField(AprilTagField::k2022RapidReact);
+      AprilTagFieldLayout::LoadField(AprilTagField::k2022RapidReact);
 
   // Blue Hangar Truss - Hub
   auto expectedPose =
@@ -53,7 +54,7 @@ class AllFieldsFixtureTest : public ::testing::TestWithParam<AprilTagField> {};
 
 TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
   AprilTagField field = GetParam();
-  EXPECT_NO_THROW(LoadAprilTagLayoutField(field));
+  EXPECT_NO_THROW(AprilTagFieldLayout::LoadField(field));
 }
 
 INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,

build.gradle

@@ -114,8 +114,8 @@ subprojects {
 
     plugins.withType(JavaPlugin) {
         java {
-            sourceCompatibility = 11
-            targetCompatibility = 11
+            sourceCompatibility = 17
+            targetCompatibility = 17
         }
     }
 

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2024.5.2"
+    implementation "edu.wpi.first:native-utils:2025.1.0"
 }

cameraserver/CMakeLists.txt

@@ -9,16 +9,19 @@ find_package(OpenCV REQUIRED)
 if(WITH_JAVA)
     find_package(Java REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     #find java files, copy them locally
 
-    set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
+    set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/java/opencv4)
 
     find_file(
         OPENCV_JAR_FILE
         NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
-        PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin
+        PATHS
+            ${OPENCV_JAVA_INSTALL_DIR}
+            ${OpenCV_INSTALL_PATH}/bin
+            ${OpenCV_INSTALL_PATH}/share/java
+            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
         NO_DEFAULT_PATH
     )
 
@@ -30,6 +33,7 @@ if(WITH_JAVA)
         INCLUDE_JARS wpiutil_jar cscore_jar ntcore_jar ${OPENCV_JAR_FILE}
         OUTPUT_NAME cameraserver
     )
+    set_property(TARGET cameraserver_jar PROPERTY FOLDER "java")
 
     install_jar(cameraserver_jar DESTINATION ${java_lib_dest})
     install_jar_exports(
@@ -73,6 +77,7 @@ target_link_libraries(cameraserver PUBLIC ntcore cscore wpiutil ${OpenCV_LIBS})
 set_property(TARGET cameraserver PROPERTY FOLDER "libraries")
 
 install(TARGETS cameraserver EXPORT cameraserver)
+export(TARGETS cameraserver FILE cameraserver.cmake NAMESPACE cameraserver::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cameraserver")
 
 configure_file(cameraserver-config.cmake.in ${WPILIB_BINARY_DIR}/cameraserver-config.cmake)

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -14,6 +14,7 @@
 #include <wpi/StringExtras.h>
 #include <wpi/fmt/raw_ostream.h>
 #include <wpi/json.h>
+#include <wpi/print.h>
 #include <wpi/raw_ostream.h>
 
 #include "cameraserver/CameraServer.h"
@@ -71,7 +72,7 @@ bool ReadCameraConfig(const wpi::json& config) {
   try {
     c.name = config.at("name").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    fmt::print(stderr, "config error in '{}': could not read camera name: {}\n",
+    wpi::print(stderr, "config error in '{}': could not read camera name: {}\n",
                configFile, e.what());
     return false;
   }
@@ -80,7 +81,7 @@ bool ReadCameraConfig(const wpi::json& config) {
   try {
     c.path = config.at("path").get<std::string>();
   } catch (const wpi::json::exception& e) {
-    fmt::print(stderr,
+    wpi::print(stderr,
                "config error in '{}': camera '{}': could not read path: {}\n",
                configFile, c.name, e.what());
     return false;
@@ -98,7 +99,7 @@ bool ReadConfig() {
   std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
       wpi::MemoryBuffer::GetFile(configFile, ec);
   if (fileBuffer == nullptr || ec) {
-    fmt::print(stderr, "could not open '{}': {}\n", configFile, ec.message());
+    wpi::print(stderr, "could not open '{}': {}\n", configFile, ec.message());
     return false;
   }
 
@@ -107,14 +108,14 @@ bool ReadConfig() {
   try {
     j = wpi::json::parse(fileBuffer->GetCharBuffer());
   } catch (const wpi::json::parse_error& e) {
-    fmt::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
+    wpi::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
                e.byte, e.what());
     return false;
   }
 
   // top level must be an object
   if (!j.is_object()) {
-    fmt::print(stderr, "config error in '{}': must be JSON object\n",
+    wpi::print(stderr, "config error in '{}': must be JSON object\n",
                configFile);
     return false;
   }
@@ -123,7 +124,7 @@ bool ReadConfig() {
   try {
     team = j.at("team").get<unsigned int>();
   } catch (const wpi::json::exception& e) {
-    fmt::print(stderr, "config error in '{}': could not read team number: {}\n",
+    wpi::print(stderr, "config error in '{}': could not read team number: {}\n",
                configFile, e.what());
     return false;
   }
@@ -137,13 +138,13 @@ bool ReadConfig() {
       } else if (wpi::equals_lower(str, "server")) {
         server = true;
       } else {
-        fmt::print(
+        wpi::print(
             stderr,
             "config error in '{}': could not understand ntmode value '{}'\n",
             configFile, str);
       }
     } catch (const wpi::json::exception& e) {
-      fmt::print(stderr, "config error in '{}': could not read ntmode: {}\n",
+      wpi::print(stderr, "config error in '{}': could not read ntmode: {}\n",
                  configFile, e.what());
     }
   }
@@ -156,7 +157,7 @@ bool ReadConfig() {
       }
     }
   } catch (const wpi::json::exception& e) {
-    fmt::print(stderr, "config error in '{}': could not read cameras: {}\n",
+    wpi::print(stderr, "config error in '{}': could not read cameras: {}\n",
                configFile, e.what());
     return false;
   }
@@ -165,7 +166,7 @@ bool ReadConfig() {
 }
 
 void StartCamera(const CameraConfig& config) {
-  fmt::print("Starting camera '{}' on {}\n", config.name, config.path);
+  wpi::print("Starting camera '{}' on {}\n", config.name, config.path);
   auto camera =
       frc::CameraServer::StartAutomaticCapture(config.name, config.path);
 
@@ -189,7 +190,7 @@ int main(int argc, char* argv[]) {
     std::puts("Setting up NetworkTables server");
     ntinst.StartServer();
   } else {
-    fmt::print("Setting up NetworkTables client for team {}\n", team);
+    wpi::print("Setting up NetworkTables client for team {}\n", team);
     ntinst.StartClient4("multicameraserver");
     ntinst.SetServerTeam(team);
   }

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 +26,8 @@ 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.lang.ref.Reference;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -39,6 +40,7 @@ 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";
@@ -92,24 +94,24 @@ public final class CameraServer {
 
     void update(VideoEvent event) {
       switch (event.propertyKind) {
-        case kBoolean:
+        case kBoolean -> {
           if (m_booleanValueEntry != null) {
             m_booleanValueEntry.set(event.value != 0);
           }
-          break;
-        case kInteger:
-        case kEnum:
+        }
+        case kInteger, kEnum -> {
           if (m_integerValueEntry != null) {
             m_integerValueEntry.set(event.value);
           }
-          break;
-        case kString:
+        }
+        case kString -> {
           if (m_stringValueEntry != null) {
             m_stringValueEntry.set(event.valueStr);
           }
-          break;
-        default:
-          break;
+        }
+        default -> {
+          // NOP
+        }
       }
     }
 
@@ -139,6 +141,7 @@ public final class CameraServer {
       if (m_choicesPublisher != null) {
         m_choicesPublisher.close();
       }
+      Reference.reachabilityFence(m_videoListener);
     }
 
     BooleanEntry m_booleanValueEntry;
@@ -222,118 +225,99 @@ public final class CameraServer {
   // - "PropertyInfo/{Property}" - Property supporting information
 
   // Listener for video events
-  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.AvoidCatchingGenericException"})
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private static final VideoListener m_videoListener =
       new VideoListener(
           event -> {
             synchronized (CameraServer.class) {
               switch (event.kind) {
-                case kSourceCreated:
-                  {
-                    // Create subtable for the camera
-                    NetworkTable table = m_publishTable.getSubTable(event.name);
-                    m_publishers.put(
-                        event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
-                    break;
+                case kSourceCreated -> {
+                  // Create subtable for the camera
+                  NetworkTable table = m_publishTable.getSubTable(event.name);
+                  m_publishers.put(
+                      event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
+                }
+                case kSourceDestroyed -> {
+                  SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
+                  if (publisher != null) {
+                    try {
+                      publisher.close();
+                    } catch (Exception e) {
+                      // ignore (nothing we can do about it)
+                    }
                   }
-                case kSourceDestroyed:
-                  {
-                    SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
-                    if (publisher != null) {
+                }
+                case kSourceConnected -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    // update the description too (as it may have changed)
+                    publisher.m_descriptionPublisher.set(
+                        CameraServerJNI.getSourceDescription(event.sourceHandle));
+                    publisher.m_connectedPublisher.set(true);
+                  }
+                }
+                case kSourceDisconnected -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    publisher.m_connectedPublisher.set(false);
+                  }
+                }
+                case kSourceVideoModesUpdated -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
+                  }
+                }
+                case kSourceVideoModeChanged -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    publisher.m_modeEntry.set(videoModeToString(event.mode));
+                  }
+                }
+                case kSourcePropertyCreated -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    publisher.m_properties.put(
+                        event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
+                  }
+                }
+                case kSourcePropertyValueUpdated -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
+                    if (pp != null) {
+                      pp.update(event);
+                    }
+                  }
+                }
+                case kSourcePropertyChoicesUpdated -> {
+                  SourcePublisher publisher = m_publishers.get(event.sourceHandle);
+                  if (publisher != null) {
+                    PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
+                    if (pp != null && pp.m_choicesTopic != null) {
                       try {
-                        publisher.close();
-                      } catch (Exception e) {
-                        // ignore (nothing we can do about it)
-                      }
-                    }
-                    break;
-                  }
-                case kSourceConnected:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      // update the description too (as it may have changed)
-                      publisher.m_descriptionPublisher.set(
-                          CameraServerJNI.getSourceDescription(event.sourceHandle));
-                      publisher.m_connectedPublisher.set(true);
-                    }
-                    break;
-                  }
-                case kSourceDisconnected:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      publisher.m_connectedPublisher.set(false);
-                    }
-                    break;
-                  }
-                case kSourceVideoModesUpdated:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
-                    }
-                    break;
-                  }
-                case kSourceVideoModeChanged:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      publisher.m_modeEntry.set(videoModeToString(event.mode));
-                    }
-                    break;
-                  }
-                case kSourcePropertyCreated:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      publisher.m_properties.put(
-                          event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
-                    }
-                    break;
-                  }
-                case kSourcePropertyValueUpdated:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
-                      if (pp != null) {
-                        pp.update(event);
-                      }
-                    }
-                    break;
-                  }
-                case kSourcePropertyChoicesUpdated:
-                  {
-                    SourcePublisher publisher = m_publishers.get(event.sourceHandle);
-                    if (publisher != null) {
-                      PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
-                      if (pp != null && pp.m_choicesTopic != null) {
-                        try {
-                          String[] choices =
-                              CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
-                          if (pp.m_choicesPublisher == null) {
-                            pp.m_choicesPublisher = pp.m_choicesTopic.publish();
-                          }
-                          pp.m_choicesPublisher.set(choices);
-                        } catch (VideoException ignored) {
-                          // ignore (just don't publish choices if we can't get them)
+                        String[] choices =
+                            CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
+                        if (pp.m_choicesPublisher == null) {
+                          pp.m_choicesPublisher = pp.m_choicesTopic.publish();
                         }
+                        pp.m_choicesPublisher.set(choices);
+                      } catch (VideoException ignored) {
+                        // ignore (just don't publish choices if we can't get them)
                       }
                     }
-                    break;
                   }
-                case kSinkSourceChanged:
-                case kSinkCreated:
-                case kSinkDestroyed:
-                case kNetworkInterfacesChanged:
-                  {
-                    m_addresses = CameraServerJNI.getNetworkInterfaces();
-                    updateStreamValues();
-                    break;
-                  }
-                default:
-                  break;
+                }
+                case kSinkSourceChanged,
+                    kSinkCreated,
+                    kSinkDestroyed,
+                    kNetworkInterfacesChanged -> {
+                  m_addresses = CameraServerJNI.getNetworkInterfaces();
+                  updateStreamValues();
+                }
+                default -> {
+                  // NOP
+                }
               }
             }
           },
@@ -349,23 +333,20 @@ public final class CameraServer {
    * @param source Source index.
    */
   private static String makeSourceValue(int source) {
-    switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
-      case kUsb:
-        return "usb:" + CameraServerJNI.getUsbCameraPath(source);
-      case kHttp:
-        {
-          String[] urls = CameraServerJNI.getHttpCameraUrls(source);
-          if (urls.length > 0) {
-            return "ip:" + urls[0];
-          } else {
-            return "ip:";
-          }
+    return switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
+      case kUsb -> "usb:" + CameraServerJNI.getUsbCameraPath(source);
+      case kHttp -> {
+        String[] urls = CameraServerJNI.getHttpCameraUrls(source);
+        if (urls.length > 0) {
+          yield "ip:" + urls[0];
+        } else {
+          yield "ip:";
         }
-      case kCv:
-        return "cv:";
-      default:
-        return "unknown:";
-    }
+      }
+      case kCv -> "cv:";
+      case kRaw -> "raw:";
+      case kUnknown -> "unknown:";
+    };
   }
 
   /**
@@ -499,20 +480,17 @@ public final class CameraServer {
 
   /** Provide string description of pixel format. */
   private static String pixelFormatToString(PixelFormat pixelFormat) {
-    switch (pixelFormat) {
-      case kMJPEG:
-        return "MJPEG";
-      case kYUYV:
-        return "YUYV";
-      case kRGB565:
-        return "RGB565";
-      case kBGR:
-        return "BGR";
-      case kGray:
-        return "Gray";
-      default:
-        return "Unknown";
-    }
+    return switch (pixelFormat) {
+      case kMJPEG -> "MJPEG";
+      case kYUYV -> "YUYV";
+      case kRGB565 -> "RGB565";
+      case kBGR -> "BGR";
+      case kBGRA -> "BGRA";
+      case kGray -> "Gray";
+      case kY16 -> "Y16";
+      case kUYVY -> "UYVY";
+      case kUnknown -> "Unknown";
+    };
   }
 
   /**
@@ -629,7 +607,10 @@ public final class CameraServer {
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
   public static AxisCamera addAxisCamera(String host) {
     return addAxisCamera("Axis Camera", host);
   }
@@ -641,7 +622,10 @@ public final class CameraServer {
    *
    * @param hosts Array of Camera host IPs/DNS names
    * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
   public static AxisCamera addAxisCamera(String[] hosts) {
     return addAxisCamera("Axis Camera", hosts);
   }
@@ -652,7 +636,10 @@ public final class CameraServer {
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
    * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
   public static AxisCamera addAxisCamera(String name, String host) {
     AxisCamera camera = new AxisCamera(name, host);
     // Create a passthrough MJPEG server for USB access
@@ -667,7 +654,10 @@ public final class CameraServer {
    * @param name The name to give the camera
    * @param hosts Array of Camera host IPs/DNS names
    * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
   public static AxisCamera addAxisCamera(String name, String[] hosts) {
     AxisCamera camera = new AxisCamera(name, hosts);
     // Create a passthrough MJPEG server for USB access
@@ -686,7 +676,7 @@ 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 +791,7 @@ 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/cpp/cameraserver/CameraServer.cpp

@@ -113,6 +113,8 @@ static std::string_view MakeSourceValue(CS_Source source,
     }
     case CS_SOURCE_CV:
       return "cv:";
+    case CS_SOURCE_RAW:
+      return "raw:";
     default:
       return "unknown:";
   }
@@ -502,6 +504,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   return camera;
 }
 
+WPI_IGNORE_DEPRECATED
 cs::AxisCamera CameraServer::AddAxisCamera(std::string_view host) {
   return AddAxisCamera("Axis Camera", host);
 }
@@ -557,7 +560,7 @@ cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
   csShared->ReportAxisCamera(camera.GetHandle());
   return camera;
 }
-
+WPI_UNIGNORE_DEPRECATED
 cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
   auto& inst = ::GetInstance();
   // create a dummy CvSource

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

@@ -10,6 +10,8 @@
 #include <string>
 #include <string_view>
 
+#include <wpi/deprecated.h>
+
 #include "cscore.h"
 #include "cscore_cv.h"
 
@@ -22,10 +24,8 @@ 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.
@@ -75,13 +75,16 @@ class CameraServer {
    */
   static cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
 
+  WPI_IGNORE_DEPRECATED
   /**
    * Adds an Axis IP camera.
    *
    * This overload calls AddAxisCamera() with name "Axis Camera".
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view host);
 
   /**
@@ -90,7 +93,9 @@ class CameraServer {
    * This overload calls AddAxisCamera() with name "Axis Camera".
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(const char* host);
 
   /**
@@ -99,7 +104,9 @@ class CameraServer {
    * This overload calls AddAxisCamera() with name "Axis Camera".
    *
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(const std::string& host);
 
   /**
@@ -108,7 +115,9 @@ class CameraServer {
    * This overload calls AddAxisCamera() with name "Axis Camera".
    *
    * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::span<const std::string> hosts);
 
   /**
@@ -117,8 +126,10 @@ class CameraServer {
    * This overload calls AddAxisCamera() with name "Axis Camera".
    *
    * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
   template <typename T>
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
 
   /**
@@ -126,7 +137,9 @@ class CameraServer {
    *
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view name,
                                       std::string_view host);
 
@@ -135,7 +148,9 @@ class CameraServer {
    *
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view name, const char* host);
 
   /**
@@ -143,7 +158,9 @@ class CameraServer {
    *
    * @param name The name to give the camera
    * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view name,
                                       const std::string& host);
 
@@ -152,7 +169,9 @@ class CameraServer {
    *
    * @param name The name to give the camera
    * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view name,
                                       std::span<const std::string> hosts);
 
@@ -161,10 +180,13 @@ class CameraServer {
    *
    * @param name The name to give the camera
    * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
    */
   template <typename T>
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view name,
                                       std::initializer_list<T> hosts);
+  WPI_UNIGNORE_DEPRECATED
 
   /**
    * Adds a virtual camera for switching between two streams.  Unlike the

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

@@ -11,6 +11,7 @@
 
 namespace frc {
 
+WPI_IGNORE_DEPRECATED
 template <typename T>
 inline cs::AxisCamera CameraServer::AddAxisCamera(
     std::initializer_list<T> hosts) {
@@ -27,5 +28,6 @@ inline cs::AxisCamera CameraServer::AddAxisCamera(
   }
   return AddAxisCamera(name, vec);
 }
+WPI_UNIGNORE_DEPRECATED
 
 }  // namespace frc

cmake/modules/AddTest.cmake

@@ -3,6 +3,7 @@ include(CompileWarnings)
 macro(wpilib_add_test name srcdir)
     file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
     add_executable(${name}_test ${test_src})
+    set_property(TARGET ${name}_test PROPERTY FOLDER "tests")
     wpilib_target_warnings(${name}_test)
     if(BUILD_SHARED_LIBS)
         target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)

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}

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

@@ -8,6 +8,7 @@
 #include <fmt/core.h>
 #include <gtest/gtest.h>
 #include <hal/HAL.h>
+#include <wpi/print.h>
 
 #include "mockds/MockDS.h"
 
@@ -27,7 +28,7 @@ class TestEnvironment : public testing::Environment {
     m_alreadySetUp = true;
 
     if (!HAL_Initialize(500, 0)) {
-      fmt::print(stderr, "FATAL ERROR: HAL could not be initialized\n");
+      wpi::print(stderr, "FATAL ERROR: HAL could not be initialized\n");
       std::exit(-1);
     }
 
@@ -39,7 +40,7 @@ class TestEnvironment : public testing::Environment {
     // able to run on the hardware.
     HAL_ObserveUserProgramStarting();
 
-    fmt::print("Started coms\n");
+    wpi::print("Started coms\n");
 
     int enableCounter = 0;
 
@@ -54,13 +55,13 @@ class TestEnvironment : public testing::Environment {
       if (enableCounter > 50) {
         // Robot did not enable properly after 5 seconds.
         // Force exit
-        fmt::print(stderr, " Failed to enable. Aborting\n");
+        wpi::print(stderr, " Failed to enable. Aborting\n");
         std::terminate();
       }
 
       std::this_thread::sleep_for(100ms);
 
-      fmt::print("Waiting for enable: {}\n", enableCounter++);
+      wpi::print("Waiting for enable: {}\n", enableCounter++);
       HAL_RefreshDSData();
     }
     std::this_thread::sleep_for(500ms);

crossConnIntegrationTests/src/main/native/cpp/mockds/MockDS.cpp

@@ -12,12 +12,13 @@
 #include <hal/cpp/fpga_clock.h>
 #include <wpi/Logger.h>
 #include <wpi/SmallVector.h>
+#include <wpi/print.h>
 #include <wpinet/UDPClient.h>
 
 static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
                        const char* msg) {
   if (level == 20) {
-    fmt::print(stderr, "DS: {}\n", msg);
+    wpi::print(stderr, "DS: {}\n", msg);
     return;
   }
 
@@ -31,7 +32,7 @@ static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
   } else {
     return;
   }
-  fmt::print(stderr, "DS: {}: {} ({}:{})\n", levelmsg, msg, file, line);
+  wpi::print(stderr, "DS: {}: {} ({}:{})\n", levelmsg, msg, file, line);
 }
 
 static void generateEnabledDsPacket(wpi::SmallVectorImpl<uint8_t>& data,

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

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

cscore/CMakeLists.txt

@@ -48,6 +48,7 @@ target_link_libraries(cscore PUBLIC wpinet wpiutil ${OpenCV_LIBS})
 set_property(TARGET cscore PROPERTY FOLDER "libraries")
 
 install(TARGETS cscore EXPORT cscore)
+export(TARGETS cscore FILE cscore.cmake NAMESPACE cscore::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/cscore")
 
 configure_file(cscore-config.cmake.in ${WPILIB_BINARY_DIR}/cscore-config.cmake)
@@ -83,12 +84,11 @@ if(WITH_JAVA)
     find_package(Java REQUIRED)
     find_package(JNI REQUIRED)
     include(UseJava)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
     #find java files, copy them locally
 
     if("${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/OpenCV/java/)
+        set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/java/opencv4)
     endif()
 
     find_file(
@@ -98,6 +98,7 @@ if(WITH_JAVA)
             ${OPENCV_JAVA_INSTALL_DIR}
             ${OpenCV_INSTALL_PATH}/bin
             ${OpenCV_INSTALL_PATH}/share/java
+            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
         NO_DEFAULT_PATH
     )
     find_file(
@@ -112,7 +113,10 @@ if(WITH_JAVA)
             ${OpenCV_INSTALL_PATH}/bin/Release
             ${OpenCV_INSTALL_PATH}/bin/Debug
             ${OpenCV_INSTALL_PATH}/lib
+            ${OpenCV_INSTALL_PATH}/lib/Release
+            ${OpenCV_INSTALL_PATH}/lib/Debug
             ${OpenCV_INSTALL_PATH}/lib/jni
+            ${OpenCV_INSTALL_PATH}/share/java/opencv4
         NO_DEFAULT_PATH
     )
 
@@ -128,6 +132,7 @@ if(WITH_JAVA)
         OUTPUT_NAME cscore
         GENERATE_NATIVE_HEADERS cscore_jni_headers
     )
+    set_property(TARGET cscore_jar PROPERTY FOLDER "java")
 
     install_jar(cscore_jar DESTINATION ${java_lib_dest})
     install_jar_exports(TARGETS cscore_jar FILE cscore_jar.cmake DESTINATION share/cscore)
@@ -141,6 +146,7 @@ if(WITH_JAVA)
                 ${cvFile}Loc
                 NAMES
                     ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
+                    ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}d.dll
                 PATHS
                     ${OPENCV_JAVA_INSTALL_DIR}
                     ${OpenCV_INSTALL_PATH}/bin
@@ -163,6 +169,7 @@ if(WITH_JAVA)
     add_dependencies(cscorejni cscore_jar)
 
     install(TARGETS cscorejni EXPORT cscorejni)
+    export(TARGETS cscorejni FILE cscorejni.cmake NAMESPACE cscorejni::)
 endif()
 
 if(WITH_JAVA_SOURCE)

cscore/cscore-config.cmake.in

@@ -1,6 +1,7 @@
 include(CMakeFindDependencyMacro)
 @FILENAME_DEP_REPLACE@
 @WPIUTIL_DEP_REPLACE@
+@WPINET_DEP_REPLACE@
 find_dependency(OpenCV)
 
 @FILENAME_DEP_REPLACE@

cscore/examples/enum_usb/enum_usb.cpp

@@ -4,7 +4,7 @@
 
 #include <cstdio>
 
-#include <fmt/format.h>
+#include <wpi/print.h>
 
 #include "cscore.h"
 
@@ -12,11 +12,11 @@ int main() {
   CS_Status status = 0;
 
   for (const auto& caminfo : cs::EnumerateUsbCameras(&status)) {
-    fmt::print("{}: {} ({})\n", caminfo.dev, caminfo.path, caminfo.name);
+    wpi::print("{}: {} ({})\n", caminfo.dev, caminfo.path, caminfo.name);
     if (!caminfo.otherPaths.empty()) {
       std::puts("Other device paths:");
       for (auto&& path : caminfo.otherPaths) {
-        fmt::print("  {}\n", path);
+        wpi::print("  {}\n", path);
       }
     }
 
@@ -24,26 +24,26 @@ int main() {
 
     std::puts("Properties:");
     for (const auto& prop : camera.EnumerateProperties()) {
-      fmt::print("  {}", prop.GetName());
+      wpi::print("  {}", prop.GetName());
       switch (prop.GetKind()) {
         case cs::VideoProperty::kBoolean:
-          fmt::print(" (bool): value={} default={}", prop.Get(),
+          wpi::print(" (bool): value={} default={}", prop.Get(),
                      prop.GetDefault());
           break;
         case cs::VideoProperty::kInteger:
-          fmt::print(" (int): value={} min={} max={} step={} default={}",
+          wpi::print(" (int): value={} min={} max={} step={} default={}",
                      prop.Get(), prop.GetMin(), prop.GetMax(), prop.GetStep(),
                      prop.GetDefault());
           break;
         case cs::VideoProperty::kString:
-          fmt::print(" (string): {}", prop.GetString());
+          wpi::print(" (string): {}", prop.GetString());
           break;
         case cs::VideoProperty::kEnum: {
-          fmt::print(" (enum): value={}", prop.Get());
+          wpi::print(" (enum): value={}", prop.Get());
           auto choices = prop.GetChoices();
           for (size_t i = 0; i < choices.size(); ++i) {
             if (!choices[i].empty()) {
-              fmt::print("\n    {}: {}", i, choices[i]);
+              wpi::print("\n    {}: {}", i, choices[i]);
             }
           }
           break;
@@ -71,7 +71,7 @@ int main() {
           pixelFormat = "Unknown";
           break;
       }
-      fmt::print("  PixelFormat:{} Width:{} Height:{} FPS:{}\n", pixelFormat,
+      wpi::print("  PixelFormat:{} Width:{} Height:{} FPS:{}\n", pixelFormat,
                  mode.width, mode.height, mode.fps);
     }
   }

cscore/examples/httpcvstream/httpcvstream.cpp

@@ -4,8 +4,8 @@
 
 #include <cstdio>
 
-#include <fmt/core.h>
 #include <opencv2/core/core.hpp>
+#include <wpi/print.h>
 
 #include "cscore.h"
 #include "cscore_cv.h"
@@ -24,10 +24,10 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      fmt::print("error: {}\n", cvsink.GetError());
+      wpi::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+    wpi::print("got frame at time {} size ({}, {})\n", time, test.size().width,
                test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);

cscore/examples/settings/settings.cpp

@@ -6,8 +6,8 @@
 #include <cstdio>
 #include <thread>
 
-#include <fmt/format.h>
 #include <wpi/StringExtras.h>
+#include <wpi/print.h>
 
 #include "cscore.h"
 
@@ -73,26 +73,26 @@ int main(int argc, char** argv) {
   // Print settings
   std::puts("Properties:");
   for (const auto& prop : camera.EnumerateProperties()) {
-    fmt::print("  {}", prop.GetName());
+    wpi::print("  {}", prop.GetName());
     switch (prop.GetKind()) {
       case cs::VideoProperty::kBoolean:
-        fmt::print(" (bool): value={} default={}", prop.Get(),
+        wpi::print(" (bool): value={} default={}", prop.Get(),
                    prop.GetDefault());
         break;
       case cs::VideoProperty::kInteger:
-        fmt::print(" (int): value={} min={} max={} step={} default={}",
+        wpi::print(" (int): value={} min={} max={} step={} default={}",
                    prop.Get(), prop.GetMin(), prop.GetMax(), prop.GetStep(),
                    prop.GetDefault());
         break;
       case cs::VideoProperty::kString:
-        fmt::print(" (string): {}", prop.GetString());
+        wpi::print(" (string): {}", prop.GetString());
         break;
       case cs::VideoProperty::kEnum: {
-        fmt::print(" (enum): value={}", prop.Get());
+        wpi::print(" (enum): value={}", prop.Get());
         auto choices = prop.GetChoices();
         for (size_t i = 0; i < choices.size(); ++i) {
           if (!choices[i].empty()) {
-            fmt::print("\n    {}: {}", i, choices[i]);
+            wpi::print("\n    {}: {}", i, choices[i]);
           }
         }
         break;

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -2,8 +2,8 @@
 // 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 <fmt/core.h>
 #include <opencv2/core/core.hpp>
+#include <wpi/print.h>
 
 #include "cscore.h"
 #include "cscore_cv.h"
@@ -24,10 +24,10 @@ int main() {
   for (;;) {
     uint64_t time = cvsink.GrabFrame(test);
     if (time == 0) {
-      fmt::print("error: {}\n", cvsink.GetError());
+      wpi::print("error: {}\n", cvsink.GetError());
       continue;
     }
-    fmt::print("got frame at time {} size ({}, {})\n", time, test.size().width,
+    wpi::print("got frame at time {} size ({}, {})\n", time, test.size().width,
                test.size().height);
     cv::flip(test, flip, 0);
     cvsource.PutFrame(flip);

cscore/examples/usbstream/usbstream.cpp

@@ -4,15 +4,15 @@
 
 #include <cstdio>
 
-#include <fmt/format.h>
+#include <wpi/print.h>
 
 #include "cscore.h"
 
 int main() {
-  fmt::print("hostname: {}\n", cs::GetHostname());
+  wpi::print("hostname: {}\n", cs::GetHostname());
   std::puts("IPv4 network addresses:");
   for (const auto& addr : cs::GetNetworkInterfaces()) {
-    fmt::print("  {}\n", addr);
+    wpi::print("  {}\n", addr);
   }
   cs::UsbCamera camera{"usbcam", 0};
   camera.SetVideoMode(cs::VideoMode::kMJPEG, 320, 240, 30);
@@ -22,7 +22,7 @@ int main() {
   CS_Status status = 0;
   cs::AddListener(
       [&](const cs::RawEvent& event) {
-        fmt::print("FPS={} MBPS={}\n", camera.GetActualFPS(),
+        wpi::print("FPS={} MBPS={}\n", camera.GetActualFPS(),
                    (camera.GetActualDataRate() / 1000000.0));
       },
       cs::RawEvent::kTelemetryUpdated, false, &status);

cscore/examples/usbviewer/usbviewer.cpp

@@ -6,13 +6,12 @@
 #include <thread>
 #include <vector>
 
-#include <fmt/format.h>
-
 #define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <opencv2/core/core.hpp>
 #include <opencv2/imgproc.hpp>
+#include <wpi/print.h>
 #include <wpi/spinlock.h>
 #include <wpigui.h>
 
@@ -39,7 +38,7 @@ int main() {
       // get frame from camera
       uint64_t time = cvsink.GrabFrame(frame);
       if (time == 0) {
-        fmt::print("error: {}\n", cvsink.GetError());
+        wpi::print("error: {}\n", cvsink.GetError());
         continue;
       }
 

cscore/java-examples/RawCVMatSink.java

@@ -20,22 +20,12 @@ public class RawCVMatSink extends ImageSink {
   int bgrValue = PixelFormat.kBGR.getValue();
 
   private int getCVFormat(PixelFormat pixelFormat) {
-    int type = 0;
-    switch (pixelFormat) {
-      case kYUYV:
-      case kRGB565:
-        type = CvType.CV_8UC2;
-        break;
-      case kBGR:
-        type = CvType.CV_8UC3;
-        break;
-      case kGray:
-      case kMJPEG:
-      default:
-        type = CvType.CV_8UC1;
-        break;
-    }
-    return type;
+    return switch (pixelFormat) {
+      case kYUYV, kRGB565, kY16, kUYVY -> CvType.CV_8UC2;
+      case kBGR -> CvType.CV_8UC3;
+      case kBGRA -> CvType.CV_8UC4;
+      case kGray, kMJPEG, kUnknown -> CvType.CV_8UC1;
+    };
   }
 
   /**

cscore/src/dev/java/edu/wpi/first/cscore/DevMain.java

@@ -4,13 +4,13 @@
 
 package edu.wpi.first.cscore;
 
-import edu.wpi.first.util.RuntimeDetector;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 
 public final class DevMain {
   /** Main method. */
   public static void main(String[] args) {
     System.out.println("Hello World!");
-    System.out.println(RuntimeDetector.getPlatformPath());
+    System.out.println(CombinedRuntimeLoader.getPlatformPath());
     System.out.println(CameraServerJNI.getHostname());
   }
 

cscore/src/dev/native/cpp/main.cpp

@@ -2,10 +2,10 @@
 // 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 <fmt/core.h>
+#include <wpi/print.h>
 
 #include "cscore.h"
 
 int main() {
-  fmt::print("{}\n", cs::GetHostname());
+  wpi::print("{}\n", cs::GetHostname());
 }

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

@@ -4,7 +4,12 @@
 
 package edu.wpi.first.cscore;
 
-/** A source that represents an Axis IP camera. */
+/**
+ * A source that represents an Axis IP camera.
+ *
+ * @deprecated Use HttpCamera instead.
+ */
+@Deprecated(forRemoval = true, since = "2025")
 public class AxisCamera extends HttpCamera {
   private static String hostToUrl(String host) {
     return "http://" + host + "/mjpg/video.mjpg";

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

@@ -1,75 +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.
-
-package edu.wpi.first.cscore;
-
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-import org.opencv.core.Core;
-
-public class CameraServerCvJNI {
-  static boolean libraryLoaded = false;
-
-  static RuntimeLoader<Core> loader = null;
-
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-  }
-
-  static {
-    String opencvName = Core.NATIVE_LIBRARY_NAME;
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        CameraServerJNI.forceLoad();
-        loader =
-            new RuntimeLoader<>(opencvName, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-        loader.loadLibraryHashed();
-      } catch (IOException ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Force load the library.
-   *
-   * @throws IOException if library load failed
-   */
-  public static synchronized void forceLoad() throws IOException {
-    if (libraryLoaded) {
-      return;
-    }
-    CameraServerJNI.forceLoad();
-    loader =
-        new RuntimeLoader<>(
-            Core.NATIVE_LIBRARY_NAME, RuntimeLoader.getDefaultExtractionRoot(), Core.class);
-    loader.loadLibrary();
-    libraryLoaded = true;
-  }
-
-  public static native int createCvSource(
-      String name, int pixelFormat, int width, int height, int fps);
-
-  public static native void putSourceFrame(int source, long imageNativeObj);
-
-  public static native int createCvSink(String name, int pixelFormat);
-
-  // public static native int createCvSinkCallback(String name,
-  //                            void (*processFrame)(long time));
-
-  public static native long grabSinkFrame(int sink, long imageNativeObj);
-
-  public static native long grabSinkFrameTimeout(int sink, long imageNativeObj, double timeout);
-}

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

@@ -4,7 +4,10 @@
 
 package edu.wpi.first.cscore;
 
-import edu.wpi.first.cscore.VideoMode.PixelFormat;
+import edu.wpi.first.util.PixelFormat;
+import edu.wpi.first.util.RawFrame;
+import java.nio.ByteBuffer;
+import org.opencv.core.CvType;
 import org.opencv.core.Mat;
 
 /**
@@ -12,15 +15,42 @@ import org.opencv.core.Mat;
  * OpenCV builds. For an alternate OpenCV, see the documentation how to build your own with RawSink.
  */
 public class CvSink extends ImageSink {
+  private final RawFrame m_frame = new RawFrame();
+  private Mat m_tmpMat;
+  private ByteBuffer m_origByteBuffer;
+  private int m_width;
+  private int m_height;
+  private PixelFormat m_pixelFormat;
+
+  @Override
+  public void close() {
+    if (m_tmpMat != null) {
+      m_tmpMat.release();
+    }
+    m_frame.close();
+    super.close();
+  }
+
+  private int getCVFormat(PixelFormat pixelFormat) {
+    return switch (pixelFormat) {
+      case kYUYV, kRGB565, kY16, kUYVY -> CvType.CV_8UC2;
+      case kBGR -> CvType.CV_8UC3;
+      case kBGRA -> CvType.CV_8UC4;
+      case kGray, kMJPEG, kUnknown -> CvType.CV_8UC1;
+    };
+  }
+
   /**
-   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
+   * Create a sink for accepting OpenCV images. grabFrame() must be called on the created sink to
    * get each new image.
    *
    * @param name Source name (arbitrary unique identifier)
    * @param pixelFormat Source pixel format
    */
   public CvSink(String name, PixelFormat pixelFormat) {
-    super(CameraServerCvJNI.createCvSink(name, pixelFormat.getValue()));
+    super(CameraServerJNI.createRawSink(name, true));
+    m_pixelFormat = pixelFormat;
+    OpenCvLoader.forceStaticLoad();
   }
 
   /**
@@ -33,22 +63,9 @@ public class CvSink extends ImageSink {
     this(name, PixelFormat.kBGR);
   }
 
-  /// Create a sink for accepting OpenCV images in a separate thread.
-  /// A thread will be created that calls WaitForFrame() and calls the
-  /// processFrame() callback each time a new frame arrives.
-  /// @param name Source name (arbitrary unique identifier)
-  /// @param processFrame Frame processing function; will be called with a
-  ///        time=0 if an error occurred.  processFrame should call GetImage()
-  ///        or GetError() as needed, but should not call (except in very
-  ///        unusual circumstances) WaitForImage().
-  // public CvSink(wpi::StringRef name,
-  //       std::function<void(uint64_t time)> processFrame) {
-  //  super(CameraServerJNI.createCvSinkCallback(name, processFrame));
-  // }
-
   /**
    * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
-   * provided image will have three 3-bit channels stored in BGR order.
+   * provided image will have the pixelFormat this class was constructed with.
    *
    * @param image Where to store the image.
    * @return Frame time, or 0 on error (call GetError() to obtain the error message)
@@ -59,7 +76,7 @@ public class CvSink extends ImageSink {
 
   /**
    * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
-   * provided image will have three 3-bit channels stored in BGR order.
+   * provided image will have the pixelFormat this class was constructed with.
    *
    * @param image Where to store the image.
    * @param timeout Retrieval timeout in seconds.
@@ -67,18 +84,140 @@ public class CvSink extends ImageSink {
    *     is in 1 us increments.
    */
   public long grabFrame(Mat image, double timeout) {
-    return CameraServerCvJNI.grabSinkFrameTimeout(m_handle, image.nativeObj, timeout);
+    long rv = grabFrameDirect(timeout);
+    if (rv <= 0) {
+      return rv;
+    }
+    m_tmpMat.copyTo(image);
+    return rv;
   }
 
   /**
-   * Wait for the next frame and get the image. May block forever. The provided image will have
-   * three 3-bit channels stored in BGR order.
+   * Wait for the next frame and get the image. May block forever. The provided image will have the
+   * pixelFormat this class was constructed with.
    *
    * @param image Where to store the image.
    * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
    *     is in 1 us increments.
    */
   public long grabFrameNoTimeout(Mat image) {
-    return CameraServerCvJNI.grabSinkFrame(m_handle, image.nativeObj);
+    long rv = grabFrameNoTimeoutDirect();
+    if (rv <= 0) {
+      return rv;
+    }
+    m_tmpMat.copyTo(image);
+    return rv;
+  }
+
+  /**
+   * Get the direct backing mat for this sink.
+   *
+   * <p>This mat can be invalidated any time any of the grab* methods are called, or when the CvSink
+   * is closed.
+   *
+   * @return The backing mat.
+   */
+  public Mat getDirectMat() {
+    return m_tmpMat;
+  }
+
+  /**
+   * Wait for the next frame and store the image. Times out (returning 0) after 0.225 seconds. The
+   * provided image will have the pixelFormat this class was constructed with. Use getDirectMat() to
+   * grab the image.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
+   */
+  public long grabFrameDirect() {
+    return grabFrameDirect(0.225);
+  }
+
+  /**
+   * Wait for the next frame and store the image. Times out (returning 0) after timeout seconds. The
+   * provided image will have the pixelFormat this class was constructed with. Use getDirectMat() to
+   * grab the image.
+   *
+   * @param timeout Retrieval timeout in seconds.
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
+   */
+  @SuppressWarnings("PMD.CompareObjectsWithEquals")
+  public long grabFrameDirect(double timeout) {
+    m_frame.setInfo(0, 0, 0, m_pixelFormat);
+    long rv =
+        CameraServerJNI.grabRawSinkFrameTimeout(m_handle, m_frame, m_frame.getNativeObj(), timeout);
+    if (rv <= 0) {
+      return rv;
+    }
+
+    if (m_frame.getData() != m_origByteBuffer
+        || m_width != m_frame.getWidth()
+        || m_height != m_frame.getHeight()
+        || m_pixelFormat != m_frame.getPixelFormat()) {
+      m_origByteBuffer = m_frame.getData();
+      m_height = m_frame.getHeight();
+      m_width = m_frame.getWidth();
+      m_pixelFormat = m_frame.getPixelFormat();
+      if (m_frame.getStride() == 0) {
+        m_tmpMat =
+            new Mat(
+                m_frame.getHeight(),
+                m_frame.getWidth(),
+                getCVFormat(m_pixelFormat),
+                m_origByteBuffer);
+      } else {
+        m_tmpMat =
+            new Mat(
+                m_frame.getHeight(),
+                m_frame.getWidth(),
+                getCVFormat(m_pixelFormat),
+                m_origByteBuffer,
+                m_frame.getStride());
+      }
+    }
+    return rv;
+  }
+
+  /**
+   * Wait for the next frame and store the image. May block forever. The provided image will have
+   * the pixelFormat this class was constructed with. Use getDirectMat() to grab the image.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
+   *     is in 1 us increments.
+   */
+  @SuppressWarnings("PMD.CompareObjectsWithEquals")
+  public long grabFrameNoTimeoutDirect() {
+    m_frame.setInfo(0, 0, 0, m_pixelFormat);
+    long rv = CameraServerJNI.grabRawSinkFrame(m_handle, m_frame, m_frame.getNativeObj());
+    if (rv <= 0) {
+      return rv;
+    }
+
+    if (m_frame.getData() != m_origByteBuffer
+        || m_width != m_frame.getWidth()
+        || m_height != m_frame.getHeight()
+        || m_pixelFormat != m_frame.getPixelFormat()) {
+      m_origByteBuffer = m_frame.getData();
+      m_height = m_frame.getHeight();
+      m_width = m_frame.getWidth();
+      m_pixelFormat = m_frame.getPixelFormat();
+      if (m_frame.getStride() == 0) {
+        m_tmpMat =
+            new Mat(
+                m_frame.getHeight(),
+                m_frame.getWidth(),
+                getCVFormat(m_pixelFormat),
+                m_origByteBuffer);
+      } else {
+        m_tmpMat =
+            new Mat(
+                m_frame.getHeight(),
+                m_frame.getWidth(),
+                getCVFormat(m_pixelFormat),
+                m_origByteBuffer,
+                m_frame.getStride());
+      }
+    }
+    return rv;
   }
 }

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;
 
 /**
@@ -19,8 +20,9 @@ public class CvSource extends ImageSource {
    */
   public CvSource(String name, VideoMode mode) {
     super(
-        CameraServerCvJNI.createCvSource(
-            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
+        CameraServerJNI.createRawSource(
+            name, true, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
+    OpenCvLoader.forceStaticLoad();
   }
 
   /**
@@ -32,20 +34,141 @@ public class CvSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public CvSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
-    super(CameraServerCvJNI.createCvSource(name, pixelFormat.getValue(), width, height, fps));
+  public CvSource(String name, PixelFormat pixelFormat, int width, int height, int fps) {
+    super(CameraServerJNI.createRawSource(name, true, pixelFormat.getValue(), width, height, fps));
+    OpenCvLoader.forceStaticLoad();
+  }
+
+  /**
+   * Put an OpenCV image and notify sinks
+   *
+   * <p>The image format is guessed from the number of channels. The channel mapping is as follows.
+   * 1: kGray 2: kYUYV 3: BGR 4: BGRA Any other channel numbers will throw an error. If your image
+   * is an in alternate format, use the overload that takes a PixelFormat.
+   *
+   * @param image OpenCV Image
+   */
+  public void putFrame(Mat image) {
+    // We only support 8 bit channels
+    boolean cleanupRequired = false;
+    Mat finalImage;
+    if (image.depth() == 0) {
+      finalImage = image;
+    } else {
+      finalImage = new Mat();
+      image.convertTo(finalImage, 0);
+      cleanupRequired = true;
+    }
+
+    try {
+      int channels = finalImage.channels();
+      PixelFormat format =
+          switch (channels) {
+            case 1 -> PixelFormat.kGray; // 1 channel is assumed Grayscale
+            case 2 -> PixelFormat.kYUYV; // 2 channels is assumed YUYV
+            case 3 -> PixelFormat.kBGR; // 3 channels is assumed BGR
+            case 4 -> PixelFormat.kBGRA; // 4 channels is assumed BGRA
+            default -> throw new VideoException(
+                "Unable to get pixel format for " + channels + " channels");
+          };
+
+      putFrame(finalImage, format, true);
+    } finally {
+      if (cleanupRequired) {
+        finalImage.release();
+      }
+    }
   }
 
   /**
    * Put an OpenCV image and notify sinks.
    *
-   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
-   * format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
-   * it first.
+   * <p>The format of the Mat must match the PixelFormat. You will corrupt memory if they dont. With
+   * skipVerification false, we will verify the number of channels matches the pixel format. If
+   * skipVerification is true, this step is skipped and is passed straight through.
    *
    * @param image OpenCV image
+   * @param format The pixel format of the image
+   * @param skipVerification skip verifying pixel format
    */
-  public void putFrame(Mat image) {
-    CameraServerCvJNI.putSourceFrame(m_handle, image.nativeObj);
+  public void putFrame(Mat image, PixelFormat format, boolean skipVerification) {
+    // We only support 8-bit images, convert if necessary
+    boolean cleanupRequired = false;
+    Mat finalImage;
+    if (image.depth() == 0) {
+      finalImage = image;
+    } else {
+      finalImage = new Mat();
+      image.convertTo(finalImage, 0);
+      cleanupRequired = true;
+    }
+
+    try {
+      if (!skipVerification) {
+        verifyFormat(finalImage, format);
+      }
+      long step = image.step1() * image.elemSize1();
+      CameraServerJNI.putRawSourceFrameData(
+          m_handle,
+          finalImage.dataAddr(),
+          (int) finalImage.total() * finalImage.channels(),
+          finalImage.width(),
+          finalImage.height(),
+          (int) step,
+          format.getValue());
+
+    } finally {
+      if (cleanupRequired) {
+        finalImage.release();
+      }
+    }
+  }
+
+  private void verifyFormat(Mat image, PixelFormat pixelFormat) {
+    int channels = image.channels();
+    switch (pixelFormat) {
+      case kBGR:
+        if (channels == 3) {
+          return;
+        }
+        break;
+      case kBGRA:
+        if (channels == 4) {
+          return;
+        }
+        break;
+      case kGray:
+        if (channels == 1) {
+          return;
+        }
+        break;
+      case kRGB565:
+        if (channels == 2) {
+          return;
+        }
+        break;
+      case kUYVY:
+        if (channels == 2) {
+          return;
+        }
+        break;
+      case kY16:
+        if (channels == 2) {
+          return;
+        }
+        break;
+      case kYUYV:
+        if (channels == 2) {
+          return;
+        }
+        break;
+      case kMJPEG:
+        if (channels == 1) {
+          return;
+        }
+        break;
+      default:
+        break;
+    }
   }
 }

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

@@ -6,10 +6,15 @@ package edu.wpi.first.cscore;
 
 /** A source that represents a MJPEG-over-HTTP (IP) camera. */
 public class HttpCamera extends VideoCamera {
+  /** HTTP camera kind. */
   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;
@@ -18,6 +23,11 @@ public class HttpCamera extends VideoCamera {
       this.value = value;
     }
 
+    /**
+     * Returns HttpCameraKind value.
+     *
+     * @return HttpCameraKind value.
+     */
     public int getValue() {
       return value;
     }
@@ -30,16 +40,12 @@ public class HttpCamera extends VideoCamera {
    * @return The kind
    */
   public static HttpCameraKind getHttpCameraKindFromInt(int kind) {
-    switch (kind) {
-      case 1:
-        return HttpCameraKind.kMJPGStreamer;
-      case 2:
-        return HttpCameraKind.kCSCore;
-      case 3:
-        return HttpCameraKind.kAxis;
-      default:
-        return HttpCameraKind.kUnknown;
-    }
+    return switch (kind) {
+      case 1 -> HttpCameraKind.kMJPGStreamer;
+      case 2 -> HttpCameraKind.kCSCore;
+      case 3 -> HttpCameraKind.kAxis;
+      default -> HttpCameraKind.kUnknown;
+    };
   }
 
   /**

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

@@ -4,7 +4,13 @@
 
 package edu.wpi.first.cscore;
 
+/** A base class for single image reading sinks. */
 public abstract class ImageSink extends VideoSink {
+  /**
+   * Constructs an ImageSink.
+   *
+   * @param handle The image sink handle.
+   */
   protected ImageSink(int handle) {
     super(handle);
   }

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

@@ -4,7 +4,13 @@
 
 package edu.wpi.first.cscore;
 
+/** A base class for single image providing sources. */
 public abstract class ImageSource extends VideoSource {
+  /**
+   * Constructs an ImageSource.
+   *
+   * @param handle The image source handle.
+   */
   protected ImageSource(int handle) {
     super(handle);
   }

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

@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.cscore;
+
+import edu.wpi.first.util.RuntimeLoader;
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+import org.opencv.core.Core;
+
+/** OpenCV Native Loader. */
+public final class OpenCvLoader {
+  @SuppressWarnings("PMD.MutableStaticState")
+  static boolean libraryLoaded;
+
+  /** Sets whether JNI should be loaded in the static block. */
+  public static final 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 {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        RuntimeLoader.loadLibrary(Core.NATIVE_LIBRARY_NAME);
+      } catch (IOException ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Forces a static load.
+   *
+   * @return a garbage value
+   */
+  public static int forceStaticLoad() {
+    return libraryLoaded ? 1 : 0;
+  }
+
+  /**
+   * Force load the library.
+   *
+   * @throws IOException if library load failed
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    RuntimeLoader.loadLibrary(Core.NATIVE_LIBRARY_NAME);
+    libraryLoaded = true;
+  }
+
+  /** Utility class. */
+  private OpenCvLoader() {}
+}

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

@@ -6,14 +6,32 @@ package edu.wpi.first.cscore;
 
 /** A source that represents a video camera. */
 public class VideoCamera extends VideoSource {
+  /** White balance. */
   public static class WhiteBalance {
+    /** Fixed indoor white balance. */
     public static final int kFixedIndoor = 3000;
+
+    /** Fixed outdoor white balance 1. */
     public static final int kFixedOutdoor1 = 4000;
+
+    /** Fixed outdoor white balance 2. */
     public static final int kFixedOutdoor2 = 5000;
+
+    /** Fixed fluorescent white balance 1. */
     public static final int kFixedFluorescent1 = 5100;
+
+    /** Fixed fluorescent white balance 2. */
     public static final int kFixedFlourescent2 = 5200;
+
+    /** Default constructor. */
+    public WhiteBalance() {}
   }
 
+  /**
+   * Constructs a VideoCamera.
+   *
+   * @param handle The video camera handle.
+   */
   protected VideoCamera(int handle) {
     super(handle);
   }

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

@@ -7,27 +7,49 @@ package edu.wpi.first.cscore;
 /** Video event. */
 @SuppressWarnings("MemberName")
 public class VideoEvent {
+  /** VideoEvent kind. */
   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;
@@ -36,6 +58,11 @@ public class VideoEvent {
       this.value = value;
     }
 
+    /**
+     * Returns the kind value.
+     *
+     * @return The kind value.
+     */
     public int getValue() {
       return value;
     }
@@ -48,48 +75,28 @@ public class VideoEvent {
    * @return The kind
    */
   public static Kind getKindFromInt(int kind) {
-    switch (kind) {
-      case 0x0001:
-        return Kind.kSourceCreated;
-      case 0x0002:
-        return Kind.kSourceDestroyed;
-      case 0x0004:
-        return Kind.kSourceConnected;
-      case 0x0008:
-        return Kind.kSourceDisconnected;
-      case 0x0010:
-        return Kind.kSourceVideoModesUpdated;
-      case 0x0020:
-        return Kind.kSourceVideoModeChanged;
-      case 0x0040:
-        return Kind.kSourcePropertyCreated;
-      case 0x0080:
-        return Kind.kSourcePropertyValueUpdated;
-      case 0x0100:
-        return Kind.kSourcePropertyChoicesUpdated;
-      case 0x0200:
-        return Kind.kSinkSourceChanged;
-      case 0x0400:
-        return Kind.kSinkCreated;
-      case 0x0800:
-        return Kind.kSinkDestroyed;
-      case 0x1000:
-        return Kind.kSinkEnabled;
-      case 0x2000:
-        return Kind.kSinkDisabled;
-      case 0x4000:
-        return Kind.kNetworkInterfacesChanged;
-      case 0x10000:
-        return Kind.kSinkPropertyCreated;
-      case 0x20000:
-        return Kind.kSinkPropertyValueUpdated;
-      case 0x40000:
-        return Kind.kSinkPropertyChoicesUpdated;
-      case 0x80000:
-        return Kind.kUsbCamerasChanged;
-      default:
-        return Kind.kUnknown;
-    }
+    return switch (kind) {
+      case 0x0001 -> Kind.kSourceCreated;
+      case 0x0002 -> Kind.kSourceDestroyed;
+      case 0x0004 -> Kind.kSourceConnected;
+      case 0x0008 -> Kind.kSourceDisconnected;
+      case 0x0010 -> Kind.kSourceVideoModesUpdated;
+      case 0x0020 -> Kind.kSourceVideoModeChanged;
+      case 0x0040 -> Kind.kSourcePropertyCreated;
+      case 0x0080 -> Kind.kSourcePropertyValueUpdated;
+      case 0x0100 -> Kind.kSourcePropertyChoicesUpdated;
+      case 0x0200 -> Kind.kSinkSourceChanged;
+      case 0x0400 -> Kind.kSinkCreated;
+      case 0x0800 -> Kind.kSinkDestroyed;
+      case 0x1000 -> Kind.kSinkEnabled;
+      case 0x2000 -> Kind.kSinkDisabled;
+      case 0x4000 -> Kind.kNetworkInterfacesChanged;
+      case 0x10000 -> Kind.kSinkPropertyCreated;
+      case 0x20000 -> Kind.kSinkPropertyValueUpdated;
+      case 0x40000 -> Kind.kSinkPropertyChoicesUpdated;
+      case 0x80000 -> Kind.kUsbCamerasChanged;
+      default -> Kind.kUnknown;
+    };
   }
 
   VideoEvent(
@@ -118,39 +125,67 @@ public class VideoEvent {
     this.listener = listener;
   }
 
+  /** The video event kind. */
   public Kind kind;
 
-  // Valid for kSource* and kSink* respectively
+  /**
+   * The source handle.
+   *
+   * <p>Valid for kSource* and kSink* respectively.
+   */
   public int sourceHandle;
 
+  /** The sink handle. */
   public int sinkHandle;
 
-  // Source/sink/property name
+  /** Source/sink/property name. */
   public String name;
 
-  // Fields for kSourceVideoModeChanged event
+  // Fields for kSourceVideoModeChanged event.
+
+  /** New source video mode. */
   public VideoMode mode;
 
-  // Fields for kSourceProperty* events
+  // Fields for kSourceProperty* events.
+
+  /** Source property handle. */
   public int propertyHandle;
 
+  /** Source property kind. */
   public VideoProperty.Kind propertyKind;
 
+  /** Event value. */
   public int value;
 
+  /** Event value as a string. */
   public String valueStr;
 
-  // Listener that was triggered
+  /** Listener that was triggered. */
   public int listener;
 
+  /**
+   * Returns the source associated with the event (if any).
+   *
+   * @return The source associated with the event (if any).
+   */
   public VideoSource getSource() {
     return new VideoSource(CameraServerJNI.copySource(sourceHandle));
   }
 
+  /**
+   * Returns the sink associated with the event (if any).
+   *
+   * @return The sink associated with the event (if any).
+   */
   public VideoSink getSink() {
     return new VideoSink(CameraServerJNI.copySink(sinkHandle));
   }
 
+  /**
+   * Returns the property associated with the event (if any).
+   *
+   * @return The property associated with the event (if any).
+   */
   public VideoProperty getProperty() {
     return new VideoProperty(propertyHandle, propertyKind);
   }

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

@@ -8,6 +8,11 @@ package edu.wpi.first.cscore;
 public class VideoException extends RuntimeException {
   private static final long serialVersionUID = -9155939328084105145L;
 
+  /**
+   * Constructs the exception with the given message.
+   *
+   * @param msg The exception message.
+   */
   public VideoException(String msg) {
     super(msg);
   }

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

@@ -51,6 +51,11 @@ public class VideoListener implements AutoCloseable {
     }
   }
 
+  /**
+   * Returns true if the video listener handle is valid.
+   *
+   * @return True if the video listener handle is valid.
+   */
   public boolean isValid() {
     return m_handle != 0;
   }
@@ -59,7 +64,10 @@ public class VideoListener implements AutoCloseable {
 
   private static final ReentrantLock s_lock = new ReentrantLock();
   private static final Map<Integer, Consumer<VideoEvent>> s_listeners = new HashMap<>();
+
+  @SuppressWarnings("PMD.SingularField")
   private static Thread s_thread;
+
   private static int s_poller;
   private static boolean s_waitQueue;
   private static final Condition s_waitQueueCond = s_lock.newCondition();

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;
@@ -19,6 +25,11 @@ public class VideoProperty {
       this.value = value;
     }
 
+    /**
+     * Returns the Kind value.
+     *
+     * @return The Kind value.
+     */
     public int getValue() {
       return value;
     }
@@ -31,83 +42,161 @@ public class VideoProperty {
    * @return The kind
    */
   public static Kind getKindFromInt(int kind) {
-    switch (kind) {
-      case 1:
-        return Kind.kBoolean;
-      case 2:
-        return Kind.kInteger;
-      case 4:
-        return Kind.kString;
-      case 8:
-        return Kind.kEnum;
-      default:
-        return Kind.kNone;
-    }
+    return switch (kind) {
+      case 1 -> Kind.kBoolean;
+      case 2 -> Kind.kInteger;
+      case 4 -> Kind.kString;
+      case 8 -> Kind.kEnum;
+      default -> Kind.kNone;
+    };
   }
 
+  /**
+   * Returns property name.
+   *
+   * @return Property name.
+   */
   public String getName() {
     return CameraServerJNI.getPropertyName(m_handle);
   }
 
+  /**
+   * Returns property kind.
+   *
+   * @return Property kind.
+   */
   public Kind getKind() {
     return m_kind;
   }
 
+  /**
+   * Returns true if property is valid.
+   *
+   * @return True if property is valid.
+   */
   public boolean isValid() {
     return m_kind != Kind.kNone;
   }
 
-  // Kind checkers
+  /**
+   * Returns true if property is a boolean.
+   *
+   * @return True if property is a boolean.
+   */
   public boolean isBoolean() {
     return m_kind == Kind.kBoolean;
   }
 
+  /**
+   * Returns true if property is an integer.
+   *
+   * @return True if property is an integer.
+   */
   public boolean isInteger() {
     return m_kind == Kind.kInteger;
   }
 
+  /**
+   * Returns true if property is a string.
+   *
+   * @return True if property is a string.
+   */
   public boolean isString() {
     return m_kind == Kind.kString;
   }
 
+  /**
+   * Returns true if property is an enum.
+   *
+   * @return True if property is an enum.
+   */
   public boolean isEnum() {
     return m_kind == Kind.kEnum;
   }
 
+  /**
+   * Returns property value.
+   *
+   * @return Property value.
+   */
   public int get() {
     return CameraServerJNI.getProperty(m_handle);
   }
 
+  /**
+   * Sets property value.
+   *
+   * @param value Property value.
+   */
   public void set(int value) {
     CameraServerJNI.setProperty(m_handle, value);
   }
 
+  /**
+   * Returns property minimum value.
+   *
+   * @return Property minimum value.
+   */
   public int getMin() {
     return CameraServerJNI.getPropertyMin(m_handle);
   }
 
+  /**
+   * Returns property maximum value.
+   *
+   * @return Property maximum value.
+   */
   public int getMax() {
     return CameraServerJNI.getPropertyMax(m_handle);
   }
 
+  /**
+   * Returns property step size.
+   *
+   * @return Property step size.
+   */
   public int getStep() {
     return CameraServerJNI.getPropertyStep(m_handle);
   }
 
+  /**
+   * Returns property default value.
+   *
+   * @return Property default value.
+   */
   public int getDefault() {
     return CameraServerJNI.getPropertyDefault(m_handle);
   }
 
-  // String-specific functions
+  /**
+   * Returns the string property value.
+   *
+   * <p>This function is string-specific.
+   *
+   * @return The string property value.
+   */
   public String getString() {
     return CameraServerJNI.getStringProperty(m_handle);
   }
 
+  /**
+   * Sets the string property value.
+   *
+   * <p>This function is string-specific.
+   *
+   * @param value String property value.
+   */
   public void setString(String value) {
     CameraServerJNI.setStringProperty(m_handle, value);
   }
 
-  // Enum-specific functions
+  /**
+   * Returns the possible values for the enum property value.
+   *
+   * <p>This function is enum-specific.
+   *
+   * @return The possible values for the enum property value.
+   */
   public String[] getChoices() {
     return CameraServerJNI.getEnumPropertyChoices(m_handle);
   }
@@ -123,5 +212,5 @@ public class VideoProperty {
   }
 
   int m_handle;
-  private Kind m_kind;
+  private final Kind m_kind;
 }

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;
@@ -21,6 +26,11 @@ public class VideoSink implements AutoCloseable {
       this.value = value;
     }
 
+    /**
+     * Returns the Kind value.
+     *
+     * @return The Kind value.
+     */
     public int getValue() {
       return value;
     }
@@ -33,16 +43,19 @@ public class VideoSink implements AutoCloseable {
    * @return The kind
    */
   public static Kind getKindFromInt(int kind) {
-    switch (kind) {
-      case 2:
-        return Kind.kMjpeg;
-      case 4:
-        return Kind.kCv;
-      default:
-        return Kind.kUnknown;
-    }
+    return switch (kind) {
+      case 2 -> Kind.kMjpeg;
+      case 4 -> Kind.kCv;
+      case 8 -> Kind.kRaw;
+      default -> Kind.kUnknown;
+    };
   }
 
+  /**
+   * Constructs a VideoSink.
+   *
+   * @param handle The video sink handle.
+   */
   protected VideoSink(int handle) {
     m_handle = handle;
   }
@@ -55,10 +68,20 @@ public class VideoSink implements AutoCloseable {
     m_handle = 0;
   }
 
+  /**
+   * Returns true if the VideoSink is valid.
+   *
+   * @return True if the VideoSink is valid.
+   */
   public boolean isValid() {
     return m_handle != 0;
   }
 
+  /**
+   * Returns the video sink handle.
+   *
+   * @return The video sink handle.
+   */
   public int getHandle() {
     return m_handle;
   }
@@ -217,5 +240,6 @@ public class VideoSink implements AutoCloseable {
     return rv;
   }
 
+  /** The VideoSink handle. */
   protected int m_handle;
 }

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

@@ -4,16 +4,24 @@
 
 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 {
+  /** Video source kind. */
   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;
@@ -22,6 +30,11 @@ public class VideoSource implements AutoCloseable {
       this.value = value;
     }
 
+    /**
+     * Returns the Kind value.
+     *
+     * @return The Kind value.
+     */
     public int getValue() {
       return value;
     }
@@ -49,6 +62,11 @@ public class VideoSource implements AutoCloseable {
       this.value = value;
     }
 
+    /**
+     * Returns the ConnectionStrategy value.
+     *
+     * @return The ConnectionStrategy value.
+     */
     public int getValue() {
       return value;
     }
@@ -61,18 +79,20 @@ public class VideoSource implements AutoCloseable {
    * @return The kind
    */
   public static Kind getKindFromInt(int kind) {
-    switch (kind) {
-      case 1:
-        return Kind.kUsb;
-      case 2:
-        return Kind.kHttp;
-      case 4:
-        return Kind.kCv;
-      default:
-        return Kind.kUnknown;
-    }
+    return switch (kind) {
+      case 1 -> Kind.kUsb;
+      case 2 -> Kind.kHttp;
+      case 4 -> Kind.kCv;
+      case 8 -> Kind.kRaw;
+      default -> Kind.kUnknown;
+    };
   }
 
+  /**
+   * Constructs a VideoSource.
+   *
+   * @param handle The video source handle.
+   */
   protected VideoSource(int handle) {
     m_handle = handle;
   }
@@ -85,10 +105,20 @@ public class VideoSource implements AutoCloseable {
     m_handle = 0;
   }
 
+  /**
+   * Returns true if the VideoSource is valid.
+   *
+   * @return True if the VideoSource is valid.
+   */
   public boolean isValid() {
     return m_handle != 0;
   }
 
+  /**
+   * Returns the video source handle.
+   *
+   * @return The video source handle.
+   */
   public int getHandle() {
     return m_handle;
   }
@@ -235,7 +265,7 @@ 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 +275,7 @@ 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());
   }
 
@@ -372,5 +402,6 @@ public class VideoSource implements AutoCloseable {
     return rv;
   }
 
+  /** Video source handle. */
   protected int m_handle;
 }

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

@@ -22,7 +22,7 @@ public class RawSink extends ImageSink {
    * @param name Source name (arbitrary unique identifier)
    */
   public RawSink(String name) {
-    super(CameraServerJNI.createRawSink(name));
+    super(CameraServerJNI.createRawSink(name, false));
   }
 
   /**
@@ -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.
@@ -24,7 +26,7 @@ public class RawSource extends ImageSource {
   public RawSource(String name, VideoMode mode) {
     super(
         CameraServerJNI.createRawSource(
-            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
+            name, false, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
   }
 
   /**
@@ -36,8 +38,8 @@ public class RawSource extends ImageSource {
    * @param height height
    * @param fps fps
    */
-  public RawSource(String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
-    super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
+  public RawSource(String name, PixelFormat pixelFormat, int width, int height, int fps) {
+    super(CameraServerJNI.createRawSource(name, false, 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/ConfigurableSourceImpl.cpp

@@ -104,3 +104,144 @@ void ConfigurableSourceImpl::SetEnumPropertyChoices(
                                   prop->name, property, CS_PROP_ENUM,
                                   prop->value, {});
 }
+
+namespace cs {
+static constexpr unsigned SourceMask = CS_SOURCE_CV | CS_SOURCE_RAW;
+
+void NotifySourceError(CS_Source source, std::string_view msg,
+                       CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || (data->kind & SourceMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  static_cast<ConfigurableSourceImpl&>(*data->source).NotifyError(msg);
+}
+
+void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || (data->kind & SourceMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  static_cast<ConfigurableSourceImpl&>(*data->source).SetConnected(connected);
+}
+
+void SetSourceDescription(CS_Source source, std::string_view description,
+                          CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || (data->kind & SourceMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  static_cast<ConfigurableSourceImpl&>(*data->source)
+      .SetDescription(description);
+}
+
+CS_Property CreateSourceProperty(CS_Source source, std::string_view name,
+                                 CS_PropertyKind kind, int minimum, int maximum,
+                                 int step, int defaultValue, int value,
+                                 CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || (data->kind & SourceMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return -1;
+  }
+  int property = static_cast<ConfigurableSourceImpl&>(*data->source)
+                     .CreateProperty(name, kind, minimum, maximum, step,
+                                     defaultValue, value);
+  return Handle{source, property, Handle::kProperty};
+}
+
+CS_Property CreateSourcePropertyCallback(
+    CS_Source source, std::string_view name, CS_PropertyKind kind, int minimum,
+    int maximum, int step, int defaultValue, int value,
+    std::function<void(CS_Property property)> onChange, CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || (data->kind & SourceMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return -1;
+  }
+  int property = static_cast<ConfigurableSourceImpl&>(*data->source)
+                     .CreateProperty(name, kind, minimum, maximum, step,
+                                     defaultValue, value, onChange);
+  return Handle{source, property, Handle::kProperty};
+}
+
+void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
+                                  std::span<const std::string> choices,
+                                  CS_Status* status) {
+  auto data = Instance::GetInstance().GetSource(source);
+  if (!data || (data->kind & SourceMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+
+  // Get property index; also validate the source owns this property
+  Handle handle{property};
+  int i = handle.GetParentIndex();
+  if (i < 0) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  auto data2 = Instance::GetInstance().GetSource(Handle{i, Handle::kSource});
+  if (!data2 || data->source.get() != data2->source.get()) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  int propertyIndex = handle.GetIndex();
+  static_cast<ConfigurableSourceImpl&>(*data->source)
+      .SetEnumPropertyChoices(propertyIndex, choices, status);
+}
+
+}  // namespace cs
+
+extern "C" {
+void CS_NotifySourceError(CS_Source source, const struct WPI_String* msg,
+                          CS_Status* status) {
+  return cs::NotifySourceError(source, wpi::to_string_view(msg), status);
+}
+
+void CS_SetSourceConnected(CS_Source source, CS_Bool connected,
+                           CS_Status* status) {
+  return cs::SetSourceConnected(source, connected, status);
+}
+
+void CS_SetSourceDescription(CS_Source source,
+                             const struct WPI_String* description,
+                             CS_Status* status) {
+  return cs::SetSourceDescription(source, wpi::to_string_view(description),
+                                  status);
+}
+
+CS_Property CS_CreateSourceProperty(CS_Source source,
+                                    const struct WPI_String* name,
+                                    enum CS_PropertyKind kind, int minimum,
+                                    int maximum, int step, int defaultValue,
+                                    int value, CS_Status* status) {
+  return cs::CreateSourceProperty(source, wpi::to_string_view(name), kind,
+                                  minimum, maximum, step, defaultValue, value,
+                                  status);
+}
+
+CS_Property CS_CreateSourcePropertyCallback(
+    CS_Source source, const char* name, enum CS_PropertyKind kind, int minimum,
+    int maximum, int step, int defaultValue, int value, void* data,
+    void (*onChange)(void* data, CS_Property property), CS_Status* status) {
+  return cs::CreateSourcePropertyCallback(
+      source, name, kind, minimum, maximum, step, defaultValue, value,
+      [=](CS_Property property) { onChange(data, property); }, status);
+}
+
+void CS_SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
+                                     const struct WPI_String* choices,
+                                     int count, CS_Status* status) {
+  wpi::SmallVector<std::string, 8> vec;
+  vec.reserve(count);
+  for (int i = 0; i < count; ++i) {
+    vec.emplace_back(wpi::to_string_view(&choices[i]));
+  }
+  return cs::SetSourceEnumPropertyChoices(source, property, vec, status);
+}
+
+}  // extern "C"

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

@@ -33,7 +33,7 @@ class ConfigurableSourceImpl : public SourceImpl {
   void NumSinksChanged() override;
   void NumSinksEnabledChanged() override;
 
-  // OpenCV-specific functions
+  // Frame based specific functions
   void NotifyError(std::string_view msg);
   int CreateProperty(std::string_view name, CS_PropertyKind kind, int minimum,
                      int maximum, int step, int defaultValue, int value);

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

@@ -1,270 +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 "CvSinkImpl.h"
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <wpi/SmallString.h>
-
-#include "Handle.h"
-#include "Instance.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "c_util.h"
-#include "cscore_cpp.h"
-
-using namespace cs;
-
-CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
-                       Notifier& notifier, Telemetry& telemetry,
-                       VideoMode::PixelFormat pixelFormat)
-    : SinkImpl{name, logger, notifier, telemetry}, m_pixelFormat{pixelFormat} {
-  m_active = true;
-  // m_thread = std::thread(&CvSinkImpl::ThreadMain, this);
-}
-
-CvSinkImpl::CvSinkImpl(std::string_view name, wpi::Logger& logger,
-                       Notifier& notifier, Telemetry& telemetry,
-                       VideoMode::PixelFormat pixelFormat,
-                       std::function<void(uint64_t time)> processFrame)
-    : SinkImpl{name, logger, notifier, telemetry}, m_pixelFormat{pixelFormat} {}
-
-CvSinkImpl::~CvSinkImpl() {
-  Stop();
-}
-
-void CvSinkImpl::Stop() {
-  m_active = false;
-
-  // wake up any waiters by forcing an empty frame to be sent
-  if (auto source = GetSource()) {
-    source->Wakeup();
-  }
-
-  // join thread
-  if (m_thread.joinable()) {
-    m_thread.join();
-  }
-}
-
-uint64_t CvSinkImpl::GrabFrame(cv::Mat& image) {
-  SetEnabled(true);
-
-  auto source = GetSource();
-  if (!source) {
-    // Source disconnected; sleep for one second
-    std::this_thread::sleep_for(std::chrono::seconds(1));
-    return 0;
-  }
-
-  auto frame = source->GetNextFrame();  // blocks
-  if (!frame) {
-    // Bad frame; sleep for 20 ms so we don't consume all processor time.
-    std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    return 0;  // signal error
-  }
-
-  if (!frame.GetCv(image, m_pixelFormat)) {
-    // Shouldn't happen, but just in case...
-    std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    return 0;
-  }
-
-  return frame.GetTime();
-}
-
-uint64_t CvSinkImpl::GrabFrame(cv::Mat& image, double timeout) {
-  SetEnabled(true);
-
-  auto source = GetSource();
-  if (!source) {
-    // Source disconnected; sleep for one second
-    std::this_thread::sleep_for(std::chrono::seconds(1));
-    return 0;
-  }
-
-  auto frame = source->GetNextFrame(timeout);  // blocks
-  if (!frame) {
-    // Bad frame; sleep for 20 ms so we don't consume all processor time.
-    std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    return 0;  // signal error
-  }
-
-  if (!frame.GetCv(image, m_pixelFormat)) {
-    // Shouldn't happen, but just in case...
-    std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    return 0;
-  }
-
-  return frame.GetTime();
-}
-
-// Send HTTP response and a stream of JPG-frames
-void CvSinkImpl::ThreadMain() {
-  Enable();
-  while (m_active) {
-    auto source = GetSource();
-    if (!source) {
-      // Source disconnected; sleep for one second
-      std::this_thread::sleep_for(std::chrono::seconds(1));
-      continue;
-    }
-    SDEBUG4("waiting for frame");
-    Frame frame = source->GetNextFrame();  // blocks
-    if (!m_active) {
-      break;
-    }
-    if (!frame) {
-      // Bad frame; sleep for 10 ms so we don't consume all processor time.
-      std::this_thread::sleep_for(std::chrono::milliseconds(10));
-      continue;
-    }
-    // TODO m_processFrame();
-  }
-  Disable();
-}
-
-namespace cs {
-
-CS_Sink CreateCvSink(std::string_view name, VideoMode::PixelFormat pixelFormat,
-                     CS_Status* status) {
-  auto& inst = Instance::GetInstance();
-  return inst.CreateSink(
-      CS_SINK_CV, std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                               inst.telemetry, pixelFormat));
-}
-
-CS_Sink CreateCvSinkCallback(std::string_view name,
-                             VideoMode::PixelFormat pixelFormat,
-                             std::function<void(uint64_t time)> processFrame,
-                             CS_Status* status) {
-  auto& inst = Instance::GetInstance();
-  return inst.CreateSink(
-      CS_SINK_CV,
-      std::make_shared<CvSinkImpl>(name, inst.logger, inst.notifier,
-                                   inst.telemetry, pixelFormat, processFrame));
-}
-
-static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;
-
-void SetSinkDescription(CS_Sink sink, std::string_view description,
-                        CS_Status* status) {
-  auto data = Instance::GetInstance().GetSink(sink);
-  if (!data || (data->kind & SinkMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  static_cast<CvSinkImpl&>(*data->sink).SetDescription(description);
-}
-
-uint64_t GrabSinkFrame(CS_Sink sink, cv::Mat& image, CS_Status* status) {
-  auto data = Instance::GetInstance().GetSink(sink);
-  if (!data || data->kind != CS_SINK_CV) {
-    *status = CS_INVALID_HANDLE;
-    return 0;
-  }
-  return static_cast<CvSinkImpl&>(*data->sink).GrabFrame(image);
-}
-
-uint64_t GrabSinkFrameTimeout(CS_Sink sink, cv::Mat& image, double timeout,
-                              CS_Status* status) {
-  auto data = Instance::GetInstance().GetSink(sink);
-  if (!data || data->kind != CS_SINK_CV) {
-    *status = CS_INVALID_HANDLE;
-    return 0;
-  }
-  return static_cast<CvSinkImpl&>(*data->sink).GrabFrame(image, timeout);
-}
-
-std::string GetSinkError(CS_Sink sink, CS_Status* status) {
-  auto data = Instance::GetInstance().GetSink(sink);
-  if (!data || (data->kind & SinkMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return std::string{};
-  }
-  return static_cast<CvSinkImpl&>(*data->sink).GetError();
-}
-
-std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
-                              CS_Status* status) {
-  auto data = Instance::GetInstance().GetSink(sink);
-  if (!data || (data->kind & SinkMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return {};
-  }
-  return static_cast<CvSinkImpl&>(*data->sink).GetError(buf);
-}
-
-void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
-  auto data = Instance::GetInstance().GetSink(sink);
-  if (!data || (data->kind & SinkMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  static_cast<CvSinkImpl&>(*data->sink).SetEnabled(enabled);
-}
-
-}  // namespace cs
-
-extern "C" {
-
-CS_Sink CS_CreateCvSink(const char* name, enum WPI_PixelFormat pixelFormat,
-                        CS_Status* status) {
-  return cs::CreateCvSink(
-      name, static_cast<VideoMode::PixelFormat>(pixelFormat), status);
-}
-
-CS_Sink CS_CreateCvSinkCallback(const char* name,
-                                enum WPI_PixelFormat pixelFormat, void* data,
-                                void (*processFrame)(void* data, uint64_t time),
-                                CS_Status* status) {
-  return cs::CreateCvSinkCallback(
-      name, static_cast<VideoMode::PixelFormat>(pixelFormat),
-      [=](uint64_t time) { processFrame(data, time); }, status);
-}
-
-void CS_SetSinkDescription(CS_Sink sink, const char* description,
-                           CS_Status* status) {
-  return cs::SetSinkDescription(sink, description, status);
-}
-
-#if CV_VERSION_MAJOR < 4
-uint64_t CS_GrabSinkFrame(CS_Sink sink, struct CvMat* image,
-                          CS_Status* status) {
-  auto mat = cv::cvarrToMat(image);
-  return cs::GrabSinkFrame(sink, mat, status);
-}
-
-uint64_t CS_GrabSinkFrameTimeout(CS_Sink sink, struct CvMat* image,
-                                 double timeout, CS_Status* status) {
-  auto mat = cv::cvarrToMat(image);
-  return cs::GrabSinkFrameTimeout(sink, mat, timeout, status);
-}
-#endif  // CV_VERSION_MAJOR < 4
-
-uint64_t CS_GrabSinkFrameCpp(CS_Sink sink, cv::Mat* image, CS_Status* status) {
-  return cs::GrabSinkFrame(sink, *image, status);
-}
-
-uint64_t CS_GrabSinkFrameTimeoutCpp(CS_Sink sink, cv::Mat* image,
-                                    double timeout, CS_Status* status) {
-  return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
-}
-
-char* CS_GetSinkError(CS_Sink sink, CS_Status* status) {
-  wpi::SmallString<128> buf;
-  auto str = cs::GetSinkError(sink, buf, status);
-  if (*status != 0) {
-    return nullptr;
-  }
-  return cs::ConvertToC(str);
-}
-
-void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status) {
-  return cs::SetSinkEnabled(sink, enabled, status);
-}
-
-}  // extern "C"

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

@@ -1,50 +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.
-
-#ifndef CSCORE_CVSINKIMPL_H_
-#define CSCORE_CVSINKIMPL_H_
-
-#include <stdint.h>
-
-#include <atomic>
-#include <functional>
-#include <string_view>
-#include <thread>
-
-#include <opencv2/core/core.hpp>
-#include <wpi/condition_variable.h>
-
-#include "Frame.h"
-#include "SinkImpl.h"
-
-namespace cs {
-
-class SourceImpl;
-
-class CvSinkImpl : public SinkImpl {
- public:
-  CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry, VideoMode::PixelFormat pixelFormat);
-  CvSinkImpl(std::string_view name, wpi::Logger& logger, Notifier& notifier,
-             Telemetry& telemetry, VideoMode::PixelFormat pixelFormat,
-             std::function<void(uint64_t time)> processFrame);
-  ~CvSinkImpl() override;
-
-  void Stop();
-
-  uint64_t GrabFrame(cv::Mat& image);
-  uint64_t GrabFrame(cv::Mat& image, double timeout);
-
- private:
-  void ThreadMain();
-
-  std::atomic_bool m_active;  // set to false to terminate threads
-  std::thread m_thread;
-  std::function<void(uint64_t time)> m_processFrame;
-  VideoMode::PixelFormat m_pixelFormat;
-};
-
-}  // namespace cs
-
-#endif  // CSCORE_CVSINKIMPL_H_

cscore/src/main/native/cpp/CvSourceImpl.cpp

@@ -1,232 +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 "CvSourceImpl.h"
-
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/imgproc/imgproc.hpp>
-#include <wpi/timestamp.h>
-
-#include "Handle.h"
-#include "Instance.h"
-#include "Log.h"
-#include "Notifier.h"
-#include "c_util.h"
-#include "cscore_cpp.h"
-
-using namespace cs;
-
-CvSourceImpl::CvSourceImpl(std::string_view name, wpi::Logger& logger,
-                           Notifier& notifier, Telemetry& telemetry,
-                           const VideoMode& mode)
-    : ConfigurableSourceImpl{name, logger, notifier, telemetry, mode} {}
-
-CvSourceImpl::~CvSourceImpl() = default;
-
-void CvSourceImpl::PutFrame(cv::Mat& image) {
-  // We only support 8-bit images; convert if necessary.
-  cv::Mat finalImage;
-  if (image.depth() == CV_8U) {
-    finalImage = image;
-  } else {
-    image.convertTo(finalImage, CV_8U);
-  }
-
-  std::unique_ptr<Image> dest;
-  switch (image.channels()) {
-    case 1:
-      dest =
-          AllocImage(VideoMode::kGray, image.cols, image.rows, image.total());
-      finalImage.copyTo(dest->AsMat());
-      break;
-    case 3:
-      dest = AllocImage(VideoMode::kBGR, image.cols, image.rows,
-                        image.total() * 3);
-      finalImage.copyTo(dest->AsMat());
-      break;
-    case 4:
-      dest = AllocImage(VideoMode::kBGR, image.cols, image.rows,
-                        image.total() * 3);
-      cv::cvtColor(finalImage, dest->AsMat(), cv::COLOR_BGRA2BGR);
-      break;
-    default:
-      SERROR("PutFrame: {}-channel images not supported", image.channels());
-      return;
-  }
-  SourceImpl::PutFrame(std::move(dest), wpi::Now());
-}
-
-namespace cs {
-
-CS_Source CreateCvSource(std::string_view name, const VideoMode& mode,
-                         CS_Status* status) {
-  auto& inst = Instance::GetInstance();
-  return inst.CreateSource(CS_SOURCE_CV, std::make_shared<CvSourceImpl>(
-                                             name, inst.logger, inst.notifier,
-                                             inst.telemetry, mode));
-}
-
-void PutSourceFrame(CS_Source source, cv::Mat& image, CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || data->kind != CS_SOURCE_CV) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  static_cast<CvSourceImpl&>(*data->source).PutFrame(image);
-}
-
-static constexpr unsigned SourceMask = CS_SINK_CV | CS_SINK_RAW;
-
-void NotifySourceError(CS_Source source, std::string_view msg,
-                       CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || (data->kind & SourceMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  static_cast<CvSourceImpl&>(*data->source).NotifyError(msg);
-}
-
-void SetSourceConnected(CS_Source source, bool connected, CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || (data->kind & SourceMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  static_cast<CvSourceImpl&>(*data->source).SetConnected(connected);
-}
-
-void SetSourceDescription(CS_Source source, std::string_view description,
-                          CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || (data->kind & SourceMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  static_cast<CvSourceImpl&>(*data->source).SetDescription(description);
-}
-
-CS_Property CreateSourceProperty(CS_Source source, std::string_view name,
-                                 CS_PropertyKind kind, int minimum, int maximum,
-                                 int step, int defaultValue, int value,
-                                 CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || (data->kind & SourceMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return -1;
-  }
-  int property = static_cast<CvSourceImpl&>(*data->source)
-                     .CreateProperty(name, kind, minimum, maximum, step,
-                                     defaultValue, value);
-  return Handle{source, property, Handle::kProperty};
-}
-
-CS_Property CreateSourcePropertyCallback(
-    CS_Source source, std::string_view name, CS_PropertyKind kind, int minimum,
-    int maximum, int step, int defaultValue, int value,
-    std::function<void(CS_Property property)> onChange, CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || (data->kind & SourceMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return -1;
-  }
-  int property = static_cast<CvSourceImpl&>(*data->source)
-                     .CreateProperty(name, kind, minimum, maximum, step,
-                                     defaultValue, value, onChange);
-  return Handle{source, property, Handle::kProperty};
-}
-
-void SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
-                                  std::span<const std::string> choices,
-                                  CS_Status* status) {
-  auto data = Instance::GetInstance().GetSource(source);
-  if (!data || (data->kind & SourceMask) == 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-
-  // Get property index; also validate the source owns this property
-  Handle handle{property};
-  int i = handle.GetParentIndex();
-  if (i < 0) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  auto data2 = Instance::GetInstance().GetSource(Handle{i, Handle::kSource});
-  if (!data2 || data->source.get() != data2->source.get()) {
-    *status = CS_INVALID_HANDLE;
-    return;
-  }
-  int propertyIndex = handle.GetIndex();
-  static_cast<CvSourceImpl&>(*data->source)
-      .SetEnumPropertyChoices(propertyIndex, choices, status);
-}
-
-}  // namespace cs
-
-extern "C" {
-
-CS_Source CS_CreateCvSource(const char* name, const CS_VideoMode* mode,
-                            CS_Status* status) {
-  return cs::CreateCvSource(name, static_cast<const cs::VideoMode&>(*mode),
-                            status);
-}
-
-#if CV_VERSION_MAJOR < 4
-void CS_PutSourceFrame(CS_Source source, struct CvMat* image,
-                       CS_Status* status) {
-  auto mat = cv::cvarrToMat(image);
-  return cs::PutSourceFrame(source, mat, status);
-}
-#endif  // CV_VERSION_MAJOR < 4
-
-void CS_PutSourceFrameCpp(CS_Source source, cv::Mat* image, CS_Status* status) {
-  return cs::PutSourceFrame(source, *image, status);
-}
-
-void CS_NotifySourceError(CS_Source source, const char* msg,
-                          CS_Status* status) {
-  return cs::NotifySourceError(source, msg, status);
-}
-
-void CS_SetSourceConnected(CS_Source source, CS_Bool connected,
-                           CS_Status* status) {
-  return cs::SetSourceConnected(source, connected, status);
-}
-
-void CS_SetSourceDescription(CS_Source source, const char* description,
-                             CS_Status* status) {
-  return cs::SetSourceDescription(source, description, status);
-}
-
-CS_Property CS_CreateSourceProperty(CS_Source source, const char* name,
-                                    enum CS_PropertyKind kind, int minimum,
-                                    int maximum, int step, int defaultValue,
-                                    int value, CS_Status* status) {
-  return cs::CreateSourceProperty(source, name, kind, minimum, maximum, step,
-                                  defaultValue, value, status);
-}
-
-CS_Property CS_CreateSourcePropertyCallback(
-    CS_Source source, const char* name, enum CS_PropertyKind kind, int minimum,
-    int maximum, int step, int defaultValue, int value, void* data,
-    void (*onChange)(void* data, CS_Property property), CS_Status* status) {
-  return cs::CreateSourcePropertyCallback(
-      source, name, kind, minimum, maximum, step, defaultValue, value,
-      [=](CS_Property property) { onChange(data, property); }, status);
-}
-
-void CS_SetSourceEnumPropertyChoices(CS_Source source, CS_Property property,
-                                     const char** choices, int count,
-                                     CS_Status* status) {
-  wpi::SmallVector<std::string, 8> vec;
-  vec.reserve(count);
-  for (int i = 0; i < count; ++i) {
-    vec.push_back(choices[i]);
-  }
-  return cs::SetSourceEnumPropertyChoices(source, property, vec, status);
-}
-
-}  // extern "C"