Merge branch 'main' into 2027

The canbus names are changing to ensure stable ordering.

.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 +1,59 @@
+try-import %workspace%/bazel_auth.rc
+try-import %workspace%/user.bazelrc
+
+common --noenable_bzlmod
+
+build --incompatible_disallow_empty_glob=1 # Bazel 8 prep
+
+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 %workspace%/shared/bazel/compiler_flags/sanitizers.rc
+import %workspace%/shared/bazel/compiler_flags/base_linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
+import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
+import %workspace%/shared/bazel/compiler_flags/systemcore_flags.rc
+import %workspace%/shared/bazel/compiler_flags/windows_flags.rc
+import %workspace%/shared/bazel/compiler_flags/coverage_flags.rc
+
+# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
+build:athena --config=roborio
+build:linuxarm32 --config=raspibookworm32
+build:linuxarm64 --config=bookworm64
+
+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/pregen/action.yml

@@ -0,0 +1,62 @@
+name: 'Setup and run pregeneration'
+description: 'Sets up the dependencies needed to generate generated files and runs all generation scripts'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Set up Python 3.12
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.12'
+    - name: Install jinja and protobuf
+      run: python -m pip install jinja2 protobuf grpcio-tools
+      shell: bash
+    - name: Install protobuf and perl dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y protobuf-compiler liblist-moreutils-perl
+        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
+      shell: bash
+
+    - name: Regenerate ntcore
+      run: ./ntcore/generate_topics.py
+      shell: bash
+
+    - name: Regenerate imgui
+      run: |
+        ./thirdparty/imgui_suite/generate_fonts.sh
+        ./thirdparty/imgui_suite/generate_gl3w.py
+      shell: bash
+
+    - name: Regenerate HIDs
+      run: |
+        ./wpilibc/generate_hids.py
+        ./wpilibj/generate_hids.py
+        ./wpilibNewCommands/generate_hids.py
+      shell: bash
+
+    - name: Regenerate PWM motor controllers
+      run: |
+        ./wpilibc/generate_pwm_motor_controllers.py
+        ./wpilibj/generate_pwm_motor_controllers.py
+      shell: bash
+
+    - name: Regenerate mrcal minimath
+      run: ./wpical/generate_mrcal.py
+      shell: bash
+
+    - name: Regenerate wpimath
+      run: |
+        ./wpimath/generate_nanopb.py
+        ./wpimath/generate_numbers.py
+        ./wpimath/generate_quickbuf.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      shell: bash
+
+    - name: Regenerate wpiunits
+      run: ./wpiunits/generate_units.py
+      shell: bash
+
+    - name: Regenerate wpiutil nanopb
+      run: ./wpiutil/generate_nanopb.py
+      shell: bash

.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/labeler.yml

@@ -0,0 +1,62 @@
+'2027':
+- base-branch: '2027'
+'component: apriltag':
+- changed-files:
+  - any-glob-to-any-file: apriltag/**
+'component: command-based':
+- changed-files:
+  - any-glob-to-any-file: wpilibNewCommands/**
+'component: cscore':
+- changed-files:
+  - any-glob-to-any-file: cscore/**
+'component: datalogtool':
+- changed-files:
+  - any-glob-to-any-file: datalogtool/**
+'component: epilogue':
+- changed-files:
+  - any-glob-to-any-file: epilogue-*/**
+'component: examples':
+- changed-files:
+  - any-glob-to-any-file: wpilib*Examples/**
+'component: glass':
+- changed-files:
+  - any-glob-to-any-file: glass/**
+'component: hal':
+- changed-files:
+  - any-glob-to-any-file: hal/**
+'component: ntcore':
+- changed-files:
+  - any-glob-to-any-file: ntcore/**
+'component: outlineviewer':
+- changed-files:
+  - any-glob-to-any-file: outlineviewer/**
+'component: sysid':
+- changed-files:
+  - any-glob-to-any-file: sysid/**
+'component: wpilibc':
+- changed-files:
+  - any-glob-to-any-file: wpilibc/**
+'component: wpilibj':
+- changed-files:
+  - any-glob-to-any-file: wpilibj/**
+'component: wpimath':
+- changed-files:
+  - any-glob-to-any-file: wpimath/**
+'component: wpinet':
+- changed-files:
+  - any-glob-to-any-file: wpinet/**
+'component: wpiunits':
+- changed-files:
+  - any-glob-to-any-file: wpiunits/**
+'component: wpiutil':
+- changed-files:
+  - any-glob-to-any-file: wpiutil/**
+'component: wpical':
+- changed-files:
+  - any-glob-to-any-file: wpical/**
+'component: usage reporting':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**
+'attn: NI':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**

.github/workflows/aql/wpilib-mvn-development_unused.aql

@@ -3,7 +3,7 @@
     {
       "aql": {
         "items.find": {
-          "repo": "wpilib-mvn-development",
+          "repo": "wpilib-mvn-development-local",
           "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
           "$or":[
             {

.github/workflows/bazel.yml

@@ -0,0 +1,110 @@
+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: bazel ${{ matrix.action }}
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ 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: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: bazel test (release)
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux (native)",      os: ubuntu-24.04,   container: "wpilib/ubuntu-base:22.04", action: "test",   config: "--config=linux",    }
+          - { name: "Linux (systemcore)",  os: ubuntu-24.04,   container: "wpilib/ubuntu-base:22.04", action: "build",  config: "--config=systemcore",    }
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
+    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: bazel ${{ matrix.action }} (release)
+        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-24.04
+    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-24.04
+            name: Android Arm64
+            abi: arm64-v8a
+          - os: ubuntu-24.04
+            name: Android X64
+            abi: "x86_64"
+
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r27c
+          add-to-path: false
+
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - name: configure
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ 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

@@ -16,15 +16,19 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2024-22.04
-            flags: "--preset with-java-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+            container: wpilib/roborio-cross-ubuntu:2025-24.04
+            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 }}
@@ -32,17 +36,31 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-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: mozilla-actions/sccache-action@v0.0.9
 
       - 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

@@ -1,113 +0,0 @@
-name: Comment Commands
-on:
-  issue_comment:
-    types: [ created ]
-
-jobs:
-  format:
-    if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/format')
-    runs-on: ubuntu-22.04
-    steps:
-      - name: React Rocket
-        uses: actions/github-script@v7
-        with:
-          script: |
-            const {owner, repo} = context.issue
-            github.rest.reactions.createForIssueComment({
-              owner,
-              repo,
-              comment_id: context.payload.comment.id,
-              content: "rocket",
-            });
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
-      - name: Fetch all history and metadata
-        run: |
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Checkout PR
-        run: |
-          gh pr checkout $NUMBER
-        env:
-          GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
-          NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.10
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-      - name: Setup Java
-        uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
-      - name: Run wpiformat
-        run: wpiformat
-      - name: Run spotlessApply
-        run: ./gradlew spotlessApply
-      - name: Commit
-        run: |
-          # Set credentials
-          git config user.name "github-actions[bot]"
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
-          # Commit
-          git commit -am "Formatting fixes"
-          git push
-
-  pregen:
-    if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/pregen')
-    runs-on: ubuntu-22.04
-    steps:
-      - name: React Rocket
-        uses: actions/github-script@v7
-        with:
-          script: |
-            const {owner, repo} = context.issue
-            github.rest.reactions.createForIssueComment({
-              owner,
-              repo,
-              comment_id: context.payload.comment.id,
-              content: "rocket",
-            });
-      - uses: actions/checkout@v4
-        with:
-          token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
-      - name: Checkout PR
-        run: |
-          gh pr checkout $NUMBER
-        env:
-          GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
-          NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.9
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - name: Run hal
-        run: ./hal/generate_usage_reporting.py
-      - name: Run ntcore
-        run: ./ntcore/generate_topics.py
-      - name: Run wpimath
-        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - name: Run HIDs
-        run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
-      - name: Run PWM Controllers
-        run: ./wpilibj/generate_pwm_motor_controllers.py && ./wpilibc/generate_pwm_motor_controllers.py
-      - name: Run imgui gl3w
-        run: ./thirdparty/imgui_suite/generate_gl3w.py
-      - name: Run imgui fonts
-        run: ./thirdparty/imgui_suite/generate_fonts.sh
-      - name: Commit
-        run: |
-          # Set credentials
-          git config user.name "github-actions[bot]"
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
-          # Commit
-          git commit -am "Regenerate pregenerated files"
-          git push

.github/workflows/documentation.yml

@@ -12,7 +12,7 @@ env:
 jobs:
   publish:
     name: "Documentation - Publish"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
@@ -20,6 +20,7 @@ jobs:
         with:
           fetch-depth: 0
           persist-credentials: false
+      - uses: gradle/actions/wrapper-validation@v4
       - uses: actions/setup-java@v4
         with:
           distribution: 'temurin'
@@ -32,12 +33,17 @@ jobs:
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
           echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Set environment variables (Release)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
           echo "BRANCH=release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
+      - name: Set environment variables (2027)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=2027" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '2027')
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑

.github/workflows/fix_compile_commands.py

@@ -18,9 +18,9 @@ def main():
     for obj in data:
         out_args = []
 
-        # Filter out -isystem flags that cause false positives
         iter_args = iter(obj["arguments"])
         for arg in iter_args:
+            # Filter out -isystem flags that cause false positives
             if arg == "-isystem":
                 next_arg = next(iter_args)
 
@@ -28,6 +28,9 @@ def main():
                 # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
                 if not next_arg.startswith("/usr/lib/gcc/"):
                     out_args += ["-isystem", next_arg]
+            # Replace GCC warning argument with one Clang recognizes
+            elif arg == "-Wno-maybe-uninitialized":
+                out_args.append("-Wno-uninitialized")
             else:
                 out_args.append(arg)
 

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

@@ -1,14 +0,0 @@
-name: "Validate Gradle Wrapper"
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v3

.github/workflows/gradle.yml

@@ -7,25 +7,33 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
   build-docker:
     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
+          - container: wpilib/systemcore-cross-ubuntu:2025-24.04
+            artifact-name: SystemCore
+            build-options: "-Ponlylinuxsystemcore"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:22.04
+          - container: wpilib/ubuntu-base:24.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
       - name: Free Disk Space
         uses: jlumbroso/free-disk-space@main
@@ -42,7 +50,7 @@ jobs:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
         uses: addnab/docker-run-action@v3
         with:
@@ -96,12 +104,14 @@ jobs:
             task: "build"
             outputs: "build/allOutputs"
           - os: windows-2022
-            artifact-name: Win32
-            architecture: x86
+            artifact-name: Win64FFI
+            architecture: x64
             task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
             outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -119,19 +129,16 @@ jobs:
           keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
       - 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.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
-        if: startsWith(github.ref, 'refs/tags/v')
-      - name: Set Java Heap Size
-        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
-        if: matrix.artifact-name == 'Win32'
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
@@ -159,7 +166,7 @@ jobs:
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
@@ -173,7 +180,8 @@ jobs:
 
   build-documentation:
     name: "Build - Documentation"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -184,7 +192,7 @@ jobs:
           java-version: 17
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -198,12 +206,12 @@ jobs:
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Free Disk Space
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -216,48 +224,48 @@ jobs:
       - uses: actions/checkout@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
       - uses: actions/setup-java@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           distribution: 'temurin'
           java-version: 17
-      - name: Combine (Main)
+      - name: Combine (2027)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          github.ref == 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
+          github.ref == 'refs/heads/2027'
+        run: cd combiner && ./gradlew publish -Pallwpilib -Pbuild2027
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (Release)
+      - name: Combine (2027 Release)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
+          startsWith(github.ref, 'refs/tags/v2027')
+        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish -Pbuild2027
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
@@ -265,25 +273,7 @@ jobs:
       - uses: actions/upload-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           name: Maven
           path: ~/releases
-
-  dispatch:
-    name: dispatch
-    needs: [combine]
-    strategy:
-      matrix:
-        repo: ['SmartDashboard', 'PathWeaver', 'Shuffleboard', 'RobotBuilder']
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: peter-evans/repository-dispatch@v3
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v')
-        with:
-          token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}
-          repository: wpilibsuite/${{ matrix.repo }}
-          event-type: tag
-          client-payload: '{"package_name": "allwpilib", "package_version": "${{ github.ref_name }}"}'

.github/workflows/labeler.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v5
+        with:
+          sync-labels: true

.github/workflows/lint-format.yml

@@ -11,9 +11,16 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -22,14 +29,16 @@ 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: |
+          python -m venv ${{ runner.temp }}/wpiformat
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
       - name: Run
-        run: wpiformat
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -50,8 +59,9 @@ jobs:
 
   tidy:
     name: "clang-tidy"
-    runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    container: wpilib/ubuntu-base:24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -61,27 +71,30 @@ 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: |
+          python -m venv ${{ runner.temp }}/wpiformat
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
       - name: List changed files
-        run: wpiformat -list-changed-files
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -list-changed-files
       - name: Run clang-tidy release
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
       - name: Run clang-tidy debug
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
   javaformat:
     name: "Java format"
-    runs-on: ubuntu-22.04
-    container: wpilib/ubuntu-base:22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    container: wpilib/ubuntu-base:24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -113,7 +126,8 @@ jobs:
 
   documentation:
     name: "Documentation"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/pregenerate.yml

@@ -13,35 +13,13 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - name: Set up Python 3.9
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - name: Run hal
-        run: ./hal/generate_usage_reporting.py
-      - name: Run ntcore
-        run: ./ntcore/generate_topics.py
-      - name: Run wpimath
-        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - name: Run 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: Run pregen
+        uses: ./.github/actions/pregen
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.github/workflows/sanitizers.yml

@@ -29,19 +29,19 @@ jobs:
             ctest-env: ""
             ctest-flags: ""
     name: "${{ matrix.name }}"
-    runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    runs-on: ubuntu-24.04
+    container: wpilib/roborio-cross-ubuntu:2025-24.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java clang-14 libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-18 libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - uses: actions/checkout@v4
 
       - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
         env:
           SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/sentinel-build.yml

@@ -0,0 +1,162 @@
+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:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
+  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:2025-24.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:24.04
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    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"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    needs: [validation]
+    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: 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

@@ -12,7 +12,7 @@ env:
 jobs:
   build-artifacts:
     name: "Build - WPILib"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     env:
       DISPLAY: ':10'
     steps:
@@ -29,122 +29,16 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+      - uses: gradle/actions/wrapper-validation@v4
       - name: Build WPILib with Gradle
         uses: addnab/docker-run-action@v3
         with:
-          image: wpilib/roborio-cross-ubuntu:2024-22.04
+          image: wpilib/systemcore-cross-ubuntu:2025-24.04
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
-          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :fieldImages:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+          run: df . && rm -f semicolon_delimited_script && ./gradlew -Pskiplinuxarm64 :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :fieldImages:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
       - uses: actions/upload-artifact@v4
         with:
           name: MavenArtifacts
           path: |
             development
           retention-days: 1
-
-  Robotbuilder:
-    name: "Build - RobotBuilder"
-    needs: [build-artifacts]
-    runs-on: ubuntu-22.04
-    env:
-      DISPLAY: ':10'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: wpilibsuite/robotbuilder
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - name: Patch RobotBuilder to use local development
-        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
-      - name: Install and run xvfb
-        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
-      - name: Move artifacts
-        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-      - uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: 'temurin'
-      - name: Build RobotBuilder with Gradle
-        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
-      - name: Summarize RobotBuilder Test Results
-        uses: EnricoMi/publish-unit-test-result-action@v2
-        if: always()
-        with:
-          files: |
-            build/test-results/test/TEST*.xml
-          check_run: false
-          comment_mode: off
-      - uses: actions/upload-artifact@v4
-        if: always()
-        with:
-          name: RobotBuilderTestResults
-          path: |
-            build/reports/
-      - uses: actions/upload-artifact@v4
-        with:
-          name: RobotBuilder Build
-          path: |
-            build/libs/
-          retention-days: 7
-
-  Shuffleboard:
-    name: "Build - Shuffleboard"
-    needs: [build-artifacts]
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: wpilibsuite/shuffleboard
-          fetch-depth: 0
-      - name: Patch Shuffleboard to use local development
-        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" app/app.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/cameraserver/cameraserver.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/networktables/networktables.gradle
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: 'temurin'
-      - name: Move artifacts
-        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-      - name: Install dependencies
-        run: sudo apt-get install -y libgtk2.0-0
-      - name: Build with Gradle
-        run: ./gradlew build -x Javadoc
-      - uses: actions/upload-artifact@v4
-        with:
-          name: Shuffleboard Build
-          path: |
-            build/allOutputs/
-          retention-days: 7
-
-  PathWeaver:
-    name: "Build - PathWeaver"
-    needs: [build-artifacts]
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: wpilibsuite/PathWeaver
-          fetch-depth: 0
-      - name: Patch PathWeaver to use local development
-        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: 'temurin'
-      - name: Move artifacts
-        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-      - name: Build with Gradle
-        run: ./gradlew build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: PathWeaver Build
-          path: |
-            build/allOutputs/
-          retention-days: 7

.github/workflows/upstream-utils.yml

@@ -13,7 +13,7 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -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 +35,116 @@ 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
-      - name: Run stack_walker.py
-        run: |
-          cd upstream_utils
-          ./stack_walker.py clone
-          ./stack_walker.py copy-src
+          ./mpack.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 +251,10 @@ imgui.ini
 /bazel-*
 user.bazelrc
 coverage_report/
+bazel_auth.rc
 
 # ctest
 /Testing/
 
-# protobuf
-!wpiprotoplugin.jar
+# Meson
+.meson-subproject*

.styleguide

@@ -14,6 +14,7 @@ modifiableFileExclude {
   thirdparty/
   \.patch$
   gradlew
+  BUILD.bazel
 }
 
 generatedFileExclude {
@@ -33,8 +34,9 @@ includeOtherLibs {
   ^cameraserver/
   ^cscore
   ^fmt/
-  ^gtest/
+  ^glass/
   ^google/
+  ^gtest/
   ^hal/
   ^imgui
   ^implot

BUILD.bazel

@@ -0,0 +1,50 @@
+load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
+load("@rules_python//python:pip.bzl", "compile_pip_requirements")
+
+filegroup(
+    name = "license",
+    srcs = [
+        "LICENSE.md",
+        "ThirdPartyNotices.txt",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+# bazel build //:requirements.lock
+compile_pip_requirements(
+    name = "requirements",
+    extra_args = ["--allow-unsafe"],
+    requirements_in = "requirements.txt",
+    requirements_txt = "requirements_lock.txt",
+    # compile_pip_requirements does not respect target_compatible_with for some of the targets it generates under the hood
+    tags = ["no-systemcore"],
+)
+
+alias(
+    name = "quickbuf_protoc",
+    actual = select({
+        "@bazel_tools//src/conditions:darwin": "@quickbuffer_protoc_osx//file",
+        "@bazel_tools//src/conditions:windows": "@quickbuffer_protoc_windows//file",
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
+    }),
+    tags = ["pregeneration"],
+    visibility = ["//visibility:public"],
+)
+
+# This is a helper to run all of the pregeneration scripts at once.
+write_source_files(
+    name = "write_all",
+    additional_update_targets = [
+        "//hal:write_hal",
+        "//ntcore:write_ntcore",
+        "//wpilibc:write_wpilibc",
+        "//wpilibcExamples:write_example_project_list",
+        "//wpilibj:write_wpilibj",
+        "//wpilibjExamples:write_example_project_list",
+        "//wpilibNewCommands:write_wpilib_new_commands",
+        "//wpimath:write_wpimath",
+        "//wpiunits:write_wpiunits",
+        "//wpiutil:write_wpiutil",
+    ],
+    tags = ["pregeneration"],
+)

CMakeLists.txt

@@ -66,8 +66,17 @@ 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_WPICAL "Build wpical" OFF)
 option(WITH_WPIMATH "Build wpimath" ON)
 cmake_dependent_option(
     WITH_WPIUNITS
@@ -123,10 +132,20 @@ 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()
+
+if(WITH_WPICAL)
+    find_package(Ceres CONFIG REQUIRED)
 endif()
 
 find_package(LIBSSH CONFIG 0.7.1)
@@ -272,6 +291,8 @@ set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 add_subdirectory(wpiutil)
 
+add_subdirectory(datalog)
+
 if(WITH_NTCORE)
     set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
     set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
@@ -279,8 +300,6 @@ if(WITH_NTCORE)
     add_subdirectory(ntcore)
 endif()
 
-add_subdirectory(protoplugin)
-
 if(WITH_WPIMATH)
     if(WITH_JAVA)
         set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
@@ -303,8 +322,10 @@ if(WITH_GUI)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
     add_subdirectory(sysid)
+    if(WITH_WPICAL)
+        add_subdirectory(wpical)
+    endif()
     if(LIBSSH_FOUND)
-        add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
     endif()
 endif()

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"

CODE_OF_CONDUCT.md

@@ -1,69 +1,47 @@
-# Contributor Covenant Code of Conduct
+# Contributor Community Code of Conduct
 
 ## Our Pledge
 
-We as members, contributors, and leaders pledge to make participation in our
-community a harassment-free experience for everyone, regardless of age, body
-size, visible or invisible disability, ethnicity, sex characteristics, gender
-identity and expression, level of experience, education, socio-economic status,
-nationality, personal appearance, race, religion, or sexual identity
-and orientation.
+As members, contributors, and leaders, we commit to fostering a community where everyone feels safe, respected, and valued. We are dedicated to ensuring that participation in this community is harassment-free, inclusive, and welcoming, regardless of age, body type, abilities (visible or invisible), ethnicity, gender identity or expression, sexual orientation, socioeconomic background, education, nationality, personal appearance, race, or religion.
+
+Above all, we pledge to act with integrity, kindness, and empathy—striving to be not only good participants but also good humans.
 
-We pledge to act and interact in ways that contribute to an open, welcoming,
-diverse, inclusive, and healthy community.
 
 ## Our Standards
 
-Examples of behavior that contributes to a positive environment for our
-community include:
+Positive and respectful behavior is essential to creating a thriving community. This includes:
 
-* Exhibiting Gracious Professionalism® at all times. Gracious Professionalism
+* Practicing **Gracious Professionalism®** at all times. Gracious Professionalism
   is a way of doing things that encourages high-quality work, emphasizes the
   value of others, and respects individuals and the community.
-* Demonstrating empathy and kindness toward other people
-* Being respectful of differing opinions, viewpoints, and experiences
-* Giving and gracefully accepting constructive feedback
-* Accepting responsibility and apologizing to those affected by our mistakes,
-  and learning from the experience
-* Focusing on what is best not just for us as individuals, but for the
-  overall community
+* Showing empathy, kindness, and patience.
+* Respecting diverse perspectives and experiences.
+* Giving and receiving constructive feedback with openness and humility.
+* Owning mistakes, apologizing when necessary, and learning from them.
+* Prioritizing the well-being and success of the entire community over individual interests.
 
-Examples of unacceptable behavior include:
+Unacceptable behavior include:
 
-* The use of sexualized language or imagery, and sexual attention or
-  advances of any kind
+* Using sexualized language, imagery, or making inappropriate advances
 * Trolling, insulting or derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or email
-  address, without their explicit permission
-* Other conduct which could reasonably be considered inappropriate in a
-  professional setting
+* Harassment in any form, whether public or private.
+* Sharing private information (e.g., email or physical addresses) without explicit consent.
+
+* Any behavior that is unprofessional, harmful, or exclusionary.
 
 ## Enforcement Responsibilities
 
-Community leaders are responsible for clarifying and enforcing our standards of
-acceptable behavior and will take appropriate and fair corrective action in
-response to any behavior that they deem inappropriate, threatening, offensive,
-or harmful.
-
-Community leaders have the right and responsibility to remove, edit, or reject
-comments, commits, code, wiki edits, issues, and other contributions that are
-not aligned to this Code of Conduct, and will communicate reasons for moderation
-decisions when appropriate.
+Community leaders are responsible for maintaining these standards and will take appropriate action to address any behavior deemed harmful, threatening, or inappropriate. Actions may include removing content, issuing warnings, or, when necessary, banning individuals. Moderation decisions will be communicated transparently where appropriate.
 
 ## Scope
 
-This Code of Conduct applies within all community spaces, and also applies when
-an individual is officially representing the community in public spaces.
-Examples of representing our community include using an official e-mail address,
-posting via an official social media account, or acting as an appointed
-representative at an online or offline event.
+This Code of Conduct applies to all community spaces, events, and instances where individuals represent the community (e.g., official email accounts, social media posts, or in-person/virtual events).
 
 ## Enforcement
 
 Instances of abusive, harassing, or otherwise unacceptable behavior may be
 reported to the community leaders responsible for enforcement at
-[conduct@wpilib.org](mailto:conduct@wpilib.org).
+[wpilib@wpi.edu](mailto:wpilib@wpi.edu).
 All complaints will be reviewed and investigated promptly and fairly.
 
 All community leaders are obligated to respect the privacy and security of the
@@ -115,6 +93,9 @@ individual, or aggression toward or disparagement of classes of individuals.
 **Consequence**: A permanent ban from any sort of public interaction within
 the community.
 
+## A Note on Kindness
+Building a community isn’t just about rules—it’s about connection. Every interaction is an opportunity to be understanding, compassionate, and supportive. Being a good human is the key to our ethos.
+
 ## Attribution
 
 This Code of Conduct is adapted from the [Contributor Covenant][homepage],

CONTRIBUTING.md

@@ -80,7 +80,7 @@ xₖ₊₁ = Axₖ + Buₖ
 
 Changes should be submitted as a Pull Request against the main branch of WPILib. For most changes, commits will be squashed upon merge. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. We may ask you to break a PR into multiple standalone PRs or commits for rebase within one PR to separate unrelated changes. No change will be merged unless it is up to date with the current main branch. We do this to make sure that the git history isn't too cluttered.
 
-During the build season, breaking changes or other changes intended for the next season can be created as a pull request against the development branch of WPILib. After the season is over, the changes in the development branch will be merged into main.
+Particularly large and/or breaking changes should be targeted to the 2027 branch, which targets the [SystemCore Robot Controller](https://community.firstinspires.org/introducing-the-future-mobile-robot-controller). The intent is minimize changes for 2026, to allow development to focus on preparing for 2027.
 
 ### Merge Process
 

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.

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2025 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MavenArtifacts.md

@@ -14,54 +14,27 @@ The development repository is where development releases of every commit to [mai
 ## Artifact classifiers
 We provide two base types of artifacts.
 
-The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier.
-
-The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifier combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
-
-## Artifact Names
-
-WPILib builds four different types of artifacts.
-
-##### C++ Only Libraries
-When we publish C++ only libraries, they are published with the base artifact name as their artifact name, with a `-cpp` extension. All dependencies for the library are linked as shared libraries to the binary.
-
-
-Example:
-```
-edu.wpi.first.wpilibc:wpilibc-cpp:version:classifier@zip
-```
-
-#### Java Only Libraries
-When we publish Java only libraries, they are published with the base artifact name as their artifact name, with a `-java` extension.
+The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier. These artifacts are published with the base artifact name as their artifact ID, with a `-java` extension.
 
 Example:
 ```
 edu.wpi.first.wpilibj:wpilibj-java:version
 ```
 
-#### C++/Java Libraries without JNI
-For libraries that are both C++ and Java, but without a JNI component, the C++ component is published with the `basename-cpp` artifact name, and the Java component is published with the `basename-java` artifact name.
+The second types are native artifacts. These are usually published as `zip` files. The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The full list of supported platforms can be found in [native-utils](https://github.com/wpilibsuite/native-utils/blob/main/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L94). If the library is built statically, it will have `static` appended to the classifier. Additionally, if the library was built in debug mode, `debug` will be appended to the classifier. The platform artifact only contains the binaries for a specific platform. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
+
+If the library is Java and C++ and has a JNI component, the native artifact will have a shared library containing JNI entrypoints alongside the C++ shared library. This JNI shared library will have a `jni` suffix in the file name.
+
+Native artifacts are published with the base artifact name as their artifact ID, with a `-cpp` extension.
 
 Example:
 ```
-edu.wpi.first.wpiutil:wpiutil-cpp:version:classifier@zip (C++)
-edu.wpi.first.wpiutil:wpiutil-java:version (Java)
-```
-
-#### C++/Java Libraries with JNI
-For libraries that are both C++ and Java with a JNI component there are three different artifact names. For Java, the component is published as `basename-java`. For C++, the `basename-cpp` artifact contains the C++ artifacts with all dependencies linked as shared libraries to the binary. These binaries DO contain the JNI entry points. The `basename-jni` artifact contains identical C++ binaries to the `-cpp` artifact, however all of its dependencies are statically linked, and only the JNI and C entry points are exported.
-
-The `-jni` artifact should only be used in cases where you want to create a self contained Java application where the native artifacts are embedded in the jar. Note in an extraction scenario, extending off of the library is never supported, which is why the C++ entry points are not exposed. The name of the library is randomly generated during extraction. For pretty much all cases, and if you ever want to extend from a native library, you should use the `-cpp` artifacts. GradleRIO uses the `-cpp` artifacts for all platforms, even desktop, for this reason.
-
-Example:
-```
-edu.wpi.first.ntcore:ntcore-cpp:version:classifier@zip (C++)
-edu.wpi.first.ntcore:ntcore-jni:version:classifier (JNI jar library)
-edu.wpi.first.ntcore:ntcore-java:version (Java)
+edu.wpi.first.wpimath:wpimath-cpp:version:classifier@zip
+edu.wpi.first.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip
 ```
 
 ## Provided Artifacts
-This repository provides the following artifacts. Below each artifact is its dependencies. Note if ever using the `-jni` artifacts, no dependencies are needed for native binaries.
+This repository provides the following artifacts. Below each artifact is its dependencies.
 
 For C++, if building with static dependencies, the listed order should be the link order in your linker.
 

README-Bazel.md

@@ -0,0 +1,31 @@
+# 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
+  ```
+
+## Pregenerating Files
+allwpilib uses extensive use of pre-generating files that are later used to build C++ / Java libraries that are tracked by version control. Quite often,
+these pre-generation scripts use some configuration file to create multipile files inside of an output directory. While this process could be accomplished
+with a `genrule` that would require an explicit listing of every output file, which would be tedious to maintain as well as potentially confusing to people
+adding new features those libraries. Therefor, we use `@aspect_bazel_lib` and their `write_source_files` feature to generate these directories. In the event that the generation process creates more than a small handful of predictable files, a custom rule is written to generate the directory.

README-CMake.md

@@ -24,7 +24,6 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * datalogtool
 * glass
 * outlineviewer
-* roborioteamnumbersetter
 * sysid
 * halsim_gui (if simulation extensions are enabled)
 
@@ -66,6 +65,8 @@ 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)
@@ -49,7 +50,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 13 or later is required.
+    - On macOS 13.3 or newer, install Xcode 14 or later (the command-line build tools are insufficient).
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
@@ -58,6 +59,8 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
+On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
+
 ## Setup
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.
@@ -133,6 +136,9 @@ If you have installed the FRC Toolchain to a directory other than the default, o
 
 Once a PR has been submitted, formatting can be run in CI by commenting `/format` on the PR. A new commit will be pushed with the formatting changes.
 
+> [!NOTE]
+> The `/format` action has been temporarily disabled. The individual formatting commands can be run locally as shown below. Alternately, the Lint and Format action for a PR will upload a patch file that can be downloaded and applied manually.
+
 #### wpiformat
 
 wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
@@ -145,11 +151,15 @@ 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
 

ThirdPartyNotices.txt

@@ -15,7 +15,8 @@ licenses, and/or restrictions:
 
 Program               Locations
 -------               ---------
-Google Test           gtest
+Google Test           thirdparty/googletest/include
+                      thirdparty/googletest/src
 LLVM                  wpiutil/src/main/native/thirdparty/llvm
                       wpiutil/src/test/native/cpp/llvm/
 JSON for Modern C++   wpiutil/src/main/native/thirdparty/json
@@ -32,17 +33,29 @@ jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
-StackWalker           wpiutil/src/main/native/windows/StackWalker.*
-GHC filesystem        wpiutil/src/main/native/thirdparty/include/wpi/ghc/
-Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
-                      wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
-                      wpilibc/src/main/native/include/spline/SplineParameterizer.h
-                      wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
-                      wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+Team 254 Library      wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
+                      wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
+                      wpimath/src/main/native/include/frc/spline/SplineParameterizer.h
+                      wpimath/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
+                      wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 Sleipnir              wpimath/src/main/native/thirdparty/sleipnir
+Debugging             wpiutil/src/main/native/thirdparty/debugging
+argparse              wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h
+apriltag              apriltag/src/main/native/thirdparty/apriltag
+glfw                  thirdparty/imgui_suite/glfw
+Dear ImGui            thirdparty/imgui_suite/imgui
+implot                thirdparty/imgui_suite/implot
+memory                wpiutil/src/main/native/thirdparty/memory
+nanopb                wpiutil/src/main/native/thirdparty/nanopb
+protobuf              wpiutil/src/main/native/thirdparty/protobuf
+mrcal                 wpical/src/main/native/thirdparty/mrcal
+libdogleg             wpical/src/main/native/thirdparty/libdogleg
+Simd                  hal/src/main/native/athena/simd
+
+Additionally, glfw, memory, and nanopb were all modified for use in WPILib.
 
 ==============================================================================
 Google Test License
@@ -461,7 +474,7 @@ limitations under the License.
 
 
 ==============================================================================
-MPacks License
+MPack License
 ==============================================================================
 The MIT License (MIT)
 
@@ -1012,35 +1025,6 @@ Exhibit B - "Incompatible With Secondary Licenses" Notice
   defined by the Mozilla Public License, v. 2.0.
 
 
-===================
-StackWalker License
-===================
-Copyright (c) 2005-2013, Jochen Kalmbach
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-Neither the name of Jochen Kalmbach nor the names of its contributors may be
-used to endorse or promote products derived from this software without
-specific prior written permission.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
 ================
 Team 254 Library
 ================
@@ -1077,33 +1061,6 @@ and/or modify it under the terms of the Do What the **** You Want
 to Public License, Version 2, as published by the WTFPL Task Force.
 See http://www.wtfpl.net/ for more details.
 
-======================
-Boost Software License
-======================
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-
 ======
 fmtlib
 ======
@@ -1135,29 +1092,6 @@ of this Software are embedded into a machine-executable object form of such
 source code, you may redistribute such embedded portions in such object form
 without including the above copyright and permission notices.
 
-==============
-GHC filesystem
-==============
-Copyright (c) 2018, Steffen Schümann <s.schuemann@pobox.com>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
 ==================
 V8 export-template
 ==================
@@ -1224,3 +1158,544 @@ Redistribution and use in source and binary forms, with or without modification,
 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+=================
+Debugging License
+=================
+MIT License
+
+Copyright (c) 2021-2022 René Ferdinand Rivera Morell
+Copyright (c) 2018 Isabella Muerte
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+================
+argparse License
+================
+Copyright (c) 2018 Pranav Srinivas Kumar <pranav.srinivas.kumar@gmail.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+================
+apriltag License
+================
+BSD 2-Clause License
+
+Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+
+============
+gl3w License
+============
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+============
+glfw License
+============
+Copyright (c) 2002-2006 Marcus Geelnard
+
+Copyright (c) 2006-2019 Camilla Löwy
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not
+   claim that you wrote the original software. If you use this software
+   in a product, an acknowledgment in the product documentation would
+   be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and must not
+   be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+   distribution.
+
+==================
+Dear ImGui License
+==================
+The MIT License (MIT)
+
+Copyright (c) 2014-2024 Omar Cornut
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+==============
+implot License
+==============
+MIT License
+
+Copyright (c) 2020 Evan Pezent
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+==============
+memory License
+==============
+Copyright (C) 2015-2023 Jonathan Müller and foonathan/memory contributors
+
+This software is provided 'as-is', without any express or
+implied warranty. In no event will the authors be held
+liable for any damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute
+it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented;
+   you must not claim that you wrote the original software.
+   If you use this software in a product, an acknowledgment
+   in the product documentation would be appreciated but
+   is not required.
+
+2. Altered source versions must be plainly marked as such,
+   and must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any
+   source distribution.
+
+==============
+nanopb License
+==============
+Copyright (c) 2011 Petteri Aimonen <jpa at nanopb.mail.kapsi.fi>
+
+This software is provided 'as-is', without any express or
+implied warranty. In no event will the authors be held liable
+for any damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you
+   must not claim that you wrote the original software. If you use
+   this software in a product, an acknowledgment in the product
+   documentation would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+   must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+   distribution.
+
+================
+protobuf License
+================
+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.
+
+===========
+stb License
+===========
+This software is available under 2 licenses -- choose whichever you prefer.
+------------------------------------------------------------------------------
+ALTERNATIVE A - MIT License
+Copyright (c) 2017 Sean Barrett
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+------------------------------------------------------------------------------
+ALTERNATIVE B - Public Domain (www.unlicense.org)
+This is free and unencumbered software released into the public domain.
+Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
+software, either in source code form or as a compiled binary, for any purpose,
+commercial or non-commercial, and by any means.
+In jurisdictions that recognize copyright laws, the author or authors of this
+software dedicate any and all copyright interest in the software to the public
+domain. We make this dedication for the benefit of the public at large and to
+the detriment of our heirs and successors. We intend this dedication to be an
+overt act of relinquishment in perpetuity of all present and future rights to
+this software under copyright law.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+=============
+mrcal License
+=============
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+
+=================
+libdogleg License
+=================
+Copyright 2011 Oblong Industries 2017 Dima Kogan <dima@secretsauce.net>
+
+This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+
+This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
+
+The full text of the license is available at http://www.gnu.org/licenses
+
+============
+Simd License
+============
+
+MIT License
+
+Copyright (c) 2011-2017 Ihar Yermalayeu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

WORKSPACE

@@ -0,0 +1,290 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file")
+
+# Rules Python
+http_archive(
+    name = "rules_python",
+    sha256 = "c68bdc4fbec25de5b5493b8819cfc877c4ea299c0dcb15c244c5a00208cde311",
+    strip_prefix = "rules_python-0.31.0",
+    url = "https://github.com/bazelbuild/rules_python/releases/download/0.31.0/rules_python-0.31.0.tar.gz",
+)
+
+load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_toolchains")
+
+py_repositories()
+
+python_register_toolchains(
+    name = "python_3_10",
+    ignore_root_user_error = True,
+    python_version = "3.10",
+)
+
+load("@rules_python//python:pip.bzl", "pip_parse")
+
+pip_parse(
+    name = "allwpilib_pip_deps",
+    python_interpreter_target = "@python_3_10_host//:python",
+    requirements_lock = "//:requirements_lock.txt",
+)
+
+load("@allwpilib_pip_deps//:requirements.bzl", "install_deps")
+
+install_deps()
+
+# 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")
+load("@rules_jvm_external//:specs.bzl", "maven")
+
+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.artifact(
+        "org.junit.jupiter",
+        "junit-jupiter",
+        "5.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-console",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-launcher",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.junit.platform",
+        "junit-platform-reporting",
+        "1.10.1",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.google.code.gson",
+        "gson",
+        "2.10.1",
+        testonly = False,
+    ),
+    maven.artifact(
+        "org.hamcrest",
+        "hamcrest-all",
+        "1.3",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.googlecode.junit-toolbox",
+        "junit-toolbox",
+        "2.4",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.apache.ant",
+        "ant",
+        "1.10.12",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.apache.ant",
+        "ant-junit",
+        "1.10.12",
+        testonly = True,
+    ),
+    maven.artifact(
+        "org.mockito",
+        "mockito-core",
+        "4.1.0",
+        testonly = True,
+    ),
+    maven.artifact(
+        "com.google.testing.compile",
+        "compile-testing",
+        "0.21.0",
+        testonly = True,
+    ),
+]
+
+maven_install(
+    name = "maven",
+    artifacts = maven_artifacts,
+    maven_install_json = "//:maven_install.json",
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+
+load("@maven//:defs.bzl", "pinned_maven_install")
+
+pinned_maven_install()
+
+# Setup aspect lib
+http_archive(
+    name = "aspect_bazel_lib",
+    sha256 = "a8a92645e7298bbf538aa880131c6adb4cf6239bbd27230f077a00414d58e4ce",
+    strip_prefix = "bazel-lib-2.7.2",
+    url = "https://github.com/aspect-build/bazel-lib/releases/download/v2.7.2/bazel-lib-v2.7.2.tar.gz",
+)
+
+load("@aspect_bazel_lib//lib:repositories.bzl", "aspect_bazel_lib_dependencies")
+
+aspect_bazel_lib_dependencies()
+
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.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 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.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_systemcore//:macos",
+    "@local_systemcore//:linux",
+    "@local_systemcore//:windows",
+    "@local_raspi_bullseye_32//:macos",
+    "@local_raspi_bullseye_32//:linux",
+    "@local_raspi_bullseye_32//:windows",
+    "@local_raspi_bookworm_32//:macos",
+    "@local_raspi_bookworm_32//:linux",
+    "@local_raspi_bookworm_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",
+    "@local_bookworm_32//:macos",
+    "@local_bookworm_32//:linux",
+    "@local_bookworm_32//:windows",
+    "@local_bookworm_64//:macos",
+    "@local_bookworm_64//:linux",
+    "@local_bookworm_64//:windows",
+)
+
+setup_legacy_setup_jdk_dependencies()
+
+http_archive(
+    name = "bzlmodrio-ni",
+    sha256 = "fff62c3cb3e83f9a0d0a01f1739477c9ca5e9a6fac05be1ad59dafcd385801f7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.2.0/bzlmodRio-ni-2025.2.0.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 = "6e8544fae07ed5b4fedc146f6ad083d0d8947e3efb5332a20abc46601a52a1b5",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr2/bzlmodRio-opencv-2025.4.10.0-3.bcr2.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()
+
+http_archive(
+    name = "bzlmodrio-libssh",
+    sha256 = "65caef82554617403a16c79e8bcac6553d40eca3e23197e63275bba22db7d5b5",
+    strip_prefix = "bzlmodRio-libssh-8405fbd5eb4e42b495f08f6ccf6fbbe5ced28bb7",
+    urls = ["https://github.com/wpilibsuite/bzlmodRio-libssh/archive/8405fbd5eb4e42b495f08f6ccf6fbbe5ced28bb7.tar.gz"],
+)
+
+load("@bzlmodrio-libssh//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_libssh_cpp_dependencies")
+
+setup_legacy_bzlmodrio_libssh_cpp_dependencies()
+
+http_archive(
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
+)
+
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
+)
+
+apple_support_dependencies()
+
+# Setup quickbuf compiler
+QUICKBUF_VERSION = "1.3.2"
+
+http_file(
+    name = "quickbuffer_protoc_linux",
+    executable = True,
+    sha256 = "f9a041bccaa7040db523666ef1b5fe9f6f94e70a82c88951f18f58aadd9c50b5",
+    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-linux-x86_64.exe",
+)
+
+http_file(
+    name = "quickbuffer_protoc_osx",
+    executable = True,
+    sha256 = "ea307c2b69664ae7e7c69db4cddf5803187e5a34bceffd09a21652f0f16044f7",
+    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-osx-x86_64.exe   ",
+)
+
+http_file(
+    name = "quickbuffer_protoc_windows",
+    executable = True,
+    sha256 = "27dc1f29764a62b5e6a813a4bcd63e81bbdc3394da760a44acae1025b4a89f1d",
+    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-windows-x86_64.exe ",
+)
+
+# Setup rules_proto
+http_archive(
+    name = "rules_proto",
+    sha256 = "0e5c64a2599a6e26c6a03d6162242d231ecc0de219534c38cb4402171def21e8",
+    strip_prefix = "rules_proto-7.0.2",
+    url = "https://github.com/bazelbuild/rules_proto/releases/download/7.0.2/rules_proto-7.0.2.tar.gz",
+)
+
+load("@rules_proto//proto:repositories.bzl", "rules_proto_dependencies")
+
+rules_proto_dependencies()
+
+load("@rules_proto//proto:setup.bzl", "rules_proto_setup")
+
+rules_proto_setup()

apriltag/BUILD.bazel

@@ -0,0 +1,141 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+
+cc_library(
+    name = "thirdparty-apriltag",
+    srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
+    hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
+    copts = select({
+        "@bazel_tools//src/conditions:darwin": [
+            "-Wno-format-nonliteral",
+            "-Wno-gnu-zero-variadic-macro-arguments",
+            "-Wno-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+        "@bazel_tools//src/conditions:windows": [
+            "/wd4005",
+            "/wd4018",
+            "/wd4244",
+            "/wd4267",
+            "/wd4996",
+        ],
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [
+            "-Wno-format-nonliteral",
+            "-Wno-maybe-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+    }),
+    includes = ["src/main/native/thirdparty/apriltag/include/common"],
+    strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
+)
+
+generate_resources(
+    name = "generate-resources",
+    namespace = "frc",
+    prefix = "APRILTAG",
+    resource_files = glob(["src/main/native/resources/**"]),
+)
+
+wpilib_cc_library(
+    name = "apriltag.static",
+    srcs = [":generate-resources"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    defines = ["WPILIB_EXPORTS"],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":thirdparty-apriltag",
+        "//wpimath:wpimath.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+wpilib_jni_cc_library(
+    name = "apriltagjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":apriltag-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag.static",
+    ],
+)
+
+wpilib_jni_java_library(
+    name = "apriltag-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":apriltagjni"],
+    resource_strip_prefix = "apriltag/src/main/native/resources",
+    resources = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
+        "@maven//:com_fasterxml_jackson_core_jackson_core",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
+cc_test(
+    name = "apriltag-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    tags = [
+        "no-asan",
+    ],
+    deps = [
+        ":apriltag.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+wpilib_java_junit5_test(
+    name = "apriltag-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    resource_strip_prefix = "apriltag/src/test/resources",
+    resources = glob(["src/test/resources/**"]),
+    deps = [
+        ":apriltag-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":apriltag.static",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/apriltag/DevMain.java"],
+    main_class = "edu.wpi.first.apriltag.DevMain",
+    deps = [
+        ":apriltag-java",
+    ],
+)
+
+py_binary(
+    name = "convert_apriltag_layouts",
+    srcs = ["convert_apriltag_layouts.py"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+)

apriltag/build.gradle

@@ -103,14 +103,8 @@ model {
                 return
             }
             it.cppCompiler.define 'WPILIB_EXPORTS'
-
-            if (it.component.name == "${nativeName}JNI") {
-                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            } else {
-                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            }
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }
     tasks {

apriltag/convert_apriltag_layouts.py

@@ -7,10 +7,11 @@ AprilTagFields expects.
 
 The input CSV has the following format:
 
-* Columns: ID, X, Y, Z, Rotation
+* Columns: ID, X, Y, Z, Z Rotation, Y Rotation
 * ID is a positive integer
 * X, Y, and Z are decimal inches
-* Rotation is yaw in degrees
+* Z Rotation is yaw in degrees
+* Y Rotation is pitch in degrees
 
 The values come from a table in the layout marking diagram (e.g.,
 https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf).
@@ -48,13 +49,14 @@ def main():
                 x = float(row[1])
                 y = float(row[2])
                 z = float(row[3])
-                rotation = float(row[4])
+                zRotation = float(row[4])
+                yRotation = float(row[5])
 
                 # Turn yaw into quaternion
                 q = geometry.Rotation3d(
-                    units.radians(0.0),
-                    units.radians(0.0),
-                    units.degreesToRadians(rotation),
+                    units.radians(0),
+                    units.degreesToRadians(yRotation),
+                    units.degreesToRadians(zRotation),
                 ).getQuaternion()
 
                 json_data["tags"].append(

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

@@ -13,13 +13,17 @@ public enum AprilTagFields {
   /** 2023 Charged Up. */
   k2023ChargedUp("2023-chargedup.json"),
   /** 2024 Crescendo. */
-  k2024Crescendo("2024-crescendo.json");
+  k2024Crescendo("2024-crescendo.json"),
+  /** 2025 Reefscape Welded (see TU 12). */
+  k2025ReefscapeWelded("2025-reefscape-welded.json"),
+  /** 2025 Reefscape AndyMark (see TU 12). */
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2024Crescendo;
+  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

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>
@@ -131,6 +133,8 @@ namespace frc {
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
+std::string_view GetResource_2025_reefscape_welded_json();
+std::string_view GetResource_2025_reefscape_andymark_json();
 
 }  // namespace frc
 
@@ -146,6 +150,12 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2024Crescendo:
       fieldString = GetResource_2024_crescendo_json();
       break;
+    case AprilTagField::k2025ReefscapeWelded:
+      fieldString = GetResource_2025_reefscape_welded_json();
+      break;
+    case AprilTagField::k2025ReefscapeAndyMark:
+      fieldString = GetResource_2025_reefscape_andymark_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

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

@@ -20,6 +20,12 @@ enum class AprilTagField {
   k2023ChargedUp,
   /// 2024 Crescendo.
   k2024Crescendo,
+  /// 2025 Reefscape AndyMark (see TU12).
+  k2025ReefscapeAndyMark,
+  /// 2025 Reefscape Welded (see TU12).
+  k2025ReefscapeWelded,
+  /// Alias to the current game.
+  kDefaultField = k2025ReefscapeWelded,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

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

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

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv

@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,656.98,24.73,58.5,126,0
+2,656.98,291.9,58.5,234,0
+3,452.4,316.21,51.25,270,0
+4,365.2,241.44,73.54,0,30
+5,365.2,75.19,73.54,0,30
+6,530.49,129.97,12.13,300,0
+7,546.87,158.3,12.13,0,0
+8,530.49,186.63,12.13,60,0
+9,497.77,186.63,12.13,120,0
+10,481.39,158.3,12.13,180,0
+11,497.77,129.97,12.13,240,0
+12,33.91,24.73,58.5,54,0
+13,33.91,291.9,58.5,306,0
+14,325.68,241.44,73.54,180,30
+15,325.68,75.19,73.54,180,30
+16,238.49,0.42,51.25,90,0
+17,160.39,129.97,12.13,240,0
+18,144,158.3,12.13,180,0
+19,160.39,186.63,12.13,120,0
+20,193.1,186.63,12.13,60,0
+21,209.49,158.3,12.13,0,0
+22,193.1,129.97,12.13,300,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json

@@ -0,0 +1,404 @@
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+  "field": {
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+    "width": 8.042
+  }
+}

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.csv

@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,657.37,25.8,58.5,126,0
+2,657.37,291.2,58.5,234,0
+3,455.15,317.15,51.25,270,0
+4,365.2,241.64,73.54,0,30
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+11,497.77,130.17,12.13,240,0
+12,33.51,25.8,58.5,54,0
+13,33.51,291.2,58.5,306,0
+14,325.68,241.64,73.54,180,30
+15,325.68,75.39,73.54,180,30
+16,235.73,-0.15,51.25,90,0
+17,160.39,130.17,12.13,240,0
+18,144,158.5,12.13,180,0
+19,160.39,186.83,12.13,120,0
+20,193.1,186.83,12.13,60,0
+21,209.49,158.5,12.13,0,0
+22,193.1,130.17,12.13,300,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json

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+        "rotation": {
+          "quaternion": {
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 5.9875419999999995,
+          "y": -0.0038099999999999996,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 3.3063179999999996,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 3.6576,
+          "y": 4.0259,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 4.745482,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 4.745482,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 5.321046,
+          "y": 4.0259,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 3.3063179999999996,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 17.548,
+    "width": 8.052
+  }
+}

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"

azure-pipelines-testbench.yaml

@@ -1,92 +0,0 @@
-# Testing steps for real hardware
-
-trigger:
-  batch: true
-  branches:
-    include:
-      - master
-
-stages:
-  - stage: Build
-    jobs:
-      - job: IntegrationTests
-        displayName: Integration Tests
-        pool:
-          vmImage: 'ubuntu-latest'
-
-        container:
-          image: wpilib/roborio-cross-ubuntu:2023-22.04
-
-        timeoutInMinutes: 0
-
-        steps:
-          - task: Gradle@2
-            condition: and(succeeded(), not(startsWith(variables['Build.SourceBranch'], 'refs/tags/v')))
-            inputs:
-              workingDirectory: ""
-              gradleWrapperFile: "gradlew"
-              gradleOptions: "-Xmx3072m"
-              publishJUnitResults: false
-              testResultsFiles: "**/TEST-*.xml"
-              tasks: "copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput"
-              options: "-Ponlylinuxathena -PbuildServer -PskipJavaFormat"
-
-          - task: PublishPipelineArtifact@0
-            inputs:
-              artifactName: "Integration Tests"
-              targetPath: "build/integrationTestFiles"
-
-  - stage: TestBench
-    displayName: Test Bench
-    condition: false
-    jobs:
-      - job: Cpp
-        displayName: C++
-        pool: RoboRioConnections
-        timeoutInMinutes: 30
-        workspace:
-          clean: all
-        steps:
-          - task: DownloadPipelineArtifact@0
-            inputs:
-              artifactName: "Integration Tests"
-              targetPath: "build/integrationTestFiles"
-
-          - task: ShellScript@2
-            displayName: Run C++ Tests
-            inputs:
-              scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
-              args: 'cpp -A "--gtest_output=xml:/home/admin/testResults/cppreport.xml"'
-
-          - task: PublishTestResults@2
-            displayName: Publish C++ Test Results
-            inputs:
-              testResultsFormat: "JUnit"
-              testResultsFiles: "*.xml"
-              testRunTitle: "C++ Test Report"
-              searchFolder: "$(System.DefaultWorkingDirectory)/test-reports"
-
-      - job: Java
-        pool: RoboRioConnections
-        timeoutInMinutes: 30
-        workspace:
-          clean: all
-        steps:
-          - task: DownloadPipelineArtifact@0
-            inputs:
-              artifactName: "Integration Tests"
-              targetPath: "build/integrationTestFiles"
-
-          - task: ShellScript@2
-            displayName: Run Java Tests
-            inputs:
-              scriptPath: test-scripts/deploy-and-run-test-on-robot.sh
-              args: "java"
-
-          - task: PublishTestResults@2
-            displayName: Publish Java Test Results
-            inputs:
-              testResultsFormat: "JUnit"
-              testResultsFiles: "*.xml"
-              testRunTitle: "Java Test Report"
-              searchFolder: "$(System.DefaultWorkingDirectory)/test-reports"

build.gradle

@@ -11,17 +11,16 @@ buildscript {
 plugins {
     id 'base'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2023.0.1'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
+    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
     id 'edu.wpi.first.NativeUtils' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode'
     id 'idea'
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '3.1.0' apply false
-    id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
+    id 'com.gradleup.shadow' version '8.3.4' 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')
@@ -33,6 +32,7 @@ allprojects {
         url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
     }
     }
+    wpilibRepositories.use2027Repos()
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)
     } else {
@@ -171,5 +171,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.5'
+    gradleVersion = '8.11'
 }

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.3.0"
+    implementation "edu.wpi.first:native-utils:2025.12.1"
 }

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -28,7 +28,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
     private boolean checkJreVersion = true;
 
-    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-1"
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-3"
 
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {

cameraserver/BUILD.bazel

@@ -0,0 +1,60 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+
+wpilib_cc_library(
+    name = "cameraserver.static",
+    srcs = glob(["src/main/native/cpp/**"]),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    includes = [
+        "cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore.static",
+        "//ntcore:ntcore.static",
+    ],
+)
+
+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_test(
+    name = "cameraserver-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**"]),
+    deps = [
+        ":cameraserver.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":cameraserver.static",
+    ],
+)
+
+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/build.gradle

@@ -22,7 +22,7 @@ application {
     mainClass = 'edu.wpi.Main'
 }
 
-apply plugin: 'com.github.johnrengelman.shadow'
+apply plugin: 'com.gradleup.shadow'
 
 repositories {
     maven {
@@ -61,9 +61,6 @@ model {
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
-                }
             }
         }
     }

cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java

@@ -176,7 +176,7 @@ public final class Main {
     } else {
       System.out.println("Setting up NetworkTables client for team " + team);
       ntinst.setServerTeam(team);
-      ntinst.startClient4("multicameraserver");
+      ntinst.startClient("multicameraserver");
     }
 
     // start cameras

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>
@@ -189,7 +190,7 @@ int main(int argc, char* argv[]) {
     ntinst.StartServer();
   } else {
     wpi::print("Setting up NetworkTables client for team {}\n", team);
-    ntinst.StartClient4("multicameraserver");
+    ntinst.StartClient("multicameraserver");
     ntinst.SetServerTeam(team);
   }
 

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

@@ -4,7 +4,6 @@
 
 package edu.wpi.first.cameraserver;
 
-import edu.wpi.first.cscore.AxisCamera;
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.CvSink;
 import edu.wpi.first.cscore.CvSource;
@@ -541,9 +540,7 @@ public final class CameraServer {
    * @return The USB camera capturing images.
    */
   public static UsbCamera startAutomaticCapture() {
-    UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
-    return camera;
+    return startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
   }
 
   /**
@@ -558,7 +555,7 @@ public final class CameraServer {
   public static UsbCamera startAutomaticCapture(int dev) {
     UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    CameraServerSharedStore.reportUsage("UsbCamera[" + dev + "]", "auto");
     return camera;
   }
 
@@ -572,7 +569,7 @@ public final class CameraServer {
   public static UsbCamera startAutomaticCapture(String name, int dev) {
     UsbCamera camera = new UsbCamera(name, dev);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    CameraServerSharedStore.reportUsage("UsbCamera[" + dev + "]", "name");
     return camera;
   }
 
@@ -586,7 +583,7 @@ public final class CameraServer {
   public static UsbCamera startAutomaticCapture(String name, String path) {
     UsbCamera camera = new UsbCamera(name, path);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    CameraServerSharedStore.reportUsage("UsbCamera[" + path + "]", "path");
     return camera;
   }
 
@@ -603,72 +600,6 @@ public final class CameraServer {
     return server;
   }
 
-  /**
-   * Adds an Axis IP camera.
-   *
-   * <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @return The Axis camera capturing images.
-   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
-   */
-  @Deprecated(forRemoval = true, since = "2025")
-  @SuppressWarnings("removal")
-  public static AxisCamera addAxisCamera(String host) {
-    return addAxisCamera("Axis Camera", host);
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
-   *
-   * @param hosts Array of Camera host IPs/DNS names
-   * @return The Axis camera capturing images.
-   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
-   */
-  @Deprecated(forRemoval = true, since = "2025")
-  @SuppressWarnings("removal")
-  public static AxisCamera addAxisCamera(String[] hosts) {
-    return addAxisCamera("Axis Camera", hosts);
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @return The Axis camera capturing images.
-   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
-   */
-  @Deprecated(forRemoval = true, since = "2025")
-  @SuppressWarnings("removal")
-  public static AxisCamera addAxisCamera(String name, String host) {
-    AxisCamera camera = new AxisCamera(name, host);
-    // Create a passthrough MJPEG server for USB access
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
-    return camera;
-  }
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param hosts Array of Camera host IPs/DNS names
-   * @return The Axis camera capturing images.
-   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
-   */
-  @Deprecated(forRemoval = true, since = "2025")
-  @SuppressWarnings("removal")
-  public static AxisCamera addAxisCamera(String name, String[] hosts) {
-    AxisCamera camera = new AxisCamera(name, hosts);
-    // Create a passthrough MJPEG server for USB access
-    startAutomaticCapture(camera);
-    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
-    return camera;
-  }
-
   /**
    * Adds a virtual camera for switching between two streams. Unlike the other addCamera methods,
    * this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object

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

@@ -21,25 +21,12 @@ public interface CameraServerShared {
   void reportDriverStationError(String error);
 
   /**
-   * Report an video server usage.
+   * Report usage.
    *
-   * @param id the usage id
+   * @param resource the resource name
+   * @param data arbitrary string data
    */
-  void reportVideoServer(int id);
-
-  /**
-   * Report a usb camera usage.
-   *
-   * @param id the usage id
-   */
-  void reportUsbCamera(int id);
-
-  /**
-   * Report an axis camera usage.
-   *
-   * @param id the usage id
-   */
-  void reportAxisCamera(int id);
+  void reportUsage(String resource, String data);
 
   /**
    * Get if running on a roboRIO.

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

@@ -20,17 +20,11 @@ public final class CameraServerSharedStore {
       cameraServerShared =
           new CameraServerShared() {
             @Override
-            public void reportVideoServer(int id) {}
-
-            @Override
-            public void reportUsbCamera(int id) {}
+            public void reportUsage(String resource, String data) {}
 
             @Override
             public void reportDriverStationError(String error) {}
 
-            @Override
-            public void reportAxisCamera(int id) {}
-
             @Override
             public Long getRobotMainThreadId() {
               return null;
@@ -40,6 +34,16 @@ public final class CameraServerSharedStore {
     return cameraServerShared;
   }
 
+  /**
+   * Report usage.
+   *
+   * @param resource the resource name
+   * @param data arbitrary string data
+   */
+  public static void reportUsage(String resource, String data) {
+    getCameraServerShared().reportUsage(resource, data);
+  }
+
   /**
    * Set the CameraServerShared object.
    *

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>
@@ -181,9 +184,9 @@ std::vector<std::string> Instance::GetSourceStreamValues(CS_Source source) {
     value = "mjpg:" + value;
   }
 
-#ifdef __FRC_ROBORIO__
+#ifdef __FRC_SYSTEMCORE__
   // Look to see if we have a passthrough server for this source
-  // Only do this on the roboRIO
+  // Only do this on the systemcore
   for (const auto& i : m_sinks) {
     CS_Sink sink = i.second.GetHandle();
     CS_Source sinkSource = cs::GetSinkSource(sink, &status);
@@ -468,11 +471,7 @@ Instance::Instance() {
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture() {
-  cs::UsbCamera camera =
-      StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
-  return camera;
+  return StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
@@ -480,7 +479,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
   cs::UsbCamera camera{fmt::format("USB Camera {}", dev), dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
+  csShared->ReportUsage(fmt::format("UsbCamera[{}]", dev), "auto");
   return camera;
 }
 
@@ -490,7 +489,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   cs::UsbCamera camera{name, dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
+  csShared->ReportUsage(fmt::format("UsbCamera[{}]", dev), "name");
   return camera;
 }
 
@@ -500,67 +499,10 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   cs::UsbCamera camera{name, path};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsbCamera(camera.GetHandle());
+  csShared->ReportUsage(fmt::format("UsbCamera[{}]", path), "path");
   return camera;
 }
 
-WPI_IGNORE_DEPRECATED
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view host) {
-  return AddAxisCamera("Axis Camera", host);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(const char* host) {
-  return AddAxisCamera("Axis Camera", host);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
-  return AddAxisCamera("Axis Camera", host);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::span<const std::string> hosts) {
-  return AddAxisCamera("Axis Camera", hosts);
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           std::string_view host) {
-  ::GetInstance();
-  cs::AxisCamera camera{name, host};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           const char* host) {
-  ::GetInstance();
-  cs::AxisCamera camera{name, host};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           const std::string& host) {
-  ::GetInstance();
-  cs::AxisCamera camera{name, host};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-
-cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
-                                           std::span<const std::string> hosts) {
-  ::GetInstance();
-  cs::AxisCamera camera{name, hosts};
-  StartAutomaticCapture(camera);
-  auto csShared = GetCameraServerShared();
-  csShared->ReportAxisCamera(camera.GetHandle());
-  return camera;
-}
-WPI_UNIGNORE_DEPRECATED
 cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
   auto& inst = ::GetInstance();
   // create a dummy CvSource

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

@@ -4,14 +4,15 @@
 
 #include "cameraserver/CameraServerShared.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/mutex.h>
 
 namespace {
 class DefaultCameraServerShared : public frc::CameraServerShared {
  public:
-  void ReportUsbCamera(int id) override {}
-  void ReportAxisCamera(int id) override {}
-  void ReportVideoServer(int id) override {}
+  void ReportUsage(std::string_view resource, std::string_view data) override {}
   void SetCameraServerErrorV(fmt::string_view format,
                              fmt::format_args args) override {}
   void SetVisionRunnerErrorV(fmt::string_view format,
@@ -19,7 +20,7 @@ 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 +9,8 @@
 #include <span>
 #include <string>
 #include <string_view>
+#include <vector>
 
-#include <wpi/deprecated.h>
-
-#include "cscore.h"
 #include "cscore_cv.h"
 
 namespace frc {
@@ -75,119 +73,6 @@ class CameraServer {
    */
   static cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
 
-  WPI_IGNORE_DEPRECATED
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::string_view host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(const char* host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(const std::string& host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param hosts Array of Camera host IPs/DNS names
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::span<const std::string> hosts);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * This overload calls AddAxisCamera() with name "Axis Camera".
-   *
-   * @param hosts Array of Camera host IPs/DNS names
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  template <typename T>
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      std::string_view host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::string_view name, const char* host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      const std::string& host);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param hosts Array of Camera host IPs/DNS names
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      std::span<const std::string> hosts);
-
-  /**
-   * Adds an Axis IP camera.
-   *
-   * @param name The name to give the camera
-   * @param hosts Array of Camera host IPs/DNS names
-   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
-   */
-  template <typename T>
-  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
-  static cs::AxisCamera AddAxisCamera(std::string_view name,
-                                      std::initializer_list<T> hosts);
-  WPI_UNIGNORE_DEPRECATED
-
   /**
    * Adds a virtual camera for switching between two streams.  Unlike the
    * other addCamera methods, this returns a VideoSink rather than a
@@ -316,5 +201,3 @@ 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/cameraserver/CameraServerShared.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <memory>
+#include <string_view>
 #include <thread>
 #include <utility>
 
@@ -14,9 +15,8 @@ namespace frc {
 class CameraServerShared {
  public:
   virtual ~CameraServerShared() = default;
-  virtual void ReportUsbCamera(int id) = 0;
-  virtual void ReportAxisCamera(int id) = 0;
-  virtual void ReportVideoServer(int id) = 0;
+  virtual void ReportUsage(std::string_view resource,
+                           std::string_view data) = 0;
   virtual void SetCameraServerErrorV(fmt::string_view format,
                                      fmt::format_args args) = 0;
   virtual void SetVisionRunnerErrorV(fmt::string_view format,

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

@@ -14,18 +14,20 @@ macro(wpilib_target_warnings target)
 
         target_compile_options(${target} PRIVATE ${WARNING_FLAGS})
     else()
-        target_compile_options(
-            ${target}
-            PRIVATE
-                /wd4146
-                /wd4244
-                /wd4251
-                /wd4267
-                /wd4324
-                /WX
-                /D_CRT_SECURE_NO_WARNINGS
-                ${WPILIB_TARGET_WARNINGS}
+        set(WARNING_FLAGS
+            /wd4146
+            /wd4244
+            /wd4251
+            /wd4267
+            /wd4324
+            /D_CRT_SECURE_NO_WARNINGS
+            ${WPILIB_TARGET_WARNINGS}
         )
+        if(NOT NO_WERROR)
+            set(WARNING_FLAGS ${WARNING_FLAGS} /WX)
+        endif()
+
+        target_compile_options(${target} PRIVATE ${WARNING_FLAGS})
     endif()
 
     # Suppress C++-specific OpenCV warning; C compiler rejects it with an error
@@ -44,7 +46,7 @@ macro(wpilib_target_warnings target)
 
     # Suppress warning "enumeration types with a fixed underlying type are a
     # Clang extension"
-    if(APPLE)
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT EMSCRIPTEN)
         target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-fixed-enum-extension>)
     endif()
 
@@ -55,9 +57,4 @@ 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/build.gradle

@@ -1,115 +0,0 @@
-import org.gradle.language.base.internal.ProjectLayout
-import edu.wpi.first.deployutils.deploy.target.RemoteTarget
-import edu.wpi.first.deployutils.deploy.target.location.SshDeployLocation
-import edu.wpi.first.deployutils.deploy.artifact.*
-import org.gradle.internal.os.OperatingSystem
-
-apply plugin: 'cpp'
-apply plugin: 'visual-studio'
-apply plugin: 'edu.wpi.first.NativeUtils'
-apply plugin: ExtraTasks
-
-apply plugin: 'edu.wpi.first.DeployUtils'
-
-apply from: '../shared/config.gradle'
-
-ext {
-    sharedCvConfigs = [crossConnIntegrationTests: []]
-    staticCvConfigs = [:]
-    useJava = false
-    useCpp = true
-    staticGtestConfigs = [crossConnIntegrationTests: []]
-}
-
-apply from: "${rootDir}/shared/opencv.gradle"
-
-apply from: "${rootDir}/shared/googletest.gradle"
-
-deploy {
-    targets {
-        roborio(RemoteTarget) {
-            directory = '/home/admin'
-            maxChannels = 4
-            locations {
-                ssh(SshDeployLocation) {
-                    address = "172.22.11.2"
-                    user = 'admin'
-                    password = ''
-                    ipv6 = false
-                }
-            }
-
-            artifacts {
-                all {
-                    predeploy << { ctx ->
-                        ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
-                    }
-                    postdeploy << { ctx ->
-                        ctx.execute("sync")
-                        ctx.execute("ldconfig")
-                    }
-                }
-
-                crossConnIntegrationTests(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
-                    postdeploy << { ctx ->
-                        ctx.execute('chmod +x crossConnIntegrationTests')
-                    }
-                }
-            }
-        }
-    }
-}
-
-model {
-    components {
-        crossConnIntegrationTests(NativeExecutableSpec) {
-            targetBuildTypes 'debug'
-            binaries.all { binary ->
-                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                    if (binary.buildType.name == 'debug') {
-                        deploy.targets.roborio.artifacts.crossConnIntegrationTests.binary = binary
-                    }
-
-                    binary.sources {
-                        athenaCpp(CppSourceSet) {
-                            source {
-                                srcDirs = ['src/main/native/cpp']
-                                includes = ['**/*.cpp']
-                            }
-                            exportedHeaders {
-                                srcDirs = ['src/main/native/include']
-                                includes = ['**/*.h']
-                            }
-                        }
-                    }
-                    project(':hal').addHalDependency(binary, 'shared')
-                    project(':hal').addHalJniDependency(binary)
-                    lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
-                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-                    lib project: ':thirdparty:googletest', library: 'googletest', linkage: 'static'
-                    if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                        nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
-                    }
-                } else {
-                    binary.sources {
-                        simCpp(CppSourceSet) {
-                            source {
-                                srcDirs 'src/main/native/dt'
-                                includes = ['**/*.cpp']
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-}
-
-tasks.register('deployTests') {
-    try {
-        dependsOn tasks.named('deployCrossConnIntegrationTestsLibrariesRoborio')
-        dependsOn tasks.named('deployCrossConnIntegrationTestsRoborio')
-    } catch (ignored) {
-    }
-}

crossConnIntegrationTests/src/main/native/cpp/AnalogTest.cpp

@@ -1,112 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <gtest/gtest.h>
-#include <hal/AnalogInput.h>
-#include <hal/AnalogOutput.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-
-using namespace hlt;
-
-class AnalogCrossTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(AnalogCrossTest, AnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  AnalogInputHandle input{param.first, &status};
-  ASSERT_EQ(0, status);
-  AnalogOutputHandle output{param.second, &status};
-  ASSERT_EQ(0, status);
-
-  for (double i = 0; i < 5; i += 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-
-  for (double i = 5; i > 0; i -= 0.1) {
-    HAL_SetAnalogOutput(output, i, &status);
-    ASSERT_EQ(0, status);
-    usleep(1000);
-    ASSERT_NEAR(i, HAL_GetAnalogVoltage(input, &status), 0.01);
-    ASSERT_EQ(0, status);
-  }
-}
-
-TEST(AnalogInputTest, AllocateAll) {
-  wpi::SmallVector<AnalogInputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogInputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogInputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogInputTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogInputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogInputTest, OverAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(HAL_GetNumAnalogInputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogInputTest, UnderAllocateFails) {
-  int32_t status = 0;
-  AnalogInputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, AllocateAll) {
-  wpi::SmallVector<AnalogOutputHandle, 21> analogHandles;
-  for (int i = 0; i < HAL_GetNumAnalogOutputs(); i++) {
-    int32_t status = 0;
-    analogHandles.emplace_back(AnalogOutputHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(AnalogOutputTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  AnalogOutputHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(AnalogOutputTest, OverAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(HAL_GetNumAnalogOutputs(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(AnalogOutputTest, UnderAllocateFails) {
-  int32_t status = 0;
-  AnalogOutputHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-INSTANTIATE_TEST_SUITE_P(AnalogCrossConnectsTests, AnalogCrossTest,
-                         ::testing::ValuesIn(AnalogCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/DIOTest.cpp

@@ -1,101 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <gtest/gtest.h>
-#include <hal/DIO.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-
-using namespace hlt;
-
-class DIOTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(DIOTest, DIOCross) {
-  auto param = GetParam();
-  int32_t status = 0;
-  DIOHandle first{param.first, false, &status};
-  ASSERT_EQ(0, status);
-  DIOHandle second{param.second, true, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(first, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(first, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_FALSE(HAL_GetDIO(second, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(first, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(second, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIODirection(first, true, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetDIODirection(second, false, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(second, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(first, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetDIO(second, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(first, &status));
-  ASSERT_EQ(0, status);
-}
-
-TEST(DIOTest, AllocateAll) {
-  wpi::SmallVector<DIOHandle, 32> dioHandles;
-  for (int i = 0; i < HAL_GetNumDigitalChannels(); i++) {
-    int32_t status = 0;
-    dioHandles.emplace_back(i, true, &status);
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(DIOTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  DIOHandle handle(0, true, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  DIOHandle handle2(0, true, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(DIOTest, OverAllocateFails) {
-  int32_t status = 0;
-  DIOHandle handle(HAL_GetNumDigitalChannels(), true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(DIOTest, UnderAllocateFails) {
-  int32_t status = 0;
-  DIOHandle handle(-1, true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(DIOTest, CrossAllocationFails) {
-  int32_t status = 0;
-  PWMHandle pwmHandle(10, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-  DIOHandle handle(10, true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-INSTANTIATE_TEST_SUITE_P(DIOCrossConnectsTests, DIOTest,
-                         ::testing::ValuesIn(DIOCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/DutyCycleTest.cpp

@@ -1,52 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <gtest/gtest.h>
-#include <hal/HAL.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-
-using namespace hlt;
-
-class DutyCycleTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(DutyCycleTest, DutyCycle) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
-  HAL_SetPWMConfigMicroseconds(pwmHandle, 5050, 2525, 2525, 2525, 0, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetPWMPeriodScale(pwmHandle, 0, &status);
-  ASSERT_EQ(0, status);
-
-  DIOHandle dioHandle{param.second, true, &status};
-  ASSERT_EQ(0, status);
-
-  DutyCycleHandle dutyCycle{dioHandle, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetPWMSpeed(pwmHandle, 0.5, &status);
-  ASSERT_EQ(0, status);
-
-  // Sleep enough time for the frequency to converge
-  usleep(3500000);
-
-  ASSERT_NEAR(
-      1000 / 5.05,
-      static_cast<double>(HAL_GetDutyCycleFrequency(dutyCycle, &status)), 1);
-
-  // TODO measure output
-}
-
-INSTANTIATE_TEST_SUITE_P(DutyCycleCrossConnTests, DutyCycleTest,
-                         ::testing::ValuesIn(PWMCrossConnects));

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

@@ -1,358 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <atomic>
-#include <thread>
-
-#include <gtest/gtest.h>
-#include <hal/DMA.h>
-#include <hal/HAL.h>
-#include <wpi/SmallVector.h>
-#include <wpi/condition_variable.h>
-#include <wpi/priority_mutex.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-
-using namespace hlt;
-
-class PWMTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-void TestTimingDMA(int squelch, std::pair<int, int> param) {
-  // Initialize DMA
-  int32_t status = 0;
-  DMAHandle dmaHandle(&status);
-  ASSERT_NE(dmaHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(0, status);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
-  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
-  HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
-
-  unsigned int checkPeriod = 0;
-  switch (squelch) {
-    case (0):
-      checkPeriod = 5050;
-      break;
-    case (1):
-      checkPeriod = 10100;
-      break;
-    case (3):
-      checkPeriod = 20200;
-      break;
-  }
-
-  status = 0;
-  DIOHandle dioHandle(param.second, true, &status);
-  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
-
-  HAL_AddDMADigitalSource(dmaHandle, dioHandle, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetDMAExternalTrigger(dmaHandle, dioHandle,
-                            HAL_AnalogTriggerType::HAL_Trigger_kInWindow, true,
-                            true, &status);
-  ASSERT_EQ(0, status);
-
-  // Loop to test 5 speeds
-  for (unsigned int testWidth = 1000; testWidth < 2100; testWidth += 250) {
-    HAL_StartDMA(dmaHandle, 1024, &status);
-    ASSERT_EQ(0, status);
-
-    while (true) {
-      int32_t remaining = 0;
-      HAL_DMASample testSample;
-      HAL_ReadDMA(dmaHandle, &testSample, 0.01, &remaining, &status);
-      if (remaining == 0) {
-        break;
-      }
-    }
-
-    HAL_SetPWMSpeed(pwmHandle, (testWidth - 1000) / 1000.0, &status);
-
-    constexpr const int kSampleCount = 15;
-    HAL_DMASample dmaSamples[kSampleCount];
-    int readCount = 0;
-    while (readCount < kSampleCount) {
-      status = 0;
-      int32_t remaining = 0;
-      HAL_DMAReadStatus readStatus = HAL_ReadDMA(
-          dmaHandle, &dmaSamples[readCount], 1.0, &remaining, &status);
-      ASSERT_EQ(0, status);
-      ASSERT_EQ(HAL_DMAReadStatus::HAL_DMA_OK, readStatus);
-      readCount++;
-    }
-
-    HAL_SetPWMSpeed(pwmHandle, 0, &status);
-    HAL_StopDMA(dmaHandle, &status);
-
-    // Find first rising edge
-    int startIndex = 4;
-    while (startIndex < 6) {
-      status = 0;
-      auto value = HAL_GetDMASampleDigitalSource(&dmaSamples[startIndex],
-                                                 dioHandle, &status);
-      ASSERT_EQ(0, status);
-      if (value) {
-        break;
-      }
-      startIndex++;
-    }
-    ASSERT_LT(startIndex, 6);
-
-    // Check that samples alternate
-    bool previous = false;
-    int iterationCount = 0;
-    for (int i = startIndex; i < startIndex + 8; i++) {
-      auto value =
-          HAL_GetDMASampleDigitalSource(&dmaSamples[i], dioHandle, &status);
-      ASSERT_EQ(0, status);
-      ASSERT_NE(previous, value);
-      previous = !previous;
-      iterationCount++;
-    }
-    ASSERT_EQ(iterationCount, 8);
-    iterationCount = 0;
-
-    // Check width between samples
-    for (int i = startIndex; i < startIndex + 8; i += 2) {
-      auto width = HAL_GetDMASampleTime(&dmaSamples[i + 1], &status) -
-                   HAL_GetDMASampleTime(&dmaSamples[i], &status);
-      ASSERT_NEAR(testWidth, width, 10);
-      iterationCount++;
-    }
-    ASSERT_EQ(iterationCount, 4);
-    iterationCount = 0;
-
-    // Check period between samples
-    for (int i = startIndex; i < startIndex + 6; i += 2) {
-      auto period = HAL_GetDMASampleTime(&dmaSamples[i + 2], &status) -
-                    HAL_GetDMASampleTime(&dmaSamples[i], &status);
-      ASSERT_NEAR(checkPeriod, period, 10);
-      iterationCount++;
-    }
-    ASSERT_EQ(iterationCount, 3);
-  }
-}
-
-struct InterruptCheckData {
-  wpi::SmallVector<uint64_t, 8> risingStamps;
-  wpi::SmallVector<uint64_t, 8> fallingStamps;
-  wpi::priority_mutex mutex;
-  wpi::condition_variable cond;
-  HAL_InterruptHandle handle;
-};
-
-// TODO switch this to DMA
-void TestTiming(int squelch, std::pair<int, int> param) {
-  // Initialize interrupt
-  int32_t status = 0;
-  InterruptHandle interruptHandle(&status);
-  // Ensure we have a valid interrupt handle
-  ASSERT_NE(interruptHandle, HAL_kInvalidHandle);
-
-  status = 0;
-  PWMHandle pwmHandle(param.first, &status);
-  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
-
-  // Ensure our PWM is disabled, and set up properly
-  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
-  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
-  HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
-
-  unsigned int checkPeriod = 0;
-  switch (squelch) {
-    case (0):
-      checkPeriod = 5050;
-      break;
-    case (1):
-      checkPeriod = 10100;
-      break;
-    case (3):
-      checkPeriod = 20200;
-      break;
-  }
-
-  status = 0;
-  DIOHandle dioHandle(param.second, true, &status);
-  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
-
-  InterruptCheckData interruptData;
-  interruptData.handle = interruptHandle;
-
-  // Can use any type for the interrupt handle
-  HAL_RequestInterrupts(interruptHandle, dioHandle,
-                        HAL_AnalogTriggerType::HAL_Trigger_kInWindow, &status);
-
-  HAL_SetInterruptUpSourceEdge(interruptHandle, true, true, &status);
-
-  // Loop to test 5 speeds
-  for (unsigned int i = 1000; i < 2100; i += 250) {
-    interruptData.risingStamps.clear();
-    interruptData.fallingStamps.clear();
-
-    std::atomic_bool runThread{true};
-
-    status = 0;
-    std::thread interruptThread([&]() {
-      while (runThread) {
-        int32_t threadStatus = 0;
-        auto mask =
-            HAL_WaitForInterrupt(interruptHandle, 5, true, &threadStatus);
-
-        if ((mask & 0x100) == 0x100 && interruptData.risingStamps.size() == 0 &&
-            interruptData.fallingStamps.size() == 0) {
-          // Falling edge at start of tracking. Skip
-          continue;
-        }
-
-        int32_t status = 0;
-        if ((mask & 0x1) == 0x1) {
-          auto ts = HAL_ReadInterruptRisingTimestamp(interruptHandle, &status);
-          // Rising Edge
-          interruptData.risingStamps.push_back(ts);
-        } else if ((mask & 0x100) == 0x100) {
-          auto ts = HAL_ReadInterruptFallingTimestamp(interruptHandle, &status);
-          // Falling Edge
-          interruptData.fallingStamps.push_back(ts);
-        }
-
-        if (interruptData.risingStamps.size() >= 4 &&
-            interruptData.fallingStamps.size() >= 4) {
-          interruptData.cond.notify_all();
-          runThread = false;
-          break;
-        }
-      }
-    });
-
-    // Ensure our interrupt actually got created correctly.
-    ASSERT_EQ(status, 0);
-    HAL_SetPWMSpeed(pwmHandle, (i - 1000) / 1000.0, &status);
-    ASSERT_EQ(status, 0);
-    {
-      std::unique_lock<wpi::priority_mutex> lock(interruptData.mutex);
-      // Wait for lock
-      // TODO: Add Timeout
-      auto timeout = interruptData.cond.wait_for(lock, std::chrono::seconds(2));
-      if (timeout == std::cv_status::timeout) {
-        runThread = false;
-        if (interruptThread.joinable()) {
-          interruptThread.join();
-        }
-        ASSERT_TRUE(false);  // Exit test as failure on timeout
-      }
-    }
-
-    HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
-
-    // Ensure our interrupts have the proper counts
-    ASSERT_EQ(interruptData.risingStamps.size(),
-              interruptData.fallingStamps.size());
-
-    ASSERT_GT(interruptData.risingStamps.size(), 0u);
-
-    ASSERT_EQ(interruptData.risingStamps.size() % 2, 0u);
-    ASSERT_EQ(interruptData.fallingStamps.size() % 2, 0u);
-
-    for (size_t j = 0; j < interruptData.risingStamps.size(); j++) {
-      uint64_t width =
-          interruptData.fallingStamps[j] - interruptData.risingStamps[j];
-      ASSERT_NEAR(width, i, 10);
-    }
-
-    for (unsigned int j = 0; j < interruptData.risingStamps.size() - 1; j++) {
-      uint64_t period =
-          interruptData.risingStamps[j + 1] - interruptData.risingStamps[j];
-      ASSERT_NEAR(period, checkPeriod, 10);
-    }
-    runThread = false;
-    if (interruptThread.joinable()) {
-      interruptThread.join();
-    }
-  }
-}
-
-TEST_P(PWMTest, Timing4x) {
-  auto param = GetParam();
-  TestTiming(3, param);
-}
-
-TEST_P(PWMTest, Timing2x) {
-  auto param = GetParam();
-  TestTiming(1, param);
-}
-
-TEST_P(PWMTest, Timing1x) {
-  auto param = GetParam();
-  TestTiming(0, param);
-}
-
-TEST_P(PWMTest, TimingDMA4x) {
-  auto param = GetParam();
-  TestTimingDMA(3, param);
-}
-
-TEST_P(PWMTest, TimingDMA2x) {
-  auto param = GetParam();
-  TestTimingDMA(1, param);
-}
-
-TEST_P(PWMTest, TimingDMA1x) {
-  auto param = GetParam();
-  TestTimingDMA(0, param);
-}
-
-TEST(PWMTest, AllocateAll) {
-  wpi::SmallVector<PWMHandle, 21> pwmHandles;
-  for (int i = 0; i < HAL_GetNumPWMChannels(); i++) {
-    int32_t status = 0;
-    pwmHandles.emplace_back(PWMHandle(i, &status));
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(PWMTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  PWMHandle handle(0, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  PWMHandle handle2(0, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(PWMTest, OverAllocateFails) {
-  int32_t status = 0;
-  PWMHandle handle(HAL_GetNumPWMChannels(), &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(PWMTest, UnderAllocateFails) {
-  int32_t status = 0;
-  PWMHandle handle(-1, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(PWMTest, CrossAllocationFails) {
-  int32_t status = 0;
-  DIOHandle dioHandle(10, true, &status);
-  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-  PWMHandle handle(10, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-INSTANTIATE_TEST_SUITE_P(PWMCrossConnectTests, PWMTest,
-                         ::testing::ValuesIn(PWMCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/RelayAnalogTest.cpp

@@ -1,50 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <gtest/gtest.h>
-#include <hal/AnalogInput.h>
-#include <hal/Relay.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-
-using namespace hlt;
-
-class RelayAnalogTest : public ::testing::TestWithParam<std::pair<int, int>> {};
-
-TEST_P(RelayAnalogTest, RelayAnalogCross) {
-  auto param = GetParam();
-
-  int32_t status = 0;
-  RelayHandle relay{param.first, true, &status};
-  ASSERT_EQ(0, status);
-  AnalogInputHandle analog{param.second, &status};
-  ASSERT_EQ(0, status);
-  AnalogTriggerHandle trigger{analog, &status};
-  ASSERT_EQ(0, status);
-  HAL_SetAnalogTriggerLimitsVoltage(trigger, 1.5, 3.0, &status);
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(relay, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetAnalogTriggerTriggerState(trigger, &status));
-  ASSERT_EQ(0, status);
-}
-
-INSTANTIATE_TEST_SUITE_P(RelayAnalogCrossConnectsTests, RelayAnalogTest,
-                         ::testing::ValuesIn(RelayAnalogCrossConnects));

crossConnIntegrationTests/src/main/native/cpp/RelayDigitalTest.cpp

@@ -1,104 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <gtest/gtest.h>
-#include <hal/Relay.h>
-#include <wpi/SmallVector.h>
-
-#include "CrossConnects.h"
-#include "LifetimeWrappers.h"
-
-using namespace hlt;
-
-class RelayDigitalTest : public ::testing::TestWithParam<RelayCross> {};
-
-TEST_P(RelayDigitalTest, RelayCross) {
-  auto param = GetParam();
-  int32_t status = 0;
-  RelayHandle fwd{param.Relay, true, &status};
-  ASSERT_EQ(0, status);
-  RelayHandle rev{param.Relay, false, &status};
-  ASSERT_EQ(0, status);
-  DIOHandle fwdInput{param.FwdDio, true, &status};
-  ASSERT_EQ(0, status);
-  DIOHandle revInput{param.RevDio, true, &status};
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, false, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_FALSE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, false, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_FALSE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_TRUE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, true, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, false, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_FALSE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-
-  HAL_SetRelay(fwd, true, &status);
-  ASSERT_EQ(0, status);
-  HAL_SetRelay(rev, true, &status);
-  ASSERT_EQ(0, status);
-  usleep(1000);
-  ASSERT_TRUE(HAL_GetDIO(fwdInput, &status));
-  ASSERT_EQ(0, status);
-  ASSERT_TRUE(HAL_GetDIO(revInput, &status));
-  ASSERT_EQ(0, status);
-}
-
-TEST(RelayDigitalTest, AllocateAll) {
-  wpi::SmallVector<RelayHandle, 32> relayHandles;
-  for (int i = 0; i < HAL_GetNumRelayChannels(); i++) {
-    int32_t status = 0;
-    relayHandles.emplace_back(i / 2, i % 2, &status);
-    ASSERT_EQ(status, 0);
-  }
-}
-
-TEST(RelayDigitalTest, MultipleAllocateFails) {
-  int32_t status = 0;
-  RelayHandle handle(0, true, &status);
-  ASSERT_NE(handle, HAL_kInvalidHandle);
-  ASSERT_EQ(status, 0);
-
-  RelayHandle handle2(0, true, &status);
-  ASSERT_EQ(handle2, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
-}
-
-TEST(RelayDigitalTest, OverAllocateFails) {
-  int32_t status = 0;
-  RelayHandle handle(HAL_GetNumRelayChannels(), true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-TEST(RelayDigitalTest, UnderAllocateFails) {
-  int32_t status = 0;
-  RelayHandle handle(-1, true, &status);
-  ASSERT_EQ(handle, HAL_kInvalidHandle);
-  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
-}
-
-INSTANTIATE_TEST_SUITE_P(RelayDigitalCrossConnectsTests, RelayDigitalTest,
-                         ::testing::ValuesIn(RelayCrossConnects));

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

@@ -1,74 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <cstdlib>
-#include <cstring>
-#include <thread>
-
-#include <gtest/gtest.h>
-#include <hal/HAL.h>
-#include <wpi/print.h>
-
-#include "mockds/MockDS.h"
-
-using namespace std::chrono_literals;
-
-class TestEnvironment : public testing::Environment {
-  bool m_alreadySetUp = false;
-  MockDS m_mockDS;
-
- public:
-  TestEnvironment() {
-    // Only set up once. This allows gtest_repeat to be used to automatically
-    // repeat tests.
-    if (m_alreadySetUp) {
-      return;
-    }
-    m_alreadySetUp = true;
-
-    if (!HAL_Initialize(500, 0)) {
-      wpi::print(stderr, "FATAL ERROR: HAL could not be initialized\n");
-      std::exit(-1);
-    }
-
-    m_mockDS.Start();
-
-    // This sets up the network communications library to enable the driver
-    // station. After starting network coms, it will loop until the driver
-    // station returns that the robot is enabled, to ensure that tests will be
-    // able to run on the hardware.
-    HAL_ObserveUserProgramStarting();
-
-    wpi::print("Started coms\n");
-
-    int enableCounter = 0;
-
-    auto checkEnabled = []() {
-      HAL_ControlWord controlWord;
-      std::memset(&controlWord, 0, sizeof(controlWord));
-      HAL_GetControlWord(&controlWord);
-      return controlWord.enabled && controlWord.dsAttached;
-    };
-    HAL_RefreshDSData();
-    while (!checkEnabled()) {
-      if (enableCounter > 50) {
-        // Robot did not enable properly after 5 seconds.
-        // Force exit
-        wpi::print(stderr, " Failed to enable. Aborting\n");
-        std::terminate();
-      }
-
-      std::this_thread::sleep_for(100ms);
-
-      wpi::print("Waiting for enable: {}\n", enableCounter++);
-      HAL_RefreshDSData();
-    }
-    std::this_thread::sleep_for(500ms);
-  }
-
-  ~TestEnvironment() override { m_mockDS.Stop(); }
-};
-
-testing::Environment* const environment =
-    testing::AddGlobalTestEnvironment(new TestEnvironment);

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

@@ -1,86 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "MockDS.h"
-
-#include <stdint.h>
-
-#include <string_view>
-
-#include <hal/cpp/fpga_clock.h>
-#include <wpi/Logger.h>
-#include <wpi/SmallVector.h>
-#include <wpi/print.h>
-#include <wpinet/UDPClient.h>
-
-static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
-                       const char* msg) {
-  if (level == 20) {
-    wpi::print(stderr, "DS: {}\n", msg);
-    return;
-  }
-
-  std::string_view levelmsg;
-  if (level >= 50) {
-    levelmsg = "CRITICAL";
-  } else if (level >= 40) {
-    levelmsg = "ERROR";
-  } else if (level >= 30) {
-    levelmsg = "WARNING";
-  } else {
-    return;
-  }
-  wpi::print(stderr, "DS: {}: {} ({}:{})\n", levelmsg, msg, file, line);
-}
-
-static void generateEnabledDsPacket(wpi::SmallVectorImpl<uint8_t>& data,
-                                    uint16_t sendCount) {
-  data.clear();
-  data.push_back(sendCount >> 8);
-  data.push_back(sendCount);
-  data.push_back(0x01);  // general data tag
-  data.push_back(0x04);  // teleop enabled
-  data.push_back(0x10);  // normal data request
-  data.push_back(0x00);  // red 1 station
-}
-
-void MockDS::Start() {
-  if (m_active) {
-    return;
-  }
-  m_active = true;
-  m_thread = std::thread([&]() {
-    wpi::Logger logger(LoggerFunc);
-    wpi::UDPClient client(logger);
-    client.start();
-    auto timeout_time = hal::fpga_clock::now();
-    int initCount = 0;
-    uint16_t sendCount = 0;
-    wpi::SmallVector<uint8_t, 8> data;
-    while (m_active) {
-      // Keep 20ms intervals, and increase time to next interval
-      auto current = hal::fpga_clock::now();
-      while (timeout_time <= current) {
-        timeout_time += std::chrono::milliseconds(20);
-      }
-      std::this_thread::sleep_until(timeout_time);
-      generateEnabledDsPacket(data, sendCount++);
-      // ~10 disabled packets are required to make the robot actually enable
-      // 1 is definitely not enough.
-      if (initCount < 10) {
-        initCount++;
-        data[3] = 0;
-      }
-      client.send(data, "127.0.0.1", 1110);
-    }
-    client.shutdown();
-  });
-}
-
-void MockDS::Stop() {
-  m_active = false;
-  if (m_thread.joinable()) {
-    m_thread.join();
-  }
-}

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

@@ -1,23 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <atomic>
-#include <thread>
-
-class MockDS {
- public:
-  MockDS() = default;
-  ~MockDS() { Stop(); }
-  MockDS(const MockDS& other) = delete;
-  MockDS& operator=(const MockDS& other) = delete;
-
-  void Start();
-  void Stop();
-
- private:
-  std::thread m_thread;
-  std::atomic_bool m_active{false};
-};

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

@@ -1,62 +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 <array>
-#include <utility>
-
-namespace hlt {
-
-constexpr static std::array<std::pair<int, int>, 22> DIOCrossConnects{
-    std::pair{20, 25},
-    std::pair{19, 24},
-    std::pair{17, 13},
-    std::pair{16, 12},
-    std::pair{15, 11},
-    std::pair{14, 10},
-    std::pair{26, 2},
-    std::pair{27, 1},
-    std::pair{28, 0},
-    std::pair{29, 3},
-    std::pair{30, 4},
-
-    // Opposite direction
-    std::pair{25, 20},
-    std::pair{24, 19},
-    std::pair{13, 17},
-    std::pair{12, 16},
-    std::pair{11, 15},
-    std::pair{10, 14},
-    std::pair{2, 26},
-    std::pair{1, 27},
-    std::pair{0, 28},
-    std::pair{3, 29},
-    std::pair{4, 30},
-};
-
-// PWM on left, DIO on right
-constexpr static std::array<std::pair<int, int>, 2> PWMCrossConnects{
-    std::pair{0, 18},
-    std::pair{16, 25},
-};
-
-// FWD only, relay on left
-constexpr static std::array<std::pair<int, int>, 2> RelayAnalogCrossConnects{
-    std::pair{2, 0}, std::pair{3, 1}};
-
-struct RelayCross {
-  int Relay;
-  int FwdDio;
-  int RevDio;
-};
-
-constexpr static std::array<RelayCross, 1> RelayCrossConnects{
-    RelayCross{0, 23, 22}};
-
-// input on left
-constexpr static std::array<std::pair<int, int>, 2> AnalogCrossConnects{
-    std::pair{2, 0}, std::pair{4, 1}};
-
-}  // namespace hlt

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

@@ -1,86 +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 <hal/DMA.h>
-#include <hal/DutyCycle.h>
-#include <hal/HAL.h>
-
-namespace hlt {
-
-struct InterruptHandle : hal::Handle<HAL_InterruptHandle, HAL_CleanInterrupts> {
- public:
-  explicit InterruptHandle(int32_t* status)
-      : Handle{HAL_InitializeInterrupts(status)} {}
-};
-
-struct DMAHandle : hal::Handle<HAL_DMAHandle, HAL_FreeDMA> {
- public:
-  explicit DMAHandle(int32_t* status) : Handle{HAL_InitializeDMA(status)} {}
-};
-
-struct AnalogInputHandle
-    : hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> {
- public:
-  AnalogInputHandle(int32_t port, int32_t* status)
-      : Handle{HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr,
-                                             status)} {}
-};
-
-struct AnalogOutputHandle
-    : hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> {
- public:
-  AnalogOutputHandle(int32_t port, int32_t* status)
-      : Handle{HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr,
-                                              status)} {}
-};
-
-struct AnalogTriggerHandle
-    : hal::Handle<HAL_AnalogTriggerHandle, HAL_CleanAnalogTrigger> {
- public:
-  explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status)
-      : Handle{HAL_InitializeAnalogTrigger(port, status)} {}
-};
-
-struct DutyCycleHandle : hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> {
- public:
-  DutyCycleHandle(HAL_DigitalHandle port, int32_t* status)
-      : Handle{HAL_InitializeDutyCycle(
-            port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status)} {}
-};
-
-struct DIOHandle : hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> {
- public:
-  DIOHandle() {}
-
-  DIOHandle(int32_t port, HAL_Bool input, int32_t* status)
-      : Handle{
-            HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status)} {}
-};
-
-struct PWMHandle : hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> {
- public:
-  PWMHandle() {}
-
-  PWMHandle(int32_t port, int32_t* status)
-      : Handle{HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status)} {}
-};
-
-struct RelayHandle : hal::Handle<HAL_RelayHandle, HAL_FreeRelayPort> {
- public:
-  RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status)
-      : Handle{
-            HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status)} {}
-};
-
-#define ASSERT_LAST_ERROR_STATUS(status, x)                          \
-  do {                                                               \
-    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
-    [[maybe_unused]]                                                 \
-    const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
-    ASSERT_EQ(status, x);                                            \
-  } while (0)
-
-}  // namespace hlt

cscore/.styleguide

@@ -38,8 +38,10 @@ includeOtherLibs {
   ^fmt/
   ^gtest/
   ^opencv2/
+  ^imgui
   ^support/
   ^tcpsockets/
   ^wpi/
+  ^wpigui
   ^wpinet/
 }

cscore/BUILD.bazel

@@ -0,0 +1,160 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")
+
+WIN_SRCS = glob([
+    "src/main/native/windows/**/*.cpp",
+    "src/main/native/windows/**/*.h",
+])
+
+LINUX_SRCS = glob([
+    "src/main/native/linux/**/*.cpp",
+    "src/main/native/linux/**/*.h",
+])
+
+MAC_SRCS = glob(["src/main/native/osx/**/*.cpp"])
+
+filegroup(
+    name = "native-srcs",
+    srcs = select({
+        "@bazel_tools//src/conditions:darwin": MAC_SRCS,
+        "@bazel_tools//src/conditions:windows": WIN_SRCS,
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SRCS,
+    }),
+)
+
+wpilib_objc_library(
+    name = "cscore-mac",
+    srcs = glob([
+        "src/main/native/objcpp/**/*.mm",
+        "src/main/native/cpp/*.h",
+    ]),
+    hdrs = glob([
+        "src/main/native/include/**/*",
+        "src/main/native/objcpp/**/*.h",
+    ]),
+    include_arc = False,
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+        "src/main/native/objcpp",
+    ],
+    sdk_frameworks = [
+        "CoreFoundation",
+        "AVFoundation",
+        "Foundation",
+        "CoreMedia",
+        "CoreVideo",
+        "IOKit",
+    ],
+    deps = [
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
+    ],
+)
+
+wpilib_cc_library(
+    name = "cscore.static",
+    srcs = [":native-srcs"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
+    ] + select({
+        "@bazel_tools//src/conditions:darwin": [":cscore-mac"],
+        "//conditions:default": [],
+    }),
+)
+
+wpilib_jni_cc_library(
+    name = "cscorejni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":cscore-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":cscore.static",
+    ],
+)
+
+wpilib_jni_java_library(
+    name = "cscore-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":cscorejni"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+    ],
+)
+
+cc_test(
+    name = "cscore-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**"]),
+    deps = [
+        ":cscore.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+wpilib_java_junit5_test(
+    name = "cscore-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    deps = [
+        ":cscore-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":cscore.static",
+    ],
+)
+
+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",
+    ],
+)
+
+[wpilib_cc_library(
+    name = example + "-examples",
+    srcs = glob([
+        "examples/" + example + "/*.cpp",
+    ]),
+    tags = [
+        "wpi-example",
+    ],
+    deps = [
+        "//cscore:cscore.static",
+        "//wpigui",
+    ],
+) for example in [
+    "enum_usb",
+    "httpcvstream",
+    "settings",
+    "usbcvstream",
+    "usbstream",
+    "usbviewer",
+]]

cscore/CMakeLists.txt

@@ -21,7 +21,7 @@ if(APPLE)
         cscore
         PROPERTIES
             LINK_FLAGS
-                "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo"
+                "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo -framework IOKit"
     )
 elseif(MSVC)
     target_sources(cscore PRIVATE ${cscore_windows_src})

cscore/build.gradle

@@ -22,7 +22,7 @@ model {
 
             enableCheckTask true
             javaCompileTasks << compileJava
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.systemcore)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
 
@@ -60,13 +60,8 @@ model {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {
                 return
             }
-            if (it.component.name == "${nativeName}JNI") {
-                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            } else {
-                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            }
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }
 }
@@ -164,19 +159,6 @@ 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
@@ -190,7 +172,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxsystemcore')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -198,8 +180,8 @@ model {
                             lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
-                            lib project: ':thirdparty:imgui_suite', library: 'imgui', linkage: 'static'
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                                 it.buildable = false
                                 return
                             }
@@ -213,9 +195,6 @@ model {
                                     it.linker.args << '-lGL'
                                 }
                             }
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
-                            }
                         }
                         sources.cpp.source {
                             srcDirs 'examples/' + "${key}"
@@ -230,9 +209,6 @@ model {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
-                        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                            nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
-                        }
                     }
                     sources.cpp.source {
                         srcDirs 'examples/' + "${key}"