Merge branch 'main' into 2027

The canbus names are changing to ensure stable ordering.

.bazelrc

@@ -3,6 +3,8 @@ 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
@@ -11,13 +13,19 @@ build --tool_java_runtime_version=remotejdk_17
 test --test_output=errors
 test --test_verbose_timeout_warnings
 
-import shared/bazel/compiler_flags/sanitizers.rc
-import shared/bazel/compiler_flags/base_linux_flags.rc
-import shared/bazel/compiler_flags/linux_flags.rc
-import shared/bazel/compiler_flags/osx_flags.rc
-import shared/bazel/compiler_flags/roborio_flags.rc
-import shared/bazel/compiler_flags/windows_flags.rc
-import shared/bazel/compiler_flags/coverage_flags.rc
+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

.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/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

@@ -31,8 +31,8 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - name: Build Release
-        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
+      - name: bazel ${{ matrix.action }}
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --verbose_failures
         shell: bash
 
   build-mac:
@@ -47,7 +47,7 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - name: Build Release
+      - name: bazel test (release)
         run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
         shell: bash
 
@@ -56,10 +56,11 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
-          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
+          - { name: "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 }
@@ -70,12 +71,12 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - name: Build and Test Release
+      - name: bazel ${{ matrix.action }} (release)
         run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
 
   buildifier:
     name: "buildifier"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - name: Set up Go 1.15.x
         uses: actions/setup-go@v5

.github/workflows/cmake-android.yml

@@ -16,10 +16,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             name: Android Arm64
             abi: arm64-v8a
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             name: Android X64
             abi: "x86_64"
 
@@ -39,7 +39,7 @@ jobs:
           java-version: 17
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y ninja-build

.github/workflows/cmake.yml

@@ -16,9 +16,9 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2024-22.04
+            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
@@ -36,7 +36,7 @@ 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)
         if: runner.os == 'macOS'
@@ -50,7 +50,7 @@ jobs:
         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
 

.github/workflows/comment-command.yml

@@ -1,101 +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 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Setup Java
-        uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
-      - 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 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Install jinja
-        run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - name: Regenerate all
-        run: ./.github/workflows/pregen_all.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - name: Commit
-        run: |
-          # Set credentials
-          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 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:
@@ -27,9 +34,11 @@ jobs:
         with:
           python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        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:
@@ -66,22 +76,25 @@ jobs:
         with:
           python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        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/pregen_all.py

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

.github/workflows/pregenerate.yml

@@ -13,21 +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 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Install jinja and protobuf
-        run: python -m pip install jinja2 protobuf grpcio-tools
-      - 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: Regenerate all
-        run: python ./.github/workflows/pregen_all.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - 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

@@ -10,26 +10,34 @@ 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:
     if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-24.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - 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
@@ -94,13 +102,9 @@ jobs:
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win32
-            architecture: x86
-            task: ":ntcoreffi:build"
-            outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -122,9 +126,6 @@ jobs:
         run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
-      - name: Set Java Heap Size
-        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
-        if: matrix.artifact-name == 'Win32'
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'

.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 ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
-          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :fieldImages:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+          run: df . && rm -f semicolon_delimited_script && ./gradlew -Pskiplinuxarm64 :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :fieldImages:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
       - uses: actions/upload-artifact@v4
         with:
           name: MavenArtifacts
           path: |
             development
           retention-days: 1
-
-  Robotbuilder:
-    name: "Build - RobotBuilder"
-    needs: [build-artifacts]
-    runs-on: ubuntu-22.04
-    env:
-      DISPLAY: ':10'
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: wpilibsuite/robotbuilder
-          fetch-depth: 0
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - name: Patch RobotBuilder to use local development
-        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$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:
@@ -120,12 +120,6 @@ jobs:
           ./mpack.py clone
           ./mpack.py copy-src
           ./mpack.py format-patch
-      - name: Run stack_walker.py
-        run: |
-          cd upstream_utils
-          ./stack_walker.py clone
-          ./stack_walker.py copy-src
-          ./stack_walker.py format-patch
       - name: Run memory.py
         run: |
           cd upstream_utils

.gitignore

@@ -255,3 +255,6 @@ bazel_auth.rc
 
 # ctest
 /Testing/
+
+# Meson
+.meson-subproject*

.styleguide

@@ -14,6 +14,7 @@ modifiableFileExclude {
   thirdparty/
   \.patch$
   gradlew
+  BUILD.bazel
 }
 
 generatedFileExclude {

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

@@ -76,6 +76,7 @@ cmake_dependent_option(
 )
 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
@@ -142,6 +143,11 @@ if(WITH_DOCS)
     include(AddDoxygenDocs)
     add_doxygen_docs()
 endif()
+
+if(WITH_WPICAL)
+    find_package(Ceres CONFIG REQUIRED)
+endif()
+
 find_package(LIBSSH CONFIG 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
@@ -285,6 +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)")
@@ -314,8 +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()

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
 

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

@@ -23,3 +23,9 @@ Examples:
   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)
 

README.md

@@ -50,7 +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
@@ -59,6 +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.
@@ -134,6 +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.

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
+=============
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+                           Version 2.0, January 2004
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+
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+=================
+libdogleg License
+=================
+Copyright 2011 Oblong Industries 2017 Dima Kogan <dima@secretsauce.net>
+
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+
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+
+The full text of the license is available at http://www.gnu.org/licenses
+
+============
+Simd License
+============
+
+MIT License
+
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+
+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
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+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

@@ -1,4 +1,34 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+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(
@@ -13,6 +43,7 @@ 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",
@@ -21,22 +52,105 @@ maven_artifacts = [
     "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 = "2ef1cafce7f4fd4e909bb5de8b0dc771a934646afd55d5f100ff31f6b500df98",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2024-1.bcr1/rules_bzlmodRio_toolchains-2024-1.bcr1.tar.gz",
+    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")
@@ -50,8 +164,8 @@ load_toolchains()
 #
 http_archive(
     name = "rules_bzlmodrio_jdk",
-    sha256 = "a00d5fa971fbcad8a17b1968cdc5350688397035e90b0cb94e040d375ecd97b4",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.8.1-1/rules_bzlmodRio_jdk-17.0.8.1-1.tar.gz",
+    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")
@@ -62,23 +176,35 @@ register_toolchains(
     "@local_roborio//:macos",
     "@local_roborio//:linux",
     "@local_roborio//:windows",
-    "@local_raspi_32//:macos",
-    "@local_raspi_32//:linux",
-    "@local_raspi_32//: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 = "197fceac88bf44fb8427d5e000b0083118d3346172dd2ad31eccf83a5e61b3ce",
-    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.0.0/bzlmodRio-ni-2025.0.0.tar.gz",
+    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")
@@ -87,8 +213,8 @@ setup_legacy_bzlmodrio_ni_cpp_dependencies()
 
 http_archive(
     name = "bzlmodrio-opencv",
-    sha256 = "5314cce05b49451a46bf3e3140fc401342e53d5f3357612ed4473e59bb616cba",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2024.4.8.0-4.bcr1/bzlmodRio-opencv-2024.4.8.0-4.bcr1.tar.gz",
+    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")
@@ -98,3 +224,67 @@ 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/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/AprilTagFieldLayout.cpp

@@ -133,6 +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
 
@@ -148,6 +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 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 16.687292,
+          "y": 0.628142,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.4539904997395468,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8910065241883678
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 16.687292,
+          "y": 7.414259999999999,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.45399049973954675,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8910065241883679
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.49096,
+          "y": 8.031733999999998,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 9.276079999999999,
+          "y": 6.132575999999999,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.9659258262890683,
+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 9.276079999999999,
+          "y": 1.9098259999999998,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.9659258262890683,
+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 13.474446,
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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
+5,365.2,75.39,73.54,0,30
+6,530.49,130.17,12.13,300,0
+7,546.87,158.5,12.13,0,0
+8,530.49,186.83,12.13,60,0
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+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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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

@@ -11,14 +11,14 @@ 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
 }
@@ -32,6 +32,7 @@ allprojects {
         url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
     }
     }
+    wpilibRepositories.use2027Repos()
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)
     } else {

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

@@ -1,5 +1,22 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary")
+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",
@@ -16,10 +33,21 @@ java_library(
     ],
 )
 
+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",
     ],
 )
 

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

@@ -190,7 +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

@@ -184,9 +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);
@@ -471,11 +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) {
@@ -483,7 +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;
 }
 
@@ -493,7 +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;
 }
 
@@ -503,67 +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

@@ -12,9 +12,7 @@
 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,

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

@@ -11,8 +11,6 @@
 #include <string_view>
 #include <vector>
 
-#include <wpi/deprecated.h>
-
 #include "cscore_cv.h"
 
 namespace frc {
@@ -75,128 +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) {
-    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")
-   * @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) {
-    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
-
   /**
    * Adds a virtual camera for switching between two streams.  Unlike the
    * other addCamera methods, this returns a VideoSink rather than a

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,

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()
 

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

@@ -1,359 +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 <utility>
-
-#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

@@ -1,8 +1,99 @@
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+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")
 
-java_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",
@@ -10,6 +101,33 @@ java_library(
     ],
 )
 
+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"],
@@ -19,3 +137,24 @@ java_binary(
         "//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 == "${nativeName}JNI") {
-                lib project: ':wpinet', library: 'wpinet', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            } else {
-                lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            }
+            lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }
 }
@@ -177,7 +172,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxsystemcore')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -185,8 +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
                             }
@@ -200,9 +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/' + "${key}"
@@ -217,9 +209,6 @@ model {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
-                        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                            nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
-                        }
                     }
                     sources.cpp.source {
                         srcDirs 'examples/' + "${key}"

cscore/examples/usbviewer/usbviewer.cpp

@@ -3,14 +3,17 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <atomic>
+#include <memory>
 #include <thread>
+#include <utility>
 #include <vector>
 
-#define IMGUI_DEFINE_MATH_OPERATORS
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <opencv2/core/core.hpp>
+#include <opencv2/core/mat.hpp>
 #include <opencv2/imgproc.hpp>
+#include <wpi/mutex.h>
 #include <wpi/print.h>
 #include <wpi/spinlock.h>
 #include <wpigui.h>
@@ -21,10 +24,10 @@
 namespace gui = wpi::gui;
 
 int main() {
-  std::atomic<cv::Mat*> latestFrame{nullptr};
-  std::vector<cv::Mat*> sharedFreeList;
-  wpi::spinlock sharedFreeListMutex;
-  std::vector<cv::Mat*> sourceFreeList;
+  wpi::spinlock latestFrameMutex;
+  std::unique_ptr<cv::Mat> latestFrame;
+  wpi::mutex freeListMutex;
+  std::vector<std::unique_ptr<cv::Mat>> freeList;
   std::atomic<bool> stopCamera{false};
 
   cs::UsbCamera camera{"usbcam", 0};
@@ -42,36 +45,31 @@ int main() {
         continue;
       }
 
-      // get or create a mat, prefer sourceFreeList over sharedFreeList
-      cv::Mat* out;
-      if (!sourceFreeList.empty()) {
-        out = sourceFreeList.back();
-        sourceFreeList.pop_back();
-      } else {
-        {
-          std::scoped_lock lock(sharedFreeListMutex);
-          for (auto mat : sharedFreeList) {
-            sourceFreeList.emplace_back(mat);
-          }
-          sharedFreeList.clear();
-        }
-        if (!sourceFreeList.empty()) {
-          out = sourceFreeList.back();
-          sourceFreeList.pop_back();
+      // get or create a mat
+      std::unique_ptr<cv::Mat> out;
+      {
+        std::scoped_lock lock{freeListMutex};
+        if (!freeList.empty()) {
+          out = std::move(freeList.back());
+          freeList.pop_back();
         } else {
-          out = new cv::Mat;
+          out = std::make_unique<cv::Mat>();
         }
       }
 
       // convert to RGBA
       cv::cvtColor(frame, *out, cv::COLOR_BGR2RGBA);
 
-      // make available
-      auto prev = latestFrame.exchange(out);
+      {
+        // make available
+        std::scoped_lock lock{latestFrameMutex};
+        latestFrame.swap(out);
+      }
 
-      // put prev on free list
-      if (prev) {
-        sourceFreeList.emplace_back(prev);
+      // put the previous frame on free list
+      if (out) {
+        std::scoped_lock lock{freeListMutex};
+        freeList.emplace_back(std::move(out));
       }
     }
   });
@@ -80,7 +78,11 @@ int main() {
   gui::Initialize("Hello World", 1024, 768);
   gui::Texture tex;
   gui::AddEarlyExecute([&] {
-    auto frame = latestFrame.exchange(nullptr);
+    std::unique_ptr<cv::Mat> frame;
+    {
+      std::scoped_lock lock{latestFrameMutex};
+      latestFrame.swap(frame);
+    }
     if (frame) {
       // create or update texture
       if (!tex || frame->cols != tex.GetWidth() ||
@@ -90,9 +92,10 @@ int main() {
       } else {
         tex.Update(frame->data);
       }
-      // put back on shared freelist
-      std::scoped_lock lock(sharedFreeListMutex);
-      sharedFreeList.emplace_back(frame);
+      {
+        std::scoped_lock lock{freeListMutex};
+        freeList.emplace_back(std::move(frame));
+      }
     }
 
     ImGui::SetNextWindowSize(ImVec2(640, 480), ImGuiCond_FirstUseEver);

cscore/java-examples/RawCVMatSink.java

@@ -1,85 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.cscore;
-
-import edu.wpi.cscore.VideoMode.PixelFormat;
-import edu.wpi.cscore.raw.RawFrame;
-import java.nio.ByteBuffer;
-import org.opencv.core.CvType;
-import org.opencv.core.Mat;
-
-public class RawCVMatSink extends ImageSink {
-  RawFrame frame = new RawFrame();
-  Mat tmpMat;
-  ByteBuffer origByteBuffer;
-  int width;
-  int height;
-  int pixelFormat;
-  int bgrValue = PixelFormat.kBGR.getValue();
-
-  private int getCVFormat(PixelFormat pixelFormat) {
-    return switch (pixelFormat) {
-      case kYUYV, kRGB565, kY16, kUYVY -> CvType.CV_8UC2;
-      case kBGR -> CvType.CV_8UC3;
-      case kBGRA -> CvType.CV_8UC4;
-      case kGray, kMJPEG, kUnknown -> CvType.CV_8UC1;
-    };
-  }
-
-  /**
-   * Create a sink for accepting OpenCV images. WaitForFrame() must be called on the created sink to
-   * get each new image.
-   *
-   * @param name Source name (arbitrary unique identifier)
-   */
-  public RawCVMatSink(String name) {
-    super(CameraServerJNI.createRawSink(name));
-  }
-
-  /**
-   * Wait for the next frame and get the image. Times out (returning 0) after 0.225 seconds. The
-   * provided image will have three 3-bit channels stored in BGR order.
-   *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error message)
-   */
-  public long grabFrame(Mat image) {
-    return grabFrame(image, 0.225);
-  }
-
-  /**
-   * Wait for the next frame and get the image. Times out (returning 0) after timeout seconds. The
-   * provided image will have three 3-bit channels stored in BGR order.
-   *
-   * @return Frame time, or 0 on error (call GetError() to obtain the error message); the frame time
-   *     is in 1 us increments.
-   */
-  public long grabFrame(Mat image, double timeout) {
-    frame.setWidth(0);
-    frame.setHeight(0);
-    frame.setPixelFormat(bgrValue);
-    long rv = CameraServerJNI.grabSinkFrameTimeout(m_handle, frame, timeout);
-    if (rv <= 0) {
-      return rv;
-    }
-
-    if (frame.getDataByteBuffer() != origByteBuffer
-        || width != frame.getWidth()
-        || height != frame.getHeight()
-        || pixelFormat != frame.getPixelFormat()) {
-      origByteBuffer = frame.getDataByteBuffer();
-      height = frame.getHeight();
-      width = frame.getWidth();
-      pixelFormat = frame.getPixelFormat();
-      tmpMat =
-          new Mat(
-              frame.getHeight(),
-              frame.getWidth(),
-              getCVFormat(VideoMode.getPixelFormatFromInt(pixelFormat)),
-              origByteBuffer);
-    }
-    tmpMat.copyTo(image);
-    return rv;
-  }
-}

cscore/java-examples/RawCVMatSource.java

@@ -1,60 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.cscore;
-
-import edu.wpi.cscore.VideoMode.PixelFormat;
-import org.opencv.core.Mat;
-
-public class RawCVMatSource extends ImageSource {
-  /**
-   * Create an OpenCV source.
-   *
-   * @param name Source name (arbitrary unique identifier)
-   * @param mode Video mode being generated
-   */
-  public RawCVMatSource(String name, VideoMode mode) {
-    super(
-        CameraServerJNI.createRawSource(
-            name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
-  }
-
-  /**
-   * Create an OpenCV source.
-   *
-   * @param name Source name (arbitrary unique identifier)
-   * @param pixelFormat Pixel format
-   * @param width width
-   * @param height height
-   * @param fps fps
-   */
-  public RawCVMatSource(
-      String name, VideoMode.PixelFormat pixelFormat, int width, int height, int fps) {
-    super(CameraServerJNI.createRawSource(name, pixelFormat.getValue(), width, height, fps));
-  }
-
-  /**
-   * Put an OpenCV image and notify sinks.
-   *
-   * <p>Only 8-bit single-channel or 3-channel (with BGR channel order) images are supported. If the
-   * format, depth or channel order is different, use Mat.convertTo() and/or cvtColor() to convert
-   * it first.
-   *
-   * @param image OpenCV image
-   */
-  public void putFrame(Mat image) {
-    int channels = image.channels();
-    if (channels != 1 && channels != 3) {
-      throw new VideoException("Unsupported Image Type");
-    }
-    int imgType = channels == 1 ? PixelFormat.kGray.getValue() : PixelFormat.kBGR.getValue();
-    CameraServerJNI.putRawSourceFrame(
-        m_handle,
-        image.dataAddr(),
-        image.width(),
-        image.height(),
-        imgType,
-        (int) image.total() * channels);
-  }
-}

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

@@ -1025,10 +1025,10 @@ public class CameraServerJNI {
   /**
    * Runs main run loop with timeout.
    *
-   * @param timeoutSeconds Timeout in seconds.
+   * @param timeout Timeout in seconds.
    * @return 3 on timeout, 2 on signal, 1 on other.
    */
-  public static native int runMainRunLoopTimeout(double timeoutSeconds);
+  public static native int runMainRunLoopTimeout(double timeout);
 
   /** Stops main run loop. */
   public static native void stopMainRunLoop();

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

@@ -6,6 +6,7 @@ package edu.wpi.first.cscore;
 
 import edu.wpi.first.util.PixelFormat;
 import edu.wpi.first.util.RawFrame;
+import edu.wpi.first.util.TimestampSource;
 import java.nio.ByteBuffer;
 import org.opencv.core.CvType;
 import org.opencv.core.Mat;
@@ -44,7 +45,7 @@ public class CvSink extends ImageSink {
    * Create a sink for accepting OpenCV images. grabFrame() must be called on the created sink to
    * get each new image.
    *
-   * @param name Source name (arbitrary unique identifier)
+   * @param name Sink name (arbitrary unique identifier)
    * @param pixelFormat Source pixel format
    */
   public CvSink(String name, PixelFormat pixelFormat) {
@@ -220,4 +221,22 @@ public class CvSink extends ImageSink {
     }
     return rv;
   }
+
+  /**
+   * Get the last time a frame was grabbed. This uses the same time base as wpi::Now().
+   *
+   * @return Time in 1 us increments.
+   */
+  public long getLastFrameTime() {
+    return m_frame.getTimestamp();
+  }
+
+  /**
+   * Get the time source for the timestamp the last frame was grabbed at.
+   *
+   * @return Time source
+   */
+  public TimestampSource getLastFrameTimeSource() {
+    return m_frame.getTimestampSource();
+  }
 }

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

@@ -16,18 +16,22 @@
 
 using namespace cs;
 
-Frame::Frame(SourceImpl& source, std::string_view error, Time time)
+Frame::Frame(SourceImpl& source, std::string_view error, Time time,
+             WPI_TimestampSource timeSrc)
     : m_impl{source.AllocFrameImpl().release()} {
   m_impl->refcount = 1;
   m_impl->error = error;
   m_impl->time = time;
+  m_impl->timeSource = timeSrc;
 }
 
-Frame::Frame(SourceImpl& source, std::unique_ptr<Image> image, Time time)
+Frame::Frame(SourceImpl& source, std::unique_ptr<Image> image, Time time,
+             WPI_TimestampSource timeSrc)
     : m_impl{source.AllocFrameImpl().release()} {
   m_impl->refcount = 1;
   m_impl->error.resize(0);
   m_impl->time = time;
+  m_impl->timeSource = timeSrc;
   m_impl->images.push_back(image.release());
 }
 

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

@@ -39,6 +39,7 @@ class Frame {
     wpi::recursive_mutex mutex;
     std::atomic_int refcount{0};
     Time time{0};
+    WPI_TimestampSource timeSource{WPI_TIMESRC_UNKNOWN};
     SourceImpl& source;
     std::string error;
     wpi::SmallVector<Image*, 4> images;
@@ -48,9 +49,11 @@ class Frame {
  public:
   Frame() noexcept = default;
 
-  Frame(SourceImpl& source, std::string_view error, Time time);
+  Frame(SourceImpl& source, std::string_view error, Time time,
+        WPI_TimestampSource timeSrc);
 
-  Frame(SourceImpl& source, std::unique_ptr<Image> image, Time time);
+  Frame(SourceImpl& source, std::unique_ptr<Image> image, Time time,
+        WPI_TimestampSource timeSrc);
 
   Frame(const Frame& frame) noexcept : m_impl{frame.m_impl} {
     if (m_impl) {
@@ -75,6 +78,9 @@ class Frame {
   }
 
   Time GetTime() const { return m_impl ? m_impl->time : 0; }
+  WPI_TimestampSource GetTimeSource() const {
+    return m_impl ? m_impl->timeSource : WPI_TIMESRC_UNKNOWN;
+  }
 
   std::string_view GetError() const {
     if (!m_impl) {

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

@@ -50,7 +50,7 @@ inline void NamedLog(wpi::Logger& logger, unsigned int level, const char* file,
 
 #define SLOG(level, format, ...)                           \
   NamedLog(m_logger, level, __FILE__, __LINE__, GetName(), \
-           FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__)
+           format __VA_OPT__(, ) __VA_ARGS__)
 
 #define SERROR(format, ...) \
   SLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)

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

@@ -63,6 +63,11 @@ uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image) {
 }
 
 uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout) {
+  return GrabFrame(image, timeout, 0);
+}
+
+uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout,
+                                uint64_t lastFrameTime) {
   SetEnabled(true);
 
   auto source = GetSource();
@@ -72,7 +77,7 @@ uint64_t RawSinkImpl::GrabFrame(WPI_RawFrame& image, double timeout) {
     return 0;
   }
 
-  auto frame = source->GetNextFrame(timeout);  // blocks
+  auto frame = source->GetNextFrame(timeout, lastFrameTime);  // blocks
   if (!frame) {
     // Bad frame; sleep for 20 ms so we don't consume all processor time.
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
@@ -115,6 +120,8 @@ uint64_t RawSinkImpl::GrabFrameImpl(WPI_RawFrame& rawFrame,
   rawFrame.pixelFormat = newImage->pixelFormat;
   rawFrame.size = newImage->size();
   std::copy(newImage->data(), newImage->data() + rawFrame.size, rawFrame.data);
+  rawFrame.timestamp = incomingFrame.GetTime();
+  rawFrame.timestampSrc = incomingFrame.GetTimeSource();
 
   return incomingFrame.GetTime();
 }
@@ -183,6 +190,18 @@ uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
   return static_cast<RawSinkImpl&>(*data->sink).GrabFrame(image, timeout);
 }
 
+uint64_t GrabSinkFrameTimeoutLastTime(CS_Sink sink, WPI_RawFrame& image,
+                                      double timeout, uint64_t lastFrameTime,
+                                      CS_Status* status) {
+  auto data = Instance::GetInstance().GetSink(sink);
+  if (!data || (data->kind & SinkMask) == 0) {
+    *status = CS_INVALID_HANDLE;
+    return 0;
+  }
+  return static_cast<RawSinkImpl&>(*data->sink)
+      .GrabFrame(image, timeout, lastFrameTime);
+}
+
 }  // namespace cs
 
 extern "C" {
@@ -209,4 +228,13 @@ uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* image,
   return cs::GrabSinkFrameTimeout(sink, *image, timeout, status);
 }
 
+uint64_t CS_GrabRawSinkFrameTimeoutWithFrameTime(CS_Sink sink,
+                                                 struct WPI_RawFrame* image,
+                                                 double timeout,
+                                                 uint64_t lastFrameTime,
+                                                 CS_Status* status) {
+  return cs::GrabSinkFrameTimeoutLastTime(sink, *image, timeout, lastFrameTime,
+                                          status);
+}
+
 }  // extern "C"

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

@@ -34,10 +34,15 @@ class RawSinkImpl : public SinkImpl {
 
   uint64_t GrabFrame(WPI_RawFrame& frame);
   uint64_t GrabFrame(WPI_RawFrame& frame, double timeout);
+  // Wait for a frame with a time other than lastFrameTime
+  uint64_t GrabFrame(WPI_RawFrame& frame, double timeout,
+                     uint64_t lastFrameTime);
 
  private:
   void ThreadMain();
 
+  // Copies the image from incomingFrame into rawFrame, converting where
+  // necessary to the resolution of rawFrame
   uint64_t GrabFrameImpl(WPI_RawFrame& rawFrame, Frame& incomingFrame);
 
   std::atomic_bool m_active;  // set to false to terminate threads

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

@@ -29,7 +29,7 @@ SourceImpl::SourceImpl(std::string_view name, wpi::Logger& logger,
       m_notifier(notifier),
       m_telemetry(telemetry),
       m_name{name} {
-  m_frame = Frame{*this, std::string_view{}, 0};
+  m_frame = Frame{*this, std::string_view{}, 0, WPI_TIMESRC_UNKNOWN};
 }
 
 SourceImpl::~SourceImpl() {
@@ -84,13 +84,19 @@ Frame SourceImpl::GetNextFrame() {
   return m_frame;
 }
 
-Frame SourceImpl::GetNextFrame(double timeout) {
+Frame SourceImpl::GetNextFrame(double timeout, Frame::Time lastFrameTime) {
   std::unique_lock lock{m_frameMutex};
-  auto oldTime = m_frame.GetTime();
+
+  if (lastFrameTime == 0) {
+    lastFrameTime = m_frame.GetTime();
+  }
+
+  // Wait unitl m_frame has a timestamp other than lastFrameTime
   if (!m_frameCv.wait_for(
           lock, std::chrono::milliseconds(static_cast<int>(timeout * 1000)),
-          [=, this] { return m_frame.GetTime() != oldTime; })) {
-    m_frame = Frame{*this, "timed out getting frame", wpi::Now()};
+          [=, this] { return m_frame.GetTime() != lastFrameTime; })) {
+    m_frame = Frame{*this, "timed out getting frame", wpi::Now(),
+                    WPI_TIMESRC_UNKNOWN};
   }
   return m_frame;
 }
@@ -98,7 +104,7 @@ Frame SourceImpl::GetNextFrame(double timeout) {
 void SourceImpl::Wakeup() {
   {
     std::scoped_lock lock{m_frameMutex};
-    m_frame = Frame{*this, std::string_view{}, 0};
+    m_frame = Frame{*this, std::string_view{}, 0, WPI_TIMESRC_UNKNOWN};
   }
   m_frameCv.notify_all();
 }
@@ -458,7 +464,8 @@ std::unique_ptr<Image> SourceImpl::AllocImage(
 }
 
 void SourceImpl::PutFrame(VideoMode::PixelFormat pixelFormat, int width,
-                          int height, std::string_view data, Frame::Time time) {
+                          int height, std::string_view data, Frame::Time time,
+                          WPI_TimestampSource timeSrc) {
   if (pixelFormat == VideoMode::PixelFormat::kBGRA) {
     // Write BGRA as BGR to save a copy
     auto image =
@@ -475,10 +482,11 @@ void SourceImpl::PutFrame(VideoMode::PixelFormat pixelFormat, int width,
           fmt::ptr(data.data()), data.size());
   std::memcpy(image->data(), data.data(), data.size());
 
-  PutFrame(std::move(image), time);
+  PutFrame(std::move(image), time, timeSrc);
 }
 
-void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time) {
+void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time,
+                          WPI_TimestampSource timeSrc) {
   // Update telemetry
   m_telemetry.RecordSourceFrames(*this, 1);
   m_telemetry.RecordSourceBytes(*this, static_cast<int>(image->size()));
@@ -486,7 +494,7 @@ void SourceImpl::PutFrame(std::unique_ptr<Image> image, Frame::Time time) {
   // Update frame
   {
     std::scoped_lock lock{m_frameMutex};
-    m_frame = Frame{*this, std::move(image), time};
+    m_frame = Frame{*this, std::move(image), time, timeSrc};
   }
 
   // Signal listeners
@@ -497,7 +505,7 @@ void SourceImpl::PutError(std::string_view msg, Frame::Time time) {
   // Update frame
   {
     std::scoped_lock lock{m_frameMutex};
-    m_frame = Frame{*this, msg, time};
+    m_frame = Frame{*this, msg, time, WPI_TIMESRC_UNKNOWN};
   }
 
   // Signal listeners

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

@@ -13,6 +13,7 @@
 #include <vector>
 
 #include <wpi/Logger.h>
+#include <wpi/RawFrame.h>
 #include <wpi/condition_variable.h>
 #include <wpi/json_fwd.h>
 #include <wpi/mutex.h>
@@ -98,7 +99,8 @@ class SourceImpl : public PropertyContainer {
 
   // Blocking function that waits for the next frame and returns it (with
   // timeout in seconds).  If timeout expires, returns empty frame.
-  Frame GetNextFrame(double timeout);
+  // If lastFrameTime==0, uses m_frame.GetTime() for lastFrameTime
+  Frame GetNextFrame(double timeout, Frame::Time lastFrameTime = 0);
 
   // Force a wakeup of all GetNextFrame() callers by sending an empty frame.
   void Wakeup();
@@ -140,8 +142,10 @@ class SourceImpl : public PropertyContainer {
                            std::string_view valueStr) override;
 
   void PutFrame(VideoMode::PixelFormat pixelFormat, int width, int height,
-                std::string_view data, Frame::Time time);
-  void PutFrame(std::unique_ptr<Image> image, Frame::Time time);
+                std::string_view data, Frame::Time time,
+                WPI_TimestampSource timeSrc = WPI_TIMESRC_FRAME_DEQUEUE);
+  void PutFrame(std::unique_ptr<Image> image, Frame::Time time,
+                WPI_TimestampSource timeSrc = WPI_TIMESRC_FRAME_DEQUEUE);
   void PutError(std::string_view msg, Frame::Time time);
 
   // Notification functions for corresponding atomics

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

@@ -2085,9 +2085,9 @@ Java_edu_wpi_first_cscore_CameraServerJNI_runMainRunLoop
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_cscore_CameraServerJNI_runMainRunLoopTimeout
-  (JNIEnv*, jclass, jdouble timeoutSeconds)
+  (JNIEnv*, jclass, jdouble timeout)
 {
-  return cs::RunMainRunLoopTimeout(timeoutSeconds);
+  return cs::RunMainRunLoopTimeout(timeout);
 }
 
 /*

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

@@ -8,6 +8,7 @@
 #include <functional>
 
 #include <opencv2/core/mat.hpp>
+#include <wpi/RawFrame.h>
 
 #include "cscore_oo.h"
 #include "cscore_raw.h"
@@ -151,6 +152,44 @@ class CvSink : public ImageSink {
   [[nodiscard]]
   uint64_t GrabFrameNoTimeoutDirect(cv::Mat& image);
 
+  /**
+   * Wait for the next frame and get the image.
+   * Times out (returning 0) after timeout seconds.
+   * The provided image will have the pixelFormat this class was constructed
+   * with. The data is backed by data in the CvSink. It will be invalidated by
+   * any grabFrame*() call on the sink.
+   *
+   * <p>If lastFrameTime is provided and non-zero, the sink will fill image with
+   * the first frame from the source that is not equal to lastFrameTime. If
+   * lastFrameTime is zero, the time of the current frame owned by the CvSource
+   * is used, and this function will block until the connected CvSource provides
+   * a new frame.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error
+   *         message); the frame time is in the same time base as wpi::Now(),
+   *         and is in 1 us increments.
+   */
+  [[nodiscard]]
+  uint64_t GrabFrameDirectLastTime(cv::Mat& image, uint64_t lastFrameTime,
+                                   double timeout = 0.225);
+
+  /**
+   * Get the last time a frame was grabbed. This uses the same time base as
+   * wpi::Now().
+   *
+   * @return Time in 1 us increments.
+   */
+  [[nodiscard]]
+  uint64_t LastFrameTime();
+
+  /**
+   * Get the time source for the timestamp the last frame was grabbed at.
+   *
+   * @return Time source
+   */
+  [[nodiscard]]
+  WPI_TimestampSource LastFrameTimeSource();
+
  private:
   constexpr int GetCvFormat(WPI_PixelFormat pixelFormat);
 
@@ -365,6 +404,33 @@ inline uint64_t CvSink::GrabFrameNoTimeoutDirect(cv::Mat& image) {
   return timestamp;
 }
 
+inline uint64_t CvSink::GrabFrameDirectLastTime(cv::Mat& image,
+                                                uint64_t lastFrameTime,
+                                                double timeout) {
+  rawFrame.height = 0;
+  rawFrame.width = 0;
+  rawFrame.stride = 0;
+  rawFrame.pixelFormat = pixelFormat;
+  auto timestamp = GrabSinkFrameTimeoutLastTime(m_handle, rawFrame, timeout,
+                                                lastFrameTime, &m_status);
+  if (m_status != CS_OK) {
+    return 0;
+  }
+  image =
+      cv::Mat{rawFrame.height, rawFrame.width,
+              GetCvFormat(static_cast<WPI_PixelFormat>(rawFrame.pixelFormat)),
+              rawFrame.data, static_cast<size_t>(rawFrame.stride)};
+  return timestamp;
+}
+
+inline uint64_t CvSink::LastFrameTime() {
+  return rawFrame.timestamp;
+}
+
+inline WPI_TimestampSource CvSink::LastFrameTimeSource() {
+  return static_cast<WPI_TimestampSource>(rawFrame.timestampSrc);
+}
+
 }  // namespace cs
 
 #endif  // CSCORE_CSCORE_CV_H_

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

@@ -27,6 +27,11 @@ uint64_t CS_GrabRawSinkFrame(CS_Sink sink, struct WPI_RawFrame* rawImage,
                              CS_Status* status);
 uint64_t CS_GrabRawSinkFrameTimeout(CS_Sink sink, struct WPI_RawFrame* rawImage,
                                     double timeout, CS_Status* status);
+uint64_t CS_GrabRawSinkFrameTimeoutWithFrameTime(CS_Sink sink,
+                                                 struct WPI_RawFrame* rawImage,
+                                                 double timeout,
+                                                 uint64_t lastFrameTime,
+                                                 CS_Status* status);
 
 CS_Sink CS_CreateRawSink(const struct WPI_String* name, CS_Bool isCv,
                          CS_Status* status);
@@ -67,6 +72,9 @@ void PutSourceFrame(CS_Source source, const WPI_RawFrame& image,
 uint64_t GrabSinkFrame(CS_Sink sink, WPI_RawFrame& image, CS_Status* status);
 uint64_t GrabSinkFrameTimeout(CS_Sink sink, WPI_RawFrame& image, double timeout,
                               CS_Status* status);
+uint64_t GrabSinkFrameTimeoutLastTime(CS_Sink sink, WPI_RawFrame& image,
+                                      double timeout, uint64_t lastFrameTime,
+                                      CS_Status* status);
 
 /**
  * A source for user code to provide video frames as raw bytes.
@@ -163,6 +171,24 @@ class RawSink : public ImageSink {
    */
   [[nodiscard]]
   uint64_t GrabFrameNoTimeout(wpi::RawFrame& image) const;
+
+  /**
+   * Wait for the next frame and get the image.  May block forever.
+   * The provided image will have three 8-bit channels stored in BGR order.
+   *
+   * <p>If lastFrameTime is provided and non-zero, the sink will fill image with
+   * the first frame from the source that is not equal to lastFrameTime. If
+   * lastFrameTime is zero, the time of the current frame owned by the CvSource
+   * is used, and this function will block until the connected CvSource provides
+   * a new frame.
+   *
+   * @return Frame time, or 0 on error (call GetError() to obtain the error
+   *         message); the frame time is in the same time base as wpi::Now(),
+   *         and is in 1 us increments.
+   */
+  [[nodiscard]]
+  uint64_t GrabFrameLastTime(wpi::RawFrame& image, uint64_t lastFrameTime,
+                             double timeout = 0.225) const;
 };
 
 inline RawSource::RawSource(std::string_view name, const VideoMode& mode) {
@@ -199,6 +225,14 @@ inline uint64_t RawSink::GrabFrameNoTimeout(wpi::RawFrame& image) const {
   m_status = 0;
   return GrabSinkFrame(m_handle, image, &m_status);
 }
+
+inline uint64_t RawSink::GrabFrameLastTime(wpi::RawFrame& image,
+                                           uint64_t lastFrameTime,
+                                           double timeout) const {
+  m_status = 0;
+  return GrabSinkFrameTimeoutLastTime(m_handle, image, timeout, lastFrameTime,
+                                      &m_status);
+}
 /** @} */
 
 }  // namespace cs

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

@@ -5,7 +5,16 @@
 #pragma once
 
 namespace cs {
+
 void RunMainRunLoop();
-int RunMainRunLoopTimeout(double timeoutSeconds);
+
+/**
+ * Runs main run loop with timeout.
+ *
+ * @param timeout Timeout in seconds.
+ */
+int RunMainRunLoopTimeout(double timeout);
+
 void StopMainRunLoop();
+
 }  // namespace cs

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

@@ -12,16 +12,16 @@ static wpi::Event& GetInstance() {
 }
 
 namespace cs {
+
 void RunMainRunLoop() {
   wpi::Event& event = GetInstance();
   wpi::WaitForObject(event.GetHandle());
 }
 
-int RunMainRunLoopTimeout(double timeoutSeconds) {
+int RunMainRunLoopTimeout(double timeout) {
   wpi::Event& event = GetInstance();
   bool timedOut = false;
-  bool signaled =
-      wpi::WaitForObject(event.GetHandle(), timeoutSeconds, &timedOut);
+  bool signaled = wpi::WaitForObject(event.GetHandle(), timeout, &timedOut);
   if (timedOut) {
     return 3;
   }
@@ -35,4 +35,5 @@ void StopMainRunLoop() {
   wpi::Event& event = GetInstance();
   event.Set();
 }
+
 }  // namespace cs

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

@@ -555,8 +555,51 @@ void UsbCameraImpl::CameraThreadMain() {
           good = false;
         }
         if (good) {
+          Frame::Time frameTime{wpi::Now()};
+          WPI_TimestampSource timeSource{WPI_TIMESRC_FRAME_DEQUEUE};
+
+          // check the timestamp time
+          auto tsFlags = buf.flags & V4L2_BUF_FLAG_TIMESTAMP_MASK;
+          SDEBUG4("Flags {}", tsFlags);
+          if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_UNKNOWN) {
+            SDEBUG4("Got unknown time for frame - default to wpi::Now");
+          } else if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_MONOTONIC) {
+            SDEBUG4("Got valid monotonic time for frame");
+            // we can't go directly to frametime, since the rest of cscore
+            // expects us to use wpi::Now, which is in an arbitrary timebase
+            // (see timestamp.cpp). Best I can do is (approximately) translate
+            // between timebases
+
+            // grab current time in the same timebase as buf.timestamp
+            struct timespec ts;
+            if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
+              int64_t nowTime = {ts.tv_sec * 1'000'000 + ts.tv_nsec / 1000};
+              int64_t bufTime = {buf.timestamp.tv_sec * 1'000'000 +
+                                 buf.timestamp.tv_usec};
+              // And offset frameTime by the latency
+              int64_t offset{nowTime - bufTime};
+              frameTime -= offset;
+
+              // Figure out the timestamp's source
+              int tsrcFlags = buf.flags & V4L2_BUF_FLAG_TSTAMP_SRC_MASK;
+              if (tsrcFlags == V4L2_BUF_FLAG_TSTAMP_SRC_EOF) {
+                timeSource = WPI_TIMESRC_V4L_EOF;
+              } else if (tsrcFlags == V4L2_BUF_FLAG_TSTAMP_SRC_SOE) {
+                timeSource = WPI_TIMESRC_V4L_SOE;
+              } else {
+                timeSource = WPI_TIMESRC_UNKNOWN;
+              }
+              SDEBUG4("Frame was {} uS old, flags {}, source {}", offset,
+                      tsrcFlags, static_cast<int>(timeSource));
+            } else {
+              // Can't do anything if we can't access the clock, leave default
+            }
+          } else if (tsFlags == V4L2_BUF_FLAG_TIMESTAMP_COPY) {
+            SDEBUG4("Got valid copy time for frame - default to wpi::Now");
+          }
+
           PutFrame(static_cast<VideoMode::PixelFormat>(m_mode.pixelFormat),
-                   width, height, image, wpi::Now());  // TODO: time
+                   width, height, image, frameTime, timeSource);
         }
       }
 

cscore/src/main/native/objcpp/RunLoopHelpers.mm

@@ -8,6 +8,7 @@
 #import <Foundation/Foundation.h>
 
 namespace cs {
+
 void RunMainRunLoop() {
   if (CFRunLoopGetMain() != CFRunLoopGetCurrent()) {
     NSLog(@"This method can only be called from the main thread");
@@ -16,15 +17,16 @@ void RunMainRunLoop() {
   CFRunLoopRun();
 }
 
-int RunMainRunLoopTimeout(double timeoutSeconds) {
+int RunMainRunLoopTimeout(double timeout) {
   if (CFRunLoopGetMain() != CFRunLoopGetCurrent()) {
     NSLog(@"This method can only be called from the main thread");
     return -1;
   }
-  return CFRunLoopRunInMode(kCFRunLoopDefaultMode, timeoutSeconds, false);
+  return CFRunLoopRunInMode(kCFRunLoopDefaultMode, timeout, false);
 }
 
 void StopMainRunLoop() {
   CFRunLoopStop(CFRunLoopGetMain());
 }
+
 }

cscore/src/main/native/objcpp/UsbCameraImpl.h

@@ -12,6 +12,8 @@
 #include <string>
 #include <optional>
 
+#include <wpi/StringMap.h>
+
 #include "SourceImpl.h"
 
 namespace cs {
@@ -88,9 +90,34 @@ class UsbCameraImpl : public SourceImpl {
 
   UsbCameraImplObjc* cppGetObjc() { return m_objc; }
 
+  int CreatePropertyPublic(std::string_view name, std::function<std::unique_ptr<PropertyImpl>()> newFunc) {
+    return CreateProperty(name, newFunc);
+  }
+
+  PropertyImpl* GetPropertyPublic(int property) {
+    return GetProperty(property);
+  }
+
+  void NotifyPropertyCreatedPublic(int propIndex, PropertyImpl& prop) {
+    NotifyPropertyCreated(propIndex, prop);
+  }
+
+  void UpdatePropertyValuePublic(int property, bool setString, int value, std::string_view valueStr) {
+    UpdatePropertyValue(property, setString, value, valueStr);
+  }
+
+  wpi::mutex& GetMutex() { return m_mutex; }
+
+  // Property cache accessors
+  wpi::StringMap<uint32_t>& GetPropertyCache() { return m_propertyCache; }
+  wpi::StringMap<uint32_t>& GetPropertyAutoCache() { return m_propertyAutoCache; }
+
  private:
   UsbCameraImplObjc* m_objc;
   std::vector<CameraModeStore> m_platformModes;
-  VideoMode m_mode;
+  
+  // Property caches
+  wpi::StringMap<uint32_t> m_propertyCache;
+  wpi::StringMap<uint32_t> m_propertyAutoCache;
 };
 }  // namespace cs

cscore/src/main/native/objcpp/UsbCameraImplObjc.h

@@ -5,11 +5,39 @@
 #pragma once
 
 #import <AVFoundation/AVFoundation.h>
-#import "UsbCameraDelegate.h"
+
 #include <memory>
 #include <string_view>
+
+#import "UsbCameraDelegate.h"
+#import "UvcControlImpl.h"
+
 #include "cscore_cpp.h"
 
+// Quirk: exposure auto is 3 for on, 1 for off
+#define kPropertyAutoExposureOn 3
+#define kPropertyAutoExposureOff 1
+
+// Property names
+#define kPropertyBrightness "brightness"
+#define kPropertyWhiteBalance "white_balance_temperature"
+#define kPropertyExposure "raw_exposure_time_absolute"
+#define kPropertyContrast "raw_contrast"
+#define kPropertySaturation "raw_saturation"
+#define kPropertySharpness "raw_sharpness"
+#define kPropertyGain "gain"
+#define kPropertyGamma "gamma"
+#define kPropertyHue "raw_hue"
+#define kPropertyFocus "focus_absolute"
+#define kPropertyZoom "zoom"
+#define kPropertyBackLightCompensation "backlight_compensation"
+#define kPropertyPowerLineFrequency "power_line_frequency"
+
+// Auto property names
+#define kPropertyAutoExposure "exposure_auto"
+#define kPropertyAutoWhiteBalance "white_balance_automatic"
+#define kPropertyAutoFocus "focus_auto"
+
 namespace cs {
 class UsbCameraImpl;
 }
@@ -30,6 +58,7 @@ class UsbCameraImpl;
 @property(nonatomic) AVCaptureDevice* videoDevice;
 @property(nonatomic) AVCaptureDeviceInput* videoInput;
 @property(nonatomic) UsbCameraDelegate* callback;
+@property(nonatomic) UvcControlImpl* uvcControl;
 @property(nonatomic) AVCaptureVideoDataOutput* videoOutput;
 @property(nonatomic) AVCaptureSession* session;
 
@@ -68,4 +97,8 @@ class UsbCameraImpl;
 - (void)getCameraName:(std::string*)name;
 - (void)setNewCameraPath:(std::string_view*)path;
 
+- (void)deviceCacheProperties;
+- (void)cacheProperty:(uint32_t)propID withName:(NSString *)name;
+- (void)cacheAutoProperty:(uint32_t)propID withName:(NSString *)baseName;
+
 @end

cscore/src/main/native/objcpp/UsbCameraImplObjc.mm

@@ -2,12 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#import "UsbCameraImplObjc.h"
-#include "UsbCameraImpl.h"
+#include <wpi/SmallString.h>
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
+#import "UsbCameraImplObjc.h"
+
 #include "Notifier.h"
 #include "Log.h"
+#include "UsbCameraImpl.h"
 
 template <typename S, typename... Args>
 inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
@@ -29,7 +31,7 @@ inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
 
 #define OBJCLOG(level, format, ...)         \
   NamedLog(self, level, __FILE__, __LINE__, \
-           FMT_STRING(format) __VA_OPT__(, ) __VA_ARGS__)
+           format __VA_OPT__(, ) __VA_ARGS__)
 
 #define OBJCERROR(format, ...) \
   OBJCLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
@@ -104,44 +106,300 @@ using namespace cs;
                name:AVCaptureDeviceWasDisconnectedNotification
              object:nil];
     [self deviceConnect];
+    [self deviceCacheProperties];
   });
 }
 
+- (BOOL)getEnabledWithProperty:(int)property withValue:(int)value {
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    return false;
+  }
+
+  // There is room for quirk handling improvement here, but I will leave it
+  // for now.
+  if (property == sharedThis->GetPropertyIndex(kPropertyAutoExposure)) {
+    return value == kPropertyAutoExposureOn;
+  }
+
+  return value != 0;
+}
+
+
+- (int)clampToPercent:(int)value {
+  if (value < 0) {
+    return 0;
+  }
+  if (value > 100) {
+    return 100;
+  }
+  return value;
+}
+
+- (int)percentageToRaw:(int)propID percentage:(int)percentage min:(int)min max:(int)max {
+  if (min == max) {
+    return min;
+  }
+
+  return min + (max - min) * percentage / 100;
+}
+
+- (BOOL)isPercentageProperty:(int)propID {
+    return propID == CAPPROPID_BRIGHTNESS ||
+           propID == CAPPROPID_CONTRAST ||
+           propID == CAPPROPID_SATURATION ||
+           propID == CAPPROPID_HUE ||
+           propID == CAPPROPID_SHARPNESS ||
+           propID == CAPPROPID_GAIN;
+}
+
 // Property functions
 - (void)setProperty:(int)property
           withValue:(int)value
              status:(CS_Status*)status {
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        *status = CS_INVALID_HANDLE;
+        return;
+    }
+    
+    // Make sure properties are cached
+    if (!self.propertiesCached) {
+        [self deviceCacheProperties];
+    }
+    
+    // Get the property name from the property index
+    wpi::SmallString<128> nameBuf;
+    std::string_view propName = sharedThis->GetPropertyName(property, nameBuf, status);
+    if (*status != 0) {
+        OBJCERROR("Failed to get property name for index {}", property);
+        return;
+    }
+    
+    std::string nameStr(propName);
+    
+    // Check if it's an auto property
+    auto& propertyAutoCache = sharedThis->GetPropertyAutoCache();
+    auto autoIt = propertyAutoCache.find(nameStr);
+    if (autoIt != propertyAutoCache.end()) {
+        uint32_t propID = autoIt->second;
+        bool enabled = [self getEnabledWithProperty:property withValue:value];
+        dispatch_async_and_wait(self.sessionQueue, ^{
+            if (self.uvcControl == nil) {
+                *status = CS_INVALID_PROPERTY;
+                return;
+            }
+            
+            if (![self.uvcControl setAutoProperty:propID enabled:enabled status:status]) {
+                OBJCERROR("Failed to set auto property {} to {}",
+                        nameStr, enabled);
+                return;
+            }
+            
+            // Update property value
+            sharedThis->UpdatePropertyValuePublic(property, false, value, {});
+        });
+        return;
+    }
+    
+    // Handle regular property
+    auto& propertyCache = sharedThis->GetPropertyCache();
+    auto it = propertyCache.find(nameStr);
+    if (it == propertyCache.end()) {
+        OBJCERROR("Property not found in cache: {}", nameStr);
+        *status = CS_INVALID_PROPERTY;
+        return;
+    }
+    
+    uint32_t propID = it->second;
+    
+    dispatch_async_and_wait(self.sessionQueue, ^{
+        if (self.uvcControl == nil) {
+            *status = CS_INVALID_PROPERTY;
+            return;
+        }
+        
+        // Get the property implementation to access its limits
+        const PropertyImpl* prop = sharedThis->GetPropertyPublic(property);
+        if (!prop) {
+            *status = CS_INVALID_PROPERTY;
+            return;
+        }
+        
+
+        int32_t realValue = value;
+        if ([self isPercentageProperty:propID]) {
+            // Clamp to 0-100
+            realValue = [self clampToPercent:realValue];
+
+            // Scale to min/max
+            realValue = [self percentageToRaw:propID percentage:realValue min:prop->minimum max:prop->maximum];
+        }
+
+        if (![self.uvcControl setProperty:propID withValue:realValue status:status]) {
+            OBJCERROR("Failed to set property {} to value {}", nameStr, realValue);
+            return;
+        }
+        
+        // Update property value in the container
+        sharedThis->UpdatePropertyValuePublic(property, false, value, {});
+    });
 }
+
 - (void)setStringProperty:(int)property
                 withValue:(std::string_view*)value
                    status:(CS_Status*)status {
+  *status = CS_INVALID_PROPERTY;
+  return;
 }
 
 // Standard common camera properties
 - (void)setBrightness:(int)brightness status:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Get the property index and set it
+  int prop = sharedThis->GetPropertyIndex(kPropertyBrightness);
+  sharedThis->SetProperty(prop, brightness, status);
 }
+
 - (int)getBrightness:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
-  return 0;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return 0;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Get the property index and its value
+  int prop = sharedThis->GetPropertyIndex(kPropertyBrightness);
+  return sharedThis->GetProperty(prop, status);
 }
+
 - (void)setWhiteBalanceAuto:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
+  sharedThis->SetProperty(prop, 1, status);
 }
+
 - (void)setWhiteBalanceHoldCurrent:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
+  sharedThis->SetProperty(prop, 0, status);
 }
+
 - (void)setWhiteBalanceManual:(int)value status:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // First disable auto white balance
+  int autoProp = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
+  sharedThis->SetProperty(autoProp, 0, status);
+  if (*status != 0) {
+    return;
+  }
+  
+  // Then set the white balance value
+  int prop = sharedThis->GetPropertyIndex(kPropertyWhiteBalance);
+  sharedThis->SetProperty(prop, value, status);
 }
+
 - (void)setExposureAuto:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Set the auto exposure property to enabled (1)
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
+  sharedThis->SetProperty(prop, kPropertyAutoExposureOn, status);
 }
+
 - (void)setExposureHoldCurrent:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // Set the auto exposure property to disabled (0)
+  int prop = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
+  sharedThis->SetProperty(prop, kPropertyAutoExposureOff, status);
 }
+
 - (void)setExposureManual:(int)value status:(CS_Status*)status {
-  *status = CS_INVALID_PROPERTY;
+  auto sharedThis = self.cppImpl.lock();
+  if (!sharedThis) {
+    *status = CS_INVALID_HANDLE;
+    return;
+  }
+  
+  // Make sure properties are cached
+  if (!self.propertiesCached) {
+    [self deviceCacheProperties];
+  }
+  
+  // First disable auto exposure
+  int autoProp = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
+  sharedThis->SetProperty(autoProp, kPropertyAutoExposureOff, status);
+  if (*status != 0) {
+    return;
+  }
+  
+  // Then set the exposure value
+  int prop = sharedThis->GetPropertyIndex(kPropertyExposure);
+  sharedThis->SetProperty(prop, value, status);
 }
 
 - (bool)setVideoMode:(const cs::VideoMode&)mode status:(CS_Status*)status {
@@ -295,10 +553,144 @@ using namespace cs;
 
 // All above are called from C++, must always dispatch to loop
 
+// Property caching methods
 - (void)deviceCacheProperties {
-  if (self.session == nil) {
-    return;
-  }
+    if (self.uvcControl == nil) {
+        return;
+    }
+
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        OBJCERROR("Cannot cache properties: UsbCameraImpl not available");
+        return;
+    }
+
+    // Cache basic properties
+    [self cacheProperty:CAPPROPID_BRIGHTNESS withName:@kPropertyBrightness];
+    [self cacheProperty:CAPPROPID_WHITEBALANCE withName:@kPropertyWhiteBalance];
+    [self cacheProperty:CAPPROPID_EXPOSURE withName:@kPropertyExposure];
+    [self cacheProperty:CAPPROPID_CONTRAST withName:@kPropertyContrast];
+    [self cacheProperty:CAPPROPID_SATURATION withName:@kPropertySaturation];
+    [self cacheProperty:CAPPROPID_SHARPNESS withName:@kPropertySharpness];
+    [self cacheProperty:CAPPROPID_GAIN withName:@kPropertyGain];
+    [self cacheProperty:CAPPROPID_GAMMA withName:@kPropertyGamma];
+    [self cacheProperty:CAPPROPID_HUE withName:@kPropertyHue];
+    [self cacheProperty:CAPPROPID_FOCUS withName:@kPropertyFocus];
+    [self cacheProperty:CAPPROPID_ZOOM withName:@kPropertyZoom];
+    [self cacheProperty:CAPPROPID_BACKLIGHTCOMP withName:@kPropertyBackLightCompensation];
+    [self cacheProperty:CAPPROPID_POWERLINEFREQ withName:@kPropertyPowerLineFrequency];
+    
+    // Cache auto properties
+    [self cacheAutoProperty:CAPPROPID_EXPOSURE withName:@kPropertyAutoExposure];
+    [self cacheAutoProperty:CAPPROPID_WHITEBALANCE withName:@kPropertyAutoWhiteBalance];
+    [self cacheAutoProperty:CAPPROPID_FOCUS withName:@kPropertyAutoFocus];
+    
+    self.propertiesCached = true;
+}
+
+- (void)cacheProperty:(uint32_t)propID withName:(NSString *)name {
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        OBJCERROR("Cannot cache property: UsbCameraImpl not available");
+        return;
+    }
+    
+    if (self.uvcControl == nil) {
+        OBJCWARNING("Cannot cache property {}: UVC control not initialized", [name UTF8String]);
+        return;
+    }
+    
+    // Get property limits
+    int32_t minimum = 0, maximum = 0, defaultValue = 0;
+    int32_t value = defaultValue;
+    CS_Status status;
+    
+    std::string nameStr = std::string([name UTF8String]);
+    
+    // Get the property limits
+    if (![self.uvcControl getPropertyLimits:propID 
+                                      min:&minimum 
+                                      max:&maximum 
+                                 defValue:&defaultValue 
+                                   status:&status]) {
+        OBJCWARNING("Failed to get property limits for {}", nameStr);
+        return;
+    }
+    
+    // Get current value
+    if (![self.uvcControl getProperty:propID withValue:&value status:&status]) {
+        value = defaultValue;
+        OBJCWARNING("Failed to get current value for {}: {}", 
+                  nameStr, value);
+        return;
+    }
+    
+    // Create property
+    auto& propertyCache = sharedThis->GetPropertyCache();
+    propertyCache[nameStr] = propID;
+    
+    // Create the property implementation
+    std::unique_ptr<PropertyImpl> prop;
+    prop = std::make_unique<PropertyImpl>(nameStr);
+    prop->propKind = CS_PROP_INTEGER;
+    prop->value = value;
+    prop->minimum = minimum;
+    prop->maximum = maximum;
+    prop->step = 1;  // Most camera properties use a step of 1
+    prop->defaultValue = defaultValue;
+    
+    // Add the property to the container
+    std::scoped_lock lock(sharedThis->GetMutex());
+    int ndx = sharedThis->CreatePropertyPublic(nameStr, [&] { return std::move(prop); });
+    
+    // Notify that property has been created
+    sharedThis->NotifyPropertyCreatedPublic(ndx, *sharedThis->GetPropertyPublic(ndx));
+}
+
+- (void)cacheAutoProperty:(uint32_t)propID withName:(NSString *)baseName {
+    auto sharedThis = self.cppImpl.lock();
+    if (!sharedThis) {
+        OBJCERROR("Cannot cache auto property: UsbCameraImpl not available");
+        return;
+    }
+    
+    if (self.uvcControl == nil) {
+        OBJCWARNING("Cannot cache auto property {}: UVC control not initialized", [baseName UTF8String]);
+        return;
+    }
+    
+    // Build auto mode property name
+    std::string nameStr = std::string([baseName UTF8String]);
+    
+    // Get current auto mode status
+    bool enabled = false;
+    CS_Status status = 0;
+    
+    if(![self.uvcControl getAutoProperty:propID enabled:&enabled status:&status]) {
+        OBJCWARNING("Failed to get auto property {}", nameStr);
+        return;
+    }
+    
+    // Create property
+    std::unique_ptr<PropertyImpl> prop;
+    prop = std::make_unique<PropertyImpl>(nameStr);
+    prop->propKind = CS_PROP_BOOLEAN;
+    prop->value = enabled ? 1 : 0;
+    prop->minimum = 0;
+    prop->maximum = 1;
+    prop->step = 1;
+    prop->defaultValue = 0;  // Default is manual mode
+    
+    // Add property to container
+    std::scoped_lock lock(sharedThis->GetMutex());
+    int ndx = sharedThis->CreatePropertyPublic(nameStr, [&] { return std::move(prop); });
+    
+    // Notify property created
+    sharedThis->NotifyPropertyCreatedPublic(ndx, *sharedThis->GetPropertyPublic(ndx));
+    
+    // Map property name to ID
+    auto& propertyAutoCache = sharedThis->GetPropertyAutoCache();
+    propertyAutoCache[nameStr] = propID;
 }
 
 static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
@@ -380,22 +772,27 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
              toCheck->height, toCheck->fps);
   std::vector<CameraModeStore>& platformModes =
       sharedThis->objcGetPlatformVideoModes();
-  // Find the matching mode
-  auto match = std::find_if(platformModes.begin(), platformModes.end(),
-                            [&](CameraModeStore& input) {
-                              return input.mode.CompareWithoutFps(*toCheck);
-                            });
+  
+  // Find all matching modes
+  std::vector<CameraModeStore*> matchingModes;
+  for (auto& mode : platformModes) {
+    if (mode.mode.CompareWithoutFps(*toCheck)) {
+      matchingModes.push_back(&mode);
+    }
+  }
 
-  if (match == platformModes.end()) {
+  if (matchingModes.empty()) {
     return nil;
   }
 
   // Check FPS
-  for (CameraFPSRange& range : match->fpsRanges) {
-    OBJCDEBUG3("Checking Range {} {}", range.min, range.max);
-    if (range.IsWithinRange(toCheck->fps)) {
-      *fps = toCheck->fps;
-      return match->format;
+  for (auto mode : matchingModes) {
+    for (CameraFPSRange& range : mode->fpsRanges) {
+      OBJCDEBUG3("Checking Range {} {}", range.min, range.max);
+      if (range.IsWithinRange(toCheck->fps)) {
+        *fps = toCheck->fps;
+        return mode->format;
+      }
     }
   }
 
@@ -454,6 +851,53 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   self.deviceValid = true;
 }
 
+- (CMTime)findNearestFrameDuration:(int)fps {
+  if (self.currentFormat == nil) {
+    return CMTimeMake(1, fps);
+  }
+
+  NSArray<AVFrameRateRange*>* frameRates = self.currentFormat.videoSupportedFrameRateRanges;
+  if (frameRates.count == 0) {
+    return CMTimeMake(1, fps);
+  }
+
+  // Find the nearest frame duration
+  CMTime nearestDuration = CMTimeMake(1, fps);
+  double minDiff = DBL_MAX;
+
+  for (AVFrameRateRange* range in frameRates) {
+    CMTime minDuration = range.minFrameDuration;
+    CMTime maxDuration = range.maxFrameDuration;
+    
+    // Calculate frame duration for current fps
+    CMTime targetDuration = CMTimeMake(1, fps);
+    
+    // Check if within range
+    if (CMTimeCompare(targetDuration, minDuration) >= 0 && 
+        CMTimeCompare(targetDuration, maxDuration) <= 0) {
+      return targetDuration;
+    }
+    
+    // Calculate difference with min value
+    double minDiffValue = fabs(CMTimeGetSeconds(targetDuration) - CMTimeGetSeconds(minDuration));
+    if (minDiffValue < minDiff) {
+      minDiff = minDiffValue;
+      nearestDuration = minDuration;
+    }
+    
+    // Calculate difference with max value
+    double maxDiffValue = fabs(CMTimeGetSeconds(targetDuration) - CMTimeGetSeconds(maxDuration));
+    if (maxDiffValue < minDiff) {
+      minDiff = maxDiffValue;
+      nearestDuration = maxDuration;
+    }
+  }
+
+  OBJCDEBUG("Nearest fps: {}", nearestDuration.timescale / static_cast<double>(nearestDuration.value));
+  
+  return nearestDuration;
+}
+
 - (bool)deviceStreamOn {
   if (self.streaming) {
     return false;
@@ -461,24 +905,32 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   if (!self.deviceValid) {
     return false;
   }
-  self.streaming = true;
 
+  if (![self.videoDevice lockForConfiguration:nil]) {
+    OBJCERROR("Failed to lock for configuration");
+    return false;
+  }
+
+  [self.session beginConfiguration];
+
+  if (self.currentFormat != nil) {
+    self.videoDevice.activeFormat = self.currentFormat;
+  }
+
+  if (self.currentFPS != 0) {
+    CMTime frameDuration = [self findNearestFrameDuration:self.currentFPS];
+    self.videoDevice.activeVideoMinFrameDuration = frameDuration;
+    self.videoDevice.activeVideoMaxFrameDuration = frameDuration;
+  }
+
+  [self.session commitConfiguration];
+
+  self.streaming = true;
+  // Start the capture session before device unlock to ensure
+  // the session preset settings are preserved
   [self.session startRunning];
 
-  if ([self.videoDevice lockForConfiguration:nil]) {
-    if (self.currentFormat != nil) {
-      self.videoDevice.activeFormat = self.currentFormat;
-    }
-    if (self.currentFPS != 0) {
-      self.videoDevice.activeVideoMinFrameDuration =
-          CMTimeMake(1, self.currentFPS);
-      self.videoDevice.activeVideoMaxFrameDuration =
-          CMTimeMake(1, self.currentFPS);
-    }
-    [self.videoDevice unlockForConfiguration];
-  } else {
-    OBJCERROR("Failed to lock for configuration");
-  }
+  [self.videoDevice unlockForConfiguration];
 
   return true;
 }
@@ -569,6 +1021,16 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
     goto err;
   }
 
+  CS_Status status;
+  self.uvcControl = [UvcControlImpl createFromAVCaptureDevice:self.videoDevice status:&status];
+  if (self.uvcControl == nil) {
+    OBJCWARNING("Failed to initialize UVC control for camera: {}", status);
+  } else {
+    OBJCINFO("UVC control initialized successfully");
+  }
+  
+  self.uvcControl.cppImpl = self.cppImpl;
+
   self.callback = [[UsbCameraDelegate alloc] init];
   if (self.callback == nil) {
     OBJCWARNING("Creating Camera Callback failed");

cscore/src/main/native/objcpp/UvcControlImpl.h

@@ -0,0 +1,129 @@
+// 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
+
+#import <AVFoundation/AVFoundation.h>
+#import <IOKit/IOCFPlugIn.h>
+#import <IOKit/usb/IOUSBLib.h>
+
+#include <memory>
+#include <string_view>
+
+#import "UsbCameraDelegate.h"
+
+#include "cscore_cpp.h"
+
+// Status code definition
+#define CS_UVC_STATUS_ERROR -3001
+#define CS_UVC_STATUS_DEVICE_DISCONNECTED -3002
+
+// UVC control selector definitions
+#define UVC_INPUT_TERMINAL_ID 0x01
+
+// Camera terminal control selectors
+#define CT_AE_MODE_CONTROL 0x02
+#define CT_AE_PRIORITY_CONTROL 0x03
+#define CT_EXPOSURE_TIME_ABSOLUTE_CONTROL 0x04
+#define CT_EXPOSURE_TIME_RELATIVE_CONTROL 0x05
+#define CT_FOCUS_ABSOLUTE_CONTROL 0x06
+#define CT_FOCUS_RELATIVE_CONTROL 0x07
+#define CT_FOCUS_AUTO_CONTROL 0x08
+#define CT_ZOOM_ABSOLUTE_CONTROL 0x0B
+#define CT_ZOOM_RELATIVE_CONTROL 0x0C
+
+// Processing unit control selectors
+#define PU_BACKLIGHT_COMPENSATION_CONTROL 0x01
+#define PU_BRIGHTNESS_CONTROL 0x02
+#define PU_CONTRAST_CONTROL 0x03
+#define PU_GAIN_CONTROL 0x04
+#define PU_POWER_LINE_FREQUENCY_CONTROL 0x05
+#define PU_HUE_CONTROL 0x06
+#define PU_SATURATION_CONTROL 0x07
+#define PU_SHARPNESS_CONTROL 0x08
+#define PU_GAMMA_CONTROL 0x09
+#define PU_WHITE_BALANCE_TEMPERATURE_CONTROL 0x0A
+#define PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL 0x0B
+#define PU_WHITE_BALANCE_COMPONENT_CONTROL 0x0C
+#define PU_WHITE_BALANCE_COMPONENT_AUTO_CONTROL 0x0D
+#define PU_HUE_AUTO_CONTROL 0x10
+#define PU_CONTRAST_AUTO_CONTROL 0x13
+
+// Camera request error code
+#define VC_REQUEST_ERROR_CODE_CONTROL 0x02
+
+// UVC control interface definitions
+#define UVC_CONTROL_INTERFACE_CLASS 14
+#define UVC_CONTROL_INTERFACE_SUBCLASS 1
+
+// UVC control request types
+#define UVC_SET_CUR 0x01
+#define UVC_GET_CUR 0x81
+#define UVC_GET_MIN 0x82
+#define UVC_GET_MAX 0x83
+#define UVC_GET_RES 0x84
+#define UVC_GET_INFO 0x86
+#define UVC_GET_DEF 0x87
+
+// Camera property ID definitions
+#define CAPPROPID_EXPOSURE 1
+#define CAPPROPID_FOCUS 2
+#define CAPPROPID_ZOOM 3
+#define CAPPROPID_WHITEBALANCE 4
+#define CAPPROPID_GAIN 5
+#define CAPPROPID_BRIGHTNESS 6
+#define CAPPROPID_CONTRAST 7
+#define CAPPROPID_SATURATION 8
+#define CAPPROPID_GAMMA 9
+#define CAPPROPID_HUE 10
+#define CAPPROPID_SHARPNESS 11
+#define CAPPROPID_BACKLIGHTCOMP 12
+#define CAPPROPID_POWERLINEFREQ 13
+#define CAPPROPID_LAST 14
+
+namespace cs {
+class UsbCameraImpl;
+}
+
+@interface UvcControlImpl : NSObject
+
+@property(nonatomic) IOUSBInterfaceInterface190** controlInterface;
+@property(nonatomic) uint32_t processingUnitID;
+@property(nonatomic) std::weak_ptr<cs::UsbCameraImpl> cppImpl;
+
+// Create from AVCaptureDevice
++ (instancetype)createFromAVCaptureDevice:(AVCaptureDevice*)device status:(CS_Status*)status;
+
+// Initialize with USB vendor/product/location
+- (instancetype)initWithVendorId:(uint16_t)vid 
+                      productId:(uint16_t)pid 
+                       location:(uint32_t)location
+                         status:(CS_Status*)status;
+
+- (void)dealloc;
+
+// Basic property control
+- (bool)setProperty:(uint32_t)propID 
+          withValue:(int32_t)value
+             status:(CS_Status*)status;
+- (bool)getProperty:(uint32_t)propID 
+          withValue:(int32_t*)value
+             status:(CS_Status*)status;
+
+// Auto mode control
+- (bool)setAutoProperty:(uint32_t)propID 
+               enabled:(bool)enabled
+                status:(CS_Status*)status;
+- (bool)getAutoProperty:(uint32_t)propID 
+               enabled:(bool*)enabled
+                status:(CS_Status*)status;
+
+// Property range query
+- (bool)getPropertyLimits:(uint32_t)propID
+                     min:(int32_t*)min
+                     max:(int32_t*)max
+                defValue:(int32_t*)defValue
+                  status:(CS_Status*)status;
+
+@end 

cscore/src/main/native/objcpp/UvcControlImpl.mm

@@ -0,0 +1,773 @@
+// 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.
+
+// Copyright (c) 2017 Jason von Nieda, Niels Moseley
+//
+// The MIT License (MIT)
+//
+// 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.
+
+#import <AVFoundation/AVFoundation.h>
+
+#import "UvcControlImpl.h"
+
+#include "Log.h"
+#include "UsbCameraImpl.h"
+
+template <typename S, typename... Args>
+inline void NamedLog(UvcControlImpl* objc, unsigned int level,
+                     const char* file, unsigned int line, const S& format,
+                     Args&&... args) {
+  auto sharedThis = objc.cppImpl.lock();
+  if (!sharedThis) {
+    return;
+  }
+
+  wpi::Logger& logger = sharedThis->objcGetLogger();
+  std::string_view name = sharedThis->GetName();
+
+  if (logger.HasLogger() && level >= logger.min_level()) {
+    cs::NamedLogV(logger, level, file, line, name, format,
+                  fmt::make_format_args(args...));
+  }
+}
+
+#define UVCLOG(level, format, ...) \
+  NamedLog(self, level, __FILE__, __LINE__, \
+           format __VA_OPT__(, ) __VA_ARGS__)
+
+#define UVCERROR(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_ERROR, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCWARNING(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_WARNING, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCINFO(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_INFO, format __VA_OPT__(, ) __VA_ARGS__)
+
+#ifdef NDEBUG
+#define UVCDEBUG(format, ...) \
+  do {                         \
+  } while (0)
+#define UVCDEBUG1(format, ...) \
+  do {                          \
+  } while (0)
+#define UVCDEBUG2(format, ...) \
+  do {                          \
+  } while (0)
+#define UVCDEBUG3(format, ...) \
+  do {                          \
+  } while (0)
+#define UVCDEBUG4(format, ...) \
+  do {                          \
+  } while (0)
+#else
+#define UVCDEBUG(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG1(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG1, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG2(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG2, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG3(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG3, format __VA_OPT__(, ) __VA_ARGS__)
+#define UVCDEBUG4(format, ...) \
+  UVCLOG(::wpi::WPI_LOG_DEBUG4, format __VA_OPT__(, ) __VA_ARGS__)
+#endif
+
+// USB descriptor for UVC processing unit
+struct ProcessingUnitDescriptor
+{
+    uint8_t bLength;
+    uint8_t bDescriptorType;        // CS_INTERFACE 0x24
+    uint8_t bDescriptorSubtype;     // VC_PROCESSING_UNIT 0x05
+    uint8_t bUnitID;
+};
+
+struct propertyInfo_t
+{
+    uint32_t    selector;   // selector ID
+    uint32_t    unit;       // unit (==0 for INPUT TERMINA:, ==1 for PROCESSING UNIT)
+    uint32_t    length;     // length (bytes)
+};
+
+/** The order of the propertyInfo structure must
+    be the same as the PROPID numbers in the
+    openpnp-capture.h header */
+const propertyInfo_t propertyInfo[] =
+{
+    {0,0,0},
+    {CT_EXPOSURE_TIME_ABSOLUTE_CONTROL   , 0, 4},
+    {CT_FOCUS_ABSOLUTE_CONTROL           , 0, 2},
+    {CT_ZOOM_ABSOLUTE_CONTROL            , 0, 2},
+    {PU_WHITE_BALANCE_TEMPERATURE_CONTROL, 1, 2},
+    {PU_GAIN_CONTROL                     , 1, 2},
+    {PU_BRIGHTNESS_CONTROL               , 1, 2},
+    {PU_CONTRAST_CONTROL                 , 1, 2},
+    {PU_SATURATION_CONTROL               , 1, 2},
+    {PU_GAMMA_CONTROL                    , 1, 2},
+    {PU_HUE_CONTROL                      , 1, 2},
+    {PU_SHARPNESS_CONTROL                , 1, 2},
+    {PU_BACKLIGHT_COMPENSATION_CONTROL   , 1, 2},
+    {PU_POWER_LINE_FREQUENCY_CONTROL     , 1, 1}
+};
+
+@implementation UvcControlImpl {
+    IOUSBDeviceInterface** _deviceInterface;
+}
+
+
++ (instancetype)createFromAVCaptureDevice:(AVCaptureDevice*)device status:(CS_Status*)status {
+    if (!device) {
+        NSLog(@"UVC: device is nil");
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSError* error = nil;
+    NSRegularExpression* regex = [NSRegularExpression regularExpressionWithPattern:@"^UVC\\s+Camera\\s+VendorID\\_([0-9]+)\\s+ProductID\\_([0-9]+)$" 
+                                                                         options:0 
+                                                                           error:&error];
+    if (error) {
+        NSLog(@"UVC: failed to create regex: %@", error);
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSString* modelID = [device valueForKey:@"modelID"];
+    if (!modelID) {
+        NSLog(@"UVC: modelID is nil");
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSTextCheckingResult* match = [regex firstMatchInString:modelID 
+                                                   options:0 
+                                                     range:NSMakeRange(0, modelID.length)];
+    if (!match || match.numberOfRanges != 3) {
+        NSLog(@"UVC: modelID regex match failed");
+        *status = CS_UVC_STATUS_ERROR;
+        return nil;
+    }
+    
+    NSString* vendorIDStr = [modelID substringWithRange:[match rangeAtIndex:1]];
+    NSString* productIDStr = [modelID substringWithRange:[match rangeAtIndex:2]];
+    uint16_t vendorID = (uint16_t)strtoul([vendorIDStr UTF8String], NULL, 10);
+    uint16_t productID = (uint16_t)strtoul([productIDStr UTF8String], NULL, 10);
+    
+    uint32_t locationID = 0;
+    CFMutableDictionaryRef dict = IOServiceMatching(kIOUSBDeviceClassName);
+    CFDictionarySetValue(dict, CFSTR("idVendor"), (__bridge CFNumberRef)@(vendorID));
+    CFDictionarySetValue(dict, CFSTR("idProduct"), (__bridge CFNumberRef)@(productID));
+    
+    io_iterator_t iter = 0;
+    kern_return_t ioResult = IOServiceGetMatchingServices(kIOMainPortDefault, dict, &iter);
+    if (ioResult == kIOReturnSuccess) {
+        io_service_t usbDevice = IOIteratorNext(iter);
+        while (usbDevice != 0) {
+            CFTypeRef locationIDRef = IORegistryEntryCreateCFProperty(usbDevice, 
+                                                                    CFSTR("locationID"), 
+                                                                    kCFAllocatorDefault, 
+                                                                    0);
+            if (locationIDRef) {
+                locationID = [(__bridge NSNumber*)locationIDRef unsignedIntValue];
+                CFRelease(locationIDRef);
+                NSString* uniqueID = [device valueForKey:@"uniqueID"];
+                NSString* locationIDHex = [NSString stringWithFormat:@"0x%x", locationID];
+                if ([uniqueID hasPrefix:locationIDHex]) {
+                    IOObjectRelease(usbDevice);
+                    break;
+                }
+            }
+            IOObjectRelease(usbDevice);
+            usbDevice = IOIteratorNext(iter);
+        }
+        IOObjectRelease(iter);
+    }
+    
+    UvcControlImpl *instance = [[UvcControlImpl alloc] initWithVendorId:vendorID 
+                                        productId:productID 
+                                        location:locationID 
+                                           status:status];
+    if (!instance) {
+        NSLog(@"UVC: failed to create UvcControlImpl, status=%d", *status);
+    }
+    return instance;
+}
+
+- (instancetype)initWithVendorId:(uint16_t)vid 
+                      productId:(uint16_t)pid 
+                      location:(uint32_t)location
+                         status:(CS_Status*)status {
+    self = [super init];
+    if (self) {
+        // UVCINFO("Initializing with VID: 0x{:04X}, PID: 0x{:04X}, Location: 0x{:08X}", vid, pid, location);
+        _deviceInterface = [self findDevice:vid productId:pid location:location];
+        if (_deviceInterface == nullptr) {
+            // UVCWARNING("Failed to find device");
+            *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+            return nil;
+        }
+        
+        _processingUnitID = [self getProcessingUnitID:_deviceInterface];
+        
+        _controlInterface = [self createControlInterface:_deviceInterface];
+        
+        if (_controlInterface == nullptr) {
+            // UVCWARNING("Failed to create control interface");
+            *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+            return nil;
+        }
+    }
+    return self;
+}
+
+- (void)dealloc {
+    if (_controlInterface != nullptr) {
+        (*_controlInterface)->USBInterfaceClose(_controlInterface);
+        (*_controlInterface)->Release(_controlInterface);
+    }
+    if (_deviceInterface != nullptr) {
+        (*_deviceInterface)->Release(_deviceInterface);
+    }
+}
+
+- (IOUSBDeviceInterface**)findDevice:(uint16_t)vid 
+                          productId:(uint16_t)pid 
+                          location:(uint32_t)location {
+
+    CFMutableDictionaryRef dict = IOServiceMatching(kIOUSBDeviceClassName);
+    
+    io_iterator_t serviceIterator;
+    kern_return_t result = IOServiceGetMatchingServices((mach_port_t)NULL, dict, &serviceIterator);
+    if (result != kIOReturnSuccess) {
+        UVCERROR("findDevice: IOServiceGetMatchingServices failed: {}", result);
+        return nullptr;
+    }
+    
+    io_service_t device;
+    while((device = IOIteratorNext(serviceIterator)) != 0) {
+        IOUSBDeviceInterface **deviceInterface = nullptr;
+        IOCFPlugInInterface  **plugInInterface = nullptr;
+        SInt32 score;
+        
+        kern_return_t result = IOCreatePlugInInterfaceForService(
+            device, kIOUSBDeviceUserClientTypeID,
+            kIOCFPlugInInterfaceID, &plugInInterface, &score);
+            
+        if ((result != kIOReturnSuccess) || (plugInInterface == nullptr)) {
+            UVCERROR("findDevice: Camera control error: {}", result);
+            IOObjectRelease(device);
+            continue;
+        }
+        
+        HRESULT hr = (*plugInInterface)->QueryInterface(plugInInterface,
+            CFUUIDGetUUIDBytes(kIOUSBDeviceInterfaceID),
+            (LPVOID*)&deviceInterface);
+            
+        if (hr || (deviceInterface == nullptr)) {
+            (*plugInInterface)->Release(plugInInterface);
+            IOObjectRelease(device);
+            UVCERROR("findDevice: QueryInterface failed");
+            continue;
+        }
+        
+        uint16_t vendorID, productID;
+        uint32_t locationID;
+        result = (*deviceInterface)->GetDeviceVendor(deviceInterface, &vendorID);
+        result = (*deviceInterface)->GetDeviceProduct(deviceInterface, &productID);
+        result = (*deviceInterface)->GetLocationID(deviceInterface, &locationID);
+        
+        // if 'location' is zero, we won't match on location
+        // to achieve this, we simply set locationID to zero.
+        if (location == 0) {
+            locationID = 0;
+        }
+        
+        if ((vendorID == vid) && (productID == pid) && (locationID == location)) {
+            (*plugInInterface)->Release(plugInInterface);
+            IOObjectRelease(device);
+            IOObjectRelease(serviceIterator);
+            return deviceInterface;
+        }
+        
+        (*deviceInterface)->Release(deviceInterface);
+        (*plugInInterface)->Release(plugInInterface);
+        IOObjectRelease(device);
+    }
+    
+    IOObjectRelease(serviceIterator);
+    return nullptr;
+}
+
+- (uint32_t)getProcessingUnitID:(IOUSBDeviceInterface**)dev {
+    IOReturn kr;
+    IOUSBConfigurationDescriptorPtr configDesc;
+    
+    kr = (*dev)->GetConfigurationDescriptorPtr(dev, 0, &configDesc);
+    if (kr) {
+        return 0;
+    }
+
+    UVCDEBUG4("USB descriptor:");
+    UVCDEBUG4("  length    = 0x{:08X}", configDesc->bLength);
+    UVCDEBUG4("  type      = 0x{:08X}", configDesc->bDescriptorType);
+    UVCDEBUG4("  totalLen  = 0x{:08X}", configDesc->wTotalLength);
+    UVCDEBUG4("  interfaces = 0x{:08X}", configDesc->bNumInterfaces);
+    
+    uint32_t idx = 0;
+    uint8_t *ptr = (uint8_t*)configDesc;
+
+    // Search for VIDEO/CONTROL interface descriptor
+    // Class=14, Subclass=1, Protocol=0
+    // and find the processing unit, if available..
+        // DescriptorType 0x24, DescriptorSubType 0x5
+
+    IOUSBInterfaceDescriptor *iface = NULL;
+    ProcessingUnitDescriptor *pud   = NULL;
+    bool inVideoControlInterfaceDescriptor = false;
+    while(idx < configDesc->wTotalLength) {
+        IOUSBDescriptorHeader *hdr = (IOUSBDescriptorHeader *)&ptr[idx];
+        switch(hdr->bDescriptorType)
+            {
+                case 0x05:  // Endpoint descriptor ID
+                    break;
+                case 0x02:  // Configuration descriptor ID
+                    break;
+                case 0x04: // Interface descriptor ID
+                    iface = (IOUSBInterfaceDescriptor*)&ptr[idx];
+                    if ((iface->bInterfaceClass == 14) && 
+                        (iface->bInterfaceSubClass == 1) &&
+                        (iface->bInterfaceProtocol == 0))
+                    {
+                        inVideoControlInterfaceDescriptor = true;
+                    }
+                    else
+                    {
+                        inVideoControlInterfaceDescriptor = false;
+                    }
+                    break;
+                case 0x24: // class-specific ID
+                    pud = (ProcessingUnitDescriptor*)&ptr[idx];
+                    if (inVideoControlInterfaceDescriptor)
+                    {
+                        if (pud->bDescriptorSubtype == 0x05)
+                        {
+                            return pud->bUnitID;
+                        }
+                    }
+                    break;
+                default:
+                    break;
+            }
+        idx += hdr->bLength;
+    }
+    
+    return 0;
+}
+
+- (IOUSBInterfaceInterface190**)createControlInterface:(IOUSBDeviceInterface**)deviceInterface {
+    IOUSBInterfaceInterface190 **controlInterface;
+    
+    io_iterator_t interfaceIterator;
+    IOUSBFindInterfaceRequest interfaceRequest;
+    interfaceRequest.bInterfaceClass = UVC_CONTROL_INTERFACE_CLASS;
+    interfaceRequest.bInterfaceSubClass = UVC_CONTROL_INTERFACE_SUBCLASS;
+    interfaceRequest.bInterfaceProtocol = kIOUSBFindInterfaceDontCare;
+    interfaceRequest.bAlternateSetting = kIOUSBFindInterfaceDontCare;
+    
+    IOReturn result = (*deviceInterface)->CreateInterfaceIterator(deviceInterface,
+        &interfaceRequest, &interfaceIterator);
+        
+    if (result != kIOReturnSuccess) {
+        return nullptr;
+    }
+    
+    io_service_t usbInterface;
+    if ((usbInterface = IOIteratorNext(interfaceIterator)) != 0) {
+        IOCFPlugInInterface **plugInInterface = nullptr;
+        SInt32 score;
+        
+        kern_return_t kr = IOCreatePlugInInterfaceForService(usbInterface,
+            kIOUSBInterfaceUserClientTypeID,
+            kIOCFPlugInInterfaceID,
+            &plugInInterface,
+            &score);
+            
+        kr = IOObjectRelease(usbInterface);
+        if ((kr != kIOReturnSuccess) || !plugInInterface) {
+            UVCERROR("createControlInterface: cannot create plug-in {:08X}",
+                kr);
+            return nullptr;
+        }
+        
+        HRESULT hr = (*plugInInterface)->QueryInterface(plugInInterface,
+            CFUUIDGetUUIDBytes(kIOUSBInterfaceInterfaceID),
+            (LPVOID*) &controlInterface);
+            
+        (*plugInInterface)->Release(plugInInterface);
+        
+        if (hr || !controlInterface) {
+            UVCERROR("createControlInterface: cannot create device interface {:08X}",
+                result);
+            return nullptr;
+        }
+        
+        UVCDEBUG3("createControlInterface: created control interface");
+        return controlInterface;
+    }
+    return nullptr;
+}
+
+- (bool)sendControlRequest:(IOUSBDevRequest)req {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        return false;
+    }
+
+    kern_return_t kr;
+    if (@available(macOS 12.0, *)) {
+        // macOS 12 doesn't like if we're trying to open USB interface here...
+    } else {
+        kr = (*_controlInterface)->USBInterfaceOpen(_controlInterface);
+        if (kr != kIOReturnSuccess) {
+            UVCERROR("USBInterfaceOpen failed with error: 0x{:08X}", kr);
+            return false;
+        }
+    }
+
+    kr = (*_controlInterface)->ControlRequest(_controlInterface, 0, &req);
+    if (kr != kIOReturnSuccess) {
+        // IOKIT error code
+        #define err_get_system(err) (((err)>>26)&0x3f) 
+        #define err_get_sub(err) (((err)>>14)&0xfff) 
+        #define err_get_code(err) ((err)&0x3fff)
+        
+        uint32_t code = err_get_code(kr);
+        uint32_t sys  = err_get_system(kr);
+        uint32_t sub  = err_get_sub(kr);
+
+        switch(kr)
+        {
+            case kIOUSBUnknownPipeErr:
+                UVCERROR("Pipe ref not recognised");
+                break;
+            case kIOUSBTooManyPipesErr:
+                UVCERROR("Too many pipes");
+                break;
+            case kIOUSBEndpointNotFound:
+                UVCERROR("Endpoint not found");
+                break;
+            case kIOUSBConfigNotFound:
+                UVCERROR("USB configuration not found");
+                break;
+            case kIOUSBPipeStalled:
+                //Note: we don't report this as an error as this happens when
+                //      an unsupported or locked property is set.            
+                UVCDEBUG("Pipe has stalled, error needs to be cleared");
+                break;
+            case kIOUSBInterfaceNotFound:
+                UVCERROR("USB control interface not found");
+                break;
+            default:
+                UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02Xh}:{:03Xh}:{:04Xh}", 
+                    sys, sub, code);
+                break; 
+        }
+
+        if (@available(macOS 12.0, *)) {
+            // macOS 12 doesn't like if we're trying to close USB interface here...
+        } else {
+            kr = (*_controlInterface)->USBInterfaceClose(_controlInterface);
+            if (kr != kIOReturnSuccess) {
+                UVCERROR("USBInterfaceClose failed");
+            }
+        }
+        return false;
+    }
+
+    if (@available(macOS 12.0, *)) {
+        // macOS 12 doesn't like if we're trying to close USB interface here either...
+    } else {
+        kr = (*_controlInterface)->USBInterfaceClose(_controlInterface);
+
+        if (kr != kIOReturnSuccess) {
+            UVCERROR("USBInterfaceClose failed");
+        }
+    }
+
+    return true;
+}
+
+- (bool)setData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t)data {
+    IOUSBDevRequest req;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBOut, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_SET_CUR;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = &data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_CUR;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getMaxData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_MAX;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getMinData:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_MIN;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getDefault:(uint32_t)selector unit:(uint32_t)unit length:(uint32_t)length data:(int32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_DEF;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = length;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)getInfo:(uint32_t)selector unit:(uint32_t)unit data:(uint32_t*)data {
+    IOUSBDevRequest req;
+    *data = 0;
+    req.bmRequestType = USBmakebmRequestType((UInt8)kUSBIn, (UInt8)kUSBClass, (UInt8)kUSBInterface);
+    req.bRequest = UVC_GET_INFO;
+    req.wValue = (selector << 8);
+    req.wIndex = (unit << 8);
+    req.wLength = 1;
+    req.wLenDone = 0;
+    req.pData = data;
+    return [self sendControlRequest:req];
+}
+
+- (bool)setProperty:(uint32_t)propID withValue:(int32_t)value status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    bool ok = false;
+    if (propID < CAPPROPID_LAST) {
+        uint32_t unit = (propertyInfo[propID].unit == 0) ? UVC_INPUT_TERMINAL_ID : _processingUnitID;
+        ok = [self setData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:value];
+        if (!ok) {
+            UVCWARNING("Failed to set property {}", propID);
+        }
+    } else {
+        UVCWARNING("Invalid property ID: {}", propID);
+    }
+    return ok;
+}
+
+- (bool)getProperty:(uint32_t)propID withValue:(int32_t*)value status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    bool ok = false;
+    if (propID < CAPPROPID_LAST) {
+        uint32_t unit = (propertyInfo[propID].unit == 0) ? UVC_INPUT_TERMINAL_ID : _processingUnitID;
+        ok = [self getData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:value];
+
+        switch(propertyInfo[propID].length) {
+            case 2:
+                *value = static_cast<int16_t>(*value);
+                break;
+            case 1:
+                *value = static_cast<int8_t>(*value);
+                break;
+            default:
+                break;
+        }
+        if (!ok) {
+            UVCWARNING("Failed to get property {}", propID);
+        }
+    } else {
+        UVCWARNING("Invalid property ID: {}", propID);
+    }
+    return ok;
+}
+
+- (bool)setAutoProperty:(uint32_t)propID enabled:(bool)enabled status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    int32_t value = enabled ? 1 : 0;
+    switch(propID) {
+        case CAPPROPID_EXPOSURE:
+            return [self setData:CT_AE_MODE_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:enabled ? 0x8 : 0x1];
+        case CAPPROPID_WHITEBALANCE:
+            return [self setData:PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL unit:_processingUnitID length:1 data:value];
+        case CAPPROPID_FOCUS:
+            return [self setData:CT_FOCUS_AUTO_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:value];
+        default:
+            return false;
+    }
+}
+
+- (bool)getAutoProperty:(uint32_t)propID enabled:(bool*)enabled status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        UVCERROR("control interface is NULL");
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    int32_t value;
+    
+    switch(propID) {
+        case CAPPROPID_EXPOSURE:
+            if ([self getData:CT_AE_MODE_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:&value]) {
+                // value = 1 -> manual mode
+                //         2 -> auto mode (I haven't seen this in the wild)
+                //         4 -> shutter priority mode (haven't seen this)
+                //         8 -> aperature prioritry mode (seen this used)
+                value &= 0xFF;
+                *enabled = (value==1) ? false : true;
+                return true;
+            }
+            return false;
+        case CAPPROPID_WHITEBALANCE:
+            if ([self getData:PU_WHITE_BALANCE_TEMPERATURE_AUTO_CONTROL unit:_processingUnitID length:1 data:&value]) {
+                value &= 0xFF;
+                *enabled = (value==1) ? true : false;
+                UVCDEBUG3("White balance auto mode: {}", *enabled ? "enabled" : "disabled");
+                return true;
+            }
+            return false;
+        case CAPPROPID_FOCUS:
+            if ([self getData:CT_FOCUS_AUTO_CONTROL unit:UVC_INPUT_TERMINAL_ID length:1 data:&value]) {
+                value &= 0xFF;
+                *enabled = (value==1) ? true : false;
+                UVCDEBUG3("Focus auto mode: {}", *enabled ? "enabled" : "disabled");
+                return true;
+            }
+            return false;
+        default:
+            UVCWARNING("Unsupported auto property ID: {}", propID);
+            return false;
+    }
+}
+
+- (bool)getPropertyLimits:(uint32_t)propID min:(int32_t*)min max:(int32_t*)max defValue:(int32_t*)defValue status:(CS_Status*)status {
+    if (_controlInterface == nullptr) {
+        *status = CS_UVC_STATUS_DEVICE_DISCONNECTED;
+        return false;
+    }
+
+    bool ok = true;
+    if (propID < CAPPROPID_LAST) {
+        uint32_t unit = (propertyInfo[propID].unit == 0) ? UVC_INPUT_TERMINAL_ID : _processingUnitID;
+        
+        if (![self getMinData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:min]) {
+            ok = false;
+        }
+
+        if (![self getMaxData:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:max]) {
+            ok = false;
+        }
+
+        if (![self getDefault:propertyInfo[propID].selector unit:unit length:propertyInfo[propID].length data:defValue]) {
+            ok = false;
+        }
+
+        switch(propertyInfo[propID].length) {
+            case 2:
+                *min = static_cast<int16_t>(*min);
+                *max = static_cast<int16_t>(*max);
+                *defValue = static_cast<int16_t>(*defValue);
+                break;
+            case 1:
+                *min = static_cast<int8_t>(*min);
+                *max = static_cast<int8_t>(*max);
+                *defValue = static_cast<int8_t>(*defValue);
+                break;
+            default:
+                break;
+        }
+    } else {
+        UVCWARNING("getPropertyLimits: property ID out of bounds");
+        ok = false;
+    }
+    return ok;
+}
+
+- (void)reportCapabilities:(uint32_t)selector unit:(uint32_t)unit {
+    uint32_t info;
+    [self getInfo:selector unit:unit data:&info];
+    if (info & 0x01) {
+        UVCDEBUG4("GET ");
+    }
+    if (info & 0x02) {
+        UVCDEBUG4("SET ");
+    }
+    if (info & 0x04) {
+        UVCDEBUG4("DISABLED ");
+    }
+    if (info & 0x08) {
+        UVCDEBUG4("AUTO-UPD ");
+    }
+    if (info & 0x10) {
+        UVCDEBUG4("ASYNC ");
+    }
+    if (info & 0x20) {
+        UVCDEBUG4("DISCOMMIT");
+    }
+    UVCDEBUG4("");
+}
+
+@end