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

.github/actions/pregen/action.yml

@@ -18,9 +18,6 @@ runs:
         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 hal
-      run: ./hal/generate_usage_reporting.py
-      shell: bash
 
     - name: Regenerate ntcore
       run: ./ntcore/generate_topics.py

.github/labeler.yml

@@ -33,9 +33,6 @@
 'component: sysid':
 - changed-files:
   - any-glob-to-any-file: sysid/**
-'component: teamnumbersetter':
-- changed-files:
-  - any-glob-to-any-file: roborioteamnumbersetter/**
 'component: wpilibc':
 - changed-files:
   - any-glob-to-any-file: wpilibc/**

.github/workflows/bazel.yml

@@ -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 }
@@ -75,7 +76,7 @@ jobs:
 
   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"
 

.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:2025-22.04
+            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'

.github/workflows/documentation.yml

@@ -12,8 +12,8 @@ env:
 jobs:
   publish:
     name: "Documentation - Publish"
-    runs-on: ubuntu-22.04
-    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
+    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:
       - uses: actions/checkout@v4
@@ -39,6 +39,11 @@ jobs:
           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') && !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/gradle.yml

@@ -19,20 +19,20 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-22.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-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:bookworm-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
@@ -50,7 +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') && !contains(github.ref, '2027')
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
         uses: addnab/docker-run-action@v3
         with:
@@ -103,12 +103,6 @@ jobs:
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win32FFI
-            architecture: x86
-            task: ":ntcoreffi:build"
-            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
-            outputs: "ntcoreffi/build/outputs"
           - os: windows-2022
             artifact-name: Win64FFI
             architecture: x64
@@ -135,19 +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') && !contains(github.ref, '2027'))))
+          (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') && !contains(github.ref, '2027'))))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-      - name: Set Java Heap Size
-        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
-        if: matrix.artifact-name == 'Win32'
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
@@ -175,7 +166,7 @@ jobs:
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ 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') && !contains(github.ref, '2027'))))
+          (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'
@@ -189,7 +180,7 @@ jobs:
 
   build-documentation:
     name: "Build - Documentation"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [validation]
     steps:
       - uses: actions/checkout@v4
@@ -201,7 +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') && !contains(github.ref, '2027')
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -215,12 +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') && !contains(github.ref, '2027')))
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -233,48 +224,48 @@ jobs:
       - uses: actions/checkout@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
+          (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') && !contains(github.ref, '2027')))
+          (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') && !contains(github.ref, '2027')))
+          (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') && !contains(github.ref, '2027')))
+          (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') && !contains(github.ref, '2027')))
+          (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') && !contains(github.ref, '2027')
-        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 }}
@@ -282,25 +273,7 @@ jobs:
       - uses: actions/upload-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
+          (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') && !contains(github.ref, '2027')
-        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/lint-format.yml

@@ -20,7 +20,7 @@ jobs:
 
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -59,9 +59,9 @@ jobs:
 
   tidy:
     name: "clang-tidy"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [validation]
-    container: wpilib/ubuntu-base:22.04
+    container: wpilib/ubuntu-base:24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -92,9 +92,9 @@ jobs:
         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
+    runs-on: ubuntu-24.04
     needs: [validation]
-    container: wpilib/ubuntu-base:22.04
+    container: wpilib/ubuntu-base:24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -126,7 +126,7 @@ jobs:
 
   documentation:
     name: "Documentation"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [validation]
     steps:
       - uses: actions/checkout@v4

.github/workflows/pregenerate.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:

.github/workflows/sanitizers.yml

@@ -33,7 +33,7 @@ jobs:
     container: wpilib/roborio-cross-ubuntu:2025-24.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 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@v0.0.9
@@ -41,7 +41,7 @@ jobs:
       - 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-17 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-17 -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

@@ -23,20 +23,20 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-24.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-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
@@ -102,11 +102,6 @@ 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]
@@ -131,9 +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:
@@ -33,164 +33,12 @@ jobs:
       - name: Build WPILib with Gradle
         uses: addnab/docker-run-action@v3
         with:
-          image: wpilib/roborio-cross-ubuntu:2025-22.04
+          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 :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep: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 = \'$YEAR\.424242\.+\'/" dependencies.gradle
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: 'temurin'
-      - name: Move artifacts
-        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-      - name: Build with Gradle
-        run: ./gradlew build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: PathWeaver Build
-          path: |
-            build/allOutputs/
-          retention-days: 7
-
-#  Robotpy:
-#    name: "Build - Robotpy"
-#    needs: [build-artifacts]
-#    runs-on: ubuntu-22.04
-#    steps:
-#    - uses: actions/checkout@v4
-#      with:
-#        repository: robotpy/mostrobotpy
-#        fetch-depth: 0
-#    - uses: actions/download-artifact@v4
-#      with:
-#        name: MavenArtifacts
-#    - name: Move artifacts
-#      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-#
-#    - uses: actions/setup-python@v5
-#      with:
-#        python-version: 3.13
-#
-#    - name: Install sccache
-#      uses: mozilla-actions/sccache-action@v0.0.9
-#
-#    - name: Install deps
-#      shell: bash
-#      run: |
-#        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
-#
-#    - name: Install numpy (needed for stubgen but broken in raspbian CI)
-#      shell: bash
-#      run: |
-#        python -m pip --disable-pip-version-check install numpy
-#    - name: Patch RobotPy rdev to use local development
-#      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
-#    - name: Build + test wheels
-#      shell: bash
-#      run: |
-#        ./rdev.sh ci run
-#      env:
-#        RPYBUILD_STRIP_LIBPYTHON: "1"
-#        RPYBUILD_CC_LAUNCHER: sccache
-#        SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-#        SCCACHE_WEBDAV_KEY_PREFIX: "sccache-robotpy"
-#        SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-#        SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.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:

.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

@@ -291,6 +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)")
@@ -324,7 +326,6 @@ if(WITH_GUI)
         add_subdirectory(wpical)
     endif()
     if(LIBSSH_FOUND)
-        add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
     endif()
 endif()

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)
 

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",
@@ -21,17 +52,100 @@ 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",
@@ -99,8 +213,8 @@ setup_legacy_bzlmodrio_ni_cpp_dependencies()
 
 http_archive(
     name = "bzlmodrio-opencv",
-    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.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")
@@ -111,6 +225,17 @@ load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_j
 
 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",
@@ -123,3 +248,43 @@ load(
 )
 
 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

@@ -1,6 +1,9 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+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(
@@ -31,7 +34,6 @@ cc_library(
     }),
     includes = ["src/main/native/thirdparty/apriltag/include/common"],
     strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
-    visibility = ["//visibility:public"],
 )
 
 generate_resources(
@@ -39,10 +41,9 @@ generate_resources(
     namespace = "frc",
     prefix = "APRILTAG",
     resource_files = glob(["src/main/native/resources/**"]),
-    visibility = ["//visibility:public"],
 )
 
-cc_library(
+wpilib_cc_library(
     name = "apriltag.static",
     srcs = [":generate-resources"] + glob(
         ["src/main/native/cpp/**"],
@@ -59,9 +60,20 @@ cc_library(
     ],
 )
 
-java_library(
+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"],
@@ -88,6 +100,20 @@ cc_test(
     ],
 )
 
+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"],
@@ -108,5 +134,8 @@ java_binary(
 py_binary(
     name = "convert_apriltag_layouts",
     srcs = ["convert_apriltag_layouts.py"],
-    tags = ["manual"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
 )

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

@@ -11,7 +11,7 @@ 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'
@@ -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:2025.9.1"
+    implementation "edu.wpi.first:native-utils:2025.12.1"
 }

cameraserver/BUILD.bazel

@@ -1,7 +1,8 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+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")
 
-cc_library(
+wpilib_cc_library(
     name = "cameraserver.static",
     srcs = glob(["src/main/native/cpp/**"]),
     hdrs = glob(["src/main/native/include/**/*"]),

cameraserver/multiCameraServer/build.gradle

@@ -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,

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/Main.cpp

@@ -1,10 +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>
-
-int main(int argc, char** argv) {
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}

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/BUILD.bazel

@@ -1,5 +1,9 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
-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")
 
 WIN_SRCS = glob([
     "src/main/native/windows/**/*.cpp",
@@ -22,7 +26,7 @@ filegroup(
     }),
 )
 
-objc_library(
+wpilib_objc_library(
     name = "cscore-mac",
     srcs = glob([
         "src/main/native/objcpp/**/*.mm",
@@ -32,9 +36,7 @@ objc_library(
         "src/main/native/include/**/*",
         "src/main/native/objcpp/**/*.h",
     ]),
-    copts = [
-        "-std=c++20",
-    ],
+    include_arc = False,
     includes = [
         "src/main/native/cpp",
         "src/main/native/include",
@@ -48,7 +50,6 @@ objc_library(
         "CoreVideo",
         "IOKit",
     ],
-    tags = ["manual"],
     deps = [
         "//wpinet:wpinet.static",
         "//wpiutil:wpiutil.static",
@@ -56,7 +57,7 @@ objc_library(
     ],
 )
 
-cc_library(
+wpilib_cc_library(
     name = "cscore.static",
     srcs = [":native-srcs"] + glob(
         ["src/main/native/cpp/**"],
@@ -79,9 +80,20 @@ cc_library(
     }),
 )
 
-java_library(
+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",
@@ -99,6 +111,15 @@ cc_test(
     ],
 )
 
+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"],
@@ -116,3 +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/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)
 
@@ -172,7 +172,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena')) {
+                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxsystemcore')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -181,7 +181,7 @@ model {
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
                                 it.buildable = false
                                 return
                             }
@@ -195,9 +195,6 @@ model {
                                     it.linker.args << '-lGL'
                                 }
                             }
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
-                                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
-                            }
                         }
                         sources.cpp.source {
                             srcDirs 'examples/' + "${key}"
@@ -212,9 +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/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/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_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/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/windows/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

datalog/.styleguide

@@ -0,0 +1,25 @@
+cppHeaderFileInclude {
+  \.h$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+licenseUpdateExclude {
+  examples/printlog
+}
+
+modifiableFileExclude {
+  examples/printlog/datalog\.py$
+}
+
+repoRootNameOverride {
+  datalog
+}
+
+includeOtherLibs {
+  ^fmt/
+  ^gtest/
+  ^wpi/(?!datalog)
+}

datalog/BUILD.bazel

@@ -0,0 +1,107 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "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")
+
+wpilib_cc_library(
+    name = "datalog.static",
+    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 = [
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+wpilib_jni_cc_library(
+    name = "datalogjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":datalog-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":datalog.static",
+    ],
+)
+
+wpilib_jni_java_library(
+    name = "datalog-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    native_libs = [":datalogjni"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpiutil:wpiutil-java",
+        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
+    ],
+)
+
+py_binary(
+    name = "datalog",
+    srcs = ["examples/printlog/datalog.py"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+)
+
+cc_binary(
+    name = "printlog",
+    srcs = ["examples/printlog/printlog.cpp"],
+    deps = [
+        ":datalog.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+cc_binary(
+    name = "writelog",
+    srcs = ["examples/writelog/writelog.cpp"],
+    deps = [
+        ":datalog.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+java_binary(
+    name = "printlog-java",
+    srcs = ["src/printlog/java/printlog/PrintLog.java"],
+    main_class = "printlog.PrintLog",
+    deps = [
+        ":datalog-java",
+    ],
+)
+
+cc_test(
+    name = "datalog-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**/*.cpp"]),
+    tags = [
+        "exclusive",
+        "no-asan",
+        "no-tsan",
+    ],
+    deps = [
+        ":datalog.static",
+        "//thirdparty/googletest:googletest.static",
+        "//wpiutil:wpiutil-testlib",
+    ],
+)
+
+wpilib_java_junit5_test(
+    name = "datalog-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    tags = ["exclusive"],
+    deps = [
+        ":datalog-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)

datalog/CMakeLists.txt

@@ -0,0 +1,108 @@
+project(datalog)
+
+include(CompileWarnings)
+
+file(GLOB datalog_native_src src/main/native/cpp/*.cpp)
+
+file(GLOB datalog_jni_src src/main/native/cpp/jni/DataLogJNI.cpp)
+list(REMOVE_ITEM datalog_native_src ${datalog_jni_src})
+
+add_library(datalog ${datalog_native_src})
+set_target_properties(datalog PROPERTIES DEBUG_POSTFIX "d")
+
+target_compile_features(datalog PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_options(
+        datalog
+        PUBLIC /permissive- /Zc:preprocessor /Zc:__cplusplus /Zc:throwingNew /MP /bigobj /utf-8
+    )
+    target_compile_definitions(datalog PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+endif()
+wpilib_target_warnings(datalog)
+
+target_include_directories(
+    datalog
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+)
+
+target_link_libraries(datalog PRIVATE wpiutil)
+
+subdir_list(datalog_examples "${CMAKE_CURRENT_SOURCE_DIR}/examples")
+foreach(example ${datalog_examples})
+    file(GLOB datalog_example_src examples/${example}/*.cpp)
+    if(datalog_example_src)
+        add_executable(datalog_${example} ${datalog_example_src})
+        wpilib_target_warnings(datalog_${example})
+        target_link_libraries(datalog_${example} datalog wpiutil)
+        set_property(TARGET datalog_${example} PROPERTY FOLDER "examples")
+    endif()
+endforeach()
+
+# Java bindings
+if(WITH_JAVA)
+    include(UseJava)
+
+    set(CMAKE_JNI_TARGET true)
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
+
+    add_jar(
+        datalog_jar
+        ${JAVA_SOURCES}
+        # INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR}
+        OUTPUT_NAME datalog
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+        GENERATE_NATIVE_HEADERS datalog_jni_headers
+    )
+    set_property(TARGET datalog_jar PROPERTY FOLDER "java")
+
+    install_jar(datalog_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS datalog_jar FILE datalog_jar.cmake DESTINATION share/datalog)
+
+    add_library(datalogjni ${datalog_jni_src})
+    wpilib_target_warnings(datalogjni)
+    target_link_libraries(datalogjni PUBLIC datalog wpiutil)
+
+    set_property(TARGET datalogjni PROPERTY FOLDER "libraries")
+
+    target_link_libraries(datalogjni PRIVATE datalog_jni_headers)
+    add_dependencies(datalogjni datalog_jar)
+
+    install(TARGETS datalogjni EXPORT datalogjni)
+    export(TARGETS datalogjni FILE datalogjni.cmake NAMESPACE datalogjni::)
+endif()
+
+if(WITH_JAVA_SOURCE)
+    include(UseJava)
+    include(CreateSourceJar)
+    add_source_jar(
+        datalog_src_jar
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+        OUTPUT_NAME datalog-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+    set_property(TARGET datalog_src_jar PROPERTY FOLDER "java")
+
+    install_jar(datalog_src_jar DESTINATION ${java_lib_dest})
+endif()
+
+install(TARGETS datalog EXPORT datalog)
+export(TARGETS datalog FILE datalog.cmake NAMESPACE datalog::)
+
+configure_file(datalog-config.cmake.in ${WPILIB_BINARY_DIR}/datalog-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/datalog-config.cmake DESTINATION share/datalog)
+install(EXPORT datalog DESTINATION share/datalog)
+
+if(WITH_TESTS)
+    file(GLOB_RECURSE datalog_testlib_src src/test/native/include/*.h)
+    add_library(datalog_testlib INTERFACE ${datalog_test_src})
+    target_include_directories(datalog_testlib INTERFACE src/test/native/include)
+
+    wpilib_add_test(datalog src/test/native/cpp)
+    target_link_libraries(datalog_test datalog googletest datalog_testlib wpiutil)
+    if(MSVC)
+        target_compile_options(datalog_test PRIVATE /utf-8)
+    endif()
+endif()

datalog/build.gradle

@@ -0,0 +1,76 @@
+ext {
+    useJava = true
+    useCpp = true
+    baseId = 'datalog'
+    groupId = 'edu.wpi.first.datalog'
+
+    nativeName = 'datalog'
+    devMain = 'edu.wpi.first.datalog.DevMain'
+}
+
+apply from: "${rootDir}/shared/jni/setupBuild.gradle"
+
+nativeUtils.exportsConfigs {
+    datalog {
+    }
+}
+
+model {
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs 'src/main/native/include'
+                }
+            }
+        }
+    }
+}
+
+def examplesMap = [:];
+file("$projectDir/examples").list(new FilenameFilter() {
+            @Override
+            public boolean accept(File current, String name) {
+                return new File(current, name).isDirectory();
+            }
+        }).each {
+            examplesMap.put(it, [])
+        }
+
+model {
+    components {
+        examplesMap.each { key, value ->
+            "${key}"(NativeExecutableSpec) {
+                targetBuildTypes 'debug'
+                binaries.all {
+                    lib library: 'datalog', linkage: 'shared'
+                    lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                }
+                sources {
+                    cpp {
+                        source {
+                            srcDirs 'examples/' + "${key}"
+                            include '**/*.cpp'
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+sourceSets {
+    printlog
+}
+
+task runPrintLog(type: JavaExec) {
+    classpath = sourceSets.printlog.runtimeClasspath
+
+    mainClass = 'printlog.PrintLog'
+}
+
+dependencies {
+    api project(":wpiutil")
+
+    printlogImplementation sourceSets.main.output
+}

datalog/datalog-config.cmake.in

@@ -0,0 +1,5 @@
+@FILENAME_DEP_REPLACE@
+include(${SELF_DIR}/wpiutil.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/wpiutil_jar.cmake)
+endif()

datalog/examples/printlog/printlog.cpp

@@ -9,11 +9,11 @@
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <fmt/ranges.h>
+#include <wpi/DenseMap.h>
+#include <wpi/MemoryBuffer.h>
+#include <wpi/print.h>
 
-#include "wpi/DataLogReader.h"
-#include "wpi/DenseMap.h"
-#include "wpi/MemoryBuffer.h"
-#include "wpi/print.h"
+#include "wpi/datalog/DataLogReader.h"
 
 int main(int argc, const char** argv) {
   if (argc != 2) {

datalog/examples/writelog/writelog.cpp

@@ -8,8 +8,9 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/DataLogBackgroundWriter.h"
-#include "wpi/print.h"
+#include <wpi/print.h>
+
+#include "wpi/datalog/DataLogBackgroundWriter.h"
 
 int main(int argc, char** argv) {
   using std::chrono::duration_cast;

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

@@ -2,10 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/shuffleboard/LayoutType.h"
+package edu.wpi.first.datalog;
 
-using namespace frc;
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {}
 
-std::string_view LayoutType::GetLayoutName() const {
-  return m_layoutName;
+  private DevMain() {}
 }

datalog/src/main/java/edu/wpi/first/datalog/BooleanArrayLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Arrays;
 

datalog/src/main/java/edu/wpi/first/datalog/BooleanLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log boolean values. */
 public class BooleanLogEntry extends DataLogEntry {

datalog/src/main/java/edu/wpi/first/datalog/DataLog.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.util.protobuf.Protobuf;

datalog/src/main/java/edu/wpi/first/datalog/DataLogBackgroundWriter.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /**
  * A data log background writer that periodically flushes the data log on a background thread. The

datalog/src/main/java/edu/wpi/first/datalog/DataLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log entry base class. */
 public class DataLogEntry {

datalog/src/main/java/edu/wpi/first/datalog/DataLogIterator.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Iterator;
 import java.util.NoSuchElementException;

datalog/src/main/java/edu/wpi/first/datalog/DataLogJNI.java

@@ -2,18 +2,72 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
-import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.nio.ByteBuffer;
+import java.util.concurrent.atomic.AtomicBoolean;
 
 /**
- * DataLog wpiutil JNI Functions.
+ * DataLog JNI Functions.
  *
- * @see "wpiutil/DataLog.h"
+ * @see "datalog/DataLog.h"
  */
-public class DataLogJNI extends WPIUtilJNI {
+public class DataLogJNI {
+  static boolean libraryLoaded = false;
+
+  /** Sets whether JNI should be loaded in the static block. */
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+
+    /** Utility class. */
+    private Helper() {}
+  }
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        RuntimeLoader.loadLibrary("datalogjni");
+      } catch (Exception ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   *
+   * @throws IOException if the library failed to load
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    RuntimeLoader.loadLibrary("datalogjni");
+    libraryLoaded = true;
+  }
+
   /**
    * Create a new Data Log background writer. The log will be initially created with a temporary
    * filename.
@@ -298,6 +352,24 @@ public class DataLogJNI extends WPIUtilJNI {
    */
   static native void appendStringArray(long impl, int entry, String[] value, long timestamp);
 
+  /**
+   * Create a native FileLogger. When the specified file is modified, appended data will be appended
+   * to the specified data log.
+   *
+   * @param file path to the file
+   * @param log data log implementation handle
+   * @param key log key to append data to
+   * @return The FileLogger handle.
+   */
+  public static native long createFileLogger(String file, long log, String key);
+
+  /**
+   * Free a native FileLogger. This causes the FileLogger to stop appending data to the log.
+   *
+   * @param fileTail The FileLogger handle.
+   */
+  public static native void freeFileLogger(long fileTail);
+
   /** Utility class. */
   private DataLogJNI() {}
 }

datalog/src/main/java/edu/wpi/first/datalog/DataLogReader.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.io.IOException;
 import java.io.RandomAccessFile;

datalog/src/main/java/edu/wpi/first/datalog/DataLogRecord.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.nio.BufferUnderflowException;
 import java.nio.ByteBuffer;

datalog/src/main/java/edu/wpi/first/datalog/DataLogWriter.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.io.IOException;
 import java.io.OutputStream;

datalog/src/main/java/edu/wpi/first/datalog/DoubleArrayLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Arrays;
 

datalog/src/main/java/edu/wpi/first/datalog/DoubleLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log double values. */
 public class DoubleLogEntry extends DataLogEntry {

datalog/src/main/java/edu/wpi/first/datalog/FileLogger.java

@@ -2,9 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util;
-
-import edu.wpi.first.util.datalog.DataLog;
+package edu.wpi.first.datalog;
 
 /**
  * A class version of `tail -f`, otherwise known as `tail -f` at home. Watches a file and puts the
@@ -22,11 +20,11 @@ public class FileLogger implements AutoCloseable {
    * @param key The log key to append data to.
    */
   public FileLogger(String file, DataLog log, String key) {
-    m_impl = WPIUtilJNI.createFileLogger(file, log.getImpl(), key);
+    m_impl = DataLogJNI.createFileLogger(file, log.getImpl(), key);
   }
 
   @Override
   public void close() {
-    WPIUtilJNI.freeFileLogger(m_impl);
+    DataLogJNI.freeFileLogger(m_impl);
   }
 }

datalog/src/main/java/edu/wpi/first/datalog/FloatArrayLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Arrays;
 

datalog/src/main/java/edu/wpi/first/datalog/FloatLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log float values. */
 public class FloatLogEntry extends DataLogEntry {

datalog/src/main/java/edu/wpi/first/datalog/IntegerArrayLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Arrays;
 

datalog/src/main/java/edu/wpi/first/datalog/IntegerLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log integer values. */
 public class IntegerLogEntry extends DataLogEntry {

datalog/src/main/java/edu/wpi/first/datalog/ProtobufLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.protobuf.ProtobufBuffer;

datalog/src/main/java/edu/wpi/first/datalog/RawLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.nio.ByteBuffer;
 import java.util.Arrays;

datalog/src/main/java/edu/wpi/first/datalog/StringArrayLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import java.util.Arrays;
 

datalog/src/main/java/edu/wpi/first/datalog/StringLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 /** Log string values. */
 public class StringLogEntry extends DataLogEntry {

datalog/src/main/java/edu/wpi/first/datalog/StructArrayLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import edu.wpi.first.util.struct.Struct;
 import edu.wpi.first.util.struct.StructBuffer;

datalog/src/main/java/edu/wpi/first/datalog/StructLogEntry.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.util.datalog;
+package edu.wpi.first.datalog;
 
 import edu.wpi.first.util.struct.Struct;
 import edu.wpi.first.util.struct.StructBuffer;

datalog/src/main/native/cpp/DataLog.cpp

@@ -2,7 +2,7 @@
 // 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 "wpi/DataLog.h"
+#include "wpi/datalog/DataLog.h"
 
 #include <algorithm>
 #include <bit>
@@ -13,11 +13,11 @@
 #include <utility>
 #include <vector>
 
-#include "wpi/Endian.h"
-#include "wpi/Logger.h"
-#include "wpi/SmallString.h"
-#include "wpi/print.h"
-#include "wpi/timestamp.h"
+#include <wpi/Endian.h>
+#include <wpi/Logger.h>
+#include <wpi/SmallString.h>
+#include <wpi/print.h>
+#include <wpi/timestamp.h>
 
 using namespace wpi::log;
 
@@ -86,10 +86,13 @@ void DataLog::StartFile() {
     AppendStartRecord(entryInfo.second.id, entryInfo.first,
                       entryInfo.second.type,
                       m_entryIds[entryInfo.second.id].metadata, 0);
-    if (!entryInfo.second.schemaData.empty()) {
-      StartRecord(entryInfo.second.id, 0, entryInfo.second.schemaData.size(),
-                  0);
-      AppendImpl(entryInfo.second.schemaData);
+  }
+
+  // Existing schema data records
+  for (auto&& schemaInfo : m_schemas) {
+    if (schemaInfo.second.id != 0) {
+      StartRecord(schemaInfo.second.id, 0, schemaInfo.second.data.size(), 0);
+      AppendImpl(schemaInfo.second.data);
     }
   }
 
@@ -131,28 +134,26 @@ void DataLog::BufferHalfFull() {}
 
 bool DataLog::HasSchema(std::string_view name) const {
   std::scoped_lock lock{m_mutex};
-  wpi::SmallString<128> fullName{"/.schema/"};
-  fullName += name;
-  auto it = m_entries.find(fullName);
-  return it != m_entries.end();
+  return m_schemas.contains(name);
 }
 
 void DataLog::AddSchema(std::string_view name, std::string_view type,
                         std::span<const uint8_t> schema, int64_t timestamp) {
   std::scoped_lock lock{m_mutex};
-  wpi::SmallString<128> fullName{"/.schema/"};
-  fullName += name;
-  auto& entryInfo = m_entries[fullName];
-  if (entryInfo.id != 0) {
+  auto& schemaInfo = m_schemas[name];
+  if (schemaInfo.id != 0) {
     return;  // don't add duplicates
   }
-  entryInfo.schemaData.assign(schema.begin(), schema.end());
+  schemaInfo.data.assign(schema.begin(), schema.end());
+  wpi::SmallString<128> fullName{"/.schema/"};
+  fullName += name;
   int entry = StartImpl(fullName, type, {}, timestamp);
 
   // inline AppendRaw() without releasing lock
   if (entry <= 0) {
     [[unlikely]] return;  // should never happen, but check anyway
   }
+  schemaInfo.id = entry;
   if (!m_active) {
     [[unlikely]] return;
   }

datalog/src/main/native/cpp/DataLogBackgroundWriter.cpp

@@ -2,7 +2,7 @@
 // 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 "wpi/DataLogBackgroundWriter.h"
+#include "wpi/datalog/DataLogBackgroundWriter.h"
 
 #ifndef _WIN32
 #include <unistd.h>
@@ -183,9 +183,9 @@ struct DataLogBackgroundWriter::WriterThreadState {
   ~WriterThreadState() { Close(); }
 
   void Close() {
-    if (f != fs::kInvalidFile) {
+    if (f != WPI_kInvalidFile) {
       fs::CloseFile(f);
-      f = fs::kInvalidFile;
+      f = WPI_kInvalidFile;
     }
   }
 
@@ -207,7 +207,7 @@ struct DataLogBackgroundWriter::WriterThreadState {
   std::string baseFilename;
   std::string filename;
   fs::path path;
-  fs::file_t f = fs::kInvalidFile;
+  fs::file_t f = WPI_kInvalidFile;
   uintmax_t freeSpace = UINTMAX_MAX;
   int segmentCount = 1;
 };
@@ -264,7 +264,7 @@ void DataLogBackgroundWriter::StartLogFile(WriterThreadState& state) {
       }
     }
 
-    if (state.f == fs::kInvalidFile) {
+    if (state.f == WPI_kInvalidFile) {
       WPI_ERROR(m_msglog, "Could not open log file, no log being saved");
     } else {
       WPI_INFO(m_msglog, "Logging to '{}' ({} free space)", state.path.string(),
@@ -273,7 +273,7 @@ void DataLogBackgroundWriter::StartLogFile(WriterThreadState& state) {
   }
 
   // start file
-  if (state.f != fs::kInvalidFile) {
+  if (state.f != WPI_kInvalidFile) {
     StartFile();
   }
 }
@@ -347,7 +347,7 @@ void DataLogBackgroundWriter::WriterThreadMain(std::string_view dir) {
       written = 0;
     }
 
-    if (!m_newFilename.empty() && state.f != fs::kInvalidFile) {
+    if (!m_newFilename.empty() && state.f != WPI_kInvalidFile) {
       auto newFilename = std::move(m_newFilename);
       m_newFilename.clear();
       // rename
@@ -374,7 +374,7 @@ void DataLogBackgroundWriter::WriterThreadMain(std::string_view dir) {
         continue;
       }
 
-      if (state.f != fs::kInvalidFile && !blocked) {
+      if (state.f != WPI_kInvalidFile && !blocked) {
         lock.unlock();
 
         // update free space every 10 flushes (in case other things are writing)

datalog/src/main/native/cpp/DataLogReader.cpp

@@ -2,13 +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.
 
-#include "wpi/DataLogReader.h"
+#include "wpi/datalog/DataLogReader.h"
 
 #include <bit>
 #include <utility>
 
-#include "wpi/DataLog.h"
-#include "wpi/Endian.h"
+#include <wpi/Endian.h>
+
+#include "wpi/datalog/DataLog.h"
 
 using namespace wpi::log;
 

datalog/src/main/native/cpp/DataLogReaderThread.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "glass/support/DataLogReaderThread.h"
+#include "wpi/datalog/DataLogReaderThread.h"
 
 #include <string>
 #include <utility>
@@ -10,7 +10,7 @@
 #include <wpi/StringExtras.h>
 #include <wpi/print.h>
 
-using namespace glass;
+using namespace wpi::log;
 
 DataLogReaderThread::~DataLogReaderThread() {
   if (m_thread.joinable()) {

datalog/src/main/native/cpp/DataLogWriter.cpp

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/DataLogWriter.h"
+#include "wpi/datalog/DataLogWriter.h"
 
 #include <memory>
 #include <utility>
 #include <vector>
 
-#include "wpi/raw_ostream.h"
+#include <wpi/raw_ostream.h>
 
 using namespace wpi::log;
 

datalog/src/main/native/cpp/FileLogger.cpp

@@ -2,7 +2,7 @@
 // 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 "wpi/FileLogger.h"
+#include "wpi/datalog/FileLogger.h"
 
 #ifdef __linux__
 #include <fcntl.h>
@@ -18,10 +18,9 @@
 #include <utility>
 
 #include <fmt/format.h>
+#include <wpi/StringExtras.h>
 
-#include "wpi/StringExtras.h"
-
-namespace wpi {
+namespace wpi::log {
 FileLogger::FileLogger(std::string_view file,
                        std::function<void(std::string_view)> callback)
 #ifdef __linux__
@@ -101,4 +100,4 @@ std::function<void(std::string_view)> FileLogger::Buffer(
     buf.append(leftover.begin(), leftover.end());
   };
 }
-}  // namespace wpi
+}  // namespace wpi::log

datalog/src/main/native/cpp/jni/DataLogJNI.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include "DataLogJNI.h"
+
 #include <jni.h>
 
 #include <algorithm>
@@ -9,17 +11,47 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <wpi/jni_util.h>
 
-#include "WPIUtilJNI.h"
-#include "edu_wpi_first_util_datalog_DataLogJNI.h"
-#include "wpi/DataLog.h"
-#include "wpi/DataLogBackgroundWriter.h"
-#include "wpi/DataLogWriter.h"
-#include "wpi/jni_util.h"
+#include "edu_wpi_first_datalog_DataLogJNI.h"
+#include "wpi/datalog/DataLog.h"
+#include "wpi/datalog/DataLogBackgroundWriter.h"
+#include "wpi/datalog/DataLogWriter.h"
+#include "wpi/datalog/FileLogger.h"
 
 using namespace wpi::java;
 using namespace wpi::log;
 
+static bool mockTimeEnabled = false;
+static uint64_t mockNow = 0;
+
+static JException illegalArgEx;
+static JException indexOobEx;
+static JException ioEx;
+static JException nullPointerEx;
+
+static const JExceptionInit exceptions[] = {
+    {"java/lang/IllegalArgumentException", &illegalArgEx},
+    {"java/lang/IndexOutOfBoundsException", &indexOobEx},
+    {"java/io/IOException", &ioEx},
+    {"java/lang/NullPointerException", &nullPointerEx}};
+
+void wpi::ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg) {
+  illegalArgEx.Throw(env, msg);
+}
+
+void wpi::ThrowIndexOobException(JNIEnv* env, std::string_view msg) {
+  indexOobEx.Throw(env, msg);
+}
+
+void wpi::ThrowIOException(JNIEnv* env, std::string_view msg) {
+  ioEx.Throw(env, msg);
+}
+
+void wpi::ThrowNullPointerException(JNIEnv* env, std::string_view msg) {
+  nullPointerEx.Throw(env, msg);
+}
+
 namespace {
 class buf_ostream : public wpi::raw_uvector_ostream {
  private:
@@ -34,13 +66,40 @@ class buf_ostream : public wpi::raw_uvector_ostream {
 
 extern "C" {
 
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
+  JNIEnv* env;
+  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
+    return JNI_ERR;
+  }
+
+  for (auto& c : exceptions) {
+    *c.cls = JException(env, c.name);
+    if (!*c.cls) {
+      return JNI_ERR;
+    }
+  }
+
+  return JNI_VERSION_1_6;
+}
+
+JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
+  JNIEnv* env;
+  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
+    return;
+  }
+
+  for (auto& c : exceptions) {
+    c.cls->free(env);
+  }
+}
+
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    bgCreate
  * Signature: (Ljava/lang/String;Ljava/lang/String;DLjava/lang/String;)J
  */
 JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_bgCreate
+Java_edu_wpi_first_datalog_DataLogJNI_bgCreate
   (JNIEnv* env, jclass, jstring dir, jstring filename, jdouble period,
    jstring extraHeader)
 {
@@ -62,12 +121,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_bgCreate
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    bgSetFilename
  * Signature: (JLjava/lang/String;)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_bgSetFilename
+Java_edu_wpi_first_datalog_DataLogJNI_bgSetFilename
   (JNIEnv* env, jclass, jlong impl, jstring filename)
 {
   if (impl == 0) {
@@ -83,12 +142,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_bgSetFilename
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    fgCreate
  * Signature: (Ljava/lang/String;Ljava/lang/String;)J
  */
 JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreate
+Java_edu_wpi_first_datalog_DataLogJNI_fgCreate
   (JNIEnv* env, jclass, jstring filename, jstring extraHeader)
 {
   if (!filename) {
@@ -111,12 +170,28 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreate
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_util_WPIUtilJNI
+ * Method:    now
+ * Signature: ()J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_now
+  (JNIEnv*, jclass)
+{
+  if (mockTimeEnabled) {
+    return mockNow;
+  } else {
+    return wpi::Now();
+  }
+}
+
+/*
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    fgCreateMemory
  * Signature: (Ljava/lang/String;)J
  */
 JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreateMemory
+Java_edu_wpi_first_datalog_DataLogJNI_fgCreateMemory
   (JNIEnv* env, jclass, jstring extraHeader)
 {
   if (!extraHeader) {
@@ -129,12 +204,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_fgCreateMemory
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    flush
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_flush
+Java_edu_wpi_first_datalog_DataLogJNI_flush
   (JNIEnv* env, jclass, jlong impl)
 {
   if (impl == 0) {
@@ -145,12 +220,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_flush
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    copyWriteBuffer
  * Signature: (J[BI)I
  */
 JNIEXPORT jint JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_copyWriteBuffer
+Java_edu_wpi_first_datalog_DataLogJNI_copyWriteBuffer
   (JNIEnv* env, jclass, jlong impl, jbyteArray buf, jint start)
 {
   if (impl == 0) {
@@ -172,12 +247,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_copyWriteBuffer
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    pause
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_pause
+Java_edu_wpi_first_datalog_DataLogJNI_pause
   (JNIEnv* env, jclass, jlong impl)
 {
   if (impl == 0) {
@@ -188,12 +263,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_pause
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    resume
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_resume
+Java_edu_wpi_first_datalog_DataLogJNI_resume
   (JNIEnv* env, jclass, jlong impl)
 {
   if (impl == 0) {
@@ -204,12 +279,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_resume
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    stop
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_stop
+Java_edu_wpi_first_datalog_DataLogJNI_stop
   (JNIEnv* env, jclass, jlong impl)
 {
   if (impl == 0) {
@@ -220,12 +295,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_stop
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    addSchema
  * Signature: (JLjava/lang/String;Ljava/lang/String;[BJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_addSchema
+Java_edu_wpi_first_datalog_DataLogJNI_addSchema
   (JNIEnv* env, jclass, jlong impl, jstring name, jstring type,
    jbyteArray schema, jlong timestamp)
 {
@@ -239,12 +314,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_addSchema
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    addSchemaString
  * Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/lang/String;J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_addSchemaString
+Java_edu_wpi_first_datalog_DataLogJNI_addSchemaString
   (JNIEnv* env, jclass, jlong impl, jstring name, jstring type, jstring schema,
    jlong timestamp)
 {
@@ -261,12 +336,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_addSchemaString
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    start
  * Signature: (JLjava/lang/String;Ljava/lang/String;Ljava/lang/String;J)I
  */
 JNIEXPORT jint JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_start
+Java_edu_wpi_first_datalog_DataLogJNI_start
   (JNIEnv* env, jclass, jlong impl, jstring name, jstring type,
    jstring metadata, jlong timestamp)
 {
@@ -280,12 +355,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_start
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    finish
  * Signature: (JIJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_finish
+Java_edu_wpi_first_datalog_DataLogJNI_finish
   (JNIEnv* env, jclass, jlong impl, jint entry, jlong timestamp)
 {
   if (impl == 0) {
@@ -296,12 +371,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_finish
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    setMetadata
  * Signature: (JILjava/lang/String;J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_setMetadata
+Java_edu_wpi_first_datalog_DataLogJNI_setMetadata
   (JNIEnv* env, jclass, jlong impl, jint entry, jstring metadata,
    jlong timestamp)
 {
@@ -314,24 +389,24 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_setMetadata
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    close
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_close
+Java_edu_wpi_first_datalog_DataLogJNI_close
   (JNIEnv*, jclass, jlong impl)
 {
   delete reinterpret_cast<DataLog*>(impl);
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendRaw
  * Signature: (JI[BIIJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
+Java_edu_wpi_first_datalog_DataLogJNI_appendRaw
   (JNIEnv* env, jclass, jlong impl, jint entry, jbyteArray value, jint start,
    jint length, jlong timestamp)
 {
@@ -362,12 +437,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendRaw
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendRawBuffer
  * Signature: (JILjava/lang/Object;IIJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendRawBuffer
+Java_edu_wpi_first_datalog_DataLogJNI_appendRawBuffer
   (JNIEnv* env, jclass, jlong impl, jint entry, jobject value, jint start,
    jint length, jlong timestamp)
 {
@@ -398,12 +473,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendRawBuffer
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendBoolean
  * Signature: (JIZJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
+Java_edu_wpi_first_datalog_DataLogJNI_appendBoolean
   (JNIEnv* env, jclass, jlong impl, jint entry, jboolean value, jlong timestamp)
 {
   if (impl == 0) {
@@ -414,12 +489,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendBoolean
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendInteger
  * Signature: (JIJJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
+Java_edu_wpi_first_datalog_DataLogJNI_appendInteger
   (JNIEnv* env, jclass, jlong impl, jint entry, jlong value, jlong timestamp)
 {
   if (impl == 0) {
@@ -430,12 +505,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendInteger
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendFloat
  * Signature: (JIFJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
+Java_edu_wpi_first_datalog_DataLogJNI_appendFloat
   (JNIEnv* env, jclass, jlong impl, jint entry, jfloat value, jlong timestamp)
 {
   if (impl == 0) {
@@ -446,12 +521,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloat
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendDouble
  * Signature: (JIDJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendDouble
+Java_edu_wpi_first_datalog_DataLogJNI_appendDouble
   (JNIEnv* env, jclass, jlong impl, jint entry, jdouble value, jlong timestamp)
 {
   if (impl == 0) {
@@ -462,12 +537,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendDouble
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendString
  * Signature: (JILjava/lang/String;J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendString
+Java_edu_wpi_first_datalog_DataLogJNI_appendString
   (JNIEnv* env, jclass, jlong impl, jint entry, jstring value, jlong timestamp)
 {
   if (impl == 0) {
@@ -479,12 +554,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendString
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendBooleanArray
  * Signature: (JI[ZJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendBooleanArray
+Java_edu_wpi_first_datalog_DataLogJNI_appendBooleanArray
   (JNIEnv* env, jclass, jlong impl, jint entry, jbooleanArray value,
    jlong timestamp)
 {
@@ -501,12 +576,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendBooleanArray
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendIntegerArray
  * Signature: (JI[JJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendIntegerArray
+Java_edu_wpi_first_datalog_DataLogJNI_appendIntegerArray
   (JNIEnv* env, jclass, jlong impl, jint entry, jlongArray value,
    jlong timestamp)
 {
@@ -534,12 +609,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendIntegerArray
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendFloatArray
  * Signature: (JI[FJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloatArray
+Java_edu_wpi_first_datalog_DataLogJNI_appendFloatArray
   (JNIEnv* env, jclass, jlong impl, jint entry, jfloatArray value,
    jlong timestamp)
 {
@@ -556,12 +631,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendFloatArray
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendDoubleArray
  * Signature: (JI[DJ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendDoubleArray
+Java_edu_wpi_first_datalog_DataLogJNI_appendDoubleArray
   (JNIEnv* env, jclass, jlong impl, jint entry, jdoubleArray value,
    jlong timestamp)
 {
@@ -578,12 +653,12 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendDoubleArray
 }
 
 /*
- * Class:     edu_wpi_first_util_datalog_DataLogJNI
+ * Class:     edu_wpi_first_datalog_DataLogJNI
  * Method:    appendStringArray
  * Signature: (JI[Ljava/lang/Object;J)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
+Java_edu_wpi_first_datalog_DataLogJNI_appendStringArray
   (JNIEnv* env, jclass, jlong impl, jint entry, jobjectArray value,
    jlong timestamp)
 {
@@ -610,5 +685,41 @@ Java_edu_wpi_first_util_datalog_DataLogJNI_appendStringArray
   }
   reinterpret_cast<DataLog*>(impl)->AppendStringArray(entry, arr, timestamp);
 }
+/*
+ * Class:     edu_wpi_first_datalog_DataLogJNI
+ * Method:    createFileLogger
+ * Signature: (Ljava/lang/String;JLjava/lang/String;)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_datalog_DataLogJNI_createFileLogger
+  (JNIEnv* env, jclass, jstring file, jlong log, jstring key)
+{
+  if (!file) {
+    wpi::ThrowNullPointerException(env, "file is null");
+    return 0;
+  }
+  auto* f = reinterpret_cast<wpi::log::DataLog*>(log);
+  if (!f) {
+    wpi::ThrowNullPointerException(env, "log is null");
+    return 0;
+  }
+  if (!key) {
+    wpi::ThrowNullPointerException(env, "key is null");
+    return 0;
+  }
+  return reinterpret_cast<jlong>(new wpi::log::FileLogger{
+      JStringRef{env, file}, *f, JStringRef{env, key}});
+}
 
+/*
+ * Class:     edu_wpi_first_datalog_DataLogJNI
+ * Method:    freeFileLogger
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_datalog_DataLogJNI_freeFileLogger
+  (JNIEnv* env, jclass, jlong fileTail)
+{
+  delete reinterpret_cast<wpi::log::FileLogger*>(fileTail);
+}
 }  // extern "C"