[wpimath] MathUtil: Add 2D variants of applyDeadband and copySignPow (#8057)

Removing private written message for safety of all users and contributors.

.clang-tidy

@@ -45,6 +45,8 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
+  -clang-analyzer-security.FloatLoopCounter,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,

.gersemirc

@@ -1,6 +1,4 @@
-color: false
 definitions: [cmake/modules]
 line_length: 100
 list_expansion: favour-inlining
-quiet: false
 unsafe: false

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

@@ -3,7 +3,10 @@
     {
       "aql": {
         "items.find": {
-          "repo": "wpilib-mvn-development-local",
+          "$or":[
+            { "repo": "wpilib-mvn-development-local" },
+            { "repo": "wpilib-mvn-development-2027-local" }
+          ],
           "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
           "$or":[
             {

.github/workflows/cmake-android.yml

@@ -46,6 +46,12 @@ jobs:
 
       - name: configure
         run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/documentation.yml

@@ -1,67 +0,0 @@
-name: Documentation
-
-on: [push, workflow_dispatch]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  BASE_PATH: allwpilib/docs
-
-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')))
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - uses: gradle/actions/wrapper-validation@v4
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - name: Set environment variables (Development)
-        run: |
-          echo "BRANCH=development" >> $GITHUB_ENV
-        if: github.ref == 'refs/heads/main'
-      - name: Set environment variables (Tag)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-      - name: Set environment variables (Release)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
-      - name: Build with Gradle
-        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy 🚀
-        uses: JamesIves/github-pages-deploy-action@v4.6.1
-        with:
-          ssh-key: true
-          repository-name: wpilibsuite/wpilibsuite.github.io
-          branch: allwpilib-${{ env.BRANCH }}
-          clean: true
-          single-commit: true
-          folder: docs/build/docs
-      - name: Trigger Workflow
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
-          script: |
-            github.rest.actions.createWorkflowDispatch({
-              owner: context.repo.owner,
-              repo: 'wpilibsuite.github.io',
-              workflow_id: 'static.yml',
-              ref: 'main',
-            })

.github/workflows/fix_compile_commands.py

@@ -31,6 +31,9 @@ def main():
             # Replace GCC warning argument with one Clang recognizes
             elif arg == "-Wno-maybe-uninitialized":
                 out_args.append("-Wno-uninitialized")
+            # Skip GCC-specific warning argument
+            elif arg == "-Wno-error=restrict":
+                pass
             else:
                 out_args.append(arg)
 

.github/workflows/gradle.yml

@@ -203,7 +203,7 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew docs:zipDocs --build-cache -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
@@ -212,6 +212,68 @@ jobs:
           name: Documentation
           path: docs/build/outputs
 
+  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')))
+    needs: [build-documentation]
+    concurrency: ci-docs-publish
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - name: Download docs artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: Documentation
+      - name: Make output directories
+        run: |
+          mkdir -p docs/tmp/doxygen/html
+          mkdir -p docs/tmp/javadoc
+      - name: Extract docs
+        run: |
+          unzip _GROUP_edu_wpi_first_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
+          unzip _GROUP_edu_wpi_first_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
+      - name: Set environment variables (Development)
+        run: |
+          echo "BRANCH=development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/main'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+      - name: Set environment variables (Release)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
+        with:
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/tmp
+      - name: Trigger Workflow
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })
+
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]

.github/workflows/lint-format.yml

@@ -36,7 +36,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
       - name: Run
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
@@ -78,7 +78,7 @@ jobs:
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
@@ -123,18 +123,3 @@ jobs:
           echo '' >> $GITHUB_STEP_SUMMARY
           echo '```' >> $GITHUB_STEP_SUMMARY
         if: ${{ failure() }}
-
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 21
-      - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/sentinel-build.yml

@@ -103,9 +103,16 @@ jobs:
             task: "build"
             outputs: "build/allOutputs"
           - os: windows-2022
-            artifact-name: Win32
+            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
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
             outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}

.github/workflows/upstream-utils.yml

@@ -141,4 +141,11 @@ jobs:
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD ':!*.bazel'
+        run: |
+          set +e
+          git --no-pager diff --exit-code HEAD ':!*.bazel'
+          git_exit_code=$?
+          if test "$git_exit_code" -ne "0"; then
+            echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md"
+            exit $git_exit_code
+          fi

CMakeLists.txt

@@ -289,6 +289,7 @@ endif()
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
 set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
+set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 add_subdirectory(wpiutil)
 
@@ -308,6 +309,10 @@ if(WITH_WPIMATH)
     add_subdirectory(wpimath)
 endif()
 
+if(WITH_JAVA)
+    add_subdirectory(wpiannotations)
+endif()
+
 if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
     # In case of building wpiunits standalone
     set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})

CODE_OF_CONDUCT.md

@@ -56,7 +56,7 @@ the consequences for any action they deem in violation of this Code of Conduct:
 **Community Impact**: Use of inappropriate language or other behavior deemed
 unprofessional or unwelcome in the community.
 
-**Consequence**: A private, written warning from community leaders, providing
+**Consequence**: A warning from community leaders, providing
 clarity around the nature of the violation and an explanation of why the
 behavior was inappropriate. A public apology may be requested.
 

CONTRIBUTING.md

@@ -51,39 +51,6 @@ Have an idea to make WPILib better? Here's some steps to go from idea to impleme
 WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system.
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
-### Math documentation
-
-When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.
-
-The LaTeX to Unicode conversions can also be done locally via the unicodeit Python package. To install it, execute:
-```bash
-pip install --user unicodeit
-```
-
-Here's example usage:
-```bash
-$ python -m unicodeit.cli 'x_{k+1} = Ax_k + Bu_k'
-xₖ₊₁ = Axₖ + Buₖ
-```
-
-On Linux, this process can be streamlined further by adding the following Bash function to your .bashrc (requires `wl-clipboard` on Wayland or `xclip` on X11):
-```bash
-# Converts LaTeX to Unicode, prints the result, and copies it to the clipboard
-uc() {
-  if [ $WAYLAND_DISPLAY ]; then
-    python -m unicodeit.cli $@ | tee >(wl-copy -n)
-  else
-    python -m unicodeit.cli $@ | tee >(xclip -sel)
-  fi
-}
-```
-
-Here's example usage:
-```bash
-$ uc 'x_{k+1} = Ax_k + Bu_k'
-xₖ₊₁ = Axₖ + Buₖ
-```
-
 ## Submitting Changes
 
 ### Pull Request Format

README.md

@@ -59,8 +59,6 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
-On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
-
 ## Setup
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.

WORKSPACE

@@ -15,12 +15,12 @@ rules_jvm_external_deps()
 load("@rules_jvm_external//:defs.bzl", "maven_install")
 
 maven_artifacts = [
-    "org.ejml:ejml-simple:0.43.1",
-    "com.fasterxml.jackson.core:jackson-annotations:2.15.2",
-    "com.fasterxml.jackson.core:jackson-core:2.15.2",
-    "com.fasterxml.jackson.core:jackson-databind:2.15.2",
-    "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
-    "com.google.code.gson:gson:2.10.1",
+    "org.ejml:ejml-simple:0.44.0",
+    "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
+    "com.fasterxml.jackson.core:jackson-core:2.19.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.4",
+    "com.google.code.gson:gson:2.13.1",
 ]
 
 maven_install(

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

@@ -152,9 +152,10 @@ public class AprilTagFieldLayout {
     var pose =
         switch (origin) {
           case kBlueAllianceWallRightSide -> Pose3d.kZero;
-          case kRedAllianceWallRightSide -> new Pose3d(
-              new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
-              new Rotation3d(0, 0, Math.PI));
+          case kRedAllianceWallRightSide ->
+              new Pose3d(
+                  new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
+                  new Rotation3d(0, 0, Math.PI));
         };
     setOrigin(pose);
   }

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

@@ -24,7 +24,6 @@ import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
 
-@SuppressWarnings("PMD.MutableStaticState")
 class AprilTagDetectorTest {
   @SuppressWarnings("MemberName")
   AprilTagDetector detector;

benchmark/build.gradle

@@ -181,7 +181,11 @@ tasks.register('deployStatic') {
 model {
     components {
         benchmarkCpp(NativeExecutableSpec) {
-            targetBuildTypes 'debug'
+            if (project.hasProperty('ciDebugOnly')) {
+                targetBuildTypes 'debug'
+            } else {
+                targetBuildTypes 'release'
+            }
             sources {
                 cpp {
                     source {
@@ -235,7 +239,11 @@ model {
             }
         }
         benchmarkCppStatic(NativeExecutableSpec) {
-            targetBuildTypes 'debug'
+            if (project.hasProperty('ciDebugOnly')) {
+                targetBuildTypes 'debug'
+            } else {
+                targetBuildTypes 'release'
+            }
             nativeUtils.excludeBinariesFromStrip(it)
             sources {
                 cpp {

benchmark/src/main/native/cpp/Main.cpp

@@ -22,6 +22,7 @@ void BM_Transform(benchmark::State& state) {
     auto transform = pose2 - pose1;
     return units::math::hypot(transform.X(), transform.Y()).value();
   }};
+  // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {
     traveler.Solve(poses, iterations);
   }
@@ -33,6 +34,7 @@ void BM_Twist(benchmark::State& state) {
     auto twist = pose1.Log(pose2);
     return units::math::hypot(twist.dx, twist.dy).value();
   }};
+  // NOLINTNEXTLINE(clang-analyzer-deadcode.DeadStores)
   for (auto _ : state) {
     traveler.Solve(poses, iterations);
   }

build.gradle

@@ -13,14 +13,14 @@ plugins {
     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.NativeUtils' apply false
-    id 'edu.wpi.first.GradleJni' version '1.1.0'
+    id 'edu.wpi.first.GradleJni' version '1.2.0'
     id 'edu.wpi.first.GradleVsCode'
     id 'idea'
     id 'visual-studio'
-    id 'net.ltgt.errorprone' version '3.1.0' apply false
-    id 'com.gradleup.shadow' version '8.3.4' apply false
-    id 'com.diffplug.spotless' version '6.20.0' apply false
-    id 'com.github.spotbugs' version '6.0.2' apply false
+    id 'net.ltgt.errorprone' version '4.3.0' apply false
+    id 'com.gradleup.shadow' version '9.1.0' apply false
+    id 'com.diffplug.spotless' version '8.0.0' apply false
+    id 'com.github.spotbugs' version '6.4.2' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -39,11 +39,11 @@ allprojects {
     }
 }
 
-buildScan {
-    termsOfServiceUrl = 'https://gradle.com/terms-of-service'
-    termsOfServiceAgree = 'yes'
-
-    publishAlways()
+develocity {
+    buildScan {
+        termsOfUseUrl = "https://gradle.com/help/legal-terms-of-use"
+        termsOfUseAgree = "yes"
+    }
 }
 
 import com.github.spotbugs.snom.Effort
@@ -81,7 +81,7 @@ task libraryBuild() {}
 build.dependsOn outputVersions
 
 task copyAllOutputs(type: Copy) {
-    destinationDir outputsFolder
+    destinationDir = outputsFolder
 }
 
 build.dependsOn copyAllOutputs
@@ -170,5 +170,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.11'
+    gradleVersion = '8.14.3'
 }

buildSrc/build.gradle

@@ -5,9 +5,9 @@ repositories {
             url = 'https://frcmaven.wpi.edu/artifactory/ex-gradle'
         }
         mavenCentral()
-        url "https://plugins.gradle.org/m2/"
+        url = "https://plugins.gradle.org/m2/"
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.9.1"
+    implementation "edu.wpi.first:native-utils:2026.0.0"
 }

cameraserver/multiCameraServer/build.gradle

@@ -31,7 +31,7 @@ repositories {
 }
 
 dependencies {
-    implementation 'com.google.code.gson:gson:2.10.1'
+    implementation 'com.google.code.gson:gson:2.13.1'
 
     implementation project(':wpiutil')
     implementation project(':wpinet')

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

@@ -46,7 +46,7 @@ public final class CameraServer {
   private static final String kPublishName = "/CameraPublisher";
 
   private static final class PropertyPublisher implements AutoCloseable {
-    @SuppressWarnings({"PMD.MissingBreakInSwitch", "PMD.ImplicitSwitchFallThrough", "fallthrough"})
+    @SuppressWarnings("fallthrough")
     PropertyPublisher(NetworkTable table, VideoEvent event) {
       String name;
       String infoName;
@@ -66,7 +66,7 @@ public final class CameraServer {
             break;
           case kEnum:
             m_choicesTopic = table.getStringArrayTopic(infoName + "/choices");
-            // fall through
+          // fallthrough
           case kInteger:
             m_integerValueEntry = table.getIntegerTopic(name).getEntry(0);
             m_minPublisher = table.getIntegerTopic(infoName + "/min").publish();

cameraserver/src/main/java/edu/wpi/first/vision/VisionPipeline.java

@@ -13,6 +13,7 @@ import org.opencv.core.Mat;
  * @see VisionRunner
  * @see VisionThread
  */
+@FunctionalInterface
 public interface VisionPipeline {
   /**
    * Processes the image input and sets the result objects. Implementations should make these

cscore/examples/usbcvstream/usbcvstream.cpp

@@ -5,7 +5,6 @@
 #include <opencv2/core/core.hpp>
 #include <wpi/print.h>
 
-#include "cscore.h"
 #include "cscore_cv.h"
 
 int main() {

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

@@ -68,8 +68,9 @@ public class CvSource extends ImageSource {
             case 2 -> PixelFormat.kYUYV; // 2 channels is assumed YUYV
             case 3 -> PixelFormat.kBGR; // 3 channels is assumed BGR
             case 4 -> PixelFormat.kBGRA; // 4 channels is assumed BGRA
-            default -> throw new VideoException(
-                "Unable to get pixel format for " + channels + " channels");
+            default ->
+                throw new VideoException(
+                    "Unable to get pixel format for " + channels + " channels");
           };
 
       putFrame(finalImage, format, true);

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

@@ -773,8 +773,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) {
     lastFrameTime = thisFrameTime;
     double timestamp = lastFrameTime / 1000000.0;
     header.clear();
-    oss << "\r\n--" BOUNDARY "\r\n"
-        << "Content-Type: image/jpeg\r\n";
+    oss << "\r\n--" BOUNDARY "\r\n" << "Content-Type: image/jpeg\r\n";
     wpi::print(oss, "Content-Length: {}\r\n", size);
     wpi::print(oss, "X-Timestamp: {}\r\n", timestamp);
     oss << "\r\n";

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

@@ -44,7 +44,7 @@ static O* ConvertToC(std::vector<I>&& in, int* count) {
   // retain vector at end of returned array
   alignas(T) unsigned char buf[sizeof(T)];
   new (buf) T(std::move(in));
-  std::memcpy(out + size * sizeof(O), buf, sizeof(T));
+  std::memcpy(out + size, buf, sizeof(T));
 
   return out;
 }
@@ -392,7 +392,7 @@ void CS_FreeEvents(CS_Event* arr, int count) {
   // destroy vector saved at end of array
   using T = std::vector<cs::RawEvent>;
   alignas(T) unsigned char buf[sizeof(T)];
-  std::memcpy(buf, arr + count * sizeof(CS_Event), sizeof(T));
+  std::memcpy(buf, arr + count, sizeof(T));
   reinterpret_cast<T*>(buf)->~T();
 
   std::free(arr);

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

@@ -707,8 +707,9 @@ void UsbCameraImpl::DeviceCacheProperty(
   }
 
   NotifyPropertyCreated(*rawIndex, *rawPropPtr);
-  if (perPropPtr && perIndex)
+  if (perPropPtr && perIndex) {
     NotifyPropertyCreated(*perIndex, *perPropPtr);
+  }
 }
 
 CS_StatusValue UsbCameraImpl::DeviceProcessCommand(

datalogtool/publish.gradle

@@ -31,7 +31,7 @@ model {
 
                         // Create the ZIP.
                         def task = project.tasks.create("copyDataLogToolExecutable" + binary.targetPlatform.operatingSystem.name + binary.targetPlatform.architecture.name, Zip) {
-                            description("Copies the DataLogTool executable to the outputs directory.")
+                            description = "Copies the DataLogTool executable to the outputs directory."
                             destinationDirectory = outputsFolder
 
                             archiveBaseName = zipBaseName
@@ -117,7 +117,7 @@ model {
 
                 artifactId = baseArtifactId
                 groupId = artifactGroupId
-                version wpilibVersioning.version.get()
+                version = wpilibVersioning.version.get()
             }
         }
     }

docs/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id 'java'
-    id "org.ysb33r.doxygen" version "1.0.4"
+    id "org.ysb33r.doxygen" version "2.0.0"
 }
 
 evaluationDependsOn(':apriltag')
@@ -9,6 +9,7 @@ evaluationDependsOn(':cscore')
 evaluationDependsOn(':epilogue-runtime')
 evaluationDependsOn(':hal')
 evaluationDependsOn(':ntcore')
+evaluationDependsOn(':wpiannotations')
 evaluationDependsOn(':wpilibNewCommands')
 evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
@@ -51,23 +52,27 @@ doxygen {
     // See below maven and https://doxygen.nl/download.html for provided binaries
     // Ensure theme.css (from https://github.com/jothepro/doxygen-awesome-css) is compatible with
     // doxygen version when updating
+    executables {
+        doxygen {
+            // Note: has no effect if not on an x86_64 platform - you need to have a global install available on your
+            // PATH for the doxygen plugin to run
+            executableByVersion('1.12.0')
 
-    String arch = System.getProperty("os.arch");
-    if (arch.equals("x86_64") || arch.equals("amd64")) {
-        executables {
-            doxygen {
-                executableByVersion('1.12.0')
+            String arch = System.getProperty("os.arch");
+            if (!(arch.equals("x86_64") || arch.equals("amd64"))) {
+                // Search for a local doxygen install
+                executableBySearchPath('doxygen')
             }
         }
     }
 }
 
-doxygen {
-    template 'Doxyfile'
+doxygen.sourceSets.main {
+    template = 'Doxyfile'
 
     cppProjectZips.each {
-        dependsOn it
-        source it.source
+        doxygenDox.dependsOn it
+        sources it.source
         it.ext.includeDirs.each {
             cppIncludeRoots.add(it.absolutePath)
         }
@@ -77,66 +82,19 @@ doxygen {
         // apriltag
         exclude 'apriltag_pose.h'
 
-        // Eigen
-        exclude 'Eigen/**'
-        exclude 'unsupported/**'
-
         // LLVM
-        exclude 'wpi/AlignOf.h'
-        exclude 'wpi/Casting.h'
-        exclude 'wpi/Chrono.h'
         exclude 'wpi/Compiler.h'
-        exclude 'wpi/ConvertUTF.h'
-        exclude 'wpi/DenseMap.h'
-        exclude 'wpi/DenseMapInfo.h'
-        exclude 'wpi/Endian.h'
-        exclude 'wpi/EpochTracker.h'
-        exclude 'wpi/Errc.h'
-        exclude 'wpi/Errno.h'
         exclude 'wpi/ErrorHandling.h'
         exclude 'wpi/bit.h'
-        exclude 'wpi/fs.h'
-        exclude 'wpi/FunctionExtras.h'
-        exclude 'wpi/function_ref.h'
-        exclude 'wpi/Hashing.h'
-        exclude 'wpi/iterator.h'
-        exclude 'wpi/iterator_range.h'
-        exclude 'wpi/ManagedStatic.h'
-        exclude 'wpi/MapVector.h'
-        exclude 'wpi/MathExtras.h'
-        exclude 'wpi/MemAlloc.h'
-        exclude 'wpi/PointerIntPair.h'
-        exclude 'wpi/PointerLikeTypeTraits.h'
-        exclude 'wpi/PointerUnion.h'
-        exclude 'wpi/raw_os_ostream.h'
         exclude 'wpi/raw_ostream.h'
-        exclude 'wpi/SmallPtrSet.h'
-        exclude 'wpi/SmallSet.h'
-        exclude 'wpi/SmallString.h'
         exclude 'wpi/SmallVector.h'
         exclude 'wpi/StringExtras.h'
-        exclude 'wpi/StringMap.h'
-        exclude 'wpi/SwapByteOrder.h'
-        exclude 'wpi/type_traits.h'
-        exclude 'wpi/VersionTuple.h'
-        exclude 'wpi/WindowsError.h'
-
-        // fmtlib
-        exclude 'fmt/**'
 
         // libuv
-        exclude 'uv.h'
         exclude 'uv/**'
-        exclude 'wpinet/uv/**'
 
         // json
-        exclude 'wpi/adl_serializer.h'
-        exclude 'wpi/byte_container_with_subtype.h'
         exclude 'wpi/detail/**'
-        exclude 'wpi/json.h'
-        exclude 'wpi/json_fwd.h'
-        exclude 'wpi/ordered_map.h'
-        exclude 'wpi/thirdparty/**'
 
         // mpack
         exclude 'wpi/mpack.h'
@@ -168,8 +126,9 @@ doxygen {
 
 tasks.register("zipCppDocs", Zip) {
     archiveBaseName = zipBaseNameCpp
+    archiveVersion = ""
     destinationDirectory = outputsFolder
-    dependsOn doxygen
+    dependsOn doxygenDox
     from ("$buildDir/docs/doxygen/html")
     into '/'
 }
@@ -177,7 +136,7 @@ tasks.register("zipCppDocs", Zip) {
 // Java
 configurations {
     javaSource {
-        transitive false
+        transitive = false
     }
 }
 
@@ -206,6 +165,7 @@ task generateJavaDocs(type: Javadoc) {
             "-edu.wpi.first.math.system.plant.proto," +
             "-edu.wpi.first.math.system.plant.struct," +
             "-edu.wpi.first.math.trajectory.proto," +
+            "-edu.wpi.first.math.trajectory.struct," +
             // The .measure package contains generated source files for which automatic javadoc
             // generation is very difficult to do meaningfully.
             "-edu.wpi.first.units.measure", true)
@@ -219,6 +179,7 @@ task generateJavaDocs(type: Javadoc) {
     source project(':epilogue-runtime').sourceSets.main.java
     source project(':hal').sourceSets.main.java
     source project(':ntcore').sourceSets.main.java
+    source project(':wpiannotations').sourceSets.main.java
     source project(':wpilibNewCommands').sourceSets.main.java
     source project(':wpilibj').sourceSets.main.java
     source project(':wpimath').sourceSets.main.java
@@ -246,6 +207,7 @@ task generateJavaDocs(type: Javadoc) {
 
 tasks.register("zipJavaDocs", Zip) {
     archiveBaseName = zipBaseNameJava
+    archiveVersion = ""
     destinationDirectory = outputsFolder
     dependsOn generateJavaDocs
     from ("$buildDir/docs/javadoc")
@@ -265,15 +227,15 @@ publishing {
             artifact zipJavaDocs
 
             artifactId = "${baseArtifactIdJava}"
-            groupId artifactGroupIdJava
-            version wpilibVersioning.version.get()
+            groupId = artifactGroupIdJava
+            version = wpilibVersioning.version.get()
         }
         cpp(MavenPublication) {
             artifact zipCppDocs
 
             artifactId = "${baseArtifactIdCpp}"
-            groupId artifactGroupIdCpp
-            version wpilibVersioning.version.get()
+            groupId = artifactGroupIdCpp
+            version = wpilibVersioning.version.get()
         }
     }
 }

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

@@ -112,7 +112,8 @@ public class AnnotationProcessor extends AbstractProcessor {
             new MeasureHandler(processingEnv),
             new PrimitiveHandler(processingEnv),
             new SupplierHandler(processingEnv),
-            new StructHandler(processingEnv), // prioritize struct over sendable
+            new StructHandler(processingEnv), // prioritize struct over sendable and protobuf
+            new ProtobufHandler(processingEnv), // then protobuf
             new SendableHandler(processingEnv));
 
     m_epiloguerGenerator = new EpilogueGenerator(processingEnv, customLoggers);

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

@@ -6,6 +6,7 @@ package edu.wpi.first.epilogue.processor;
 
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.ArrayType;
 import javax.lang.model.type.PrimitiveType;
 import javax.lang.model.type.TypeMirror;
@@ -52,7 +53,7 @@ public class ArrayHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     var dataType = dataType(element);
 
     // known to be an array type (assuming isLoggable is checked first); this is a safe cast
@@ -63,13 +64,17 @@ public class ArrayHandler extends ElementHandler {
       return "backend.log(\""
           + loggedName(element)
           + "\", "
-          + elementAccess(element)
+          + elementAccess(element, loggedClass)
           + ", "
           + m_structHandler.structAccess(componentType)
           + ")";
     } else {
       // Primitive or string array
-      return "backend.log(\"" + loggedName(element) + "\", " + elementAccess(element) + ")";
+      return "backend.log(\""
+          + loggedName(element)
+          + "\", "
+          + elementAccess(element, loggedClass)
+          + ")";
     }
   }
 }

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

@@ -6,6 +6,7 @@ package edu.wpi.first.epilogue.processor;
 
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.DeclaredType;
 import javax.lang.model.type.TypeMirror;
 
@@ -38,7 +39,7 @@ public class CollectionHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     var dataType = dataType(element);
     var componentType = ((DeclaredType) dataType).getTypeArguments().get(0);
 
@@ -46,12 +47,16 @@ public class CollectionHandler extends ElementHandler {
       return "backend.log(\""
           + loggedName(element)
           + "\", "
-          + elementAccess(element)
+          + elementAccess(element, loggedClass)
           + ", "
           + m_structHandler.structAccess(componentType)
           + ")";
     } else {
-      return "backend.log(\"" + loggedName(element) + "\", " + elementAccess(element) + ")";
+      return "backend.log(\""
+          + loggedName(element)
+          + "\", "
+          + elementAccess(element, loggedClass)
+          + ")";
     }
   }
 }

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

@@ -7,6 +7,7 @@ package edu.wpi.first.epilogue.processor;
 import java.util.Map;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.DeclaredType;
 import javax.lang.model.type.TypeMirror;
 
@@ -27,7 +28,7 @@ public class ConfiguredLoggerHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     var dataType = dataType(element);
     var loggerType =
         m_customLoggers.entrySet().stream()
@@ -44,7 +45,7 @@ public class ConfiguredLoggerHandler extends ElementHandler {
         + ".tryUpdate(backend.getNested(\""
         + loggedName(element)
         + "\"), "
-        + elementAccess(element)
+        + elementAccess(element, loggedClass)
         + ", Epilogue.getConfig().errorHandler)";
   }
 }

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

@@ -117,9 +117,9 @@ public abstract class ElementHandler {
    * @param element the element to generate the access for
    * @return the generated access snippet
    */
-  public String elementAccess(Element element) {
+  public String elementAccess(Element element, TypeElement loggedClass) {
     if (element instanceof VariableElement field) {
-      return fieldAccess(field);
+      return fieldAccess(field, loggedClass);
     } else if (element instanceof ExecutableElement method) {
       return methodAccess(method);
     } else {
@@ -127,8 +127,20 @@ public abstract class ElementHandler {
     }
   }
 
-  private static String fieldAccess(VariableElement field) {
-    if (!field.getModifiers().contains(Modifier.PUBLIC)) {
+  private static String fieldAccess(VariableElement field, TypeElement loggedClass) {
+    var mods = field.getModifiers();
+
+    // To be directly accessible, the field needs to be:
+    // - public; or
+    // - protected or package-private, and declared by a superclass in the same package
+    // However, we can't cleanly access package information, so we'll always emit a VarHandle
+    // for any field declared in a superclass unless it's public and we know we can read it.
+    boolean isVarHandle =
+        field.getEnclosingElement().equals(loggedClass)
+            ? mods.contains(Modifier.PRIVATE)
+            : !mods.contains(Modifier.PUBLIC);
+
+    if (isVarHandle) {
       // ((com.example.Foo) $fooField.get(object))
       // Extra parentheses so cast evaluates before appended methods
       // (e.g. when appending .getAsDouble())
@@ -136,7 +148,7 @@ public abstract class ElementHandler {
       if (type.getKind() == TypeKind.TYPEVAR) {
         type = ((TypeVariable) type).getUpperBound();
       }
-      return "((" + type.toString() + ") $" + field.getSimpleName() + ".get(object))";
+      return "((" + type.toString() + ") " + LoggerGenerator.varHandleName(field) + ".get(object))";
     } else {
       // object.fooField
       return "object." + field.getSimpleName();
@@ -171,5 +183,5 @@ public abstract class ElementHandler {
    * @param element the field or method element to generate the logger call for
    * @return the generated log invocation
    */
-  public abstract String logInvocation(Element element);
+  public abstract String logInvocation(Element element, TypeElement loggedClass);
 }

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

@@ -6,6 +6,7 @@ package edu.wpi.first.epilogue.processor;
 
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.TypeMirror;
 
 public class EnumHandler extends ElementHandler {
@@ -27,7 +28,11 @@ public class EnumHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
-    return "backend.log(\"" + loggedName(element) + "\", " + elementAccess(element) + ")";
+  public String logInvocation(Element element, TypeElement loggedClass) {
+    return "backend.log(\""
+        + loggedName(element)
+        + "\", "
+        + elementAccess(element, loggedClass)
+        + ")";
   }
 }

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

@@ -39,7 +39,7 @@ public class LoggableHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     TypeMirror dataType = dataType(element);
     var declaredType =
         m_processingEnv
@@ -61,7 +61,7 @@ public class LoggableHandler extends ElementHandler {
 
     // If there are no known loggable subtypes, return just the single logger call
     if (size == 1) {
-      return generateLoggerCall(element, declaredType, elementAccess(element));
+      return generateLoggerCall(element, declaredType, elementAccess(element, loggedClass));
     }
 
     // Otherwise, generate an if-else chain to compare the element with its known loggable subtypes
@@ -73,7 +73,7 @@ public class LoggableHandler extends ElementHandler {
     StringBuilder builder = new StringBuilder();
 
     // Cache the value in a variable so it's only read once
-    builder.append("var %s = %s;\n".formatted(varName, elementAccess(element)));
+    builder.append("var %s = %s;\n".formatted(varName, elementAccess(element, loggedClass)));
 
     for (int i = 0; i < size; i++) {
       TypeElement type = loggableSubtypes.get(i);

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

@@ -18,9 +18,11 @@ import java.io.PrintWriter;
 import java.lang.annotation.Annotation;
 import java.util.ArrayDeque;
 import java.util.ArrayList;
+import java.util.Comparator;
 import java.util.Deque;
 import java.util.EnumMap;
 import java.util.HashMap;
+import java.util.LinkedHashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
@@ -185,7 +187,21 @@ public class LoggerGenerator {
     var loggerFile = m_processingEnv.getFiler().createSourceFile(loggerClassName);
 
     var varHandleFields =
-        loggableFields.stream().filter(e -> !e.getModifiers().contains(Modifier.PUBLIC)).toList();
+        loggableFields.stream()
+            .filter(
+                e -> {
+                  if (e.getEnclosingElement().equals(clazz)) {
+                    // The generated logger is in the same package as the logged class, so the
+                    // only fields it can't read are private ones.
+                    return e.getModifiers().contains(Modifier.PRIVATE);
+                  } else {
+                    // Logging from a superclass. Can only read public fields, unless the superclass
+                    // is in the same package, in which case protected and package-private fields
+                    // are also readable.
+                    return !e.getModifiers().contains(Modifier.PUBLIC);
+                  }
+                })
+            .toList();
     boolean requiresVarHandles = !varHandleFields.isEmpty();
 
     try (var out = new PrintWriter(loggerFile.openWriter())) {
@@ -214,41 +230,67 @@ public class LoggerGenerator {
               + "> {");
 
       if (requiresVarHandles) {
-        for (var varHandleField : varHandleFields) {
+        for (var privateField : varHandleFields) {
           // This field needs a VarHandle to access.
           // Cache it in the class to avoid lookups
-          out.println("  private static final VarHandle $" + varHandleField.getSimpleName() + ";");
+          out.printf(
+              "  // Accesses private or superclass field %s.%s%n",
+              privateField.getEnclosingElement(), privateField.getSimpleName());
+          out.printf("  private static final VarHandle %s;%n", varHandleName(privateField));
         }
         out.println();
+      }
 
-        var classReference = simpleClassName + ".class";
-
+      // Static initializer block to load VarHandles and reflection fields
+      if (requiresVarHandles) {
         out.println("  static {");
-        out.println("    try {");
-        out.println(
-            "      var lookup = MethodHandles.privateLookupIn("
-                + classReference
-                + ", MethodHandles.lookup());");
 
-        for (var varHandleField : varHandleFields) {
-          var fieldName = varHandleField.getSimpleName();
-          out.println(
-              "      $"
-                  + fieldName
-                  + " = lookup.findVarHandle("
-                  + classReference
-                  + ", \""
-                  + fieldName
-                  + "\", "
-                  + m_processingEnv.getTypeUtils().erasure(varHandleField.asType())
-                  + ".class);");
-        }
+        out.println("    try {");
+
+        out.println("      var rootLookup = MethodHandles.lookup();");
+
+        // Group private fields by class, then generate a private lookup for each class
+        // and a VarHandle for each field using that lookup. Sorting and then collecting into a
+        // LinkedHashMap gives deterministic output ordering (mostly for tests, which check exact
+        // file contents, but also results in less churn when regenerating files for users who like
+        // to read the generated logger classes).
+        //
+        // This lets us read private fields from superclasses.
+        Map<Element, List<VariableElement>> privateFieldsByClass =
+            varHandleFields.stream()
+                .sorted(Comparator.comparing(e -> e.getSimpleName().toString()))
+                .collect(
+                    Collectors.groupingBy(
+                        VariableElement::getEnclosingElement,
+                        LinkedHashMap::new,
+                        Collectors.toList()));
+
+        privateFieldsByClass.forEach(
+            (enclosingClass, fields) -> {
+              String className = enclosingClass.toString();
+              String lookupName = "lookup$$" + className.replace(".", "_");
+              out.printf(
+                  "      var %s = MethodHandles.privateLookupIn(%s.class, rootLookup);%n",
+                  lookupName, className);
+
+              for (var field : fields) {
+                var fieldname = field.getSimpleName();
+                out.printf(
+                    "      %s = %s.findVarHandle(%s.class, \"%s\", %s.class);%n",
+                    varHandleName(field),
+                    lookupName,
+                    className,
+                    fieldname,
+                    m_processingEnv.getTypeUtils().erasure(field.asType()));
+              }
+            });
 
         out.println("    } catch (ReflectiveOperationException e) {");
         out.println(
             "      throw new RuntimeException("
                 + "\"[EPILOGUE] Could not load private fields for logging!\", e);");
         out.println("    }");
+
         out.println("  }");
         out.println();
       }
@@ -300,7 +342,7 @@ public class LoggerGenerator {
                     // to be logged. For example, the sendable handler consumes all sendable types
                     // but does not log commands or subsystems, to prevent excessive warnings about
                     // unloggable commands.
-                    var logInvocation = h.logInvocation(loggableElement);
+                    var logInvocation = h.logInvocation(loggableElement, clazz);
                     if (logInvocation != null) {
                       out.println(logInvocation.indent(6).stripTrailing() + ";");
                     }
@@ -315,6 +357,18 @@ public class LoggerGenerator {
     }
   }
 
+  /**
+   * Generates the name of a VarHandle for access to the given field. The VarHandle variable's name
+   * is guaranteed to be unique.
+   *
+   * @param field The field to generate a VarHandle for
+   * @return The name of the generated VarHandle variable
+   */
+  public static String varHandleName(VariableElement field) {
+    return "$%s_%s"
+        .formatted(field.getEnclosingElement().toString().replace(".", "_"), field.getSimpleName());
+  }
+
   private void collectLoggables(
       TypeElement clazz, List<VariableElement> fields, List<ExecutableElement> methods) {
     var config = clazz.getAnnotation(Logged.class);

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

@@ -6,6 +6,7 @@ package edu.wpi.first.epilogue.processor;
 
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.TypeMirror;
 
 public class MeasureHandler extends ElementHandler {
@@ -30,8 +31,12 @@ public class MeasureHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     // EpilogueBackend has builtin support for logging measures
-    return "backend.log(\"" + loggedName(element) + "\", " + elementAccess(element) + ")";
+    return "backend.log(\""
+        + loggedName(element)
+        + "\", "
+        + elementAccess(element, loggedClass)
+        + ")";
   }
 }

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

@@ -16,6 +16,7 @@ import static javax.lang.model.type.TypeKind.SHORT;
 import java.util.Set;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.TypeMirror;
 
 public class PrimitiveHandler extends ElementHandler {
@@ -35,7 +36,11 @@ public class PrimitiveHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
-    return "backend.log(\"" + loggedName(element) + "\", " + elementAccess(element) + ")";
+  public String logInvocation(Element element, TypeElement loggedClass) {
+    return "backend.log(\""
+        + loggedName(element)
+        + "\", "
+        + elementAccess(element, loggedClass)
+        + ")";
   }
 }

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

@@ -0,0 +1,102 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.epilogue.processor;
+
+import java.util.Set;
+import javax.annotation.processing.ProcessingEnvironment;
+import javax.lang.model.element.Element;
+import javax.lang.model.element.Modifier;
+import javax.lang.model.element.TypeElement;
+import javax.lang.model.element.VariableElement;
+import javax.lang.model.type.TypeMirror;
+import javax.lang.model.util.Elements;
+import javax.lang.model.util.Types;
+
+/**
+ * Supports protobuf serializable types. Protobuf-serializable types are loggable if they have a
+ * public static final {@code proto} field of a type that inherits from {@code Protobuf}.
+ */
+public class ProtobufHandler extends ElementHandler {
+  private final TypeMirror m_serializable;
+  private final TypeElement m_protobufType;
+  private final Types m_typeUtils;
+  private final Elements m_elementUtils;
+
+  protected ProtobufHandler(ProcessingEnvironment processingEnv) {
+    super(processingEnv);
+
+    m_serializable =
+        processingEnv
+            .getElementUtils()
+            .getTypeElement("edu.wpi.first.util.protobuf.ProtobufSerializable")
+            .asType();
+    m_protobufType =
+        processingEnv.getElementUtils().getTypeElement("edu.wpi.first.util.protobuf.Protobuf");
+    m_typeUtils = processingEnv.getTypeUtils();
+    m_elementUtils = processingEnv.getElementUtils();
+  }
+
+  @Override
+  public boolean isLoggable(Element element) {
+    return isLoggableType(dataType(element));
+  }
+
+  /**
+   * Checks if a type is protobuf-serializable: implements the ProtobufSerializable marker interface
+   * and has a `public static final proto` field of a type that inherits from Protobuf with a
+   * compatible generic type bound.
+   *
+   * @param type The type to check
+   * @return true if the type is protobuf-serializable, false otherwise
+   */
+  public boolean isLoggableType(TypeMirror type) {
+    var serializableType = m_typeUtils.erasure(type);
+    var typeElement = m_elementUtils.getTypeElement(serializableType.toString());
+    if (typeElement == null) {
+      return false;
+    }
+
+    // eg `Protobuf<Rotation2d, ?>` instead of the raw `Protobuf` type. The message type doesn't
+    // really matter here; we can leave it as a wildcard.
+    var sharpProtobufType =
+        m_typeUtils.getDeclaredType(
+            m_protobufType,
+            typeElement.asType(), // the serializable type
+            m_typeUtils.getWildcardType(
+                m_elementUtils.getTypeElement("us.hebi.quickbuf.ProtoMessage").asType(), null));
+
+    boolean hasProto =
+        typeElement.getEnclosedElements().stream()
+            .filter(e -> e instanceof VariableElement)
+            .map(e -> (VariableElement) e)
+            .anyMatch(
+                field -> {
+                  var nameMatch = field.getSimpleName().contentEquals("proto");
+                  var modifiersMatch =
+                      field
+                          .getModifiers()
+                          .containsAll(Set.of(Modifier.PUBLIC, Modifier.STATIC, Modifier.FINAL));
+                  var typeMatch =
+                      m_typeUtils.isAssignable(
+                          m_typeUtils.erasure(field.asType()), sharpProtobufType);
+                  return nameMatch && modifiersMatch && typeMatch;
+                });
+    return m_typeUtils.isAssignable(type, m_serializable) && hasProto;
+  }
+
+  public String protoAccess(TypeMirror serializableType) {
+    var className = m_typeUtils.erasure(serializableType).toString();
+    return className + ".proto";
+  }
+
+  @Override
+  public String logInvocation(Element element, TypeElement loggedClass) {
+    return "backend.log(\"%s\", %s, %s)"
+        .formatted(
+            loggedName(element),
+            elementAccess(element, loggedClass),
+            protoAccess(dataType(element)));
+  }
+}

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

@@ -44,7 +44,7 @@ public class SendableHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     var dataType = dataType(element);
 
     // Do not log commands or subsystems via their sendable implementations
@@ -66,7 +66,7 @@ public class SendableHandler extends ElementHandler {
     return "logSendable(backend.getNested(\""
         + loggedName(element)
         + "\"), "
-        + elementAccess(element)
+        + elementAccess(element, loggedClass)
         + ")";
   }
 }

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

@@ -4,14 +4,26 @@
 
 package edu.wpi.first.epilogue.processor;
 
+import java.util.Set;
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.Modifier;
+import javax.lang.model.element.TypeElement;
+import javax.lang.model.element.VariableElement;
+import javax.lang.model.type.ArrayType;
 import javax.lang.model.type.TypeMirror;
+import javax.lang.model.util.Elements;
 import javax.lang.model.util.Types;
 
+/**
+ * Supports struct serializable types. Struct-serializable types are loggable if they have a public
+ * static final {@code struct} field of a type that inherits from {@code Struct}.
+ */
 public class StructHandler extends ElementHandler {
   private final TypeMirror m_serializable;
+  private final TypeElement m_structType;
   private final Types m_typeUtils;
+  private final Elements m_elementUtils;
 
   protected StructHandler(ProcessingEnvironment processingEnv) {
     super(processingEnv);
@@ -20,16 +32,57 @@ public class StructHandler extends ElementHandler {
             .getElementUtils()
             .getTypeElement("edu.wpi.first.util.struct.StructSerializable")
             .asType();
+    m_structType =
+        processingEnv.getElementUtils().getTypeElement("edu.wpi.first.util.struct.Struct");
     m_typeUtils = processingEnv.getTypeUtils();
+    m_elementUtils = processingEnv.getElementUtils();
   }
 
   @Override
   public boolean isLoggable(Element element) {
-    return m_typeUtils.isAssignable(dataType(element), m_serializable);
+    return isLoggableType(dataType(element));
   }
 
+  /**
+   * Checks if a type is struct-serializable: implements the StructSerializable marker interface and
+   * has a `public static final struct` field of a type that inherits from Struct with a compatible
+   * generic type bound.
+   *
+   * @param type The type to check
+   * @return true if the type is struct-serializable, false otherwise
+   */
   public boolean isLoggableType(TypeMirror type) {
-    return m_typeUtils.isAssignable(type, m_serializable);
+    TypeMirror serializableType;
+    if (type instanceof ArrayType arr) {
+      serializableType = arr.getComponentType();
+    } else {
+      serializableType = m_typeUtils.erasure(type);
+    }
+    var typeElement = m_elementUtils.getTypeElement(serializableType.toString());
+    if (typeElement == null) {
+      return false;
+    }
+
+    // eg `Struct<Rotation2d>` instead of the raw `Struct` type
+    var sharpStructType = m_typeUtils.getDeclaredType(m_structType, typeElement.asType());
+
+    boolean hasStruct =
+        typeElement.getEnclosedElements().stream()
+            .filter(e -> e instanceof VariableElement)
+            .map(e -> (VariableElement) e)
+            .anyMatch(
+                field -> {
+                  var nameMatch = field.getSimpleName().contentEquals("struct");
+                  var modifiersMatch =
+                      field
+                          .getModifiers()
+                          .containsAll(Set.of(Modifier.PUBLIC, Modifier.STATIC, Modifier.FINAL));
+                  var typeMatch =
+                      m_typeUtils.isAssignable(
+                          m_typeUtils.erasure(field.asType()), sharpStructType);
+                  return nameMatch && modifiersMatch && typeMatch;
+                });
+    return m_typeUtils.isAssignable(type, m_serializable) && hasStruct;
   }
 
   public String structAccess(TypeMirror serializableType) {
@@ -38,11 +91,11 @@ public class StructHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
+  public String logInvocation(Element element, TypeElement loggedClass) {
     return "backend.log(\""
         + loggedName(element)
         + "\", "
-        + elementAccess(element)
+        + elementAccess(element, loggedClass)
         + ", "
         + structAccess(dataType(element))
         + ")";

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

@@ -6,6 +6,7 @@ package edu.wpi.first.epilogue.processor;
 
 import javax.annotation.processing.ProcessingEnvironment;
 import javax.lang.model.element.Element;
+import javax.lang.model.element.TypeElement;
 import javax.lang.model.type.TypeMirror;
 
 public class SupplierHandler extends ElementHandler {
@@ -42,15 +43,19 @@ public class SupplierHandler extends ElementHandler {
   }
 
   @Override
-  public String logInvocation(Element element) {
-    return "backend.log(\"" + loggedName(element) + "\", " + elementAccess(element) + ")";
+  public String logInvocation(Element element, TypeElement loggedClass) {
+    return "backend.log(\""
+        + loggedName(element)
+        + "\", "
+        + elementAccess(element, loggedClass)
+        + ")";
   }
 
   @Override
-  public String elementAccess(Element element) {
+  public String elementAccess(Element element, TypeElement loggedClass) {
     var typeUtils = m_processingEnv.getTypeUtils();
     var dataType = dataType(element);
-    String base = super.elementAccess(element);
+    String base = super.elementAccess(element, loggedClass);
 
     if (typeUtils.isAssignable(dataType, m_booleanSupplier)) {
       return base + ".getAsBoolean()";

epilogue-runtime/BUILD.bazel

@@ -8,5 +8,6 @@ java_library(
         "//ntcore:networktables-java",
         "//wpiunits",
         "//wpiutil:wpiutil-java",
+        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
     ],
 )

epilogue-runtime/build.gradle

@@ -13,4 +13,5 @@ dependencies {
     api(project(':ntcore'))
     api(project(':wpiutil'))
     api(project(':wpiunits'))
+    testImplementation(project(':wpimath')) // for convenient protobuf types
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/ClassSpecificLogger.java

@@ -106,14 +106,13 @@ public abstract class ClassSpecificLogger<T> {
       return;
     }
 
-    var builder =
-        m_sendables.computeIfAbsent(
-            sendable,
-            s -> {
-              var b = new LogBackedSendableBuilder(backend);
-              s.initSendable(b);
-              return b;
-            });
-    builder.update();
+    if (m_sendables.containsKey(sendable)) {
+      m_sendables.get(sendable).update();
+    } else {
+      var builder = new LogBackedSendableBuilder(backend);
+      sendable.initSendable(builder);
+      m_sendables.put(sendable, builder);
+      builder.update();
+    }
   }
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/EpilogueBackend.java

@@ -6,8 +6,10 @@ package edu.wpi.first.epilogue.logging;
 
 import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.Unit;
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.util.Collection;
+import us.hebi.quickbuf.ProtoMessage;
 
 /** A backend is a generic interface for Epilogue to log discrete data points. */
 public interface EpilogueBackend {
@@ -193,6 +195,17 @@ public interface EpilogueBackend {
     log(identifier, array, struct);
   }
 
+  /**
+   * Logs a protobuf-serializable object.
+   *
+   * @param identifier the identifier of the data point
+   * @param value the value of the data point
+   * @param proto the protobuf to use to serialize the data
+   * @param <P> the protobuf-serializable type
+   * @param <M> the protobuf message type
+   */
+  <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto);
+
   /**
    * Logs a measurement's value in terms of its base unit.
    *

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/FileBackend.java

@@ -16,21 +16,28 @@ import edu.wpi.first.util.datalog.FloatArrayLogEntry;
 import edu.wpi.first.util.datalog.FloatLogEntry;
 import edu.wpi.first.util.datalog.IntegerArrayLogEntry;
 import edu.wpi.first.util.datalog.IntegerLogEntry;
+import edu.wpi.first.util.datalog.ProtobufLogEntry;
 import edu.wpi.first.util.datalog.RawLogEntry;
 import edu.wpi.first.util.datalog.StringArrayLogEntry;
 import edu.wpi.first.util.datalog.StringLogEntry;
 import edu.wpi.first.util.datalog.StructArrayLogEntry;
 import edu.wpi.first.util.datalog.StructLogEntry;
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.util.HashMap;
+import java.util.HashSet;
 import java.util.Map;
+import java.util.Set;
 import java.util.function.BiFunction;
+import us.hebi.quickbuf.ProtoMessage;
 
 /** A backend implementation that saves information to a WPILib {@link DataLog} file on disk. */
 public class FileBackend implements EpilogueBackend {
   private final DataLog m_dataLog;
   private final Map<String, DataLogEntry> m_entries = new HashMap<>();
   private final Map<String, NestedBackend> m_subLoggers = new HashMap<>();
+  private final Set<Struct<?>> m_seenSchemas = new HashSet<>();
+  private final Set<Protobuf<?, ?>> m_seenProtos = new HashSet<>();
 
   /**
    * Creates a new file-based backend.
@@ -43,7 +50,13 @@ public class FileBackend implements EpilogueBackend {
 
   @Override
   public EpilogueBackend getNested(String path) {
-    return m_subLoggers.computeIfAbsent(path, k -> new NestedBackend(k, this));
+    if (!m_subLoggers.containsKey(path)) {
+      var nested = new NestedBackend(path, this);
+      m_subLoggers.put(path, nested);
+      return nested;
+    }
+
+    return m_subLoggers.get(path);
   }
 
   @SuppressWarnings("unchecked")
@@ -131,14 +144,45 @@ public class FileBackend implements EpilogueBackend {
   @Override
   @SuppressWarnings("unchecked")
   public <S> void log(String identifier, S value, Struct<S> struct) {
-    m_dataLog.addSchema(struct);
-    getEntry(identifier, (log, k) -> StructLogEntry.create(log, k, struct)).append(value);
+    // DataLog.addSchema has checks that we're able to skip, avoiding allocations
+    if (m_seenSchemas.add(struct)) {
+      m_dataLog.addSchema(struct);
+    }
+
+    if (!m_entries.containsKey(identifier)) {
+      m_entries.put(identifier, StructLogEntry.create(m_dataLog, identifier, struct));
+    }
+
+    ((StructLogEntry<S>) m_entries.get(identifier)).append(value);
   }
 
   @Override
   @SuppressWarnings("unchecked")
   public <S> void log(String identifier, S[] value, Struct<S> struct) {
-    m_dataLog.addSchema(struct);
-    getEntry(identifier, (log, k) -> StructArrayLogEntry.create(log, k, struct)).append(value);
+    // DataLog.addSchema has checks that we're able to skip, avoiding allocations
+    if (m_seenSchemas.add(struct)) {
+      m_dataLog.addSchema(struct);
+    }
+
+    if (!m_entries.containsKey(identifier)) {
+      m_entries.put(identifier, StructArrayLogEntry.create(m_dataLog, identifier, struct));
+    }
+
+    ((StructArrayLogEntry<S>) m_entries.get(identifier)).append(value);
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
+    // DataLog.addSchema has checks that we're able to skip, avoiding allocations
+    if (m_seenProtos.add(proto)) {
+      m_dataLog.addSchema(proto);
+    }
+
+    if (!m_entries.containsKey(identifier)) {
+      m_entries.put(identifier, ProtobufLogEntry.create(m_dataLog, identifier, proto));
+    }
+
+    ((ProtobufLogEntry<P>) m_entries.get(identifier)).append(value);
   }
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LazyBackend.java

@@ -4,11 +4,13 @@
 
 package edu.wpi.first.epilogue.logging;
 
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.util.Arrays;
 import java.util.HashMap;
 import java.util.Map;
 import java.util.Objects;
+import us.hebi.quickbuf.ProtoMessage;
 
 /**
  * A backend implementation that only logs data when it changes. Useful for keeping bandwidth and
@@ -40,7 +42,13 @@ public class LazyBackend implements EpilogueBackend {
 
   @Override
   public EpilogueBackend getNested(String path) {
-    return m_subLoggers.computeIfAbsent(path, k -> new NestedBackend(k, this));
+    if (!m_subLoggers.containsKey(path)) {
+      var nested = new NestedBackend(path, this);
+      m_subLoggers.put(path, nested);
+      return nested;
+    }
+
+    return m_subLoggers.get(path);
   }
 
   @Override
@@ -237,4 +245,17 @@ public class LazyBackend implements EpilogueBackend {
     m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value, struct);
   }
+
+  @Override
+  public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
+    var previous = m_previousValues.get(identifier);
+
+    if (Objects.equals(previous, value)) {
+      // no change
+      return;
+    }
+
+    m_previousValues.put(identifier, value);
+    m_backend.log(identifier, value, proto);
+  }
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LogBackedSendableBuilder.java

@@ -19,7 +19,6 @@ import java.util.function.LongSupplier;
 import java.util.function.Supplier;
 
 /** A sendable builder implementation that sends data to a {@link EpilogueBackend}. */
-@SuppressWarnings("PMD.CouplingBetweenObjects") // most methods simply delegate to the backend
 public class LogBackedSendableBuilder implements SendableBuilder {
   private final EpilogueBackend m_backend;
   private final Collection<Runnable> m_updates = new ArrayList<>();

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/MultiBackend.java

@@ -4,10 +4,12 @@
 
 package edu.wpi.first.epilogue.logging;
 
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import us.hebi.quickbuf.ProtoMessage;
 
 /**
  * A backend implementation that delegates to other backends. Helpful for simultaneous logging to
@@ -24,7 +26,13 @@ public class MultiBackend implements EpilogueBackend {
 
   @Override
   public EpilogueBackend getNested(String path) {
-    return m_nestedBackends.computeIfAbsent(path, k -> new NestedBackend(k, this));
+    if (!m_nestedBackends.containsKey(path)) {
+      var nested = new NestedBackend(path, this);
+      m_nestedBackends.put(path, nested);
+      return nested;
+    }
+
+    return m_nestedBackends.get(path);
   }
 
   @Override
@@ -131,4 +139,11 @@ public class MultiBackend implements EpilogueBackend {
       backend.log(identifier, value, struct);
     }
   }
+
+  @Override
+  public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
+    for (EpilogueBackend backend : m_backends) {
+      backend.log(identifier, value, proto);
+    }
+  }
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/NTEpilogueBackend.java

@@ -13,15 +13,21 @@ import edu.wpi.first.networktables.FloatPublisher;
 import edu.wpi.first.networktables.IntegerArrayPublisher;
 import edu.wpi.first.networktables.IntegerPublisher;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.ProtobufPublisher;
 import edu.wpi.first.networktables.Publisher;
 import edu.wpi.first.networktables.RawPublisher;
 import edu.wpi.first.networktables.StringArrayPublisher;
 import edu.wpi.first.networktables.StringPublisher;
 import edu.wpi.first.networktables.StructArrayPublisher;
 import edu.wpi.first.networktables.StructPublisher;
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.util.HashMap;
+import java.util.HashSet;
 import java.util.Map;
+import java.util.Set;
+import java.util.function.Function;
+import us.hebi.quickbuf.ProtoMessage;
 
 /**
  * A backend implementation that sends data over network tables. Be careful when using this, since
@@ -32,61 +38,82 @@ public class NTEpilogueBackend implements EpilogueBackend {
 
   private final Map<String, Publisher> m_publishers = new HashMap<>();
   private final Map<String, NestedBackend> m_nestedBackends = new HashMap<>();
+  private final Set<Struct<?>> m_seenSchemas = new HashSet<>();
+  private final Set<Protobuf<?, ?>> m_seenProtos = new HashSet<>();
+  private final Function<String, IntegerPublisher> m_createIntPublisher;
+  private final Function<String, FloatPublisher> m_createFloatPublisher;
+  private final Function<String, DoublePublisher> m_createDoublePublisher;
+  private final Function<String, BooleanPublisher> m_createBooleanPublisher;
+  private final Function<String, RawPublisher> m_createRawPublisher;
+  private final Function<String, IntegerArrayPublisher> m_createIntegerArrayPublisher;
+  private final Function<String, FloatArrayPublisher> m_createFloatArrayPublisher;
+  private final Function<String, DoubleArrayPublisher> m_createDoubleArrayPublisher;
+  private final Function<String, BooleanArrayPublisher> m_createBooleanArrayPublisher;
+  private final Function<String, StringPublisher> m_createStringPublisher;
+  private final Function<String, StringArrayPublisher> m_createStringArrayPublisher;
 
   /**
    * Creates a logging backend that sends information to NetworkTables.
    *
    * @param nt the NetworkTable instance to use to send data to
    */
+  @SuppressWarnings("unchecked")
   public NTEpilogueBackend(NetworkTableInstance nt) {
     this.m_nt = nt;
+    m_createIntPublisher = identifier -> m_nt.getIntegerTopic(identifier).publish();
+    m_createFloatPublisher = identifier -> m_nt.getFloatTopic(identifier).publish();
+    m_createDoublePublisher = identifier -> m_nt.getDoubleTopic(identifier).publish();
+    m_createBooleanPublisher = identifier -> m_nt.getBooleanTopic(identifier).publish();
+    m_createRawPublisher = identifier -> m_nt.getRawTopic(identifier).publish("raw");
+    m_createIntegerArrayPublisher = identifier -> m_nt.getIntegerArrayTopic(identifier).publish();
+    m_createFloatArrayPublisher = identifier -> m_nt.getFloatArrayTopic(identifier).publish();
+    m_createDoubleArrayPublisher = identifier -> m_nt.getDoubleArrayTopic(identifier).publish();
+    m_createBooleanArrayPublisher = identifier -> m_nt.getBooleanArrayTopic(identifier).publish();
+    m_createStringPublisher = identifier -> m_nt.getStringTopic(identifier).publish();
+    m_createStringArrayPublisher = identifier -> m_nt.getStringArrayTopic(identifier).publish();
   }
 
   @Override
   public EpilogueBackend getNested(String path) {
-    return m_nestedBackends.computeIfAbsent(path, k -> new NestedBackend(k, this));
+    if (!m_nestedBackends.containsKey(path)) {
+      var nested = new NestedBackend(path, this);
+      m_nestedBackends.put(path, nested);
+      return nested;
+    }
+
+    return m_nestedBackends.get(path);
   }
 
   @Override
   public void log(String identifier, int value) {
-    ((IntegerPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerTopic(k).publish()))
-        .set(value);
+    ((IntegerPublisher) m_publishers.computeIfAbsent(identifier, m_createIntPublisher)).set(value);
   }
 
   @Override
   public void log(String identifier, long value) {
-    ((IntegerPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerTopic(k).publish()))
-        .set(value);
+    ((IntegerPublisher) m_publishers.computeIfAbsent(identifier, m_createIntPublisher)).set(value);
   }
 
   @Override
   public void log(String identifier, float value) {
-    ((FloatPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getFloatTopic(k).publish()))
-        .set(value);
+    ((FloatPublisher) m_publishers.computeIfAbsent(identifier, m_createFloatPublisher)).set(value);
   }
 
   @Override
   public void log(String identifier, double value) {
-    ((DoublePublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getDoubleTopic(k).publish()))
+    ((DoublePublisher) m_publishers.computeIfAbsent(identifier, m_createDoublePublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, boolean value) {
-    ((BooleanPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getBooleanTopic(k).publish()))
+    ((BooleanPublisher) m_publishers.computeIfAbsent(identifier, m_createBooleanPublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, byte[] value) {
-    ((RawPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getRawTopic(k).publish("raw")))
-        .set(value);
+    ((RawPublisher) m_publishers.computeIfAbsent(identifier, m_createRawPublisher)).set(value);
   }
 
   @Override
@@ -100,68 +127,96 @@ public class NTEpilogueBackend implements EpilogueBackend {
     }
 
     ((IntegerArrayPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerArrayTopic(k).publish()))
+            m_publishers.computeIfAbsent(identifier, m_createIntegerArrayPublisher))
         .set(widened);
   }
 
   @Override
   public void log(String identifier, long[] value) {
     ((IntegerArrayPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getIntegerArrayTopic(k).publish()))
+            m_publishers.computeIfAbsent(identifier, m_createIntegerArrayPublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, float[] value) {
-    ((FloatArrayPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getFloatArrayTopic(k).publish()))
+    ((FloatArrayPublisher) m_publishers.computeIfAbsent(identifier, m_createFloatArrayPublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, double[] value) {
-    ((DoubleArrayPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getDoubleArrayTopic(k).publish()))
+    ((DoubleArrayPublisher) m_publishers.computeIfAbsent(identifier, m_createDoubleArrayPublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, boolean[] value) {
     ((BooleanArrayPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getBooleanArrayTopic(k).publish()))
+            m_publishers.computeIfAbsent(identifier, m_createBooleanArrayPublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, String value) {
-    ((StringPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getStringTopic(k).publish()))
+    ((StringPublisher) m_publishers.computeIfAbsent(identifier, m_createStringPublisher))
         .set(value);
   }
 
   @Override
   public void log(String identifier, String[] value) {
-    ((StringArrayPublisher)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getStringArrayTopic(k).publish()))
+    ((StringArrayPublisher) m_publishers.computeIfAbsent(identifier, m_createStringArrayPublisher))
         .set(value);
   }
 
   @Override
   @SuppressWarnings("unchecked")
   public <S> void log(String identifier, S value, Struct<S> struct) {
-    m_nt.addSchema(struct);
-    ((StructPublisher<S>)
-            m_publishers.computeIfAbsent(identifier, k -> m_nt.getStructTopic(k, struct).publish()))
-        .set(value);
+    // NetworkTableInstance.addSchema has checks that we're able to skip, avoiding allocations
+    if (m_seenSchemas.add(struct)) {
+      m_nt.addSchema(struct);
+    }
+
+    if (m_publishers.containsKey(identifier)) {
+      ((StructPublisher<S>) m_publishers.get(identifier)).set(value);
+    } else {
+      StructPublisher<S> publisher = m_nt.getStructTopic(identifier, struct).publish();
+      m_publishers.put(identifier, publisher);
+      publisher.set(value);
+    }
   }
 
   @Override
   @SuppressWarnings("unchecked")
   public <S> void log(String identifier, S[] value, Struct<S> struct) {
-    m_nt.addSchema(struct);
-    ((StructArrayPublisher<S>)
-            m_publishers.computeIfAbsent(
-                identifier, k -> m_nt.getStructArrayTopic(k, struct).publish()))
-        .set(value);
+    // NetworkTableInstance.addSchema has checks that we're able to skip, avoiding allocations
+    if (m_seenSchemas.add(struct)) {
+      m_nt.addSchema(struct);
+    }
+
+    if (m_publishers.containsKey(identifier)) {
+      ((StructArrayPublisher<S>) m_publishers.get(identifier)).set(value);
+    } else {
+      StructArrayPublisher<S> publisher = m_nt.getStructArrayTopic(identifier, struct).publish();
+      m_publishers.put(identifier, publisher);
+      publisher.set(value);
+    }
+  }
+
+  @Override
+  @SuppressWarnings("unchecked")
+  public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
+    // NetworkTableInstance.addSchema has checks that we're able to skip, avoiding allocations
+    if (m_seenProtos.add(proto)) {
+      m_nt.addSchema(proto);
+    }
+
+    if (m_publishers.containsKey(identifier)) {
+      ((ProtobufPublisher<P>) m_publishers.get(identifier)).set(value);
+    } else {
+      ProtobufPublisher<P> publisher = m_nt.getProtobufTopic(identifier, proto).publish();
+      m_publishers.put(identifier, publisher);
+      publisher.set(value);
+    }
   }
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/NestedBackend.java

@@ -4,9 +4,11 @@
 
 package edu.wpi.first.epilogue.logging;
 
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import java.util.HashMap;
 import java.util.Map;
+import us.hebi.quickbuf.ProtoMessage;
 
 /**
  * A backend that logs to an underlying backend, prepending all logged data with a specific prefix.
@@ -17,6 +19,15 @@ public class NestedBackend implements EpilogueBackend {
   private final EpilogueBackend m_impl;
   private final Map<String, NestedBackend> m_nestedBackends = new HashMap<>();
 
+  // String concatenation can be expensive, especially for deeply nested hierarchies with many
+  // logged fields. For example, logging a hypothetical Robot.elevator.io.getHeight() would result
+  // in "/Robot/" + "elevator/" + "io/" + "getHeight"; three concatenations and string and byte
+  // array allocations that need to be cleaned up by the GC. Caching the results means those
+  // allocations only occur once, resulting in no GC (the strings are always referenced in the
+  // cache), and minimal time costs (the String object caches its own hash code, so all we do is an
+  // O(1) table lookup per concatenation)
+  private final Map<String, String> m_prefixedIdentifiers = new HashMap<>();
+
   /**
    * Creates a new nested backed underneath another backend.
    *
@@ -33,83 +44,114 @@ public class NestedBackend implements EpilogueBackend {
     this.m_impl = impl;
   }
 
+  /**
+   * Fast lookup to avoid redundant `m_prefix + identifier` concatenations. If the identifier has
+   * not been seen before, we compute the concatenation and cache the result for later invocations
+   * to read. This avoids redundantly recomputing the same concatenations every loop and
+   * significantly cuts down on the CPU and memory overhead of the Epilogue library.
+   *
+   * @param identifier The identifier to prepend with {@link #m_prefix}.
+   * @return The concatenated string.
+   */
+  private String withPrefix(String identifier) {
+    // Using computeIfAbsent would result in a new lambda object allocation on every call
+    if (m_prefixedIdentifiers.containsKey(identifier)) {
+      return m_prefixedIdentifiers.get(identifier);
+    }
+
+    String result = m_prefix + identifier;
+    m_prefixedIdentifiers.put(identifier, result);
+    return result;
+  }
+
   @Override
   public EpilogueBackend getNested(String path) {
-    return m_nestedBackends.computeIfAbsent(path, k -> new NestedBackend(k, this));
+    if (!m_nestedBackends.containsKey(path)) {
+      var nested = new NestedBackend(path, this);
+      m_nestedBackends.put(path, nested);
+      return nested;
+    }
+
+    return m_nestedBackends.get(path);
   }
 
   @Override
   public void log(String identifier, int value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, long value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, float value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, double value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, boolean value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, byte[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, int[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, long[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, float[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, double[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, boolean[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, String value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public void log(String identifier, String[] value) {
-    m_impl.log(m_prefix + identifier, value);
+    m_impl.log(withPrefix(identifier), value);
   }
 
   @Override
   public <S> void log(String identifier, S value, Struct<S> struct) {
-    m_impl.log(m_prefix + identifier, value, struct);
+    m_impl.log(withPrefix(identifier), value, struct);
   }
 
   @Override
   public <S> void log(String identifier, S[] value, Struct<S> struct) {
-    m_impl.log(m_prefix + identifier, value, struct);
+    m_impl.log(withPrefix(identifier), value, struct);
+  }
+
+  @Override
+  public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
+    m_impl.log(m_prefix + identifier, value, proto);
   }
 }

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/NullBackend.java

@@ -4,7 +4,9 @@
 
 package edu.wpi.first.epilogue.logging;
 
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
+import us.hebi.quickbuf.ProtoMessage;
 
 /** Null backend implementation that logs nothing. */
 public class NullBackend implements EpilogueBackend {
@@ -62,4 +64,8 @@ public class NullBackend implements EpilogueBackend {
 
   @Override
   public <S> void log(String identifier, S[] value, Struct<S> struct) {}
+
+  @Override
+  public <P, M extends ProtoMessage<M>> void log(
+      String identifier, P value, Protobuf<P, M> proto) {}
 }

epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/LazyBackendTest.java

@@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertArrayEquals;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertSame;
 
+import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
@@ -185,4 +186,17 @@ class LazyBackendTest {
     assertArrayEquals(
         new byte[] {0x01, 0x00, 0x00, 0x00}, (byte[]) backend.getEntries().get(1).value());
   }
+
+  @Test
+  void lazyProtobuf() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    var rotation = Rotation2d.kZero;
+    lazy.log("rotation", rotation, Rotation2d.proto);
+    assertEquals(1, backend.getEntries().size());
+    var entry = backend.getEntries().get(0);
+    assertEquals("rotation", entry.identifier());
+    assertArrayEquals(new byte[] {9, 0, 0, 0, 0, 0, 0, 0, 0}, (byte[]) entry.value());
+  }
 }

epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/NestedBackendTest.java

@@ -0,0 +1,180 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.epilogue.logging;
+
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertSame;
+
+import org.junit.jupiter.api.Test;
+
+class NestedBackendTest {
+  @Test
+  void prefixesAppliedAndNested() {
+    var root = new TestBackend();
+    var nested = new NestedBackend("/Robot", root);
+
+    nested.log("int", 1);
+    nested.log("string", "hello");
+
+    var arm = nested.getNested("arm");
+    arm.log("position", 2.0);
+    arm.log("enabled", true);
+
+    assertEquals(4, root.getEntries().size());
+    assertEquals("/Robot/int", root.getEntries().get(0).identifier());
+    assertEquals(1, root.getEntries().get(0).value());
+
+    assertEquals("/Robot/string", root.getEntries().get(1).identifier());
+    assertEquals("hello", root.getEntries().get(1).value());
+
+    assertEquals("/Robot/arm/position", root.getEntries().get(2).identifier());
+    assertEquals(2.0, root.getEntries().get(2).value());
+
+    assertEquals("/Robot/arm/enabled", root.getEntries().get(3).identifier());
+    assertEquals(true, root.getEntries().get(3).value());
+  }
+
+  @Test
+  void handlesTrailingSlashOnPrefix() {
+    var root = new TestBackend();
+    var a = new NestedBackend("/Robot", root);
+    var b = new NestedBackend("/Robot/", root);
+
+    a.log("x", 1);
+    b.log("y", 2);
+
+    assertEquals("/Robot/x", root.getEntries().get(0).identifier());
+    assertEquals("/Robot/y", root.getEntries().get(1).identifier());
+  }
+
+  @Test
+  void getNestedIsCached() {
+    var root = new TestBackend();
+    var nested = new NestedBackend("/Robot", root);
+
+    var arm1 = nested.getNested("arm");
+    var arm2 = nested.getNested("arm");
+
+    assertSame(arm1, arm2);
+  }
+
+  @Test
+  void usesPrefixedIdentifierCacheForSameField() {
+    var root = new TestBackend();
+    var nested = new NestedBackend("/Robot", root);
+
+    // Same field logged multiple times - identifier object should be the same (cached)
+    // We use assertSame to check that the references are identical
+    nested.log("x", 0);
+    nested.log("x", 1);
+
+    String id0 = root.getEntries().get(0).identifier();
+    String id1 = root.getEntries().get(1).identifier();
+    assertSame(
+        id0,
+        id1,
+        "Identifier %s (id: %d) was not reused (new id: %d)"
+            .formatted(id0, System.identityHashCode(id0), System.identityHashCode(id1)));
+
+    // Also verify through a nested backend path
+    var arm = nested.getNested("arm");
+    arm.log("position", 0.0);
+    arm.log("position", 1.0);
+
+    String id2 = root.getEntries().get(2).identifier();
+    String id3 = root.getEntries().get(3).identifier();
+    assertSame(
+        id2,
+        id3,
+        "Identifier %s (id: %d) was not reused (new id: %d)"
+            .formatted(id2, System.identityHashCode(id2), System.identityHashCode(id3)));
+
+    // Sanity check actual full values
+    assertEquals("/Robot/x", id0);
+    assertEquals("/Robot/arm/position", id2);
+  }
+
+  @Test
+  void logsAllOverloads() {
+    var root = new TestBackend();
+    var nested = new NestedBackend("/Robot", root);
+
+    // Scalars
+    nested.log("int", 1);
+    nested.log("long", 2L);
+    nested.log("float", 3.0f);
+    nested.log("double", 4.0);
+    nested.log("boolean", true);
+    nested.log("string", "hello");
+
+    // Arrays
+    nested.log("bytes", new byte[] {1, 2});
+    nested.log("ints", new int[] {3, 4});
+    nested.log("longs", new long[] {5L, 6L});
+    nested.log("floats", new float[] {7.0f, 8.0f});
+    nested.log("doubles", new double[] {9.0, 10.0});
+    nested.log("booleans", new boolean[] {true, false});
+    nested.log("strings", new String[] {"x", "y"});
+
+    // Structs
+    nested.log("customStruct", new CustomStruct(7), CustomStruct.struct);
+    nested.log(
+        "customStructs",
+        new CustomStruct[] {new CustomStruct(0), new CustomStruct(1)},
+        CustomStruct.struct);
+
+    var entries = root.getEntries();
+    int idx = 0;
+
+    // Scalars
+    assertEquals(new TestBackend.LogEntry<>("/Robot/int", 1), entries.get(idx++));
+    assertEquals(new TestBackend.LogEntry<>("/Robot/long", 2L), entries.get(idx++));
+    assertEquals(new TestBackend.LogEntry<>("/Robot/float", 3.0f), entries.get(idx++));
+    assertEquals(new TestBackend.LogEntry<>("/Robot/double", 4.0), entries.get(idx++));
+    assertEquals(new TestBackend.LogEntry<>("/Robot/boolean", true), entries.get(idx++));
+    assertEquals(new TestBackend.LogEntry<>("/Robot/string", "hello"), entries.get(idx++));
+
+    // Arrays
+    assertEquals("/Robot/bytes", entries.get(idx).identifier());
+    assertArrayEquals(new byte[] {1, 2}, (byte[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/ints", entries.get(idx).identifier());
+    assertArrayEquals(new int[] {3, 4}, (int[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/longs", entries.get(idx).identifier());
+    assertArrayEquals(new long[] {5L, 6L}, (long[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/floats", entries.get(idx).identifier());
+    assertArrayEquals(new float[] {7.0f, 8.0f}, (float[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/doubles", entries.get(idx).identifier());
+    assertArrayEquals(new double[] {9.0, 10.0}, (double[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/booleans", entries.get(idx).identifier());
+    assertArrayEquals(new boolean[] {true, false}, (boolean[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/strings", entries.get(idx).identifier());
+    assertArrayEquals(new String[] {"x", "y"}, (String[]) entries.get(idx++).value());
+
+    // Structs are serialized to bytes
+    assertEquals("/Robot/customStruct", entries.get(idx).identifier());
+    assertArrayEquals(new byte[] {0x07, 0x00, 0x00, 0x00}, (byte[]) entries.get(idx++).value());
+
+    assertEquals("/Robot/customStructs", entries.get(idx).identifier());
+    // two int32 values, little-endian
+    assertArrayEquals(
+        new byte[] {
+          0x00, 0x00, 0x00, 0x00, // 0 (first element)
+          0x01, 0x00, 0x00, 0x00, // 1 (second element)
+          0x00, 0x00, 0x00, 0x00, // 0 (empty space allocated by StructBuffer)
+          0x00, 0x00, 0x00, 0x00 // 0 (empty space allocated by StructBuffer)
+        },
+        (byte[]) entries.get(idx++).value());
+
+    // Ensure we covered all calls
+    assertEquals(idx, entries.size());
+  }
+}

epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/TestBackend.java

@@ -4,12 +4,14 @@
 
 package edu.wpi.first.epilogue.logging;
 
+import edu.wpi.first.util.protobuf.Protobuf;
 import edu.wpi.first.util.struct.Struct;
 import edu.wpi.first.util.struct.StructBuffer;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import us.hebi.quickbuf.ProtoMessage;
 
 @SuppressWarnings("PMD.TestClassWithoutTestCases") // This is not a test class!
 public class TestBackend implements EpilogueBackend {
@@ -114,4 +116,12 @@ public class TestBackend implements EpilogueBackend {
 
     m_entries.add(new LogEntry<>(identifier, serialized));
   }
+
+  @Override
+  public <P, M extends ProtoMessage<M>> void log(String identifier, P value, Protobuf<P, M> proto) {
+    var msg = proto.createMessage();
+    proto.pack(msg, value);
+    var serialized = msg.toByteArray();
+    m_entries.add(new LogEntry<>(identifier, serialized));
+  }
 }

fieldImages/publish.gradle

@@ -63,8 +63,8 @@ model {
                 artifact cppSourcesZip
 
                 artifactId = "${baseArtifactId}-cpp"
-                groupId artifactGroupId
-                version wpilibVersioning.version.get()
+                groupId = artifactGroupId
+                version = wpilibVersioning.version.get()
             }
         }
     }

glass/publish.gradle

@@ -86,7 +86,7 @@ model {
 
                         // Create the ZIP.
                         def task = project.tasks.create("copyGlassExecutable" + binary.targetPlatform.operatingSystem.name + binary.targetPlatform.architecture.name, Zip) {
-                            description("Copies the Glass executable to the outputs directory.")
+                            description = "Copies the Glass executable to the outputs directory."
                             destinationDirectory = outputsFolder
 
                             archiveBaseName = zipBaseName
@@ -175,7 +175,7 @@ model {
 
                 artifactId = baseArtifactId
                 groupId = artifactGroupId
-                version wpilibVersioning.version.get()
+                version = wpilibVersioning.version.get()
             }
             libglass(MavenPublication) {
                 libGlassTaskList.each { artifact it }
@@ -185,7 +185,7 @@ model {
 
                 artifactId = libBaseArtifactId
                 groupId = libArtifactGroupId
-                version wpilibVersioning.version.get()
+                version = wpilibVersioning.version.get()
             }
             libglassnt(MavenPublication) {
                 libGlassntTaskList.each { artifact it }
@@ -195,7 +195,7 @@ model {
 
                 artifactId = libntBaseArtifactId
                 groupId = libntArtifactGroupId
-                version wpilibVersioning.version.get()
+                version = wpilibVersioning.version.get()
             }
         }
     }

glass/src/lib/native/cpp/other/FMS.cpp

@@ -148,11 +148,14 @@ void glass::DisplayFMSReadOnly(FMSModel* model) {
       ImGui::TextUnformatted("?");
     }
   }
-
-  wpi::SmallString<64> gameSpecificMessageBuf;
-  std::string_view gameSpecificMessage =
-      model->GetGameSpecificMessage(gameSpecificMessageBuf);
-  ImGui::Text("Game Specific: %s", exists ? gameSpecificMessage.data() : "?");
+  if (exists) {
+    wpi::SmallString<64> gsmBuf;
+    std::string_view gsm = model->GetGameSpecificMessage(gsmBuf);
+    ImGui::Text("Game Specific: %.*s", static_cast<int>(gsm.size()),
+                gsm.data());
+  } else {
+    ImGui::TextUnformatted("Game Specific: ?");
+  }
 
   if (!exists) {
     ImGui::PopStyleColor();

glass/src/lib/native/cpp/other/PIDController.cpp

@@ -4,11 +4,8 @@
 
 #include "glass/other/PIDController.h"
 
-#include <string>
-
 #include <imgui.h>
 
-#include "glass/Context.h"
 #include "glass/DataSource.h"
 
 using namespace glass;
@@ -34,8 +31,8 @@ void glass::DisplayPIDController(PIDControllerModel* m) {
         [flag](const char* name, double* v,
                std::function<void(double)> callback) {
           ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
-          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
-                                 "%.3f", flag)) {
+          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, nullptr,
+                                 nullptr, "%.3f", flag)) {
             callback(*v);
           }
         };

glass/src/lib/native/cpp/other/ProfiledPIDController.cpp

@@ -4,11 +4,8 @@
 
 #include "glass/other/ProfiledPIDController.h"
 
-#include <string>
-
 #include <imgui.h>
 
-#include "glass/Context.h"
 #include "glass/DataSource.h"
 
 using namespace glass;
@@ -34,8 +31,8 @@ void glass::DisplayProfiledPIDController(ProfiledPIDControllerModel* m) {
         [flag](const char* name, double* v,
                std::function<void(double)> callback) {
           ImGui::SetNextItemWidth(ImGui::GetFontSize() * 4);
-          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, NULL, NULL,
-                                 "%.3f", flag)) {
+          if (ImGui::InputScalar(name, ImGuiDataType_Double, v, nullptr,
+                                 nullptr, "%.3f", flag)) {
             callback(*v);
           }
         };

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -86,8 +86,7 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-' "$PWD" ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -115,7 +114,7 @@ case "$( uname )" in                #(
   NONSTOP* )        nonstop=true ;;
 esac
 
-CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+CLASSPATH="\\\"\\\""
 
 
 # Determine the Java command to use to start the JVM.
@@ -206,7 +205,7 @@ fi
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Collect all arguments for the java command:
-#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
 #     and any embedded shellness will be escaped.
 #   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
 #     treated as '${Hostname}' itself on the command line.
@@ -214,7 +213,7 @@ DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
         -classpath "$CLASSPATH" \
-        org.gradle.wrapper.GradleWrapperMain \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
         "$@"
 
 # Stop when "xargs" is not available.

gradlew.bat

@@ -70,11 +70,11 @@ goto fail
 :execute
 @rem Setup the command line
 
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+set CLASSPATH=
 
 
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
 
 :end
 @rem End local scope for the variables with windows NT shell

hal/src/main/java/edu/wpi/first/hal/AnalogJNI.java

@@ -15,19 +15,19 @@ package edu.wpi.first.hal;
 public class AnalogJNI extends JNIWrapper {
   /**
    * <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br>
-   * enum values
+   * enum values.
    */
   public interface AnalogTriggerType {
-    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i> */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:54</i>. */
     int kInWindow = 0;
 
-    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i> */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:55</i>. */
     int kState = 1;
 
-    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i> */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:56</i>. */
     int kRisingPulse = 2;
 
-    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i> */
+    /** <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:57</i>. */
     int kFallingPulse = 3;
   }
 

hal/src/main/java/edu/wpi/first/hal/CANAPITypes.java

@@ -35,10 +35,10 @@ public final class CANAPITypes {
     kGyroSensor(4),
     /** Accelerometer. */
     kAccelerometer(5),
-    /** Ultrasonic sensor. */
-    kUltrasonicSensor(6),
-    /** Gear tooth sensor. */
-    kGearToothSensor(7),
+    /** Distance sensor. */
+    kDistanceSensor(6),
+    /** Encoder. */
+    kEncoder(7),
     /** Power distribution. */
     kPowerDistribution(8),
     /** Pneumatics. */
@@ -49,11 +49,13 @@ public final class CANAPITypes {
     kIOBreakout(11),
     /** Servo Controller. */
     kServoController(12),
+    /** Color Sensor. */
+    kColorSensor(13),
     /** Firmware update. */
     kFirmwareUpdate(31);
 
     /** The device type ID. */
-    @SuppressWarnings("PMD.MemberName")
+    @SuppressWarnings("MemberName")
     public final int id;
 
     CANDeviceType(int id) {
@@ -105,10 +107,18 @@ public final class CANAPITypes {
     /** AndyMark. */
     kAndyMark(15),
     /** Vivid-Hosting. */
-    kVividHosting(16);
+    kVividHosting(16),
+    /** Vertos Robotics. */
+    kVertosRobotics(17),
+    /** SWYFT Robotics. */
+    kSWYFTRobotics(18),
+    /** Lumyn Labs. */
+    kLumynLabs(19),
+    /** Brushland Labs. */
+    kBrushlandLabs(20);
 
     /** The manufacturer ID. */
-    @SuppressWarnings("PMD.MemberName")
+    @SuppressWarnings("MemberName")
     public final int id;
 
     CANManufacturer(int id) {

hal/src/main/java/edu/wpi/first/hal/PowerDistributionFaults.java

@@ -125,8 +125,8 @@ public class PowerDistributionFaults {
       case 21 -> Channel21BreakerFault;
       case 22 -> Channel22BreakerFault;
       case 23 -> Channel23BreakerFault;
-      default -> throw new IndexOutOfBoundsException(
-          "Power distribution fault channel out of bounds!");
+      default ->
+          throw new IndexOutOfBoundsException("Power distribution fault channel out of bounds!");
     };
   }
 

hal/src/main/java/edu/wpi/first/hal/PowerDistributionStickyFaults.java

@@ -134,8 +134,8 @@ public class PowerDistributionStickyFaults {
       case 21 -> Channel21BreakerFault;
       case 22 -> Channel22BreakerFault;
       case 23 -> Channel23BreakerFault;
-      default -> throw new IndexOutOfBoundsException(
-          "Power distribution fault channel out of bounds!");
+      default ->
+          throw new IndexOutOfBoundsException("Power distribution fault channel out of bounds!");
     };
   }
 

hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java

@@ -32,15 +32,14 @@ public final class CANExceptionFactory {
       case NIRioStatus.kRioStatusSuccess -> {
         // Everything is ok... don't throw.
       }
-      case ERR_CANSessionMux_InvalidBuffer,
-          NIRioStatus.kRIOStatusBufferInvalidSize -> throw new CANInvalidBufferException();
-      case ERR_CANSessionMux_MessageNotFound,
-          NIRioStatus.kRIOStatusOperationTimedOut -> throw new CANMessageNotFoundException();
-      case ERR_CANSessionMux_NotAllowed,
-          NIRioStatus.kRIOStatusFeatureNotSupported -> throw new CANMessageNotAllowedException(
-          "MessageID = " + messageID);
-      case ERR_CANSessionMux_NotInitialized,
-          NIRioStatus.kRIOStatusResourceNotInitialized -> throw new CANNotInitializedException();
+      case ERR_CANSessionMux_InvalidBuffer, NIRioStatus.kRIOStatusBufferInvalidSize ->
+          throw new CANInvalidBufferException();
+      case ERR_CANSessionMux_MessageNotFound, NIRioStatus.kRIOStatusOperationTimedOut ->
+          throw new CANMessageNotFoundException();
+      case ERR_CANSessionMux_NotAllowed, NIRioStatus.kRIOStatusFeatureNotSupported ->
+          throw new CANMessageNotAllowedException("MessageID = " + messageID);
+      case ERR_CANSessionMux_NotInitialized, NIRioStatus.kRIOStatusResourceNotInitialized ->
+          throw new CANNotInitializedException();
       default -> throw new UncleanStatusException("Fatal status code detected:  " + status);
     }
   }

hal/src/main/java/edu/wpi/first/hal/simulation/BufferCallback.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.hal.simulation;
 
 /** Interface for simulation buffer callbacks. */
+@FunctionalInterface
 public interface BufferCallback {
   /**
    * Simulation buffer callback function.

hal/src/main/java/edu/wpi/first/hal/simulation/ConstBufferCallback.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.hal.simulation;
 
+@FunctionalInterface
 public interface ConstBufferCallback {
   void callback(String name, byte[] buffer, int count);
 }

hal/src/main/java/edu/wpi/first/hal/simulation/NotifyCallback.java

@@ -6,6 +6,7 @@ package edu.wpi.first.hal.simulation;
 
 import edu.wpi.first.hal.HALValue;
 
+@FunctionalInterface
 public interface NotifyCallback {
   void callback(String name, HALValue value);
 

hal/src/main/java/edu/wpi/first/hal/simulation/SpiReadAutoReceiveBufferCallback.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.hal.simulation;
 
+@FunctionalInterface
 public interface SpiReadAutoReceiveBufferCallback {
   int callback(String name, int[] buffer, int numToRead);
 }

hal/src/main/native/athena/CTREPCM.cpp

@@ -398,8 +398,9 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
   }
 
   std::scoped_lock lock{pcm->lock};
-  pcm->oneShot.sol10MsPerUnit[index] = (std::min)(
-      static_cast<uint32_t>(durMs) / 10, static_cast<uint32_t>(0xFF));
+  pcm->oneShot.sol10MsPerUnit[index] =
+      (std::min)(static_cast<uint32_t>(durMs) / 10,
+                 static_cast<uint32_t>(0xFF));
   HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8,
                               Control3, SendPeriod, status);
 }

hal/src/main/native/include/hal/CANAPITypes.h

@@ -32,10 +32,10 @@ HAL_ENUM(HAL_CANDeviceType) {
   HAL_CAN_Dev_kGyroSensor = 4,
   /// Accelerometer.
   HAL_CAN_Dev_kAccelerometer = 5,
-  /// Ultrasonic sensor.
-  HAL_CAN_Dev_kUltrasonicSensor = 6,
-  /// Gear tooth sensor.
-  HAL_CAN_Dev_kGearToothSensor = 7,
+  /// Distance sensor.
+  HAL_CAN_Dev_kDistanceSensor = 6,
+  /// Encoder.
+  HAL_CAN_Dev_kEncoder = 7,
   /// Power distribution.
   HAL_CAN_Dev_kPowerDistribution = 8,
   /// Pneumatics.
@@ -44,8 +44,10 @@ HAL_ENUM(HAL_CANDeviceType) {
   HAL_CAN_Dev_kMiscellaneous = 10,
   /// IO breakout.
   HAL_CAN_Dev_kIOBreakout = 11,
-  // Servo controller.
+  /// Servo controller.
   HAL_CAN_Dev_kServoController = 12,
+  /// Color Sensor.
+  HAL_CAN_Dev_ColorSensor = 13,
   /// Firmware update.
   HAL_CAN_Dev_kFirmwareUpdate = 31
 };
@@ -89,6 +91,14 @@ HAL_ENUM(HAL_CANManufacturer) {
   /// AndyMark.
   HAL_CAN_Man_kAndyMark = 15,
   /// Vivid-Hosting.
-  HAL_CAN_Man_kVividHosting = 16
+  HAL_CAN_Man_kVividHosting = 16,
+  /// Vertos Robotics.
+  HAL_CAN_Man_kVertosRobotics = 17,
+  /// SWYFT Robotics.
+  HAL_CAN_Man_kSWYFTRobotics = 18,
+  /// Lumyn Labs.
+  HAL_CAN_Man_kLumynLabs = 19,
+  /// Brushland Labs
+  HAL_CAN_Man_kBrushlandLabs = 20
 };
 /** @} */

hal/src/main/native/include/hal/simulation/SimCallbackRegistry.h

@@ -102,7 +102,7 @@ class SimCallbackRegistry : public impl::SimCallbackRegistryBase {
  */
 #define HAL_SIMCALLBACKREGISTRY_DEFINE_NAME(NAME)           \
   static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr const char* \
-      Get##NAME##Name() {                                   \
+  Get##NAME##Name() {                                       \
     return #NAME;                                           \
   }
 

hal/src/main/native/include/hal/simulation/SimDataValue.h

@@ -127,7 +127,7 @@ class SimDataValue final : public impl::SimDataValueBase<T, MakeValue> {
  */
 #define HAL_SIMDATAVALUE_DEFINE_NAME(NAME)                  \
   static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr const char* \
-      Get##NAME##Name() {                                   \
+  Get##NAME##Name() {                                       \
     return #NAME;                                           \
   }
 

javacPlugin/BUILD.bazel

@@ -0,0 +1,11 @@
+load("@rules_java//java:defs.bzl", "java_plugin")
+
+java_plugin(
+    name = "plugin",
+    srcs = glob(["src/main/java/**/*.java"]),
+    resources = glob(["src/main/resources/**"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpiannotations",
+    ],
+)

javacPlugin/build.gradle

@@ -0,0 +1,17 @@
+ext {
+    useJava = true
+    useCpp = false
+    baseId = 'wpilibj-javac-plugin'
+    groupId = 'org.wpilib'
+
+    nativeName = ''
+    devMain = ''
+}
+
+apply from: "${rootDir}/shared/java/javacommon.gradle"
+
+dependencies {
+    implementation project(':wpiannotations')
+    testImplementation 'com.google.testing.compile:compile-testing:+'
+    testImplementation project(':wpilibNewCommands')
+}

javacPlugin/src/main/java/org/wpilib/javacplugin/ReturnValueUsedListener.java

@@ -0,0 +1,224 @@
+// 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 org.wpilib.javacplugin;
+
+import com.sun.source.tree.CompilationUnitTree;
+import com.sun.source.tree.MethodInvocationTree;
+import com.sun.source.tree.NewClassTree;
+import com.sun.source.tree.Tree;
+import com.sun.source.util.JavacTask;
+import com.sun.source.util.TaskEvent;
+import com.sun.source.util.TaskListener;
+import com.sun.source.util.TreeScanner;
+import com.sun.source.util.Trees;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+import javax.lang.model.element.ElementKind;
+import javax.lang.model.element.ExecutableElement;
+import javax.lang.model.element.TypeElement;
+import javax.lang.model.type.DeclaredType;
+import javax.lang.model.type.TypeKind;
+import javax.lang.model.type.TypeMirror;
+import javax.tools.Diagnostic;
+import org.wpilib.annotation.NoDiscard;
+
+/** Checks for usages of methods that require their return values to be used. */
+public class ReturnValueUsedListener implements TaskListener {
+  private final JavacTask m_task;
+  private final Set<CompilationUnitTree> m_visitedCUs = new HashSet<>();
+
+  public ReturnValueUsedListener(JavacTask task) {
+    m_task = task;
+  }
+
+  @Override
+  public void finished(TaskEvent e) {
+    // We override `finished` instead of `started` because we want to run after the
+    // ANALYZE attribution phase has completed and assigned types to elements in the AST
+    // Track the visited CUs to avoid re-processing the same CU multiple times when we call
+    // `Trees.getElement()` on a tree path.
+    if (e.getKind() == TaskEvent.Kind.ANALYZE && m_visitedCUs.add(e.getCompilationUnit())) {
+      e.getCompilationUnit().accept(new Scanner(e.getCompilationUnit()), null);
+    }
+  }
+
+  private final class Scanner extends TreeScanner<Void, Void> {
+    private final CompilationUnitTree m_root;
+    private final Trees m_trees;
+
+    Scanner(CompilationUnitTree compilationUnit) {
+      m_root = compilationUnit;
+      m_trees = Trees.instance(m_task);
+    }
+
+    @Override
+    public Void visitMethodInvocation(MethodInvocationTree node, Void unused) {
+      checkIgnoredExpression(node);
+      return super.visitMethodInvocation(node, unused);
+    }
+
+    @Override
+    public Void visitNewClass(NewClassTree node, Void unused) {
+      checkIgnoredExpression(node);
+      return super.visitNewClass(node, unused);
+    }
+
+    /**
+     * Common logic for both method invocations and constructor calls when they appear as
+     * stand-alone expression statements (i.e., their result is ignored).
+     */
+    private void checkIgnoredExpression(Tree node) {
+      var path = m_trees.getPath(m_root, node);
+
+      // Walk the tree upwards to see if the node is directly or indirectly annotated with
+      // @SuppressWarnings("NoDiscard") or @SuppressWarnings("all"). If so, then we ignore any
+      // @NoDiscard messages for this node
+      for (var currentPath = path; currentPath != null; currentPath = currentPath.getParentPath()) {
+        var element = m_trees.getElement(currentPath);
+        if (element == null) {
+          continue;
+        }
+
+        if (element.getAnnotation(SuppressWarnings.class) != null) {
+          String[] suppressions = element.getAnnotation(SuppressWarnings.class).value();
+          for (String suppression : suppressions) {
+            if ("NoDiscard".equals(suppression) || "all".equals(suppression)) {
+              return;
+            }
+          }
+        }
+      }
+
+      var parentPath = (path == null) ? null : path.getParentPath();
+      if (parentPath == null || parentPath.getLeaf().getKind() != Tree.Kind.EXPRESSION_STATEMENT) {
+        // If the parent node is an expression statement, then the value is ignored.
+        // Otherwise, the value is used and we can ignore this site.
+        return;
+      }
+
+      // Resolve the static type of the expression
+      TypeMirror type = getType(node);
+      if (type == null || type.getKind() == TypeKind.VOID) {
+        // Skip void (e.g., void-returning methods)
+        return;
+      }
+
+      // Check @NoDiscard on the invoked executable (method or constructor)
+      var invoked = getInvokedExecutable(node);
+      if (invoked != null) {
+        List<String> messages = getNoDiscardMessages(invoked);
+        for (String msg : messages) {
+          m_trees.printMessage(Diagnostic.Kind.ERROR, msg, node, m_root);
+        }
+      }
+    }
+
+    private TypeMirror getType(Tree node) {
+      var path = m_trees.getPath(m_root, node);
+      if (path == null) {
+        return null;
+      }
+      // Requires running after ANALYZE attribution has completed for this CU.
+      return m_trees.getTypeMirror(path);
+    }
+
+    private ExecutableElement getInvokedExecutable(Tree node) {
+      var path = m_trees.getPath(m_root, node);
+      if (path == null) {
+        return null;
+      }
+      var el = m_trees.getElement(path);
+      return (el instanceof ExecutableElement ee) ? ee : null;
+    }
+
+    /**
+     * Collects all @NoDiscard messages applicable to the given executable: - The method/constructor
+     * itself (if annotated) - The return type (if declared) including its superclasses and all
+     * implemented interfaces Returns formatted diagnostics messages ready to print.
+     */
+    private List<String> getNoDiscardMessages(ExecutableElement method) {
+      List<String> messages = new ArrayList<>();
+
+      // 1) Method-level @NoDiscard
+      var methodNoDiscard = method.getAnnotation(NoDiscard.class);
+      if (methodNoDiscard != null) {
+        String msg = methodNoDiscard.value();
+        if (msg.isEmpty()) {
+          messages.add("Result of @NoDiscard method is ignored");
+        } else {
+          messages.add(msg);
+        }
+      }
+
+      // 2) Type-level @NoDiscard (classes + interfaces recursively)
+      TypeElement targetType = null;
+      if (method.getKind() == ElementKind.CONSTRUCTOR) {
+        // For constructors, the "return type" is the enclosing type
+        var enclosing = method.getEnclosingElement();
+        if (enclosing instanceof TypeElement te) {
+          targetType = te;
+        }
+      } else {
+        var returnType = method.getReturnType();
+        if (returnType instanceof DeclaredType dt && dt.asElement() instanceof TypeElement te) {
+          targetType = te;
+        }
+      }
+      if (targetType != null) {
+        Set<TypeElement> seen = new HashSet<>();
+        collectNoDiscardMessagesFromTypeHierarchy(targetType, seen, messages);
+      }
+
+      return messages;
+    }
+
+    /**
+     * Searches for @NoDiscard on the provided type element, its superclasses, and all implemented
+     * interfaces (recursively). Appends formatted messages to the provided list for every match.
+     *
+     * @param type The type element to search
+     * @param seen A set of type elements that have already been searched
+     * @param out The list to append messages to
+     */
+    private void collectNoDiscardMessagesFromTypeHierarchy(
+        TypeElement type, Set<TypeElement> seen, List<String> out) {
+      if (type == null || !seen.add(type)) {
+        return;
+      }
+
+      // Check this type directly
+      var typeNoDiscard = type.getAnnotation(NoDiscard.class);
+      if (typeNoDiscard != null) {
+        String message = typeNoDiscard.value();
+        if (message.isEmpty()) {
+          out.add(
+              "Result of method returning @NoDiscard type %s is ignored"
+                  .formatted(type.getQualifiedName()));
+        } else {
+          out.add(message);
+        }
+      }
+
+      // Check superclass chain
+      var superMirror = type.getSuperclass();
+      if (superMirror != null && superMirror.getKind() != TypeKind.NONE) {
+        var superEl = m_task.getTypes().asElement(superMirror);
+        if (superEl instanceof TypeElement ste) {
+          collectNoDiscardMessagesFromTypeHierarchy(ste, seen, out);
+        }
+      }
+
+      // Check all implemented interfaces (recursively)
+      for (var iface : type.getInterfaces()) {
+        var ifaceEl = m_task.getTypes().asElement(iface);
+        if (ifaceEl instanceof TypeElement ite) {
+          collectNoDiscardMessagesFromTypeHierarchy(ite, seen, out);
+        }
+      }
+    }
+  }
+}

javacPlugin/src/main/java/org/wpilib/javacplugin/WPILibJavacPlugin.java

@@ -0,0 +1,31 @@
+// 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 org.wpilib.javacplugin;
+
+import com.sun.source.util.JavacTask;
+import com.sun.source.util.Plugin;
+
+/**
+ * A javac compiler plugin that adds compiler warnings for incorrect usage of WPILib types. Also
+ * supports WPILib's custom annotations like @NoDiscard.
+ */
+public class WPILibJavacPlugin implements Plugin {
+  @Override
+  public String getName() {
+    return "WPILib";
+  }
+
+  @Override
+  public void init(JavacTask task, String... args) {
+    task.addTaskListener(new ReturnValueUsedListener(task));
+  }
+
+  @Override
+  public boolean autoStart() {
+    // autoStart means we don't need to manually pass -Xplugin:WPILib to the javac compiler args
+    // for the plugin to run
+    return true;
+  }
+}

javacPlugin/src/main/resources/META-INF/services/com.sun.source.util.Plugin

@@ -0,0 +1 @@
+org.wpilib.javacplugin.WPILibJavacPlugin

javacPlugin/src/test/java/org/wpilib/javacplugin/CompileTestOptions.java

@@ -0,0 +1,13 @@
+// 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 org.wpilib.javacplugin;
+
+import java.util.List;
+
+public class CompileTestOptions {
+  public static final int kJavaVersion = 17;
+  public static final List<Object> kJavaVersionOptions =
+      List.of("-source", kJavaVersion, "-target", kJavaVersion);
+}

javacPlugin/src/test/java/org/wpilib/javacplugin/ReturnValueUsedListenerTest.java

@@ -0,0 +1,638 @@
+// 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 org.wpilib.javacplugin;
+
+import static com.google.testing.compile.CompilationSubject.assertThat;
+import static com.google.testing.compile.Compiler.javac;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.wpilib.javacplugin.CompileTestOptions.kJavaVersionOptions;
+
+import com.google.testing.compile.Compilation;
+import com.google.testing.compile.JavaFileObjects;
+import org.junit.jupiter.api.Test;
+
+class ReturnValueUsedListenerTest {
+  @Test
+  void nodiscardReturnValueIsUsed() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard
+          int getI() { return 0; }
+
+          void usage() {
+            int i = getI();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void nodiscardReturnValueUnused() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard
+          int getI() { return 0; }
+
+          void usage() {
+            getI();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals("Result of @NoDiscard method is ignored", error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnClass() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @NoDiscard
+        class Example {
+          Example getExample() { return new Example(); }
+
+          void usage() {
+            getExample();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals(
+        "Result of method returning @NoDiscard type frc.robot.Example is ignored",
+        error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnClassCustomMessage() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @NoDiscard("Custom message")
+        class Example {
+          Example getExample() { return new Example(); }
+
+          void usage() {
+            getExample();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals("Custom message", error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnClassAndMethod() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @NoDiscard
+        class Example {
+          @NoDiscard
+          Example getExample() { return new Example(); }
+
+          void usage() {
+            getExample();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(2, compilation.errors().size());
+    var error1 = compilation.errors().get(0);
+    var error2 = compilation.errors().get(1);
+    assertEquals("Result of @NoDiscard method is ignored", error1.getMessage(null));
+    assertEquals(
+        "Result of method returning @NoDiscard type frc.robot.Example is ignored",
+        error2.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnInheritedClass() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @NoDiscard("Objects of type `Base` must be used")
+        abstract class Base { }
+
+        class Example extends Base {
+          Example getExample() { return new Example(); }
+
+          void usage() {
+            getExample();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals("Objects of type `Base` must be used", error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnSingleInterface() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @NoDiscard("Objects implementing `I` must be used")
+        interface I { }
+
+        class Example implements I {
+          Example getExample() { return new Example(); }
+
+          void usage() {
+            getExample();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals("Objects implementing `I` must be used", error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnMultipleInterfaces() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @NoDiscard("Objects implementing `I` must be used")
+        interface I { }
+
+        @NoDiscard("Objects implementing `I2` must be used")
+        interface I2 { }
+
+        class Example implements I, I2 {
+          Example getExample() { return new Example(); }
+
+          void usage() {
+            getExample();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(2, compilation.errors().size());
+    var error1 = compilation.errors().get(0);
+    var error2 = compilation.errors().get(1);
+    assertEquals("Objects implementing `I` must be used", error1.getMessage(null));
+    assertEquals("Objects implementing `I2` must be used", error2.getMessage(null));
+  }
+
+  @Test
+  void nodiscardCustomMessage() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard("Custom message")
+          int getI() { return 0; }
+
+          void usage() {
+            getI();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals("Custom message", error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardMessageEmptyString() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard("")
+          int getI() { return 0; }
+
+          void usage() {
+            getI();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals("Result of @NoDiscard method is ignored", error.getMessage(null));
+  }
+
+  @Test
+  void nodiscardOnVoidMethod() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard
+          void voidMethod() { }
+
+          void usage() {
+            voidMethod();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void suppressWarningsOnNoDiscardMethod() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard
+          Object get() { return null; }
+
+          @SuppressWarnings("NoDiscard")
+          void usage() {
+            get();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void suppressWarningsAllOnNoDiscardMethod() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          @NoDiscard
+          Object get() { return null; }
+
+          @SuppressWarnings("all")
+          void usage() {
+            get();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void suppressWarningsOnNoDiscardClass() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @SuppressWarnings("NoDiscard")
+        class Example {
+          @NoDiscard
+          Object get() { return null; }
+
+          void usage() {
+            get();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void suppressWarningsAllOnNoDiscardClass() {
+    String source =
+        """
+        package frc.robot;
+
+        import org.wpilib.annotation.NoDiscard;
+
+        @SuppressWarnings("all")
+        class Example {
+          @NoDiscard
+          Object get() { return null; }
+
+          void usage() {
+            get();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void commandsv2CommandFactoryResultIsAssigned() {
+    String source =
+        """
+        package frc.robot;
+
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.Commands;
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          Command getCommand() {
+            return Commands.print("");
+          }
+
+          void usage() {
+            Command theCommand = getCommand();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void commandsv2CommandFactoryResultIsPassed() {
+    String source =
+        """
+        package frc.robot;
+
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.Commands;
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          Command getCommand() {
+            return Commands.print("");
+          }
+
+          void usage() {
+            System.out.println(getCommand());
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void commandsv2CommandFactoryResultIsChainedAndUsed() {
+    String source =
+        """
+        package frc.robot;
+
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.Commands;
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          Command getCommand() {
+            return Commands.print("");
+          }
+
+          void usage() {
+            Command theCommand = getCommand().withName("The name");
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).succeededWithoutWarnings();
+  }
+
+  @Test
+  void commandsv2CommandFactoryResultNotUsed() {
+    String source =
+        """
+        package frc.robot;
+
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.Commands;
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          Command getCommand() {
+            return Commands.print("");
+          }
+
+          void usage() {
+            getCommand();
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals(
+        "Commands must be used! Did you mean to bind it to a trigger?", error.getMessage(null));
+  }
+
+  @Test
+  void commandsv2CommandFactoryResultIsChainedAndNotUsed() {
+    String source =
+        """
+        package frc.robot;
+
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.Commands;
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          Command getCommand() {
+            return Commands.print("");
+          }
+
+          void usage() {
+            getCommand().withName("The name");
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals(
+        "Commands must be used! Did you mean to bind it to a trigger?", error.getMessage(null));
+  }
+
+  @Test
+  void commandsv2NewCommandInstanceNotUsed() {
+    String source =
+        """
+        package frc.robot;
+
+        import edu.wpi.first.wpilibj2.command.Command;
+        import edu.wpi.first.wpilibj2.command.Commands;
+        import edu.wpi.first.wpilibj2.command.WaitCommand;
+        import org.wpilib.annotation.NoDiscard;
+
+        class Example {
+          void usage() {
+            new WaitCommand(1);
+          }
+        }
+      """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .compile(JavaFileObjects.forSourceString("frc.robot.Example", source));
+
+    assertThat(compilation).failed();
+    assertEquals(1, compilation.errors().size());
+    var error = compilation.errors().get(0);
+    assertEquals(
+        "Commands must be used! Did you mean to bind it to a trigger?", error.getMessage(null));
+  }
+}

msvcruntime/build.gradle

@@ -1,6 +1,5 @@
 import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualStudioLocator
 import org.gradle.internal.os.OperatingSystem
-import org.gradle.util.VersionNumber
 
 plugins {
     id 'cpp'
@@ -69,8 +68,8 @@ if (OperatingSystem.current().isWindows()) {
                     artifact x64ZipTask
 
                     artifactId = "${baseArtifactId}"
-                    groupId artifactGroupId
-                    version wpilibVersioning.version.get()
+                    groupId = artifactGroupId
+                    version = wpilibVersioning.version.get()
                 }
             }
         }

ntcore/.clang-tidy

@@ -44,6 +44,7 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,

ntcore/manualTests/native/client.cpp

@@ -11,20 +11,17 @@
 
 int main() {
   auto inst = nt::GetDefaultInstance();
-  nt::AddLogger(
-      inst,
-      [](const nt::LogMessage& msg) {
-        std::fputs(msg.message.c_str(), stderr);
-        std::fputc('\n', stderr);
-      },
-      0, UINT_MAX);
-  nt::StartClient(inst, "127.0.0.1", 10000);
+  nt::AddLogger(inst, 0, UINT_MAX, [](const nt::Event& event) {
+    std::fputs(event.GetLogMessage()->message.c_str(), stderr);
+    std::fputc('\n', stderr);
+  });
+  nt::StartClient4(inst, "127.0.0.1");
   std::this_thread::sleep_for(std::chrono::seconds(2));
 
   auto foo = nt::GetEntry(inst, "/foo");
   auto foo_val = nt::GetEntryValue(foo);
-  if (foo_val && foo_val->IsDouble()) {
-    std::printf("Got foo: %g\n", foo_val->GetDouble());
+  if (foo_val && foo_val.IsDouble()) {
+    std::printf("Got foo: %g\n", foo_val.GetDouble());
   }
 
   auto bar = nt::GetEntry(inst, "/bar");

ntcore/manualTests/native/server.cpp

@@ -11,14 +11,11 @@
 
 int main() {
   auto inst = nt::GetDefaultInstance();
-  nt::AddLogger(
-      inst,
-      [](const nt::LogMessage& msg) {
-        std::fputs(msg.message.c_str(), stderr);
-        std::fputc('\n', stderr);
-      },
-      0, UINT_MAX);
-  nt::StartServer(inst, "persistent.ini", "", 10000);
+  nt::AddLogger(inst, 0, UINT_MAX, [](const nt::Event& event) {
+    std::fputs(event.GetLogMessage()->message.c_str(), stderr);
+    std::fputc('\n', stderr);
+  });
+  nt::StartServer(inst, "persistent.ini", "", 10000, 10001);
   std::this_thread::sleep_for(std::chrono::seconds(1));
 
   auto foo = nt::GetEntry(inst, "/foo");

ntcore/src/generate/main/java/EntryImpl.java.jinja

@@ -9,7 +9,6 @@ package edu.wpi.first.networktables;
 import java.nio.ByteBuffer;
 {% endif %}
 /** NetworkTables {{ TypeName }} implementation. */
-@SuppressWarnings("PMD.ArrayIsStoredDirectly")
 final class {{ TypeName }}EntryImpl extends EntryBase implements {{ TypeName }}Entry {
   /**
    * Constructor.

ntcore/src/generate/main/java/GenericSubscriber.java.jinja

@@ -9,7 +9,6 @@ package edu.wpi.first.networktables;
 import java.util.function.Supplier;
 
 /** NetworkTables generic subscriber. */
-@SuppressWarnings("PMD.MissingOverride")
 public interface GenericSubscriber extends Subscriber, Supplier<NetworkTableValue> {
   /**
    * Get the corresponding topic.

ntcore/src/generate/main/java/NetworkTableValue.java.jinja

@@ -9,7 +9,7 @@ package edu.wpi.first.networktables;
 import java.util.Objects;
 
 /** A network table entry value. */
-@SuppressWarnings({"UnnecessaryParentheses", "PMD.MethodReturnsInternalArray"})
+@SuppressWarnings("UnnecessaryParentheses")
 public final class NetworkTableValue {
   NetworkTableValue(NetworkTableType type, Object value, long time, long serverTime) {
     m_type = type;
@@ -176,7 +176,6 @@ public final class NetworkTableValue {
     return out;
   }
 
-  @SuppressWarnings("PMD.AvoidArrayLoops")
   static double[] toNativeDoubleArray(Number[] arr) {
     double[] out = new double[arr.length];
     for (int i = 0; i < arr.length; i++) {
@@ -185,7 +184,6 @@ public final class NetworkTableValue {
     return out;
   }
 
-  @SuppressWarnings("PMD.AvoidArrayLoops")
   static long[] toNativeIntegerArray(Number[] arr) {
     long[] out = new long[arr.length];
     for (int i = 0; i < arr.length; i++) {
@@ -194,7 +192,6 @@ public final class NetworkTableValue {
     return out;
   }
 
-  @SuppressWarnings("PMD.AvoidArrayLoops")
   static float[] toNativeFloatArray(Number[] arr) {
     float[] out = new float[arr.length];
     for (int i = 0; i < arr.length; i++) {

ntcore/src/generate/main/java/Subscriber.java.jinja

@@ -9,7 +9,6 @@ package edu.wpi.first.networktables;
 import {{ java.SupplierFunctionPackage|default('java.util.function') }}.{{ java.FunctionTypePrefix }}Supplier;
 
 /** NetworkTables {{ TypeName }} subscriber. */
-@SuppressWarnings("PMD.MissingOverride")
 public interface {{ TypeName }}Subscriber extends Subscriber, {{ java.FunctionTypePrefix }}Supplier{{ java.FunctionTypeSuffix }} {
   /**
    * Get the corresponding topic.

ntcore/src/generate/main/java/Timestamped.java.jinja

@@ -7,7 +7,6 @@
 package edu.wpi.first.networktables;
 
 /** NetworkTables timestamped {{ TypeName }}. */
-@SuppressWarnings("PMD.ArrayIsStoredDirectly")
 public final class Timestamped{{ TypeName }} {
   /**
    * Create a timestamped value.

ntcore/src/generated/main/java/edu/wpi/first/networktables/BooleanArrayEntryImpl.java

@@ -7,7 +7,6 @@
 package edu.wpi.first.networktables;
 
 /** NetworkTables BooleanArray implementation. */
-@SuppressWarnings("PMD.ArrayIsStoredDirectly")
 final class BooleanArrayEntryImpl extends EntryBase implements BooleanArrayEntry {
   /**
    * Constructor.

ntcore/src/generated/main/java/edu/wpi/first/networktables/BooleanArraySubscriber.java

@@ -9,7 +9,6 @@ package edu.wpi.first.networktables;
 import java.util.function.Supplier;
 
 /** NetworkTables BooleanArray subscriber. */
-@SuppressWarnings("PMD.MissingOverride")
 public interface BooleanArraySubscriber extends Subscriber, Supplier<boolean[]> {
   /**
    * Get the corresponding topic.