[wpimath] Add BangBangController Usage Reporting (#7411)

PhotonVision depends on these being in the JAR to generate quickbuf classes.

.bazelignore

@@ -0,0 +1,20 @@
+build_cmake
+build-cmake
+
+# Auto generated by vscode
+apriltag/bin
+cameraserver/bin
+cameraserver/multiCameraServer/bin
+cscore/bin
+fieldImages/bin
+hal/bin
+developerRobot/bin
+ntcore/bin
+romiVendordep/bin
+wpilibNewCommands/bin
+wpilibj/bin
+wpimath/bin
+wpinet/bin
+wpiutil/bin
+wpiunits/bin
+xrpVendordep/bin

.bazelrc

@@ -0,0 +1,51 @@
+try-import %workspace%/bazel_auth.rc
+try-import %workspace%/user.bazelrc
+
+common --noenable_bzlmod
+
+build --java_language_version=17
+build --java_runtime_version=roboriojdk_17
+build --tool_java_language_version=17
+build --tool_java_runtime_version=remotejdk_17
+
+test --test_output=errors
+test --test_verbose_timeout_warnings
+
+import shared/bazel/compiler_flags/sanitizers.rc
+import shared/bazel/compiler_flags/base_linux_flags.rc
+import shared/bazel/compiler_flags/linux_flags.rc
+import shared/bazel/compiler_flags/osx_flags.rc
+import shared/bazel/compiler_flags/roborio_flags.rc
+import shared/bazel/compiler_flags/windows_flags.rc
+import shared/bazel/compiler_flags/coverage_flags.rc
+
+build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
+build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
+build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+
+# Build Buddy Cache Setup
+build:build_buddy --bes_results_url=https://app.buildbuddy.io/invocation/
+build:build_buddy --bes_backend=grpcs://remote.buildbuddy.io
+build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
+build:build_buddy --remote_timeout=3600
+
+# Additional suggestions from buildbuddy for speed
+build:build_buddy --experimental_remote_cache_compression
+build:build_buddy --experimental_remote_cache_compression_threshold=100
+build:build_buddy --noslim_profile
+build:build_buddy --experimental_profile_include_target_label
+build:build_buddy --experimental_profile_include_primary_output
+build:build_buddy --nolegacy_important_outputs
+
+common:build_buddy_readonly --noremote_upload_local_results
+
+# This config should be used locally. It downloads more than the CI version
+build:remote_user --config=build_buddy
+build:remote_user --config=build_buddy_readonly
+build:remote_user --remote_download_toplevel
+
+build:ci --config=build_buddy
+build:ci --remote_download_minimal
+
+build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git

.bazelversion

@@ -0,0 +1 @@
+7.3.1

.github/ISSUE_TEMPLATE/bug_report.md

@@ -2,7 +2,7 @@
 name: Bug report
 about: Create a report to help us improve
 title: ''
-labels: bug
+labels: 'type: bug'
 assignees: ''
 
 ---

.github/ISSUE_TEMPLATE/feature_request.md

@@ -2,7 +2,7 @@
 name: Feature request
 about: Suggest an idea for this project
 title: ''
-labels: enhancement
+labels: 'type: feature'
 assignees: ''
 
 ---

.github/ISSUE_TEMPLATE/question.md

@@ -2,7 +2,7 @@
 name: Question
 about: Ask about features or parts of this project
 title: ''
-labels: ''
+labels: 'type: support'
 assignees: ''
 
 ---

.github/actions/setup-build-buddy/action.yml

@@ -0,0 +1,27 @@
+name: 'Setup BuildBuddy acache'
+description: 'Sets up the build buddy cache to be readonly / writing based on the presence of environment variables'
+
+inputs:
+  token:
+    description: 'Build Buddy API token'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Setup without key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY == '' }}
+      shell: bash
+      run: |
+          echo "No API key secret detected, will setup readonly cache"
+          echo "build:ci --config=build_buddy_readonly" > bazel_auth.rc
+
+    - name: Set with key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY != '' }}
+      shell: bash
+      run: |
+          echo "API Key detected!"
+          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${{ env.API_KEY }}" > bazel_auth.rc

.github/workflows/bazel.yml

@@ -0,0 +1,109 @@
+name: Bazel
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-windows:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Windows (native)",             os: windows-2022, action: "test",  config: "--config=windows",     }
+          - { name: "Windows (arm)",                os: windows-2022, action: "build", config: "--config=windows_arm", }
+
+    name: "Build ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 17
+          architecture: x64
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build Release
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
+        shell: bash
+
+  build-mac:
+    name: "Mac"
+    runs-on: macos-14
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build Release
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v3
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build and Test Release
+        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Set up Go 1.15.x
+        uses: actions/setup-go@v5
+        with:
+          cache: false
+          go-version: 1.15.x
+        id: go
+
+      - name: Install Buildifier
+        run: |
+          cd $(mktemp -d)
+          GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
+
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - name: Run buildifier
+        run: buildifier -warnings all --lint=fix -r .
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - name: Generate diff
+        run: git diff HEAD > bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.platform }}-bazel-lint-fixes
+          path: bazel-lint-fixes.patch
+        if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -0,0 +1,51 @@
+name: CMake Android
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            name: Android Arm64
+            abi: arm64-v8a
+          - os: ubuntu-22.04
+            name: Android X64
+            abi: "x86_64"
+
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r27c
+          add-to-path: false
+
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.5
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - name: configure
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+
+      - name: build
+        run: cmake --build build-cmake --parallel $(nproc)

.github/workflows/cmake.yml

@@ -19,12 +19,16 @@ jobs:
           - os: ubuntu-22.04
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2024-22.04
-            flags: "--preset with-java-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: macOS-14
             name: macOS
             container: ""
             env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
-            flags: "--preset sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
+            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
+          - os: windows-2022
+            name: Windows
+            container: ""
+            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env: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'
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -35,14 +39,28 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install dependencies (macOS)
-        run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
+        run: brew install opencv protobuf@3 ninja
+
+      - uses: ilammy/msvc-dev-cmd@v1.13.0
+        if: runner.os == 'Windows'
+
+      - name: Install CMake (Windows only)
+        if: runner.os == 'Windows'
+        uses: lukka/get-cmake@v3.29.3
 
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.5
 
       - uses: actions/checkout@v4
 
+      - name: Run vcpkg (Windows only)
+        if: runner.os == 'Windows'
+        uses: lukka/run-vcpkg@v11.5
+        with:
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
+          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+
       - name: configure
         run: cmake ${{ matrix.flags }}
         env:
@@ -56,42 +74,12 @@ jobs:
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
+        if: runner.os != 'Windows'
         working-directory: build-cmake
         run: ctest --output-on-failure
 
-  build-windows:
-    name: "Build - Windows"
-    runs-on: windows-2022
-    steps:
-      - uses: ilammy/msvc-dev-cmd@v1.13.0
-
-      - name: Install CMake
-        uses: lukka/get-cmake@v3.29.3
-
-      - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.5
-
-      - uses: actions/checkout@v4
-
-      - name: Run vcpkg
-        uses: lukka/run-vcpkg@v11.5
-        with:
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
-
-      - name: configure
-        run: cmake --preset sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ 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_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: build
-        run: cmake --build build-cmake --parallel $(nproc)
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: test
+      - name: test (windows)
+        if: runner.os == 'Windows'
         working-directory: build-cmake
         # UnitTest_test segfaults on exit occasionally
         run: ctest --output-on-failure -E 'UnitTest'

.github/workflows/comment-command.yml

@@ -33,17 +33,17 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Setup Java
         uses: actions/setup-java@v4
         with:
           distribution: 'temurin'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
+        run: pip3 install wpiformat==2024.45
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply
@@ -81,28 +81,16 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.9
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.9
+          python-version: '3.12'
       - 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: Run imgui gl3w
-        run: ./thirdparty/imgui_suite/generate_gl3w.py
-      - name: Run imgui fonts
-        run: ./thirdparty/imgui_suite/generate_fonts.sh
+      - name: Regenerate all
+        run: ./.github/workflows/pregen_all.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Commit
         run: |
           # Set credentials

.github/workflows/gradle.yml

@@ -121,7 +121,7 @@ jobs:
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 3600
+        run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))

.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 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
+        run: pip3 install wpiformat==2024.45
       - name: Run
         run: wpiformat
       - name: Check output
@@ -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 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
+        run: pip3 install wpiformat==2024.45
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

.github/workflows/pregen_all.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+import argparse
+import subprocess
+import sys
+from pathlib import Path
+
+
+def main():
+    script_path = Path(__file__).resolve()
+    REPO_ROOT = script_path.parent.parent.parent
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--quickbuf_plugin",
+        help="Path to the quickbuf protoc plugin",
+        required=True,
+    )
+    args = parser.parse_args()
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/hal/generate_usage_reporting.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/ntcore/generate_topics.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpimath/generate_numbers.py"], check=True
+    )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpimath/generate_quickbuf.py",
+            f"--quickbuf_plugin={args.quickbuf_plugin}",
+        ],
+        check=True,
+    )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpimath/generate_nanopb.py",
+        ],
+        check=True,
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpiunits/generate_units.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibc/generate_hids.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibj/generate_hids.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibNewCommands/generate_hids.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibc/generate_pwm_motor_controllers.py"],
+        check=True,
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibj/generate_pwm_motor_controllers.py"],
+        check=True,
+    )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpiutil/generate_nanopb.py",
+        ],
+        check=True,
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/thirdparty/imgui_suite/generate_gl3w.py"],
+        check=True,
+    )
+    subprocess.run(f"{REPO_ROOT}/thirdparty/imgui_suite/generate_fonts.sh", check=True)
+
+
+if __name__ == "__main__":
+    main()

.github/workflows/pregenerate.yml

@@ -18,30 +18,16 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - name: Set up Python 3.9
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
+          python-version: '3.12'
+      - name: Install jinja and protobuf
+        run: python -m pip install jinja2 protobuf grpcio-tools
       - 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 wpiunits
-        run: ./wpiunits/generate_units.py
-      - 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: Run imgui gl3w
-        run: ./thirdparty/imgui_suite/generate_gl3w.py
-      - name: Run imgui fonts
-        run: ./thirdparty/imgui_suite/generate_fonts.sh
+      - name: Regenerate all
+        run: python ./.github/workflows/pregen_all.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.github/workflows/sentinel-build.yml

@@ -0,0 +1,161 @@
+name: Sentinel Build (No Cache)
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "15 3 * * Sat" # 11:15PM EST every Friday
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-docker:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:22.04
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-22.04
+    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 with Gradle
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+      - name: Check free disk space
+        run: df .
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-host:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+          - os: macOS-14
+            artifact-name: macOS
+            architecture: aarch64
+            task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32
+            architecture: x86
+            task: ":ntcoreffi:build"
+            outputs: "ntcoreffi/build/outputs"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+          architecture: ${{ matrix.architecture }}
+      - name: Import Developer ID Certificate
+        uses: wpilibsuite/import-signing-certificate@v2
+        with:
+          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
+          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
+          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Keychain Lock Timeout
+        run: security set-keychain-settings -lut 21600
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space pre-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - name: Cleanup disk space
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: matrix.os == 'macOS-14'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - name: Build with Gradle
+        run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+      - name: Sign Libraries with Developer ID
+        run: ./gradlew copyAllOutputs -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: ${{ matrix.outputs }}

.github/workflows/tools.yml

@@ -34,7 +34,7 @@ jobs:
         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 :fieldImages:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+          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 :fieldImages:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
       - uses: actions/upload-artifact@v4
         with:
           name: MavenArtifacts

.github/workflows/upstream-utils.yml

@@ -22,10 +22,10 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.9
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.9
+          python-version: '3.12'
       - name: Configure committer identity
         run: |
           git config --global user.email "you@example.com"
@@ -35,107 +35,122 @@ jobs:
           cd upstream_utils
           ./apriltag.py clone
           ./apriltag.py copy-src
+          ./apriltag.py format-patch
       - name: Run argparse_lib.py
         run: |
           cd upstream_utils
           ./argparse_lib.py clone
           ./argparse_lib.py copy-src
-      - name: Run concurrentqueue.py
-        run: |
-          cd upstream_utils
-          ./concurrentqueue.py clone
-          ./concurrentqueue.py copy-src
+          ./argparse_lib.py format-patch
       - name: Run eigen.py
         run: |
           cd upstream_utils
           ./eigen.py clone
           ./eigen.py copy-src
+          ./eigen.py format-patch
       - name: Run expected.py
         run: |
           cd upstream_utils
           ./expected.py clone
           ./expected.py copy-src
+          ./expected.py format-patch
       - name: Run fmt.py
         run: |
           cd upstream_utils
           ./fmt.py clone
           ./fmt.py copy-src
+          ./fmt.py format-patch
       - name: Run gcem.py
         run: |
           cd upstream_utils
           ./gcem.py clone
           ./gcem.py copy-src
+          ./gcem.py format-patch
       - name: Run gl3w.py
         run: |
           cd upstream_utils
           ./gl3w.py clone
           ./gl3w.py copy-src
+          ./gl3w.py format-patch
       - name: Run glfw.py
         run: |
           cd upstream_utils
           ./glfw.py clone
           ./glfw.py copy-src
+          ./glfw.py format-patch
       - name: Run googletest.py
         run: |
           cd upstream_utils
           ./googletest.py clone
           ./googletest.py copy-src
+          ./googletest.py format-patch
       - name: Run imgui.py
         run: |
           cd upstream_utils
           ./imgui.py clone
           ./imgui.py copy-src
+          ./imgui.py format-patch
       - name: Run implot.py
         run: |
           cd upstream_utils
           ./implot.py clone
           ./implot.py copy-src
+          ./implot.py format-patch
       - name: Run json.py
         run: |
           cd upstream_utils
           ./json.py clone
           ./json.py copy-src
+          ./json.py format-patch
       - name: Run libuv.py
         run: |
           cd upstream_utils
           ./libuv.py clone
           ./libuv.py copy-src
+          ./libuv.py format-patch
       - name: Run llvm.py
         run: |
           cd upstream_utils
           ./llvm.py clone
           ./llvm.py copy-src
+          ./llvm.py format-patch
       - name: Run mpack.py
         run: |
           cd upstream_utils
           ./mpack.py clone
           ./mpack.py copy-src
+          ./mpack.py format-patch
       - name: Run stack_walker.py
         run: |
           cd upstream_utils
           ./stack_walker.py clone
           ./stack_walker.py copy-src
+          ./stack_walker.py format-patch
       - name: Run memory.py
         run: |
           cd upstream_utils
           ./memory.py clone
           ./memory.py copy-src
+          ./memory.py format-patch
       - name: Run protobuf.py
         run: |
           cd upstream_utils
           ./protobuf.py clone
           ./protobuf.py copy-src
+          ./protobuf.py format-patch
       - name: Run sleipnir.py
         run: |
           cd upstream_utils
           ./sleipnir.py clone
           ./sleipnir.py copy-src
+          ./sleipnir.py format-patch
       - name: Run stb.py
         run: |
           cd upstream_utils
           ./stb.py clone
           ./stb.py copy-src
+          ./stb.py format-patch
       - 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
+        run: git --no-pager diff --exit-code HEAD ':!*.bazel'

.gitignore

@@ -15,6 +15,8 @@ networktables.json
 ntcore/connectionlistenertest.json
 ntcore/timesynctest.json
 
+nanopb_pb2.py
+
 # Created by the jenkins test script
 test-reports
 
@@ -239,7 +241,7 @@ compile_commands.json
 
 # clang configuration and clangd cache
 .clang
-.clangd/
+.clangd
 .cache/
 
 imgui.ini
@@ -249,9 +251,7 @@ imgui.ini
 /bazel-*
 user.bazelrc
 coverage_report/
+bazel_auth.rc
 
 # ctest
 /Testing/
-
-# protobuf
-!wpiprotoplugin.jar

.styleguide

@@ -33,8 +33,9 @@ includeOtherLibs {
   ^cameraserver/
   ^cscore
   ^fmt/
-  ^gtest/
+  ^glass/
   ^google/
+  ^gtest/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -66,6 +66,14 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
 option(WITH_JAVA "Include Java and JNI in the build" OFF)
 option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
+option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
+cmake_dependent_option(
+    DOCS_WARNINGS_AS_ERRORS
+    "Make docs warnings into errors"
+    OFF
+    WITH_DOCS
+    OFF
+)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
@@ -123,12 +131,17 @@ set(java_lib_dest java)
 if(WITH_JAVA OR WITH_JAVA_SOURCE)
     set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
     find_package(Java REQUIRED COMPONENTS Development)
-    find_package(JNI REQUIRED COMPONENTS JVM)
-else()
-    # Protoc requires the java runtime
-    find_package(Java REQUIRED COMPONENTS Runtime)
+    if(NOT ANDROID)
+        find_package(JNI REQUIRED COMPONENTS JVM)
+    endif()
 endif()
 
+if(WITH_DOCS)
+    find_package(Doxygen REQUIRED)
+    find_package(Git REQUIRED)
+    include(AddDoxygenDocs)
+    add_doxygen_docs()
+endif()
 find_package(LIBSSH CONFIG 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
@@ -279,8 +292,6 @@ if(WITH_NTCORE)
     add_subdirectory(ntcore)
 endif()
 
-add_subdirectory(protoplugin)
-
 if(WITH_WPIMATH)
     if(WITH_JAVA)
         set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})

CMakePresets.json

@@ -15,7 +15,7 @@
       "cacheVariables": {}
     },
     {
-      "name": "sccache",
+      "name": "with-sccache",
       "displayName": "",
       "description": "Ninja config with sccache",
       "generator": "Ninja",
@@ -36,11 +36,11 @@
       }
     },
     {
-      "name": "with-java-sccache",
+      "name": "with-java-and-sccache",
       "displayName": "",
       "description": "Ninja config with Java and sccache",
       "generator": "Ninja",
-      "inherits": "sccache",
+      "inherits": "with-sccache",
       "binaryDir": "build-cmake",
       "cacheVariables": {
         "WITH_JAVA": "ON"

DevelopmentBuilds.md

@@ -13,7 +13,7 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2024 GradleRIO version, ie `2024.0.0-alpha-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -28,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.+'
-wpi.versions.wpimathVersion = '2024.+'
+wpi.versions.wpilibVersion = '2025.+'
+wpi.versions.wpimathVersion = '2025.+'
 ```
 
 C++
@@ -42,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.+'
-wpi.versions.wpimathVersion = '2024.+'
+wpi.versions.wpilibVersion = '2025.+'
+wpi.versions.wpimathVersion = '2025.+'
 ```
 
 ### Development Build Documentation
@@ -64,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
@@ -78,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false

GeneratedFiles.md

@@ -0,0 +1,25 @@
+# Maintaining Generated Files
+WPILib extensively uses [metaprogramming](https://en.wikipedia.org/wiki/Metaprogramming#Code_generation) to generate code that would otherwise be tedious and error-prone to maintain. We use [Jinja](https://jinja.palletsprojects.com), a templating engine with a Python API, alongside JSON files that contain data to generate code. This document explains how to maintain these generated files and create new ones.
+
+## File hierarchy
+The Python script used to generate a subproject's files will always be located in the subproject's directory, e.g. wpilibc. It will always be called `generate_<thing>.py` where `<thing>` is the name for what you're generating.
+
+The templates will be located under `subproject/src/generate/main`, and generated files will be located under `subproject/src/generated/main`.
+
+If the generated file is for C++, the hierarchy should be symmetrical, so if a generated header is located under `subproject/src/generated/main/native/include/frc/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/frc/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
+
+If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `edu.wpi.first.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/edu/wpi/first/wpilibj`
+
+The JSON files live under `subproject/src/generate` since they apply to both languages. One unique case is JSON files that are used by multiple subprojects, currently only JSON files shared by wpilibc and wpilibj. In that specific case, the JSON files will always be located in wpilibj since Java is the most used language.
+
+## Using code generation
+If you've identified a set of files which are extremely similar, one file with lots of repetitive code, or both, you can create Jinja templates, a JSON file, and a Python script to automatically generate the code instead.
+
+### Preparing files for codegen
+Once you've identified the files you want to codegen, you will need to identify parts of code that are similar, and extract the data that's different. Code needs to go into your Jinja template, while data that will be used to fill in the template goes into a JSON file. Using game controllers as an example, they have lots of similar methods to read the value of a button, check if a button has been pressed since the last check, and check if a button has been released since the last check. Those methods are code that goes in a Jinja template, with the specific button replaced with a Jinja expression. The buttons, both the name and value, go into a JSON file.
+
+### Writing a Python script
+To maintain consistency with other Python scripts, copy an existing `generate_*.py` script. [generate_pwm_motor_controllers.py](./wpilibj/generate_pwm_motor_controllers.py) is a good start, since it's relatively basic. Modify the script to reference your templates and JSON file, modify the paths so the files end up in the right place, and rename the functions so they match what you're generating. An important part of the script is to give the files the correct name. Depending on files you're generating, this could be the name of the template itself (see [ntcore/generate_topics.py](./ntcore/generate_topics.py)) or it could be part of the data in the JSON file.
+
+### (Re)Generating files and committing them
+Once your Python script is complete, you can run `python generate_<thing>.py` to generate the files. Once you're finished with your files, commit these files to Git. If you regenerated the files and Git indicates the files have changed, but the diff doesn't show any changes, only the line endings have changed. If you expected changes to the generated code, you didn't correctly make changes. If you didn't expect changes, you can ignore this and discard the changes. Also ensure that you've marked the Python script as executable, since this is necessary for CI workflows to run your scripts. To add your script to the CI workflows, edit [.github/workflows/pregen_all.py](.github/workflows/pregen_all.py), and add your script alongside the rest of the scripts.

README-Bazel.md

@@ -0,0 +1,25 @@
+# WPILib Bazel Support
+
+WPILib is normally built with Gradle, but [Bazel](https://www.bazel.build/) can also be used to increase development speed due to the superior caching ability and the ability to use remote caching and remote execution (on select platforms)
+
+
+## Prerequisites
+- Install [Bazelisk](https://github.com/bazelbuild/bazelisk/releases) and add it to your path. Bazelisk is a wrapper that will download the correct version of bazel specified in the repository. Note: You can alias/rename the binary to `bazel` if you want to keep the familiar `bazel build` vs `bazelisk build` syntax.
+
+## Building
+To build the entire repository, simply run `bazel build //...`. To run all of the unit tests, run `bazel test //...`
+Other examples:
+- `bazel build //wpimath/...` - Builds every target in the wpimath folder
+- `bazel test //wpiutil:wpiutil-cpp-test` - Runs only the cpp test target in the wpiutil folder
+- `bazel coverage //wpiutil/...` - (*Nix only) - Runs a code coverage report for both C++ and Java on all the targets under wpiutil
+
+## User settings
+When invoking bazel, it will check if `user.bazelrc` exists for additional, user specified flags. You can use these settings to do things like always ignore buildin a specific folder, or limiting the CPU/RAM usage during a build.
+Examples:
+- `build --build_tag_filters=-wpi-example` - Do not build any targets tagged with `wpi-example` (Currently all of the targets in wpilibcExamples and wpilibjExamples contain this tag)
+- `build -c opt` - Always build optimized targets. The default compiler flags were chosen to build as fast as possible, and thus don't contain many optimizations
+- `build -k` - `-k` is analogous to the MAKE flag `--keep-going`, so the build will not stop on the first error.
+- ```
+  build --local_ram_resources=HOST_RAM*.5 # Don't use more than half my RAM when building
+  build --local_cpu_resources=HOST_CPUS-1 # Leave one core alone
+  ```

README-CMake.md

@@ -66,6 +66,8 @@ The following build options are available:
   * 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_PROTOBUF` (ON Default)
+  * This option will build with the protobuf library.
 * `WITH_WPIUNITS` (`WITH_JAVA` 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.
 * `OPENCV_JAVA_INSTALL_DIR`

README.md

@@ -17,6 +17,7 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
     - [Custom toolchain location](#custom-toolchain-location)
     - [Formatting/Linting](#formattinglinting)
     - [CMake](#cmake)
+    - [Bazel](#bazel)
   - [Running examples in simulation](#running-examples-in-simulation)
   - [Publishing](#publishing)
   - [Structure and Organization](#structure-and-organization)
@@ -145,11 +146,15 @@ If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
 
 ### Generated files
 
-Several files within WPILib are generated using Jinja. If a PR is opened that modifies these templates then the files can be generated through CI by commenting `/pregen` on the PR. A new commit will be pushed with the regenerated files.
+Several files within WPILib are generated using Jinja. If a PR is opened that modifies these templates then the files can be generated through CI by commenting `/pregen` on the PR. A new commit will be pushed with the regenerated files. See [GeneratedFiles.md](GeneratedFiles.md) for more information.
 
 ### CMake
 
-CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).
+CMake is also supported for building. See [README-CMake.md](README-CMake.md).
+
+### Bazel
+
+Bazel is also supported for building. See [README-Bazel.md](README-Bazel.md).
 
 ## Running examples in simulation
 

WORKSPACE

@@ -0,0 +1,100 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+# Download Extra java rules
+http_archive(
+    name = "rules_jvm_external",
+    sha256 = "08ea921df02ffe9924123b0686dc04fd0ff875710bfadb7ad42badb931b0fd50",
+    strip_prefix = "rules_jvm_external-6.1",
+    url = "https://github.com/bazelbuild/rules_jvm_external/releases/download/6.1/rules_jvm_external-6.1.tar.gz",
+)
+
+load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
+
+rules_jvm_external_deps()
+
+load("@rules_jvm_external//:defs.bzl", "maven_install")
+
+maven_artifacts = [
+    "org.ejml:ejml-simple:0.43.1",
+    "com.fasterxml.jackson.core:jackson-annotations:2.15.2",
+    "com.fasterxml.jackson.core:jackson-core:2.15.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.15.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
+    "com.google.code.gson:gson:2.10.1",
+]
+
+maven_install(
+    name = "maven",
+    artifacts = maven_artifacts,
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "2ef1cafce7f4fd4e909bb5de8b0dc771a934646afd55d5f100ff31f6b500df98",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2024-1.bcr1/rules_bzlmodRio_toolchains-2024-1.bcr1.tar.gz",
+)
+
+load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
+
+setup_legacy_setup_toolchains_dependencies()
+
+load("@rules_bzlmodrio_toolchains//toolchains:load_toolchains.bzl", "load_toolchains")
+
+load_toolchains()
+
+#
+http_archive(
+    name = "rules_bzlmodrio_jdk",
+    sha256 = "a00d5fa971fbcad8a17b1968cdc5350688397035e90b0cb94e040d375ecd97b4",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.8.1-1/rules_bzlmodRio_jdk-17.0.8.1-1.tar.gz",
+)
+
+load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
+
+setup_legacy_setup_jdk_dependencies()
+
+register_toolchains(
+    "@local_roborio//:macos",
+    "@local_roborio//:linux",
+    "@local_roborio//:windows",
+    "@local_raspi_32//:macos",
+    "@local_raspi_32//:linux",
+    "@local_raspi_32//:windows",
+    "@local_bullseye_32//:macos",
+    "@local_bullseye_32//:linux",
+    "@local_bullseye_32//:windows",
+    "@local_bullseye_64//:macos",
+    "@local_bullseye_64//:linux",
+    "@local_bullseye_64//:windows",
+)
+
+setup_legacy_setup_jdk_dependencies()
+
+http_archive(
+    name = "bzlmodrio-ni",
+    sha256 = "197fceac88bf44fb8427d5e000b0083118d3346172dd2ad31eccf83a5e61b3ce",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.0.0/bzlmodRio-ni-2025.0.0.tar.gz",
+)
+
+load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
+
+setup_legacy_bzlmodrio_ni_cpp_dependencies()
+
+http_archive(
+    name = "bzlmodrio-opencv",
+    sha256 = "5314cce05b49451a46bf3e3140fc401342e53d5f3357612ed4473e59bb616cba",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2024.4.8.0-4.bcr1/bzlmodRio-opencv-2024.4.8.0-4.bcr1.tar.gz",
+)
+
+load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
+
+setup_legacy_bzlmodrio_opencv_cpp_dependencies()
+
+load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
+
+setup_legacy_bzlmodrio_opencv_java_dependencies()

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

@@ -297,7 +297,7 @@ public class AprilTagDetector implements AutoCloseable {
    * @return Results (array of AprilTagDetection)
    */
   public AprilTagDetection[] detect(Mat img) {
-    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), img.cols(), img.dataAddr());
+    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), (int) img.step1(), img.dataAddr());
   }
 
   private long m_native;

apriltag/src/main/native/cpp/AprilTagDetector.cpp

@@ -5,7 +5,7 @@
 #include "frc/apriltag/AprilTagDetector.h"
 
 #include <cmath>
-#include <numbers>
+#include <utility>
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
@@ -130,7 +130,7 @@ void AprilTagDetector::RemoveFamily(std::string_view fam) {
     apriltag_detector_remove_family(
         static_cast<apriltag_detector_t*>(m_impl),
         static_cast<apriltag_family_t*>(it->second));
-    DestroyFamily(it->getKey(), it->second);
+    DestroyFamily(it->first, it->second);
     m_families.erase(it);
   }
 }
@@ -158,7 +158,7 @@ void AprilTagDetector::Destroy() {
 
 void AprilTagDetector::DestroyFamilies() {
   for (auto&& entry : m_families) {
-    DestroyFamily(entry.getKey(), entry.second);
+    DestroyFamily(entry.first, entry.second);
   }
 }
 

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -5,6 +5,8 @@
 #include "frc/apriltag/AprilTagFieldLayout.h"
 
 #include <system_error>
+#include <utility>
+#include <vector>
 
 #include <units/angle.h>
 #include <units/length.h>

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

@@ -131,6 +131,34 @@ class AprilTagDetectorTest {
     return image;
   }
 
+  @Test
+  void testDecodeCropped() {
+    detector.addFamily("tag16h5");
+    detector.addFamily("tag36h11");
+
+    Mat image;
+    try {
+      image = loadImage("tag1_640_480.jpg");
+    } catch (IOException ex) {
+      fail(ex);
+      return;
+    }
+
+    // Pre-knowledge -- the tag is within this ROI of this particular test image
+    var cropped = image.submat(100, 400, 220, 570);
+
+    try {
+      AprilTagDetection[] results = detector.detect(cropped);
+      assertEquals(1, results.length);
+      assertEquals("tag36h11", results[0].getFamily());
+      assertEquals(1, results[0].getId());
+      assertEquals(0, results[0].getHamming());
+    } finally {
+      cropped.release();
+      image.release();
+    }
+  }
+
   @Test
   void testDecodeAndPose() {
     detector.addFamily("tag16h5");

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

@@ -2,6 +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 <vector>
+
 #include <gtest/gtest.h>
 
 #include "frc/apriltag/AprilTagFieldLayout.h"

build.gradle

@@ -21,7 +21,6 @@ plugins {
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
     id 'com.diffplug.spotless' version '6.20.0' apply false
     id 'com.github.spotbugs' version '6.0.2' apply false
-    id 'com.google.protobuf' version '0.9.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -171,5 +170,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.5'
+    gradleVersion = '8.11'
 }

cameraserver/BUILD.bazel

@@ -0,0 +1,32 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+
+java_library(
+    name = "cameraserver-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore-java",
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpimath:wpimath-java",
+        "//wpinet:wpinet-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/cameraserver/DevMain.java"],
+    main_class = "edu.wpi.first.cameraserver.DevMain",
+    deps = [
+    ],
+)

cameraserver/build.gradle

@@ -30,19 +30,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 nativeUtils.exportsConfigs {
     cameraserver {
-        x64ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
     }
 }
 

cameraserver/multiCameraServer/BUILD.bazel

@@ -0,0 +1,16 @@
+load("@rules_java//java:defs.bzl", "java_binary")
+
+java_binary(
+    name = "multiCameraServer-java",
+    srcs = ["src/main/java/edu/wpi/Main.java"],
+    main_class = "edu.wpi.Main",
+    deps = [
+        "//cameraserver:cameraserver-java",
+        "//cscore:cscore-java",
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@maven//:com_google_code_gson_gson",
+    ],
+)

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

@@ -6,6 +6,7 @@
 #include <string>
 #include <string_view>
 #include <thread>
+#include <utility>
 #include <vector>
 
 #include <networktables/NetworkTableInstance.h>

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

@@ -5,6 +5,9 @@
 #include "cameraserver/CameraServer.h"
 
 #include <atomic>
+#include <memory>
+#include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -4,6 +4,9 @@
 
 #include "cameraserver/CameraServerShared.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/mutex.h>
 
 namespace {
@@ -19,7 +22,7 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
   void ReportDriverStationErrorV(fmt::string_view format,
                                  fmt::format_args args) override {}
   std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
-    return std::make_pair(std::thread::id(), false);
+    return std::pair{std::thread::id(), false};
   }
 };
 }  // namespace

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -4,6 +4,7 @@
 
 #include "vision/VisionRunner.h"
 
+#include <memory>
 #include <thread>
 
 #include <opencv2/core/mat.hpp>

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

@@ -9,10 +9,10 @@
 #include <span>
 #include <string>
 #include <string_view>
+#include <vector>
 
 #include <wpi/deprecated.h>
 
-#include "cscore.h"
 #include "cscore_cv.h"
 
 namespace frc {
@@ -130,7 +130,9 @@ class CameraServer {
    */
   template <typename T>
   [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
+  static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts) {
+    return AddAxisCamera("Axis Camera", hosts);
+  }
 
   /**
    * Adds an Axis IP camera.
@@ -185,7 +187,14 @@ class CameraServer {
   template <typename T>
   [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
   static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      std::initializer_list<T> hosts);
+                                      std::initializer_list<T> hosts) {
+    std::vector<std::string> vec;
+    vec.reserve(hosts.size());
+    for (const auto& host : hosts) {
+      vec.emplace_back(host);
+    }
+    return AddAxisCamera(name, vec);
+  }
   WPI_UNIGNORE_DEPRECATED
 
   /**
@@ -316,5 +325,3 @@ class CameraServer {
 };
 
 }  // namespace frc
-
-#include "cameraserver/CameraServer.inc"

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

@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string>
-#include <vector>
-
-#include "cameraserver/CameraServer.h"
-
-namespace frc {
-
-WPI_IGNORE_DEPRECATED
-template <typename T>
-inline cs::AxisCamera CameraServer::AddAxisCamera(
-    std::initializer_list<T> hosts) {
-  return AddAxisCamera("Axis Camera", hosts);
-}
-
-template <typename T>
-inline cs::AxisCamera CameraServer::AddAxisCamera(
-    std::string_view name, std::initializer_list<T> hosts) {
-  std::vector<std::string> vec;
-  vec.reserve(hosts.size());
-  for (const auto& host : hosts) {
-    vec.emplace_back(host);
-  }
-  return AddAxisCamera(name, vec);
-}
-WPI_UNIGNORE_DEPRECATED
-
-}  // namespace frc

cameraserver/src/main/native/include/vision/VisionRunner.h

@@ -8,7 +8,6 @@
 #include <functional>
 #include <memory>
 
-#include "cscore.h"
 #include "cscore_cv.h"
 #include "vision/VisionPipeline.h"
 
@@ -81,17 +80,35 @@ class VisionRunnerBase {
 template <typename T>
 class VisionRunner : public VisionRunnerBase {
  public:
+  /**
+   * Creates a new vision runner. It will take images from the {@code
+   * videoSource}, send them to the {@code pipeline}, and call the {@code
+   * listener} when the pipeline has finished to alert user code when it is safe
+   * to access the pipeline's outputs.
+   *
+   * @param videoSource The video source to use to supply images for the
+   *                    pipeline
+   * @param pipeline    The vision pipeline to run
+   * @param listener    A function to call after the pipeline has finished
+   *                    running
+   */
   VisionRunner(cs::VideoSource videoSource, T* pipeline,
-               std::function<void(T&)> listener);
+               std::function<void(T&)> listener)
+      : VisionRunnerBase(videoSource),
+        m_pipeline(pipeline),
+        m_listener(listener) {}
+
   virtual ~VisionRunner() = default;
 
  protected:
-  void DoProcess(cv::Mat& image) override;
+  void DoProcess(cv::Mat& image) override {
+    m_pipeline->Process(image);
+    m_listener(*m_pipeline);
+  }
 
  private:
   T* m_pipeline;
   std::function<void(T&)> m_listener;
 };
-}  // namespace frc
 
-#include "VisionRunner.inc"
+}  // namespace frc

cameraserver/src/main/native/include/vision/VisionRunner.inc

@@ -1,36 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <functional>
-
-#include "vision/VisionRunner.h"
-
-namespace frc {
-
-/**
- * Creates a new vision runner. It will take images from the {@code
- * videoSource}, send them to the {@code pipeline}, and call the {@code
- * listener} when the pipeline has finished to alert user code when it is safe
- * to access the pipeline's outputs.
- *
- * @param videoSource The video source to use to supply images for the pipeline
- * @param pipeline    The vision pipeline to run
- * @param listener    A function to call after the pipeline has finished running
- */
-template <typename T>
-VisionRunner<T>::VisionRunner(cs::VideoSource videoSource, T* pipeline,
-                              std::function<void(T&)> listener)
-    : VisionRunnerBase(videoSource),
-      m_pipeline(pipeline),
-      m_listener(listener) {}
-
-template <typename T>
-void VisionRunner<T>::DoProcess(cv::Mat& image) {
-  m_pipeline->Process(image);
-  m_listener(*m_pipeline);
-}
-
-}  // namespace frc

cmake/modules/AddDoxygenDocs.cmake

@@ -0,0 +1,144 @@
+macro(add_doxygen_docs)
+    set(dirs
+        apriltag
+        cameraserver
+        cscore
+        fieldImages
+        hal
+        ntcore
+        romiVendordep
+        wpilibc
+        wpilibNewCommands
+        wpimath
+        wpinet
+        wpiutil
+        xrpVendordep
+    )
+    foreach(dir ${dirs})
+        list(APPEND docs_dirs ${dir}/src/main/native/include)
+        file(GLOB dirs ${dir}/src/main/native/thirdparty/*/include)
+        list(FILTER dirs EXCLUDE REGEX eigen|protobuf)
+        set(DOXYGEN_EXCLUDE_PATTERNS "*.pb.h" "**/.clang-tidy" "**/.clang-format")
+
+        if(DOCS_WARNINGS_AS_ERRORS)
+            set(DOXYGEN_WARN_AS_ERROR "FAIL_ON_WARNINGS_PRINT")
+            list(FILTER dirs EXCLUDE REGEX fmt|memory|units)
+            list(
+                APPEND
+                DOXYGEN_EXCLUDE_PATTERNS
+                # apriltag
+                "apriltag_pose.h"
+                # llvm
+                "wpi/AlignOf.h"
+                "wpi/Casting.h"
+                "wpi/Chrono.h"
+                "wpi/Compiler.h"
+                "wpi/ConvertUTF.h"
+                "wpi/DenseMap.h"
+                "wpi/DenseMapInfo.h"
+                "wpi/Endian.h"
+                "wpi/EpochTracker.h"
+                "wpi/Errc.h"
+                "wpi/Errno.h"
+                "wpi/ErrorHandling.h"
+                "wpi/bit.h"
+                "wpi/fs.h"
+                "wpi/FunctionExtras.h"
+                "wpi/function_ref.h"
+                "wpi/Hashing.h"
+                "wpi/iterator.h"
+                "wpi/iterator_range.h"
+                "wpi/ManagedStatic.h"
+                "wpi/MapVector.h"
+                "wpi/MathExtras.h"
+                "wpi/MemAlloc.h"
+                "wpi/PointerIntPair.h"
+                "wpi/PointerLikeTypeTraits.h"
+                "wpi/PointerUnion.h"
+                "wpi/raw_os_ostream.h"
+                "wpi/raw_ostream.h"
+                "wpi/SmallPtrSet.h"
+                "wpi/SmallSet.h"
+                "wpi/SmallString.h"
+                "wpi/SmallVector.h"
+                "wpi/StringExtras.h"
+                "wpi/StringMap.h"
+                "wpi/SwapByteOrder.h"
+                "wpi/type_traits.h"
+                "wpi/VersionTuple.h"
+                "wpi/WindowsError.h"
+                # libuv
+                "uv.h"
+                "uv/**"
+                # json
+                "wpi/adl_serializer.h"
+                "wpi/byte_container_with_subtype.h"
+                "wpi/json.h"
+                "wpi/json_fwd.h"
+                "wpi/ordered_map.h"
+                # mpack
+                "wpi/mpack.h"
+            )
+        endif()
+        list(APPEND docs_dirs ${dirs})
+        list(APPEND docs_dirs ${dir}/src/generated/main/native/include)
+    endforeach()
+
+    set(DOXYGEN_CASE_SENSE_NAMES false)
+    set(DOXYGEN_EXTENSION_MAPPING inc=C++ no_extension=C++)
+    set(DOXYGEN_EXTRACT_ALL true)
+    set(DOXYGEN_EXTRACT_STATIC true)
+    set(DOXYGEN_FILE_PATTERNS "*")
+    set(DOXYGEN_FULL_PATH_NAMES true)
+    set(DOXYGEN_FULL_SIDEBAR false)
+    set(DOXYGEN_GENERATE_HTML true)
+    set(DOXYGEN_GENERATE_LATEX false)
+    set(DOXYGEN_GENERATE_TREEVIEW true)
+    set(DOXYGEN_HTML_COLORSTYLE "LIGHT")
+    set(DOXYGEN_HTML_EXTRA_STYLESHEET docs/theme.css)
+    set(DOXYGEN_JAVADOC_AUTOBRIEF true)
+    set(DOXYGEN_ALIASES
+        "effects=\\par <i>Effects:</i>^^"
+        "notes=\\par <i>Notes:</i>^^"
+        "requires=\\par <i>Requires:</i>^^"
+        "requiredbe=\\par <i>Required Behavior:</i>^^"
+        "concept{2}=<a href=\"md_doc_concepts.html#1\">2</a>"
+        "defaultbe=\\par <i>Default Behavior:</i>^^"
+    )
+    set(DOXYGEN_PROJECT_NAME WPILibC++)
+    set(DOXYGEN_PROJECT_NUMBER version)
+    set(DOXYGEN_PROJECT_LOGO wpiutil/src/main/native/resources/wpilib-128.png)
+    set(DOXYGEN_QUIET true)
+    set(DOXYGEN_RECURSIVE true)
+    set(DOXYGEN_STRIP_CODE_COMMENTS false)
+    set(DOXYGEN_STRIP_FROM_PATH ${docs_dirs})
+    set(DOXYGEN_STRIP_FROM_INC_PATH ${docs_dirs})
+    set(DOXYGEN_TIMESTAMP "DATETIME")
+    set(DOXYGEN_USE_MATHJAX true)
+    set(DOXYGEN_WARNINGS false)
+    set(DOXYGEN_WARN_IF_INCOMPLETE_DOC true)
+    set(DOXYGEN_WARN_IF_UNDOCUMENTED false)
+    set(DOXYGEN_WARN_NO_PARAMDOC true)
+
+    set(DOXYGEN_ENABLE_PREPROCESSING true)
+    set(DOXYGEN_MACRO_EXPANSION true)
+    set(DOXYGEN_EXPAND_ONLY_PREDEF true)
+    set(DOXYGEN_PREDEFINED
+        "__cplusplus"
+        "HAL_ENUM(name)=enum name : int32_t"
+        "DOXYGEN"
+        "WPI_NOEXCEPT:=noexcept"
+        "WPI_SFINAE(x):="
+        "WPI_REQUIRES(x):="
+        "WPI_REQUIRES_RET(...):="
+        "WPI_ENABLE_IF(...):="
+        "WPI_CONSTEXPR:=constexpr"
+        "WPI_CONSTEXPR_FNC:=constexpr"
+        "WPI_IMPL_DEFINED(...):=implementation_defined"
+        "WPI_EBO(...):="
+    )
+    execute_process(COMMAND git describe OUTPUT_VARIABLE version)
+    string(SUBSTRING ${version} 1 -1 version)
+    set(DOXYGEN_PROJECT_NUMBER ${version})
+    doxygen_add_docs(docs ${docs_dirs})
+endmacro()

cmake/modules/CompileWarnings.cmake

@@ -55,9 +55,4 @@ macro(wpilib_target_warnings target)
     )
         target_compile_options(${target} PRIVATE -gz=zlib)
     endif()
-
-    # Disable std::mutex constexpr constructor on MSVC
-    if(MSVC)
-        target_compile_options(${target} PRIVATE /D_DISABLE_CONSTEXPR_MUTEX_CONSTRUCTOR)
-    endif()
 endmacro()

cmake/modules/WpiProtobuf.cmake

@@ -1,92 +0,0 @@
-function(wpi_protobuf_generate)
-    set(_singleargs PROTOC_OUT_DIR PLUGIN DEPENDENCIES)
-    if(COMMAND target_sources)
-        list(APPEND _singleargs TARGET)
-    endif()
-    set(_multiargs PROTOS)
-
-    cmake_parse_arguments(
-        wpi_protobuf_generate
-        "${_options}"
-        "${_singleargs}"
-        "${_multiargs}"
-        "${ARGN}"
-    )
-
-    if(NOT wpi_protobuf_generate_PROTOS)
-        message(SEND_ERROR "Error: protobuf_generate called without any targets or source files")
-        return()
-    endif()
-
-    if(NOT wpi_protobuf_generate_TARGET)
-        message(SEND_ERROR "Error: wpi_protobuf_generate called without a target")
-        return()
-    endif()
-
-    if(NOT wpi_protobuf_generate_PROTOC_OUT_DIR)
-        message(SEND_ERROR "Error: protobuf_generate called without a protoc out directory")
-        return()
-    endif()
-
-    if(NOT wpi_protobuf_generate_PLUGIN)
-        message(SEND_ERROR "Error: wpi_protobuf_generate called without a plugin")
-        return()
-    endif()
-
-    set(_generate_extensions .pb.h .pb.cc)
-
-    # Create an include path for each file specified
-    foreach(_file ${wpi_protobuf_generate_PROTOS})
-        get_filename_component(_abs_file ${_file} ABSOLUTE)
-        get_filename_component(_abs_dir ${_abs_file} DIRECTORY)
-        list(FIND _protobuf_include_path ${_abs_dir} _contains_already)
-        if(${_contains_already} EQUAL -1)
-            list(APPEND _protobuf_include_path -I ${_abs_dir})
-        endif()
-    endforeach()
-
-    set(_generated_srcs_all)
-    foreach(_proto ${wpi_protobuf_generate_PROTOS})
-        get_filename_component(_abs_file ${_proto} ABSOLUTE)
-        get_filename_component(_abs_dir ${_abs_file} DIRECTORY)
-        get_filename_component(_basename ${_proto} NAME_WLE)
-        file(RELATIVE_PATH _rel_dir ${CMAKE_CURRENT_SOURCE_DIR} ${_abs_dir})
-
-        set(_possible_rel_dir)
-
-        set(_generated_srcs)
-        foreach(_ext ${_generate_extensions})
-            list(
-                APPEND
-                _generated_srcs
-                "${wpi_protobuf_generate_PROTOC_OUT_DIR}/${_possible_rel_dir}${_basename}${_ext}"
-            )
-        endforeach()
-
-        list(APPEND _generated_srcs_all ${_generated_srcs})
-
-        set(_comment "Running WPILib protocol buffer compiler on ${_proto}")
-
-        add_custom_command(
-            OUTPUT ${_generated_srcs}
-            COMMAND protobuf::protoc
-            ARGS
-                --cpp_out ${wpi_protobuf_generate_PROTOC_OUT_DIR} --wpilib_out
-                ${wpi_protobuf_generate_PROTOC_OUT_DIR}
-                --plugin=protoc-gen-wpilib=${wpi_protobuf_generate_PLUGIN} ${_protobuf_include_path}
-                ${_abs_file}
-            DEPENDS
-                ${_abs_file}
-                protobuf::protoc
-                ${wpi_protobuf_generate_DEPENDENCIES}
-                ${wpi_protobuf_generate_PLUGIN}
-            COMMENT ${_comment}
-            VERBATIM
-        )
-    endforeach()
-
-    set_source_files_properties(${_generated_srcs_all} PROPERTIES GENERATED TRUE)
-    if(wpi_protobuf_generate_TARGET)
-        target_sources(${wpi_protobuf_generate_TARGET} PRIVATE ${_generated_srcs_all})
-    endif()
-endfunction()

cmake/toolchains/arm-frc-gnueabi.toolchain.cmake

@@ -1,4 +0,0 @@
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-frc2022-linux-gnueabi" CACHE STRING "GNU compiler triple")
-set(SOFTFP yes)
-include("${CMAKE_CURRENT_LIST_DIR}/arm.toolchain.cmake")

cmake/toolchains/arm-pi-gnueabihf.toolchain.cmake

@@ -1,98 +0,0 @@
-set(GCC_COMPILER_VERSION "" CACHE STRING "GCC Compiler version")
-set(GNU_MACHINE "arm-raspbian10-linux-gnueabi" CACHE STRING "GNU compiler triple")
-
-if(COMMAND toolchain_save_config)
-  return() # prevent recursive call
-endif()
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_VERSION 1)
-if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
-  set(CMAKE_SYSTEM_PROCESSOR arm)
-else()
-  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
-endif()
-
-include("${CMAKE_CURRENT_LIST_DIR}/opencv/platforms/linux/gnu.toolchain.cmake")
-
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
-  set(FLOAT_ABI_SUFFIX "")
-  if(NOT SOFTFP)
-    set(FLOAT_ABI_SUFFIX "hf")
-  endif()
-endif()
-
-if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
-  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
-endif()
-
-if(NOT DEFINED CMAKE_C_COMPILER)
-  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_CXX_COMPILER)
-  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_LINKER)
-  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
-else()
-  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
-endif()
-if(NOT DEFINED CMAKE_AR)
-  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
-else()
-  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
-endif()
-
-if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
-  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
-endif()
-
-if(NOT DEFINED CMAKE_CXX_FLAGS)
-  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
-  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
-  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
-
-  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
-  endif()
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
-    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  endif()
-  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
-  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
-  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
-else()
-  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
-endif()
-
-if(USE_NEON)
-  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
-  set(ENABLE_NEON TRUE)
-elseif(USE_VFPV3)
-  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
-  set(ENABLE_VFPV3 TRUE)
-endif()
-
-set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
-
-if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
-  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
-endif()
-
-set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
-    ARM_LINUX_SYSROOT
-    ENABLE_NEON
-    ENABLE_VFPV3
-    CUDA_TOOLKIT_ROOT_DIR
-)
-toolchain_save_config()

cmake/toolchains/arm.toolchain.cmake

@@ -1,97 +0,0 @@
-if(COMMAND toolchain_save_config)
-  return() # prevent recursive call
-endif()
-
-set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_VERSION 1)
-if(NOT DEFINED CMAKE_SYSTEM_PROCESSOR)
-  set(CMAKE_SYSTEM_PROCESSOR arm)
-else()
-  #message("CMAKE_SYSTEM_PROCESSOR=${CMAKE_SYSTEM_PROCESSOR}")
-endif()
-
-include("${CMAKE_CURRENT_LIST_DIR}/gnu.toolchain.cmake")
-
-if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm AND NOT ARM_IGNORE_FP)
-  set(FLOAT_ABI_SUFFIX "")
-  if(NOT SOFTFP)
-    set(FLOAT_ABI_SUFFIX "hf")
-  endif()
-endif()
-
-if(NOT "x${GCC_COMPILER_VERSION}" STREQUAL "x")
-  set(__GCC_VER_SUFFIX "-${GCC_COMPILER_VERSION}")
-endif()
-
-if(NOT DEFINED CMAKE_C_COMPILER)
-  find_program(CMAKE_C_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-gcc${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_C_COMPILER=${CMAKE_C_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_CXX_COMPILER)
-  find_program(CMAKE_CXX_COMPILER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-g++${__GCC_VER_SUFFIX})
-else()
-  #message(WARNING "CMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} is defined")
-endif()
-if(NOT DEFINED CMAKE_LINKER)
-  find_program(CMAKE_LINKER NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ld)
-else()
-  #message(WARNING "CMAKE_LINKER=${CMAKE_LINKER} is defined")
-endif()
-if(NOT DEFINED CMAKE_AR)
-  find_program(CMAKE_AR NAMES ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar${__GCC_VER_SUFFIX} ${GNU_MACHINE}${FLOAT_ABI_SUFFIX}-ar)
-else()
-  #message(WARNING "CMAKE_AR=${CMAKE_AR} is defined")
-endif()
-
-if(NOT DEFINED ARM_LINUX_SYSROOT AND DEFINED GNU_MACHINE)
-  set(ARM_LINUX_SYSROOT /usr/${GNU_MACHINE}${FLOAT_ABI_SUFFIX})
-endif()
-
-if(NOT DEFINED CMAKE_CXX_FLAGS)
-  set(CMAKE_CXX_FLAGS           "" CACHE INTERNAL "")
-  set(CMAKE_C_FLAGS             "" CACHE INTERNAL "")
-  set(CMAKE_SHARED_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_MODULE_LINKER_FLAGS "" CACHE INTERNAL "")
-  set(CMAKE_EXE_LINKER_FLAGS    "" CACHE INTERNAL "")
-
-  set(CMAKE_CXX_FLAGS           "${CMAKE_CXX_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  set(CMAKE_C_FLAGS             "${CMAKE_C_FLAGS} -fdata-sections -Wa,--noexecstack -fsigned-char -Wno-psabi")
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(CMAKE_CXX_FLAGS           "-mthumb ${CMAKE_CXX_FLAGS}")
-    set(CMAKE_C_FLAGS             "-mthumb ${CMAKE_C_FLAGS}")
-    set(CMAKE_EXE_LINKER_FLAGS    "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,nocopyreloc")
-  endif()
-  if(CMAKE_SYSTEM_PROCESSOR STREQUAL arm)
-    set(ARM_LINKER_FLAGS "-Wl,--fix-cortex-a8 -Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
-    set(ARM_LINKER_FLAGS "-Wl,--no-undefined -Wl,--gc-sections -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
-  endif()
-  set(CMAKE_SHARED_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_SHARED_LINKER_FLAGS}")
-  set(CMAKE_MODULE_LINKER_FLAGS "${ARM_LINKER_FLAGS} ${CMAKE_MODULE_LINKER_FLAGS}")
-  set(CMAKE_EXE_LINKER_FLAGS    "${ARM_LINKER_FLAGS} ${CMAKE_EXE_LINKER_FLAGS}")
-else()
-  #message(WARNING "CMAKE_CXX_FLAGS='${CMAKE_CXX_FLAGS}' is defined")
-endif()
-
-if(USE_NEON)
-  message(WARNING "You use obsolete variable USE_NEON to enable NEON instruction set. Use -DENABLE_NEON=ON instead." )
-  set(ENABLE_NEON TRUE)
-elseif(USE_VFPV3)
-  message(WARNING "You use obsolete variable USE_VFPV3 to enable VFPV3 instruction set. Use -DENABLE_VFPV3=ON instead." )
-  set(ENABLE_VFPV3 TRUE)
-endif()
-
-set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${ARM_LINUX_SYSROOT})
-
-if(EXISTS ${CUDA_TOOLKIT_ROOT_DIR})
-  set(CMAKE_FIND_ROOT_PATH ${CMAKE_FIND_ROOT_PATH} ${CUDA_TOOLKIT_ROOT_DIR})
-endif()
-
-set(TOOLCHAIN_CONFIG_VARS ${TOOLCHAIN_CONFIG_VARS}
-    ARM_LINUX_SYSROOT
-    ENABLE_NEON
-    ENABLE_VFPV3
-    CUDA_TOOLKIT_ROOT_DIR
-)
-toolchain_save_config()

cmake/toolchains/gnu.toolchain.cmake

@@ -1,134 +0,0 @@
-cmake_minimum_required(VERSION 3.11)
-
-# load settings in case of "try compile"
-set(TOOLCHAIN_CONFIG_FILE "${WPILIB_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
-get_property(__IN_TRY_COMPILE GLOBAL PROPERTY IN_TRY_COMPILE)
-if(__IN_TRY_COMPILE)
-  include("${CMAKE_CURRENT_SOURCE_DIR}/../toolchain.config.cmake" OPTIONAL) # WPILIB_BINARY_DIR is different
-  macro(toolchain_save_config)
-    # nothing
-  endmacro()
-else()
-  macro(toolchain_save_config)
-    set(__config "#message(\"Load TOOLCHAIN config...\")\n")
-    get_cmake_property(__variableNames VARIABLES)
-    set(__vars_list ${ARGN})
-    list(APPEND __vars_list
-        ${TOOLCHAIN_CONFIG_VARS}
-        CMAKE_SYSTEM_NAME
-        CMAKE_SYSTEM_VERSION
-        CMAKE_SYSTEM_PROCESSOR
-        CMAKE_C_COMPILER
-        CMAKE_CXX_COMPILER
-        CMAKE_C_FLAGS
-        CMAKE_CXX_FLAGS
-        CMAKE_SHARED_LINKER_FLAGS
-        CMAKE_MODULE_LINKER_FLAGS
-        CMAKE_EXE_LINKER_FLAGS
-        CMAKE_SKIP_RPATH
-        CMAKE_FIND_ROOT_PATH
-        GCC_COMPILER_VERSION
-    )
-    foreach(__var ${__variableNames})
-      foreach(_v ${__vars_list})
-        if("x${__var}" STREQUAL "x${_v}")
-          if(${__var} MATCHES " ")
-            set(__config "${__config}set(${__var} \"${${__var}}\")\n")
-          else()
-            set(__config "${__config}set(${__var} ${${__var}})\n")
-          endif()
-        endif()
-      endforeach()
-    endforeach()
-    if(EXISTS "${TOOLCHAIN_CONFIG_FILE}")
-      file(READ "${TOOLCHAIN_CONFIG_FILE}" __config_old)
-    endif()
-    if("${__config_old}" STREQUAL "${__config}")
-      # nothing
-    else()
-      #message("Update TOOLCHAIN config: ${__config}")
-      file(WRITE "${TOOLCHAIN_CONFIG_FILE}" "${__config}")
-    endif()
-    unset(__config)
-    unset(__config_old)
-    unset(__vars_list)
-    unset(__variableNames)
-  endmacro()
-endif() # IN_TRY_COMPILE
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_LIBRARY)
-  set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_INCLUDE)
-  set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_PACKAGE)
-  set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
-endif()
-
-if(NOT CMAKE_FIND_ROOT_PATH_MODE_PROGRAM)
-  set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-endif()
-
-macro(__cmake_find_root_save_and_reset)
-  foreach(v
-      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
-      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-  )
-    set(__save_${v} ${${v}})
-    set(${v} NEVER)
-  endforeach()
-endmacro()
-
-macro(__cmake_find_root_restore)
-  foreach(v
-      CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-      CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
-      CMAKE_FIND_ROOT_PATH_MODE_PACKAGE
-      CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-  )
-    set(${v} ${__save_${v}})
-    unset(__save_${v})
-  endforeach()
-endmacro()
-
-
-# macro to find programs on the host OS
-macro(find_host_program)
- __cmake_find_root_save_and_reset()
- if(CMAKE_HOST_WIN32)
-  SET(WIN32 1)
-  SET(UNIX)
- elseif(CMAKE_HOST_APPLE)
-  SET(APPLE 1)
-  SET(UNIX)
- endif()
- find_program(${ARGN})
- SET(WIN32)
- SET(APPLE)
- SET(UNIX 1)
- __cmake_find_root_restore()
-endmacro()
-
-# macro to find packages on the host OS
-macro(find_host_package)
- __cmake_find_root_save_and_reset()
- if(CMAKE_HOST_WIN32)
-  SET(WIN32 1)
-  SET(UNIX)
- elseif(CMAKE_HOST_APPLE)
-  SET(APPLE 1)
-  SET(UNIX)
- endif()
- find_package(${ARGN})
- SET(WIN32)
- SET(APPLE)
- SET(UNIX 1)
- __cmake_find_root_restore()
-endmacro()
-
-set(CMAKE_SKIP_RPATH TRUE CACHE BOOL "If set, runtime paths are not added when using shared libraries.")

crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp

@@ -4,6 +4,7 @@
 
 #include <atomic>
 #include <thread>
+#include <utility>
 
 #include <gtest/gtest.h>
 #include <hal/DMA.h>

cscore/BUILD.bazel

@@ -0,0 +1,21 @@
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+
+java_library(
+    name = "cscore-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/cscore/DevMain.java"],
+    main_class = "edu.wpi.first.cscore.DevMain",
+    deps = [
+        ":cscore-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)

cscore/build.gradle

@@ -164,19 +164,6 @@ run {
 
 nativeUtils.exportsConfigs {
     cscore {
-        x64ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
     }
     cscoreJNI {
         x64SymbolFilter = symbolFilter

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

@@ -5,7 +5,7 @@
 package edu.wpi.first.cscore;
 
 /**
- * A source for video that provides a sequence of frames. Each frame may consist of multiple images
+ * A sink for video that accepts 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 VideoSink implements AutoCloseable {

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

@@ -4,11 +4,13 @@
 
 #include "ConfigurableSourceImpl.h"
 
+#include <memory>
+#include <string>
+
 #include <wpi/timestamp.h>
 
 #include "Handle.h"
 #include "Instance.h"
-#include "Log.h"
 #include "Notifier.h"
 
 using namespace cs;

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

@@ -5,13 +5,13 @@
 #include "Frame.h"
 
 #include <cstdlib>
+#include <memory>
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "Instance.h"
-#include "Log.h"
 #include "SourceImpl.h"
 
 using namespace cs;

cscore/src/main/native/cpp/HttpCameraImpl.cpp

@@ -4,12 +4,17 @@
 
 #include "HttpCameraImpl.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <fmt/format.h>
 #include <wpi/MemAlloc.h>
 #include <wpi/StringExtras.h>
 #include <wpi/timestamp.h>
 #include <wpinet/TCPConnector.h>
 
-#include "Handle.h"
 #include "Instance.h"
 #include "JpegUtil.h"
 #include "Log.h"
@@ -290,12 +295,27 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
     return false;
   }
 
-  unsigned int contentLength = 0;
+  int width, height;
   if (auto v = wpi::parse_integer<unsigned int>(contentLengthBuf, 10)) {
-    contentLength = v.value();
+    // We know how big it is!  Just get a frame of the right size and read
+    // the data directly into it.
+    unsigned int contentLength = v.value();
+    auto image =
+        AllocImage(VideoMode::PixelFormat::kMJPEG, 0, 0, contentLength);
+    is.read(image->data(), contentLength);
+    if (!m_active || is.has_error()) {
+      return false;
+    }
+    if (!GetJpegSize(image->str(), &width, &height)) {
+      SWARNING("did not receive a JPEG image");
+      PutError("did not receive a JPEG image", wpi::Now());
+      return false;
+    }
+    image->width = width;
+    image->height = height;
+    PutFrame(std::move(image), wpi::Now());
   } else {
     // Ugh, no Content-Length?  Read the blocks of the JPEG file.
-    int width, height;
     if (!ReadJpeg(is, imageBuf, &width, &height)) {
       SWARNING("did not receive a JPEG image");
       PutError("did not receive a JPEG image", wpi::Now());
@@ -303,27 +323,18 @@ bool HttpCameraImpl::DeviceStreamFrame(wpi::raw_istream& is,
     }
     PutFrame(VideoMode::PixelFormat::kMJPEG, width, height, imageBuf,
              wpi::Now());
-    ++m_frameCount;
-    return true;
   }
 
-  // We know how big it is!  Just get a frame of the right size and read
-  // the data directly into it.
-  auto image = AllocImage(VideoMode::PixelFormat::kMJPEG, 0, 0, contentLength);
-  is.read(image->data(), contentLength);
-  if (!m_active || is.has_error()) {
-    return false;
-  }
-  int width, height;
-  if (!GetJpegSize(image->str(), &width, &height)) {
-    SWARNING("did not receive a JPEG image");
-    PutError("did not receive a JPEG image", wpi::Now());
-    return false;
-  }
-  image->width = width;
-  image->height = height;
-  PutFrame(std::move(image), wpi::Now());
   ++m_frameCount;
+
+  // update video mode if not set
+  std::scoped_lock lock(m_mutex);
+  if (m_mode.pixelFormat != VideoMode::PixelFormat::kMJPEG ||
+      m_mode.width == 0 || m_mode.height == 0) {
+    m_mode.pixelFormat = VideoMode::PixelFormat::kMJPEG;
+    m_mode.width = width;
+    m_mode.height = height;
+  }
   return true;
 }
 
@@ -454,11 +465,7 @@ std::unique_ptr<PropertyImpl> HttpCameraImpl::CreateEmptyProperty(
 }
 
 bool HttpCameraImpl::CacheProperties(CS_Status* status) const {
-#ifdef _MSC_VER  // work around VS2019 16.4.0 bug
-  std::scoped_lock<wpi::mutex> lock(m_mutex);
-#else
   std::scoped_lock lock(m_mutex);
-#endif
 
   // Pretty typical set of video modes
   m_videoModes.clear();
@@ -518,6 +525,14 @@ bool HttpCameraImpl::SetVideoMode(const VideoMode& mode, CS_Status* status) {
   }
   std::scoped_lock lock(m_mutex);
   m_mode = mode;
+  m_streamSettings.clear();
+  if (mode.width != 0 && mode.height != 0) {
+    m_streamSettings["resolution"] =
+        fmt::format("{}x{}", mode.width, mode.height);
+  }
+  if (mode.fps != 0) {
+    m_streamSettings["fps"] = fmt::format("{}", mode.fps);
+  }
   m_streamSettingsUpdated = true;
   return true;
 }

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

@@ -15,7 +15,6 @@
 #include <thread>
 #include <vector>
 
-#include <wpi/SmallString.h>
 #include <wpi/StringMap.h>
 #include <wpi/condition_variable.h>
 #include <wpi/raw_istream.h>
@@ -136,10 +135,10 @@ class HttpCameraImpl : public SourceImpl {
 
   wpi::condition_variable m_sinkEnabledCond;
 
-  wpi::StringMap<wpi::SmallString<16>> m_settings;
+  wpi::StringMap<std::string> m_settings;
   wpi::condition_variable m_settingsCond;
 
-  wpi::StringMap<wpi::SmallString<16>> m_streamSettings;
+  wpi::StringMap<std::string> m_streamSettings;
   std::atomic_bool m_streamSettingsUpdated{false};
 
   wpi::condition_variable m_monitorCond;

cscore/src/main/native/cpp/Instance.cpp

@@ -4,7 +4,9 @@
 
 #include "Instance.h"
 
+#include <memory>
 #include <string_view>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/fs.h>
@@ -30,6 +32,7 @@ static void def_log_func(unsigned int level, const char* file,
     return;
   }
   wpi::print(stderr, "CS: {}: {} ({}:{})\n", levelmsg, msg,
+             // NOLINTNEXTLINE(build/include_what_you_use)
              fs::path{file}.filename().string(), line);
 }
 
@@ -95,6 +98,9 @@ void Instance::DestroySource(CS_Source handle) {
 
 void Instance::DestroySink(CS_Sink handle) {
   if (auto data = m_sinks.Free(handle)) {
+    if (auto source = data->sink->GetSource()) {
+      source->Wakeup();
+    }
     notifier.NotifySink(data->sink->GetName(), handle, CS_SINK_DESTROYED);
   }
 }

cscore/src/main/native/cpp/JpegUtil.cpp

@@ -4,6 +4,8 @@
 
 #include "JpegUtil.h"
 
+#include <string>
+
 #include <wpi/StringExtras.h>
 #include <wpi/raw_istream.h>
 

cscore/src/main/native/cpp/MjpegServerImpl.cpp

@@ -5,6 +5,9 @@
 #include "MjpegServerImpl.h"
 
 #include <chrono>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
@@ -15,7 +18,6 @@
 #include <wpinet/raw_socket_istream.h>
 #include <wpinet/raw_socket_ostream.h>
 
-#include "Handle.h"
 #include "Instance.h"
 #include "JpegUtil.h"
 #include "Log.h"

cscore/src/main/native/cpp/Notifier.cpp

@@ -4,9 +4,7 @@
 
 #include "Notifier.h"
 
-#include <queue>
 #include <utility>
-#include <vector>
 
 #include "Handle.h"
 #include "Instance.h"

cscore/src/main/native/cpp/PropertyContainer.cpp

@@ -4,6 +4,10 @@
 
 #include "PropertyContainer.h"
 
+#include <memory>
+#include <string>
+#include <vector>
+
 #include <wpi/Logger.h>
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>

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

@@ -4,8 +4,10 @@
 
 #include "RawSinkImpl.h"
 
+#include <algorithm>
+#include <memory>
+
 #include "Instance.h"
-#include "cscore.h"
 #include "cscore_raw.h"
 
 using namespace cs;

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

@@ -4,11 +4,11 @@
 
 #include "RawSourceImpl.h"
 
+#include <memory>
+
 #include <wpi/timestamp.h>
 
-#include "Handle.h"
 #include "Instance.h"
-#include "Log.h"
 #include "Notifier.h"
 #include "cscore_raw.h"
 

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

@@ -4,6 +4,8 @@
 
 #include "SinkImpl.h"
 
+#include <string>
+
 #include <wpi/SmallString.h>
 #include <wpi/json.h>
 

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

@@ -7,6 +7,9 @@
 #include <algorithm>
 #include <cstring>
 #include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
@@ -76,7 +79,8 @@ Frame SourceImpl::GetCurFrame() {
 Frame SourceImpl::GetNextFrame() {
   std::unique_lock lock{m_frameMutex};
   auto oldTime = m_frame.GetTime();
-  m_frameCv.wait(lock, [=, this] { return m_frame.GetTime() != oldTime; });
+  m_frameCv.wait(
+      lock, [=, this] { return oldTime == 0 || m_frame.GetTime() != oldTime; });
   return m_frame;
 }
 

cscore/src/main/native/cpp/Telemetry.cpp

@@ -5,7 +5,7 @@
 #include "Telemetry.h"
 
 #include <chrono>
-#include <limits>
+#include <utility>
 
 #include <wpi/DenseMap.h>
 #include <wpi/timestamp.h>
@@ -14,7 +14,6 @@
 #include "Instance.h"
 #include "Notifier.h"
 #include "SourceImpl.h"
-#include "cscore_cpp.h"
 
 using namespace cs;
 
@@ -35,7 +34,7 @@ class Telemetry::Thread : public wpi::SafeThread {
 
 int64_t Telemetry::Thread::GetValue(CS_Handle handle, CS_TelemetryKind kind,
                                     CS_Status* status) {
-  auto it = m_user.find(std::make_pair(handle, static_cast<int>(kind)));
+  auto it = m_user.find(std::pair{handle, static_cast<int>(kind)});
   if (it == m_user.end()) {
     *status = CS_EMPTY_VALUE;
     return 0;
@@ -137,8 +136,8 @@ void Telemetry::RecordSourceBytes(const SourceImpl& source, int quantity) {
     return;
   }
   auto handleData = Instance::GetInstance().FindSource(source);
-  thr->m_current[std::make_pair(Handle{handleData.first, Handle::kSource},
-                                static_cast<int>(CS_SOURCE_BYTES_RECEIVED))] +=
+  thr->m_current[std::pair{Handle{handleData.first, Handle::kSource},
+                           static_cast<int>(CS_SOURCE_BYTES_RECEIVED)}] +=
       quantity;
 }
 
@@ -148,7 +147,7 @@ void Telemetry::RecordSourceFrames(const SourceImpl& source, int quantity) {
     return;
   }
   auto handleData = Instance::GetInstance().FindSource(source);
-  thr->m_current[std::make_pair(Handle{handleData.first, Handle::kSource},
-                                static_cast<int>(CS_SOURCE_FRAMES_RECEIVED))] +=
+  thr->m_current[std::pair{Handle{handleData.first, Handle::kSource},
+                           static_cast<int>(CS_SOURCE_FRAMES_RECEIVED)}] +=
       quantity;
 }

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

@@ -75,11 +75,7 @@ template <typename THandle, typename TStruct, int typeValue, typename TMutex>
 template <typename... Args>
 THandle UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::Allocate(
     Args&&... args) {
-#ifdef _MSC_VER  // work around VS2019 16.4.0 bug
-  std::scoped_lock<TMutex> lock(m_handleMutex);
-#else
   std::scoped_lock sync(m_handleMutex);
-#endif
   size_t i;
   for (i = 0; i < m_structures.size(); i++) {
     if (m_structures[i] == nullptr) {
@@ -187,10 +183,10 @@ UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::FindIf(F func) {
   for (size_t i = 0; i < m_structures.size(); i++) {
     auto& structure = m_structures[i];
     if (structure != nullptr && func(*structure)) {
-      return std::make_pair(MakeHandle(i), structure);
+      return std::pair{MakeHandle(i), structure};
     }
   }
-  return std::make_pair(0, nullptr);
+  return std::pair{0, nullptr};
 }
 
 }  // namespace cs

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

@@ -4,15 +4,17 @@
 
 #include "cscore_c.h"
 
+#include <algorithm>
 #include <cstddef>
 #include <cstdlib>
+#include <utility>
+#include <vector>
 
 #include <wpi/MemAlloc.h>
 #include <wpi/SmallString.h>
 
 #include "c_util.h"
 #include "cscore_cpp.h"
-#include "cscore_raw.h"
 
 static CS_Event ConvertToC(const cs::RawEvent& rawEvent) {
   CS_Event event;

cscore/src/main/native/cpp/cscore_cpp.cpp

@@ -4,13 +4,16 @@
 
 #include "cscore_cpp.h"
 
+#include <memory>
+#include <string>
+#include <vector>
+
 #include <wpi/SmallString.h>
 #include <wpi/json.h>
 #include <wpinet/hostname.h>
 
 #include "Handle.h"
 #include "Instance.h"
-#include "Log.h"
 #include "NetworkListener.h"
 #include "Notifier.h"
 #include "PropertyContainer.h"

cscore/src/main/native/cpp/cscore_oo.cpp

@@ -4,6 +4,9 @@
 
 #include "cscore_oo.h"
 
+#include <string>
+#include <vector>
+
 #include <fmt/format.h>
 #include <wpi/json.h>
 

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

@@ -2,8 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <exception>
+#include <memory>
 #include <span>
+#include <string>
 
 #include <fmt/format.h>
 

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

@@ -1,649 +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_CSCORE_OO_INC_
-#define CSCORE_CSCORE_OO_INC_
-
-#include <functional>
-#include <string>
-#include <string_view>
-#include <utility>
-#include <vector>
-
-#include <wpi/deprecated.h>
-
-#include "cscore_oo.h"
-
-namespace cs {
-
-inline std::string VideoProperty::GetName() const {
-  m_status = 0;
-  return GetPropertyName(m_handle, &m_status);
-}
-
-inline int VideoProperty::Get() const {
-  m_status = 0;
-  return GetProperty(m_handle, &m_status);
-}
-
-inline void VideoProperty::Set(int value) {
-  m_status = 0;
-  SetProperty(m_handle, value, &m_status);
-}
-
-inline int VideoProperty::GetMin() const {
-  m_status = 0;
-  return GetPropertyMin(m_handle, &m_status);
-}
-
-inline int VideoProperty::GetMax() const {
-  m_status = 0;
-  return GetPropertyMax(m_handle, &m_status);
-}
-
-inline int VideoProperty::GetStep() const {
-  m_status = 0;
-  return GetPropertyStep(m_handle, &m_status);
-}
-
-inline int VideoProperty::GetDefault() const {
-  m_status = 0;
-  return GetPropertyDefault(m_handle, &m_status);
-}
-
-inline std::string VideoProperty::GetString() const {
-  m_status = 0;
-  return GetStringProperty(m_handle, &m_status);
-}
-
-inline std::string_view VideoProperty::GetString(
-    wpi::SmallVectorImpl<char>& buf) const {
-  m_status = 0;
-  return GetStringProperty(m_handle, buf, &m_status);
-}
-
-inline void VideoProperty::SetString(std::string_view value) {
-  m_status = 0;
-  SetStringProperty(m_handle, value, &m_status);
-}
-
-inline std::vector<std::string> VideoProperty::GetChoices() const {
-  m_status = 0;
-  return GetEnumPropertyChoices(m_handle, &m_status);
-}
-
-inline VideoProperty::VideoProperty(CS_Property handle) : m_handle(handle) {
-  m_status = 0;
-  if (handle == 0) {
-    m_kind = kNone;
-  } else {
-    m_kind =
-        static_cast<Kind>(static_cast<int>(GetPropertyKind(handle, &m_status)));
-  }
-}
-
-inline VideoProperty::VideoProperty(CS_Property handle, Kind kind)
-    : m_handle(handle), m_kind(kind) {}
-
-inline VideoSource::VideoSource(const VideoSource& source)
-    : m_handle(source.m_handle == 0 ? 0
-                                    : CopySource(source.m_handle, &m_status)) {}
-
-inline VideoSource::VideoSource(VideoSource&& other) noexcept : VideoSource() {
-  swap(*this, other);
-}
-
-inline VideoSource& VideoSource::operator=(VideoSource other) noexcept {
-  swap(*this, other);
-  return *this;
-}
-
-inline VideoSource::~VideoSource() {
-  m_status = 0;
-  if (m_handle != 0) {
-    ReleaseSource(m_handle, &m_status);
-  }
-}
-
-inline VideoSource::Kind VideoSource::GetKind() const {
-  m_status = 0;
-  return static_cast<VideoSource::Kind>(GetSourceKind(m_handle, &m_status));
-}
-
-inline std::string VideoSource::GetName() const {
-  m_status = 0;
-  return GetSourceName(m_handle, &m_status);
-}
-
-inline std::string VideoSource::GetDescription() const {
-  m_status = 0;
-  return GetSourceDescription(m_handle, &m_status);
-}
-
-inline uint64_t VideoSource::GetLastFrameTime() const {
-  m_status = 0;
-  return GetSourceLastFrameTime(m_handle, &m_status);
-}
-
-inline void VideoSource::SetConnectionStrategy(ConnectionStrategy strategy) {
-  m_status = 0;
-  SetSourceConnectionStrategy(
-      m_handle, static_cast<CS_ConnectionStrategy>(static_cast<int>(strategy)),
-      &m_status);
-}
-
-inline bool VideoSource::IsConnected() const {
-  m_status = 0;
-  return IsSourceConnected(m_handle, &m_status);
-}
-
-inline bool VideoSource::IsEnabled() const {
-  m_status = 0;
-  return IsSourceEnabled(m_handle, &m_status);
-}
-
-inline VideoProperty VideoSource::GetProperty(std::string_view name) {
-  m_status = 0;
-  return VideoProperty{GetSourceProperty(m_handle, name, &m_status)};
-}
-
-inline VideoMode VideoSource::GetVideoMode() const {
-  m_status = 0;
-  return GetSourceVideoMode(m_handle, &m_status);
-}
-
-inline bool VideoSource::SetVideoMode(const VideoMode& mode) {
-  m_status = 0;
-  return SetSourceVideoMode(m_handle, mode, &m_status);
-}
-
-inline bool VideoSource::SetVideoMode(VideoMode::PixelFormat pixelFormat,
-                                      int width, int height, int fps) {
-  m_status = 0;
-  return SetSourceVideoMode(
-      m_handle, VideoMode{pixelFormat, width, height, fps}, &m_status);
-}
-
-inline bool VideoSource::SetPixelFormat(VideoMode::PixelFormat pixelFormat) {
-  m_status = 0;
-  return SetSourcePixelFormat(m_handle, pixelFormat, &m_status);
-}
-
-inline bool VideoSource::SetResolution(int width, int height) {
-  m_status = 0;
-  return SetSourceResolution(m_handle, width, height, &m_status);
-}
-
-inline bool VideoSource::SetFPS(int fps) {
-  m_status = 0;
-  return SetSourceFPS(m_handle, fps, &m_status);
-}
-
-inline bool VideoSource::SetConfigJson(std::string_view config) {
-  m_status = 0;
-  return SetSourceConfigJson(m_handle, config, &m_status);
-}
-
-inline bool VideoSource::SetConfigJson(const wpi::json& config) {
-  m_status = 0;
-  return SetSourceConfigJson(m_handle, config, &m_status);
-}
-
-inline std::string VideoSource::GetConfigJson() const {
-  m_status = 0;
-  return GetSourceConfigJson(m_handle, &m_status);
-}
-
-inline double VideoSource::GetActualFPS() const {
-  m_status = 0;
-  return cs::GetTelemetryAverageValue(m_handle, CS_SOURCE_FRAMES_RECEIVED,
-                                      &m_status);
-}
-
-inline double VideoSource::GetActualDataRate() const {
-  m_status = 0;
-  return cs::GetTelemetryAverageValue(m_handle, CS_SOURCE_BYTES_RECEIVED,
-                                      &m_status);
-}
-
-inline std::vector<VideoMode> VideoSource::EnumerateVideoModes() const {
-  CS_Status status = 0;
-  return EnumerateSourceVideoModes(m_handle, &status);
-}
-
-inline void VideoCamera::SetBrightness(int brightness) {
-  m_status = 0;
-  SetCameraBrightness(m_handle, brightness, &m_status);
-}
-
-inline int VideoCamera::GetBrightness() {
-  m_status = 0;
-  return GetCameraBrightness(m_handle, &m_status);
-}
-
-inline void VideoCamera::SetWhiteBalanceAuto() {
-  m_status = 0;
-  SetCameraWhiteBalanceAuto(m_handle, &m_status);
-}
-
-inline void VideoCamera::SetWhiteBalanceHoldCurrent() {
-  m_status = 0;
-  SetCameraWhiteBalanceHoldCurrent(m_handle, &m_status);
-}
-
-inline void VideoCamera::SetWhiteBalanceManual(int value) {
-  m_status = 0;
-  SetCameraWhiteBalanceManual(m_handle, value, &m_status);
-}
-
-inline void VideoCamera::SetExposureAuto() {
-  m_status = 0;
-  SetCameraExposureAuto(m_handle, &m_status);
-}
-
-inline void VideoCamera::SetExposureHoldCurrent() {
-  m_status = 0;
-  SetCameraExposureHoldCurrent(m_handle, &m_status);
-}
-
-inline void VideoCamera::SetExposureManual(int value) {
-  m_status = 0;
-  SetCameraExposureManual(m_handle, value, &m_status);
-}
-
-inline UsbCamera::UsbCamera(std::string_view name, int dev) {
-  m_handle = CreateUsbCameraDev(name, dev, &m_status);
-}
-
-inline UsbCamera::UsbCamera(std::string_view name, std::string_view path) {
-  m_handle = CreateUsbCameraPath(name, path, &m_status);
-}
-
-inline std::vector<UsbCameraInfo> UsbCamera::EnumerateUsbCameras() {
-  CS_Status status = 0;
-  return ::cs::EnumerateUsbCameras(&status);
-}
-
-inline void UsbCamera::SetPath(std::string_view path) {
-  m_status = 0;
-  return ::cs::SetUsbCameraPath(m_handle, path, &m_status);
-}
-
-inline std::string UsbCamera::GetPath() const {
-  m_status = 0;
-  return ::cs::GetUsbCameraPath(m_handle, &m_status);
-}
-
-inline UsbCameraInfo UsbCamera::GetInfo() const {
-  m_status = 0;
-  return ::cs::GetUsbCameraInfo(m_handle, &m_status);
-}
-
-inline void UsbCamera::SetConnectVerbose(int level) {
-  m_status = 0;
-  SetProperty(GetSourceProperty(m_handle, "connect_verbose", &m_status), level,
-              &m_status);
-}
-
-inline HttpCamera::HttpCamera(std::string_view name, std::string_view url,
-                              HttpCameraKind kind) {
-  m_handle = CreateHttpCamera(
-      name, url, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
-      &m_status);
-}
-
-inline HttpCamera::HttpCamera(std::string_view name, const char* url,
-                              HttpCameraKind kind) {
-  m_handle = CreateHttpCamera(
-      name, url, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
-      &m_status);
-}
-
-inline HttpCamera::HttpCamera(std::string_view name, const std::string& url,
-                              HttpCameraKind kind)
-    : HttpCamera(name, std::string_view{url}, kind) {}
-
-inline HttpCamera::HttpCamera(std::string_view name,
-                              std::span<const std::string> urls,
-                              HttpCameraKind kind) {
-  m_handle = CreateHttpCamera(
-      name, urls, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
-      &m_status);
-}
-
-template <typename T>
-inline HttpCamera::HttpCamera(std::string_view name,
-                              std::initializer_list<T> urls,
-                              HttpCameraKind kind) {
-  std::vector<std::string> vec;
-  vec.reserve(urls.size());
-  for (const auto& url : urls) {
-    vec.emplace_back(url);
-  }
-  m_handle = CreateHttpCamera(
-      name, vec, static_cast<CS_HttpCameraKind>(static_cast<int>(kind)),
-      &m_status);
-}
-
-inline HttpCamera::HttpCameraKind HttpCamera::GetHttpCameraKind() const {
-  m_status = 0;
-  return static_cast<HttpCameraKind>(
-      static_cast<int>(::cs::GetHttpCameraKind(m_handle, &m_status)));
-}
-
-inline void HttpCamera::SetUrls(std::span<const std::string> urls) {
-  m_status = 0;
-  ::cs::SetHttpCameraUrls(m_handle, urls, &m_status);
-}
-
-template <typename T>
-inline void HttpCamera::SetUrls(std::initializer_list<T> urls) {
-  std::vector<std::string> vec;
-  vec.reserve(urls.size());
-  for (const auto& url : urls) {
-    vec.emplace_back(url);
-  }
-  m_status = 0;
-  ::cs::SetHttpCameraUrls(m_handle, vec, &m_status);
-}
-
-inline std::vector<std::string> HttpCamera::GetUrls() const {
-  m_status = 0;
-  return ::cs::GetHttpCameraUrls(m_handle, &m_status);
-}
-WPI_IGNORE_DEPRECATED
-inline std::vector<std::string> AxisCamera::HostToUrl(
-    std::span<const std::string> hosts) {
-  std::vector<std::string> rv;
-  rv.reserve(hosts.size());
-  for (const auto& host : hosts) {
-    rv.emplace_back(HostToUrl(std::string_view{host}));
-  }
-  return rv;
-}
-
-template <typename T>
-inline std::vector<std::string> AxisCamera::HostToUrl(
-    std::initializer_list<T> hosts) {
-  std::vector<std::string> rv;
-  rv.reserve(hosts.size());
-  for (const auto& host : hosts) {
-    rv.emplace_back(HostToUrl(std::string_view{host}));
-  }
-  return rv;
-}
-
-inline AxisCamera::AxisCamera(std::string_view name, std::string_view host)
-    : HttpCamera(name, HostToUrl(host), kAxis) {}
-
-inline AxisCamera::AxisCamera(std::string_view name, const char* host)
-    : HttpCamera(name, HostToUrl(host), kAxis) {}
-
-inline AxisCamera::AxisCamera(std::string_view name, const std::string& host)
-    : HttpCamera(name, HostToUrl(std::string_view{host}), kAxis) {}
-
-inline AxisCamera::AxisCamera(std::string_view name,
-                              std::span<const std::string> hosts)
-    : HttpCamera(name, HostToUrl(hosts), kAxis) {}
-
-template <typename T>
-inline AxisCamera::AxisCamera(std::string_view name,
-                              std::initializer_list<T> hosts)
-    : HttpCamera(name, HostToUrl(hosts), kAxis) {}
-WPI_UNIGNORE_DEPRECATED
-
-inline void ImageSource::NotifyError(std::string_view msg) {
-  m_status = 0;
-  NotifySourceError(m_handle, msg, &m_status);
-}
-
-inline void ImageSource::SetConnected(bool connected) {
-  m_status = 0;
-  SetSourceConnected(m_handle, connected, &m_status);
-}
-
-inline void ImageSource::SetDescription(std::string_view description) {
-  m_status = 0;
-  SetSourceDescription(m_handle, description, &m_status);
-}
-
-inline VideoProperty ImageSource::CreateProperty(std::string_view name,
-                                                 VideoProperty::Kind kind,
-                                                 int minimum, int maximum,
-                                                 int step, int defaultValue,
-                                                 int value) {
-  m_status = 0;
-  return VideoProperty{CreateSourceProperty(
-      m_handle, name, static_cast<CS_PropertyKind>(static_cast<int>(kind)),
-      minimum, maximum, step, defaultValue, value, &m_status)};
-}
-
-inline VideoProperty ImageSource::CreateIntegerProperty(std::string_view name,
-                                                        int minimum,
-                                                        int maximum, int step,
-                                                        int defaultValue,
-                                                        int value) {
-  m_status = 0;
-  return VideoProperty{CreateSourceProperty(
-      m_handle, name,
-      static_cast<CS_PropertyKind>(
-          static_cast<int>(VideoProperty::Kind::kInteger)),
-      minimum, maximum, step, defaultValue, value, &m_status)};
-}
-
-inline VideoProperty ImageSource::CreateBooleanProperty(std::string_view name,
-                                                        bool defaultValue,
-                                                        bool value) {
-  m_status = 0;
-  return VideoProperty{CreateSourceProperty(
-      m_handle, name,
-      static_cast<CS_PropertyKind>(
-          static_cast<int>(VideoProperty::Kind::kBoolean)),
-      0, 1, 1, defaultValue ? 1 : 0, value ? 1 : 0, &m_status)};
-}
-
-inline VideoProperty ImageSource::CreateStringProperty(std::string_view name,
-                                                       std::string_view value) {
-  m_status = 0;
-  auto prop = VideoProperty{
-      CreateSourceProperty(m_handle, name,
-                           static_cast<CS_PropertyKind>(
-                               static_cast<int>(VideoProperty::Kind::kString)),
-                           0, 0, 0, 0, 0, &m_status)};
-  prop.SetString(value);
-  return prop;
-}
-
-inline void ImageSource::SetEnumPropertyChoices(
-    const VideoProperty& property, std::span<const std::string> choices) {
-  m_status = 0;
-  SetSourceEnumPropertyChoices(m_handle, property.m_handle, choices, &m_status);
-}
-
-template <typename T>
-inline void ImageSource::SetEnumPropertyChoices(
-    const VideoProperty& property, std::initializer_list<T> choices) {
-  std::vector<std::string> vec;
-  vec.reserve(choices.size());
-  for (const auto& choice : choices) {
-    vec.emplace_back(choice);
-  }
-  m_status = 0;
-  SetSourceEnumPropertyChoices(m_handle, property.m_handle, vec, &m_status);
-}
-
-inline VideoSink::VideoSink(const VideoSink& sink)
-    : m_handle(sink.m_handle == 0 ? 0 : CopySink(sink.m_handle, &m_status)) {}
-
-inline VideoSink::VideoSink(VideoSink&& other) noexcept : VideoSink() {
-  swap(*this, other);
-}
-
-inline VideoSink& VideoSink::operator=(VideoSink other) noexcept {
-  swap(*this, other);
-  return *this;
-}
-
-inline VideoSink::~VideoSink() {
-  m_status = 0;
-  if (m_handle != 0) {
-    ReleaseSink(m_handle, &m_status);
-  }
-}
-
-inline VideoSink::Kind VideoSink::GetKind() const {
-  m_status = 0;
-  return static_cast<VideoSink::Kind>(GetSinkKind(m_handle, &m_status));
-}
-
-inline std::string VideoSink::GetName() const {
-  m_status = 0;
-  return GetSinkName(m_handle, &m_status);
-}
-
-inline std::string VideoSink::GetDescription() const {
-  m_status = 0;
-  return GetSinkDescription(m_handle, &m_status);
-}
-
-inline VideoProperty VideoSink::GetProperty(std::string_view name) {
-  m_status = 0;
-  return VideoProperty{GetSinkProperty(m_handle, name, &m_status)};
-}
-
-inline void VideoSink::SetSource(VideoSource source) {
-  m_status = 0;
-  if (!source) {
-    SetSinkSource(m_handle, 0, &m_status);
-  } else {
-    SetSinkSource(m_handle, source.m_handle, &m_status);
-  }
-}
-
-inline VideoSource VideoSink::GetSource() const {
-  m_status = 0;
-  auto handle = GetSinkSource(m_handle, &m_status);
-  return VideoSource{handle == 0 ? 0 : CopySource(handle, &m_status)};
-}
-
-inline VideoProperty VideoSink::GetSourceProperty(std::string_view name) {
-  m_status = 0;
-  return VideoProperty{GetSinkSourceProperty(m_handle, name, &m_status)};
-}
-
-inline bool VideoSink::SetConfigJson(std::string_view config) {
-  m_status = 0;
-  return SetSinkConfigJson(m_handle, config, &m_status);
-}
-
-inline bool VideoSink::SetConfigJson(const wpi::json& config) {
-  m_status = 0;
-  return SetSinkConfigJson(m_handle, config, &m_status);
-}
-
-inline std::string VideoSink::GetConfigJson() const {
-  m_status = 0;
-  return GetSinkConfigJson(m_handle, &m_status);
-}
-
-inline MjpegServer::MjpegServer(std::string_view name,
-                                std::string_view listenAddress, int port) {
-  m_handle = CreateMjpegServer(name, listenAddress, port, &m_status);
-}
-
-inline std::string MjpegServer::GetListenAddress() const {
-  m_status = 0;
-  return cs::GetMjpegServerListenAddress(m_handle, &m_status);
-}
-
-inline int MjpegServer::GetPort() const {
-  m_status = 0;
-  return cs::GetMjpegServerPort(m_handle, &m_status);
-}
-
-inline void MjpegServer::SetResolution(int width, int height) {
-  m_status = 0;
-  SetProperty(GetSinkProperty(m_handle, "width", &m_status), width, &m_status);
-  SetProperty(GetSinkProperty(m_handle, "height", &m_status), height,
-              &m_status);
-}
-
-inline void MjpegServer::SetFPS(int fps) {
-  m_status = 0;
-  SetProperty(GetSinkProperty(m_handle, "fps", &m_status), fps, &m_status);
-}
-
-inline void MjpegServer::SetCompression(int quality) {
-  m_status = 0;
-  SetProperty(GetSinkProperty(m_handle, "compression", &m_status), quality,
-              &m_status);
-}
-
-inline void MjpegServer::SetDefaultCompression(int quality) {
-  m_status = 0;
-  SetProperty(GetSinkProperty(m_handle, "default_compression", &m_status),
-              quality, &m_status);
-}
-
-inline void ImageSink::SetDescription(std::string_view description) {
-  m_status = 0;
-  SetSinkDescription(m_handle, description, &m_status);
-}
-
-inline std::string ImageSink::GetError() const {
-  m_status = 0;
-  return GetSinkError(m_handle, &m_status);
-}
-
-inline void ImageSink::SetEnabled(bool enabled) {
-  m_status = 0;
-  SetSinkEnabled(m_handle, enabled, &m_status);
-}
-
-inline VideoSource VideoEvent::GetSource() const {
-  CS_Status status = 0;
-  return VideoSource{sourceHandle == 0 ? 0 : CopySource(sourceHandle, &status)};
-}
-
-inline VideoSink VideoEvent::GetSink() const {
-  CS_Status status = 0;
-  return VideoSink{sinkHandle == 0 ? 0 : CopySink(sinkHandle, &status)};
-}
-
-inline VideoProperty VideoEvent::GetProperty() const {
-  return VideoProperty{propertyHandle,
-                       static_cast<VideoProperty::Kind>(propertyKind)};
-}
-
-inline VideoListener::VideoListener(
-    std::function<void(const VideoEvent& event)> callback, int eventMask,
-    bool immediateNotify) {
-  CS_Status status = 0;
-  m_handle = AddListener(
-      [=](const RawEvent& event) {
-        callback(static_cast<const VideoEvent&>(event));
-      },
-      eventMask, immediateNotify, &status);
-}
-
-inline VideoListener::VideoListener(VideoListener&& other) noexcept
-    : VideoListener() {
-  swap(*this, other);
-}
-
-inline VideoListener& VideoListener::operator=(VideoListener&& other) noexcept {
-  swap(*this, other);
-  return *this;
-}
-
-inline VideoListener::~VideoListener() {
-  CS_Status status = 0;
-  if (m_handle != 0) {
-    RemoveListener(m_handle, &status);
-  }
-}
-
-}  // namespace cs
-
-#endif  // CSCORE_CSCORE_OO_INC_

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

@@ -13,6 +13,7 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <algorithm>
 #include <cerrno>
 
 #include <wpi/SafeThread.h>

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

@@ -9,6 +9,9 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <string>
+#include <vector>
+
 namespace cs {
 
 std::vector<std::string> GetNetworkInterfaces() {

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

@@ -21,6 +21,9 @@
 
 #include <algorithm>
 #include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <wpi/MemAlloc.h>
@@ -30,7 +33,6 @@
 #include <wpi/raw_ostream.h>
 #include <wpi/timestamp.h>
 
-#include "Handle.h"
 #include "Instance.h"
 #include "JpegUtil.h"
 #include "Log.h"

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

@@ -4,6 +4,8 @@
 
 #include "UsbCameraListener.h"
 
+#include <memory>
+
 #include <wpi/StringExtras.h>
 #include <wpinet/EventLoopRunner.h>
 #include <wpinet/uv/FsEvent.h>

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

@@ -4,6 +4,10 @@
 
 #include "UsbCameraProperty.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>

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

@@ -8,6 +8,8 @@
 #include <libgen.h>
 #include <sys/ioctl.h>
 
+#include <string>
+
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
@@ -16,7 +18,6 @@
 #include <wpi/raw_ostream.h>
 
 #include "Instance.h"
-#include "Log.h"
 
 namespace cs {
 

cscore/src/main/native/osx/NetworkUtil.cpp

@@ -2,6 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <string>
+#include <vector>
+
 #include "cscore_cpp.h"
 
 namespace cs {

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

@@ -13,13 +13,13 @@
 
 // https://github.com/opencv/opencv/blob/master/modules/videoio/src/cap_msmf.cpp
 
-#include <mfidl.h>
-#include <mfapi.h>
 #include <Dbt.h>
 #include <ks.h>
 #include <ksmedia.h>
 #include <mfreadwrite.h>
 
+#include <memory>
+
 #include "COMCreators.h"
 #include "ComPtr.h"
 

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

@@ -5,6 +5,9 @@
 #include <uv.h>
 #include <ws2tcpip.h>
 
+#include <string>
+#include <vector>
+
 #include "cscore_cpp.h"
 
 #pragma comment(lib, "Ws2_32.lib")

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

@@ -16,6 +16,7 @@
 #include <cmath>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include <Dbt.h>

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

@@ -9,6 +9,8 @@
 
 #include <dbt.h>  // NOLINT(build/include_order)
 
+#include <memory>
+
 #define IDT_TIMER1 1001
 
 using namespace cs;

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

@@ -13,6 +13,9 @@
 
 #include <algorithm>
 #include <filesystem>
+#include <memory>
+#include <string>
+#include <vector>
 
 #include <fmt/format.h>
 #include <glass/Storage.h>

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

@@ -6,12 +6,14 @@
 
 #include <atomic>
 #include <ctime>
+#include <functional>
 #include <future>
 #include <map>
 #include <memory>
 #include <set>
 #include <string>
 #include <string_view>
+#include <utility>
 #include <vector>
 
 #include <fmt/chrono.h>

datalogtool/src/main/native/cpp/Sftp.cpp

@@ -4,6 +4,10 @@
 
 #include "Sftp.h"
 
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <fmt/format.h>
 
 using namespace sftp;
@@ -71,25 +75,6 @@ size_t File::Read(void* buf, uint32_t count) {
   return rv;
 }
 
-File::AsyncId File::AsyncReadBegin(uint32_t len) const {
-  int rv = sftp_async_read_begin(m_handle, len);
-  if (rv < 0) {
-    throw Exception{m_handle->sftp};
-  }
-  return rv;
-}
-
-size_t File::AsyncRead(void* data, uint32_t len, AsyncId id) {
-  auto rv = sftp_async_read(m_handle, data, len, id);
-  if (rv == SSH_ERROR) {
-    throw Exception{ssh_get_error(m_handle->sftp->session)};
-  }
-  if (rv == SSH_AGAIN) {
-    return 0;
-  }
-  return rv;
-}
-
 size_t File::Write(std::span<const uint8_t> data) {
   auto rv = sftp_write(m_handle, data.data(), data.size());
   if (rv < 0) {

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

@@ -47,11 +47,7 @@ class File {
   void SetNonblocking() { sftp_file_set_nonblocking(m_handle); }
   void SetBlocking() { sftp_file_set_blocking(m_handle); }
 
-  using AsyncId = uint32_t;
-
   size_t Read(void* buf, uint32_t count);
-  AsyncId AsyncReadBegin(uint32_t len) const;
-  size_t AsyncRead(void* data, uint32_t len, AsyncId id);
   size_t Write(std::span<const uint8_t> data);
 
   void Seek(uint64_t offset);

docs/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id 'java'
-    id "org.ysb33r.doxygen" version "1.0.3"
+    id "org.ysb33r.doxygen" version "1.0.4"
 }
 
 evaluationDependsOn(':apriltag')

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java

@@ -95,7 +95,10 @@ public class AnnotationProcessor extends AbstractProcessor {
     // in this list will determine how it gets logged.
     m_handlers =
         List.of(
-            new LoggableHandler(processingEnv), // prioritize epilogue logging over Sendable
+            new LoggableHandler(
+                processingEnv,
+                roundEnv.getElementsAnnotatedWith(
+                    Logged.class)), // prioritize epilogue logging over Sendable
             new ConfiguredLoggerHandler(
                 processingEnv, customLoggers), // then customized logging configs
             new ArrayHandler(processingEnv),

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/ElementHandler.java

@@ -61,15 +61,46 @@ public abstract class ElementHandler {
    * @return the name specified in the {@link Logged @Logged} annotation on the element, if present;
    *     otherwise, the field or method's name with no modifications
    */
-  public String loggedName(Element element) {
-    var elementName = element.getSimpleName().toString();
-    var config = element.getAnnotation(Logged.class);
+  public static String loggedName(Element element) {
+    var elementConfig = element.getAnnotation(Logged.class);
 
-    if (config != null && !config.name().isBlank()) {
-      return config.name();
-    } else {
-      return elementName;
+    // Use the name provided on the logged element, if one is present
+    if (elementConfig != null && !elementConfig.name().isBlank()) {
+      return elementConfig.name();
     }
+
+    var config = elementConfig;
+
+    if (config == null) {
+      // Look up the parent class configuration
+      // We assume one is present, since logged elements should only be found if the enclosing class
+      // is @Logged itself
+      Logged parentConfig = null;
+      for (var parent = element.getEnclosingElement();
+          parent != null;
+          parent = parent.getEnclosingElement()) {
+        parentConfig = parent.getAnnotation(Logged.class);
+        if (parentConfig != null) {
+          break;
+        }
+      }
+
+      config = parentConfig;
+    }
+
+    if (config == null) {
+      // Uh oh
+      throw new IllegalStateException(
+          "Could not generate a name for element "
+              + element
+              + " without a @Logged annotation AND without being contained within a class with a @Logged annotation!\n\nOpen an issue at https://github.com/wpilibsuite/allwpilib/issues and include a copy of the file that caused this error.");
+    }
+
+    var elementName = element.getSimpleName().toString();
+    return switch (config.defaultNaming()) {
+      case USE_CODE_NAME -> elementName;
+      case USE_HUMAN_NAME -> StringUtils.toHumanName(elementName);
+    };
   }
 
   /**

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java

@@ -176,7 +176,7 @@ public class EpilogueGenerator {
             out.println("      config.loggingPeriod = Seconds.of(robot.getPeriod());");
             out.println("    }");
             out.println("    if (config.loggingPeriodOffset == null) {");
-            out.println("      config.loggingPeriodOffset = config.loggingPeriod.divide(2);");
+            out.println("      config.loggingPeriodOffset = config.loggingPeriod.div(2);");
             out.println("    }");
             out.println();
             out.println("    robot.addPeriodic(() -> {");

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggableHandler.java

@@ -5,15 +5,32 @@
 package edu.wpi.first.epilogue.processor;
 
 import edu.wpi.first.epilogue.Logged;
+import java.util.Collection;
+import java.util.Comparator;
+import java.util.Set;
+import java.util.stream.Collectors;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.ElementKind;
+import javax.lang.model.element.ExecutableElement;
+import javax.lang.model.element.TypeElement;
+import javax.lang.model.element.VariableElement;
 import javax.lang.model.type.DeclaredType;
+import javax.lang.model.type.TypeKind;
 import javax.lang.model.type.TypeMirror;
 
 /** Handles logging for types annotated with the {@link Logged @Logged} annotation. */
 public class LoggableHandler extends ElementHandler {
-  protected LoggableHandler(ProcessingEnvironment processingEnv) {
+  private final Set<TypeElement> m_loggedTypes;
+
+  protected LoggableHandler(
+      ProcessingEnvironment processingEnv, Collection<? extends Element> loggedTypes) {
     super(processingEnv);
+    m_loggedTypes =
+        loggedTypes.stream()
+            .filter(e -> e instanceof TypeElement)
+            .map(e -> (TypeElement) e)
+            .collect(Collectors.toSet());
   }
 
   @Override
@@ -27,17 +44,165 @@ public class LoggableHandler extends ElementHandler {
   @Override
   public String logInvocation(Element element) {
     TypeMirror dataType = dataType(element);
-    var reflectedType =
+    var declaredType =
         m_processingEnv
             .getElementUtils()
             .getTypeElement(m_processingEnv.getTypeUtils().erasure(dataType).toString());
 
-    return "Epilogue."
-        + StringUtils.loggerFieldName(reflectedType)
-        + ".tryUpdate(dataLogger.getSubLogger(\""
-        + loggedName(element)
-        + "\"), "
-        + elementAccess(element)
-        + ", Epilogue.getConfig().errorHandler)";
+    // Get the list of known loggable subtypes of the input type. This will include the input type.
+    // These are sorted by their distance from the declared type such that "more concrete" types are
+    // checked first so the instanceof chain doesn't check a really generic type first, even if a
+    // more specific loggable type could be used instead.
+    var loggableSubtypes =
+        m_loggedTypes.stream()
+            .filter(
+                l -> m_processingEnv.getTypeUtils().isAssignable(l.asType(), declaredType.asType()))
+            .sorted(inheritanceComparatorFor(declaredType))
+            .toList();
+
+    int size = loggableSubtypes.size();
+
+    // If there are no known loggable subtypes, return just the single logger call
+    if (size == 1) {
+      return generateLoggerCall(element, declaredType, elementAccess(element));
+    }
+
+    // Otherwise, generate an if-else chain to compare the element with its known loggable subtypes
+    // and implementations. A subclass without a @Logged annotation will be logged at runtime using
+    // the generic logger for whatever the field or method's declared type is.
+
+    String varName = cacheVariableName(element);
+
+    StringBuilder builder = new StringBuilder();
+
+    // Cache the value in a variable so it's only read once
+    builder.append("var %s = %s;\n".formatted(varName, elementAccess(element)));
+
+    for (int i = 0; i < size; i++) {
+      TypeElement type = loggableSubtypes.get(i);
+      String part;
+
+      if (i == 0) {
+        // First invocation, generate an "if" statement
+        part = generateIf(type, element, "if", varName);
+      } else if (i == size - 1) {
+        // Final invocation, generate an "else" statement
+        String loggerCall = generateLoggerCall(element, type, varName);
+        part =
+            " else {\n  // Base type %s\n  %s;\n}"
+                .formatted(declaredType.getQualifiedName(), loggerCall);
+      } else {
+        // Somewhere in the middle, generate an "else if" statement
+        part = generateIf(type, element, " else if", varName);
+      }
+
+      builder.append(part);
+    }
+
+    return builder.toString();
+  }
+
+  /**
+   * Generates the name of the cache variable to use for a logged element.
+   *
+   * @param element the logged element
+   * @return the cache variable name
+   */
+  private static String cacheVariableName(Element element) {
+    // Generate unique names in case a field and a method share the same name
+    if (element instanceof VariableElement) {
+      return "$$%s".formatted(element.getSimpleName().toString());
+    } else if (element instanceof ExecutableElement) {
+      return "__%s".formatted(element.getSimpleName().toString());
+    } else {
+      // Generic fallback (shouldn't get here, since only fields and methods are logged)
+      return element.getSimpleName().toString();
+    }
+  }
+
+  /**
+   * Creates a comparator for sorting inheritors of a given type by their distance (farthest first)
+   * for use in generating if-else instanceof chains. Inheritors at the same distance from the base
+   * type will be further compared so classes come before interfaces, any any further ties are
+   * broken alphabetically by fully-qualified type names.
+   *
+   * @param declaredType the declared type
+   * @return the comparator
+   */
+  private Comparator<TypeElement> inheritanceComparatorFor(TypeElement declaredType) {
+    Comparator<TypeElement> byDistance =
+        Comparator.comparingInt(
+            inheritor -> {
+              return inheritanceDistance(inheritor.asType(), declaredType.asType());
+            });
+
+    return byDistance
+        .reversed()
+        .thenComparing(type -> type.getKind() == ElementKind.INTERFACE ? 1 : 0)
+        .thenComparing(type -> type.getQualifiedName().toString());
+  }
+
+  /**
+   * Generates an instanceof if or if-else statement that checks the type and logs the element using
+   * the logger for the given type, if they're compatible.
+   *
+   * @param type the type to generate the check for
+   * @param element the element to be logged
+   * @param keyword either "if" or " else if"
+   * @param varName the name of the variable in the "instanceof" check
+   * @return the if or else-if statement
+   */
+  private String generateIf(TypeElement type, Element element, String keyword, String varName) {
+    String ref = type.getQualifiedName().toString().replace('.', '_');
+    String loggerCall = generateLoggerCall(element, type, ref);
+
+    return "%s (%s instanceof %s %s) {\n  %s;\n}"
+        .formatted(keyword, varName, type.getQualifiedName(), ref, loggerCall);
+  }
+
+  private String generateLoggerCall(Element element, TypeElement type, String elementReference) {
+    return ("Epilogue.%s.tryUpdate(dataLogger.getSubLogger(\"%s\"), %s, "
+            + "Epilogue.getConfig().errorHandler)")
+        .formatted(StringUtils.loggerFieldName(type), loggedName(element), elementReference);
+  }
+
+  /**
+   * Computes the minimum inheritance distance between two types; that is, how many "extends" or
+   * "implements" clauses are required to get from one to the other.
+   *
+   * @param toCheck the type to check
+   * @param base the base type to check against
+   * @return the inheritance distance
+   */
+  private int inheritanceDistance(TypeMirror toCheck, TypeMirror base) {
+    var types = m_processingEnv.getTypeUtils();
+
+    if (types.isSameType(toCheck, base)) {
+      return 0;
+    }
+
+    int distance = 1;
+    var parent = toCheck;
+    TypeElement element = m_processingEnv.getElementUtils().getTypeElement(parent.toString());
+    while (!types.isSameType(parent, base)
+        && element.getInterfaces().stream().noneMatch(i -> types.isSameType(i, base))) {
+      element = m_processingEnv.getElementUtils().getTypeElement(parent.toString());
+      if (parent.getKind() == TypeKind.NONE) {
+        // Interface inheritance, there is no superclass
+        break;
+      }
+
+      parent = element.getSuperclass();
+
+      // Handle cases of interface inheritance
+      distance =
+          1
+              + element.getInterfaces().stream()
+                  .mapToInt(iface -> inheritanceDistance(iface, base))
+                  .min()
+                  .orElse(distance);
+    }
+
+    return distance;
   }
 }

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggerGenerator.java

@@ -7,23 +7,36 @@ package edu.wpi.first.epilogue.processor;
 import static java.util.stream.Collectors.groupingBy;
 import static java.util.stream.Collectors.toList;
 
+import com.sun.source.tree.IdentifierTree;
+import com.sun.source.tree.ReturnTree;
+import com.sun.source.util.SimpleTreeVisitor;
+import com.sun.source.util.Trees;
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.epilogue.NotLogged;
 import java.io.IOException;
 import java.io.PrintWriter;
+import java.util.ArrayList;
 import java.util.EnumMap;
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.Objects;
 import java.util.function.Predicate;
+import java.util.stream.Collectors;
 import java.util.stream.Stream;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
 import javax.lang.model.element.ExecutableElement;
 import javax.lang.model.element.Modifier;
+import javax.lang.model.element.Name;
 import javax.lang.model.element.TypeElement;
 import javax.lang.model.element.VariableElement;
+import javax.tools.Diagnostic;
 
 /** Generates logger class files for {@link Logged @Logged}-annotated classes. */
 public class LoggerGenerator {
+  public static final Predicate<ExecutableElement> kIsBuiltInJavaMethod =
+      LoggerGenerator::isBuiltInJavaMethod;
   private final ProcessingEnvironment m_processingEnv;
   private final List<ElementHandler> m_handlers;
 
@@ -36,6 +49,19 @@ public class LoggerGenerator {
     return e.getAnnotation(NotLogged.class) == null;
   }
 
+  /**
+   * Checks if a method is a method declared in java.lang.Object that should not be logged.
+   *
+   * @param e the method to check
+   * @return true if the method is toString, hashCode, or clone; false otherwise
+   */
+  private static boolean isBuiltInJavaMethod(ExecutableElement e) {
+    Name name = e.getSimpleName();
+    return name.contentEquals("toString")
+        || name.contentEquals("hashCode")
+        || name.contentEquals("clone");
+  }
+
   /**
    * Generates the logger class used to handle data objects of the given type. The generated logger
    * class will subclass from {@link edu.wpi.first.epilogue.logging.ClassSpecificLogger} and
@@ -53,17 +79,23 @@ public class LoggerGenerator {
     Predicate<Element> optedIn =
         e -> !requireExplicitOptIn || e.getAnnotation(Logged.class) != null;
 
-    var fieldsToLog =
-        clazz.getEnclosedElements().stream()
-            .filter(e -> e instanceof VariableElement)
-            .map(e -> (VariableElement) e)
-            .filter(notSkipped)
-            .filter(optedIn)
-            .filter(e -> !e.getModifiers().contains(Modifier.STATIC))
-            .filter(this::isLoggable)
-            .toList();
+    List<VariableElement> fieldsToLog;
+    if (Objects.equals(clazz.getSuperclass().toString(), "java.lang.Record")) {
+      // Do not log record members - just use the accessor methods
+      fieldsToLog = List.of();
+    } else {
+      fieldsToLog =
+          clazz.getEnclosedElements().stream()
+              .filter(e -> e instanceof VariableElement)
+              .map(e -> (VariableElement) e)
+              .filter(notSkipped)
+              .filter(optedIn)
+              .filter(e -> !e.getModifiers().contains(Modifier.STATIC))
+              .filter(this::isLoggable)
+              .toList();
+    }
 
-    var methodsToLog =
+    List<ExecutableElement> methodsToLog =
         clazz.getEnclosedElements().stream()
             .filter(e -> e instanceof ExecutableElement)
             .map(e -> (ExecutableElement) e)
@@ -73,9 +105,51 @@ public class LoggerGenerator {
             .filter(e -> e.getModifiers().contains(Modifier.PUBLIC))
             .filter(e -> e.getParameters().isEmpty())
             .filter(e -> e.getReceiverType() != null)
+            .filter(kIsBuiltInJavaMethod.negate())
             .filter(this::isLoggable)
+            .filter(e -> !isSimpleGetterMethodForLoggedField(e, fieldsToLog))
             .toList();
 
+    // Validate no name collisions
+    Map<String, List<Element>> usedNames =
+        Stream.concat(fieldsToLog.stream(), methodsToLog.stream())
+            .reduce(
+                new HashMap<>(),
+                (map, element) -> {
+                  String name = ElementHandler.loggedName(element);
+                  map.computeIfAbsent(name, _k -> new ArrayList<>()).add(element);
+
+                  return map;
+                },
+                (left, right) -> {
+                  left.putAll(right);
+                  return left;
+                });
+
+    usedNames.forEach(
+        (name, elements) -> {
+          if (elements.size() > 1) {
+            // Collisions!
+            for (Element conflictingElement : elements) {
+              String conflicts =
+                  elements.stream()
+                      .filter(e -> !e.equals(conflictingElement))
+                      .map(e -> e.getEnclosingElement().getSimpleName() + "." + e)
+                      .collect(Collectors.joining(", "));
+
+              m_processingEnv
+                  .getMessager()
+                  .printMessage(
+                      Diagnostic.Kind.ERROR,
+                      "[EPILOGUE] Conflicting name detected: \""
+                          + name
+                          + "\" is also used by "
+                          + conflicts,
+                      conflictingElement);
+            }
+          }
+        });
+
     writeLoggerFile(clazz.getQualifiedName().toString(), config, fieldsToLog, methodsToLog);
   }
 
@@ -242,4 +316,55 @@ public class LoggerGenerator {
   private boolean isLoggable(Element element) {
     return m_handlers.stream().anyMatch(h -> h.isLoggable(element));
   }
+
+  /**
+   * Checks if a method is a simple "getter" method for a field in the given list. Here, we define
+   * "getter" as a method with a single return statement that references the name of a field, with
+   * no other expressions. `getX() { return x; }` would be considered a "getter" method, while
+   * `getX() { return x.clone(); }` would not be. Note that the method name is irrelevant; only the
+   * method body is checked.
+   *
+   * @param ex the method to check
+   * @param fieldsToLog the fields that will already be logged
+   * @return true if the method is a simple "getter" method, false otherwise
+   */
+  private boolean isSimpleGetterMethodForLoggedField(
+      ExecutableElement ex, List<VariableElement> fieldsToLog) {
+    var trees = Trees.instance(m_processingEnv);
+    var methodTree = trees.getTree(ex);
+
+    if (methodTree == null) {
+      // probably a record's synthetic reader method
+      return false;
+    }
+
+    if (methodTree.getBody() == null) {
+      // Abstract or native method, can't be determined to be a getter
+      return false;
+    }
+
+    var statements = methodTree.getBody().getStatements();
+    if (statements.size() != 1) {
+      // More complex than a simple `return m_field` statement
+      return false;
+    }
+
+    var statement = statements.get(0);
+    if (!(statement instanceof ReturnTree ret)) {
+      // Shouldn't get here, since we've already filtered for methods that return a value
+      // and with a single statement - that one statement should be the return
+      return false;
+    }
+
+    var returnExpression = ret.getExpression();
+    return returnExpression.accept(
+        new SimpleTreeVisitor<Boolean, Void>(false) {
+          @Override
+          public Boolean visitIdentifier(IdentifierTree identifier, Void unused) {
+            return fieldsToLog.stream()
+                .anyMatch(v -> v.getSimpleName().contentEquals(identifier.getName()));
+          }
+        },
+        null);
+  }
 }

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/StringUtils.java

@@ -5,6 +5,9 @@
 package edu.wpi.first.epilogue.processor;
 
 import edu.wpi.first.epilogue.Logged;
+import java.util.Arrays;
+import java.util.List;
+import java.util.stream.Collectors;
 import javax.lang.model.element.TypeElement;
 
 public final class StringUtils {
@@ -59,6 +62,33 @@ public final class StringUtils {
     return builder.toString();
   }
 
+  /**
+   * Splits a camel-cased string like "fooBar" into individual words like ["foo", "Bar"].
+   *
+   * @param camelCasedString the camel-cased string to split
+   * @return the individual words in the input
+   */
+  public static List<String> splitToWords(CharSequence camelCasedString) {
+    // Implementation from https://stackoverflow.com/a/2560017, refactored for readability
+
+    // Uppercase letter not followed by the first letter of the next word
+    // This allows for splitting "IOLayer" into "IO" and "Layer"
+    String penultimateUppercaseLetter = "(?<=[A-Z])(?=[A-Z][a-z])";
+
+    // Any character that's NOT an uppercase letter, immediately followed by an uppercase letter
+    // This allows for splitting "fooBar" into "foo" and "Bar", or "123Bang" into "123" and "Bang"
+    String lastNonUppercaseLetter = "(?<=[^A-Z])(?=[A-Z])";
+
+    // The final letter in a sequence, followed by a non-alpha character like a number or underscore
+    // This allows for splitting "foo123" into "foo" and "123"
+    String finalLetter = "(?<=[A-Za-z])(?=[^A-Za-z])";
+
+    String regex =
+        String.format("%s|%s|%s", penultimateUppercaseLetter, lastNonUppercaseLetter, finalLetter);
+
+    return Arrays.asList(camelCasedString.toString().split(regex));
+  }
+
   /**
    * Gets the name of the field used to hold a logger for data of the given type.
    *
@@ -107,4 +137,31 @@ public final class StringUtils {
 
     return loggerClassName;
   }
+
+  /**
+   * Converts a camelCase element name to separate words, removing common field and method name
+   * prefixes like "m_" and "get".
+   *
+   * @param elementName the camelcased element name
+   * @return the name split into separate words and sanitized
+   */
+  public static String toHumanName(String elementName) {
+    // Delete common field prefixes (k_name, m_name, s_name)
+    var sanitizedName = elementName.replaceFirst("^[msk]_", "");
+
+    // Drop leading "k" prefix from fields
+    // (though normally these should be static, and thus not logged)
+    if (sanitizedName.matches("^k[A-Z].*$")) {
+      sanitizedName = sanitizedName.substring(1);
+    }
+
+    // Drop leading "get" from accessor methods
+    if (sanitizedName.matches("^get[A-Z].*$")) {
+      sanitizedName = sanitizedName.substring(3);
+    }
+
+    return splitToWords(sanitizedName).stream()
+        .map(StringUtils::capitalize)
+        .collect(Collectors.joining(" "));
+  }
 }