[wpimath] Add limit setters to SlewRateLimiter (#8581)

This is just #7793 with requested changes applied.

.bazelrc

@@ -2,13 +2,6 @@ try-import %workspace%/bazel_auth.rc
 try-import %workspace%/user.bazelrc
 
 common --noenable_bzlmod
-# Resolves to --config=linux on Linux, --config=macos on Mac, --windows on windows
-common --enable_platform_specific_config
-
-# Make bazel 8 work for us.
-common --enable_workspace
-build --experimental_cc_static_library
-build --experimental_cc_shared_library
 
 build --java_language_version=17
 build --java_runtime_version=roboriojdk_17
@@ -19,6 +12,7 @@ test --test_output=errors
 test --test_verbose_timeout_warnings
 
 import %workspace%/shared/bazel/compiler_flags/sanitizers.rc
+import %workspace%/shared/bazel/compiler_flags/base_linux_flags.rc
 import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
 import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
 import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
@@ -61,9 +55,3 @@ build:ci --config=build_buddy
 build:ci --remote_download_minimal
 
 build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git
-
-common --define="WPILIB_VERSION=2025.424242.3.1-unknown"
-
-# List of artifact types to build in CI.
-# Anything else gets skipped to speed up CI.
-common:ci --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"

.bazelversion

@@ -1 +1 @@
-8.2.1
+7.3.1

.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/actions/pregen/action.yml

@@ -18,6 +18,9 @@ runs:
         wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
         chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       shell: bash
+    - name: Regenerate hal
+      run: ./hal/generate_usage_reporting.py
+      shell: bash
 
     - name: Regenerate ntcore
       run: ./ntcore/generate_topics.py

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

@@ -8,7 +8,6 @@ inputs:
 runs:
   using: "composite"
   steps:
-    # Sets up build buddy when no secret is found for the API key. This is most likely because this is triggered from an action from a fork instead of the main allwpilib repo.
     - name: Setup without key
       env:
         API_KEY: ${{ inputs.token }}
@@ -18,16 +17,6 @@ runs:
           echo "No API key secret detected, will setup readonly cache"
           echo "build:ci --config=build_buddy_readonly" > bazel_auth.rc
 
-          # Set up the readonly key only if this build is for a pull request. Push builds happen in the forks repository,
-          # so the user should set their own buildbuddy api keys up there. Only enabling it for PR's should reduce heavy
-          # and more random load on the cache.
-          if [ "${{ github.event_name }}" = "pull_request" ]; then
-            echo "Assuming this is a pull request from a fork. Setting up the readonly api key"
-            echo "build:ci --remote_header=x-buildbuddy-api-key=QIOV65PTW1tVal3AJbe7" >> bazel_auth.rc
-          else
-            echo "Not setting up readonly key for trigger ${{ github.event_name }} since this is not a pull request, it is most likely a forks push. See the buildbuddy setup guide in README-Bazel.md to set up caching on your fork"
-          fi
-
     - name: Set with key
       env:
         API_KEY: ${{ inputs.token }}

.github/labeler.yml

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

.github/workflows/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/bazel.yml

@@ -37,7 +37,7 @@ jobs:
 
   build-mac:
     name: "Mac"
-    runs-on: macos-14
+    runs-on: macOS-15
     steps:
       - uses: actions/checkout@v4
         with: { fetch-depth: 0 }
@@ -48,7 +48,7 @@ jobs:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: bazel test (release)
-        run: bazel test -k ...   --config=ci -c opt --nojava_header_compilation --verbose_failures
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
         shell: bash
 
   build-linux:
@@ -56,10 +56,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - { name: "Linux",      os: ubuntu-24.04,   container: "wpilib/ubuntu-base:24.04", action: "test",   config: "",    }
+          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
     name: "${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
     steps:
       - uses: actions/checkout@v4
         with: { fetch-depth: 0 }
@@ -70,18 +70,12 @@ jobs:
         with:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
-      - uses: bazel-contrib/setup-bazel@0.15.0
-        with:
-          bazelisk-cache: true
-          repository-cache: true
-          bazelisk-version: 1.x
-
       - name: bazel ${{ matrix.action }} (release)
         run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
 
   buildifier:
     name: "buildifier"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Set up Go 1.15.x
         uses: actions/setup-go@v5

.github/workflows/cmake-android.yml

@@ -16,10 +16,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-22.04
             name: Android Arm64
             abi: arm64-v8a
-          - os: ubuntu-24.04
+          - os: ubuntu-22.04
             name: Android X64
             abi: "x86_64"
 
@@ -30,7 +30,7 @@ jobs:
       - uses: nttld/setup-ndk@v1
         id: setup-ndk
         with:
-          ndk-version: r27c
+          ndk-version: r27d
           add-to-path: false
 
       - uses: actions/setup-java@v4
@@ -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/cmake.yml

@@ -16,11 +16,11 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-22.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2025-24.04
+            container: wpilib/roborio-cross-ubuntu:2025-22.04
             flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-14
+          - os: macOS-15
             name: macOS
             container: ""
             env: ""
@@ -36,7 +36,7 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
@@ -59,7 +59,7 @@ jobs:
         uses: lukka/run-vcpkg@v11.5
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17
 
       - name: configure
         run: cmake ${{ matrix.flags }}

.github/workflows/documentation.yml

@@ -1,72 +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-24.04
-    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v4
-        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: Set environment variables (2027)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=2027" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '2027')
-      - name: Build with Gradle
-        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Install SSH Client 🔑
-        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

@@ -19,20 +19,20 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2025-24.04
-            artifact-name: SystemCore
-            build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:24.04
+          - container: wpilib/ubuntu-base:22.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
     steps:
       - name: Free Disk Space
@@ -50,13 +50,13 @@ jobs:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v2027')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: df . && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
@@ -98,11 +98,17 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32FFI
+            architecture: x86
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
           - os: windows-2022
             artifact-name: Win64FFI
             architecture: x64
@@ -129,22 +135,25 @@ jobs:
           keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
       - name: Set Keychain Lock Timeout
         run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
-        if: startsWith(github.ref, 'refs/tags/v2027')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -153,10 +162,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -166,13 +175,13 @@ jobs:
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
@@ -180,7 +189,7 @@ jobs:
 
   build-documentation:
     name: "Build - Documentation"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
     steps:
       - uses: actions/checkout@v4
@@ -192,9 +201,9 @@ jobs:
           java-version: 17
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v2027')
+        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 }}
@@ -203,15 +212,77 @@ 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]
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Free Disk Space
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -224,48 +295,48 @@ jobs:
       - uses: actions/checkout@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
       - uses: actions/setup-java@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           distribution: 'temurin'
           java-version: 17
-      - name: Combine (2027)
+      - name: Combine (Main)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          github.ref == 'refs/heads/2027'
-        run: cd combiner && ./gradlew publish -Pallwpilib -Pbuild2027
+          github.ref == 'refs/heads/main'
+        run: cd combiner && ./gradlew publish -Pallwpilib
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (2027 Release)
+      - name: Combine (Release)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v2027')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish -Pbuild2027
+          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
@@ -273,7 +344,25 @@ jobs:
       - uses: actions/upload-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           name: Maven
           path: ~/releases
+
+  dispatch:
+    name: dispatch
+    needs: [combine]
+    strategy:
+      matrix:
+        repo: ['SmartDashboard', 'PathWeaver', 'Shuffleboard', 'RobotBuilder']
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+        with:
+          token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}
+          repository: wpilibsuite/${{ matrix.repo }}
+          event-type: tag
+          client-payload: '{"package_name": "allwpilib", "package_version": "${{ github.ref_name }}"}'

.github/workflows/lint-format.yml

@@ -20,7 +20,7 @@ jobs:
 
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -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==2025.36
       - name: Run
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
@@ -59,9 +59,9 @@ jobs:
 
   tidy:
     name: "clang-tidy"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
-    container: wpilib/ubuntu-base:24.04
+    container: wpilib/ubuntu-base:22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -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==2025.36
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
@@ -92,9 +92,9 @@ jobs:
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
   javaformat:
     name: "Java format"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
-    container: wpilib/ubuntu-base:24.04
+    container: wpilib/ubuntu-base:22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -123,18 +123,3 @@ jobs:
           echo '' >> $GITHUB_STEP_SUMMARY
           echo '```' >> $GITHUB_STEP_SUMMARY
         if: ${{ failure() }}
-
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-24.04
-    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/pregenerate.yml

@@ -13,7 +13,7 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/sanitizers.yml

@@ -33,7 +33,7 @@ jobs:
     container: wpilib/roborio-cross-ubuntu:2025-24.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-18 libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.9
@@ -41,7 +41,7 @@ jobs:
       - uses: actions/checkout@v4
 
       - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-17 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-17 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
         env:
           SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/sentinel-build.yml

@@ -23,20 +23,20 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-24.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:24.04
+          - container: wpilib/ubuntu-base:22.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
     steps:
       - name: Free Disk Space
@@ -53,11 +53,11 @@ jobs:
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          run: df . && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
       - uses: actions/upload-artifact@v4
@@ -97,11 +97,23 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32FFI
+            architecture: x86
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
+            outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     needs: [validation]
@@ -126,12 +138,15 @@ jobs:
         run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -140,10 +155,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Sign Libraries with Developer ID
@@ -155,7 +170,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}

.github/workflows/tools.yml

@@ -0,0 +1,196 @@
+name: Tools
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  YEAR: 2026
+
+jobs:
+  build-artifacts:
+    name: "Build - WPILib"
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: gradle/actions/wrapper-validation@v4
+      - name: Build WPILib with Gradle
+        uses: wpilibsuite/docker-run-action@v4
+        with:
+          image: wpilib/roborio-cross-ubuntu:2025-22.04
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
+          run: df . && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+      - uses: actions/upload-artifact@v4
+        with:
+          name: MavenArtifacts
+          path: |
+            development
+          retention-days: 1
+
+  Robotbuilder:
+    name: "Build - RobotBuilder"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/robotbuilder
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - name: Patch RobotBuilder to use local development
+        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
+      - name: Install and run xvfb
+        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Build RobotBuilder with Gradle
+        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
+      - name: Summarize RobotBuilder Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
+        with:
+          files: |
+            build/test-results/test/TEST*.xml
+          check_run: false
+          comment_mode: off
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: RobotBuilderTestResults
+          path: |
+            build/reports/
+      - uses: actions/upload-artifact@v4
+        with:
+          name: RobotBuilder Build
+          path: |
+            build/libs/
+          retention-days: 7
+
+  Shuffleboard:
+    name: "Build - Shuffleboard"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/shuffleboard
+          fetch-depth: 0
+      - name: Patch Shuffleboard to use local development
+        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" app/app.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/cameraserver/cameraserver.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/networktables/networktables.gradle
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Install dependencies
+        run: sudo apt-get install -y libgtk2.0-0
+      - name: Build with Gradle
+        run: ./gradlew build -x Javadoc
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Shuffleboard Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+  PathWeaver:
+    name: "Build - PathWeaver"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/PathWeaver
+          fetch-depth: 0
+      - name: Patch PathWeaver to use local development
+        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Build with Gradle
+        run: ./gradlew build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: PathWeaver Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+#  Robotpy:
+#    name: "Build - Robotpy"
+#    needs: [build-artifacts]
+#    runs-on: ubuntu-22.04
+#    steps:
+#    - uses: actions/checkout@v4
+#      with:
+#        repository: robotpy/mostrobotpy
+#        fetch-depth: 0
+#    - uses: actions/download-artifact@v4
+#      with:
+#        name: MavenArtifacts
+#    - name: Move artifacts
+#      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+#
+#    - uses: actions/setup-python@v5
+#      with:
+#        python-version: 3.13
+#
+#    - name: Install sccache
+#      uses: mozilla-actions/sccache-action@v0.0.9
+#
+#    - name: Install deps
+#      shell: bash
+#      run: |
+#        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
+#
+#    - name: Install numpy (needed for stubgen but broken in raspbian CI)
+#      shell: bash
+#      run: |
+#        python -m pip --disable-pip-version-check install numpy
+#    - name: Patch RobotPy rdev to use local development
+#      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
+#    - name: Build + test wheels
+#      shell: bash
+#      run: |
+#        ./rdev.sh ci run
+#      env:
+#        RPYBUILD_STRIP_LIBPYTHON: "1"
+#        RPYBUILD_CC_LAUNCHER: sccache
+#        SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+#        SCCACHE_WEBDAV_KEY_PREFIX: "sccache-robotpy"
+#        SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+#        SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/upstream-utils.yml

@@ -13,7 +13,7 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -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

.styleguide

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

BUILD.bazel

@@ -1,52 +0,0 @@
-load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
-load("@rules_pkg//:mappings.bzl", "pkg_files")
-load("@rules_python//python:pip.bzl", "compile_pip_requirements")
-
-pkg_files(
-    name = "license_pkg_files",
-    srcs = [
-        "LICENSE.md",
-        "ThirdPartyNotices.txt",
-    ],
-    visibility = ["//visibility:public"],
-)
-
-# bazel build //:requirements.lock
-compile_pip_requirements(
-    name = "requirements",
-    extra_args = ["--allow-unsafe"],
-    requirements_in = "requirements.txt",
-    requirements_txt = "requirements_lock.txt",
-    # compile_pip_requirements does not respect target_compatible_with for some of the targets it generates under the hood
-    tags = ["no-systemcore"],
-)
-
-alias(
-    name = "quickbuf_protoc",
-    actual = select({
-        "@bazel_tools//src/conditions:windows": "@quickbuffer_protoc_windows//file",
-        "@rules_bzlmodrio_toolchains//conditions:osx_aarch64": "@quickbuffer_protoc_osx_aarch64//file",
-        "@rules_bzlmodrio_toolchains//conditions:osx_x86_64": "@quickbuffer_protoc_osx_x86-64//file",
-        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
-    }),
-    tags = ["pregeneration"],
-    visibility = ["//visibility:public"],
-)
-
-# This is a helper to run all of the pregeneration scripts at once.
-write_source_files(
-    name = "write_all",
-    additional_update_targets = [
-        "//hal:write_hal",
-        "//ntcore:write_ntcore",
-        "//wpilibc:write_wpilibc",
-        "//wpilibcExamples:write_example_project_list",
-        "//wpilibj:write_wpilibj",
-        "//wpilibjExamples:write_example_project_list",
-        "//wpilibNewCommands:write_wpilib_new_commands",
-        "//wpimath:write_wpimath",
-        "//wpiunits:write_wpiunits",
-        "//wpiutil:write_wpiutil",
-    ],
-    tags = ["pregeneration"],
-)

CMakeLists.txt

@@ -289,11 +289,10 @@ 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)
 
-add_subdirectory(datalog)
-
 if(WITH_NTCORE)
     set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
     set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
@@ -310,6 +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})
@@ -327,6 +330,7 @@ if(WITH_GUI)
         add_subdirectory(wpical)
     endif()
     if(LIBSSH_FOUND)
+        add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
     endif()
 endif()
@@ -347,7 +351,9 @@ endif()
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
     set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)

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

DevelopmentBuilds.md

@@ -13,7 +13,7 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2026 GradleRIO version, ie `2026.1.1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -28,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 C++
@@ -42,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 ### Development Build Documentation
@@ -64,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
@@ -78,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2025 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README-Bazel.md

@@ -23,32 +23,3 @@ Examples:
   build --local_ram_resources=HOST_RAM*.5 # Don't use more than half my RAM when building
   build --local_cpu_resources=HOST_CPUS-1 # Leave one core alone
   ```
-
-The default settings build all the release artifact variants relevant for your platform.  The overall list of options ends up being, essentially, all the variants of (linux, osx, windows) x (debug, release) x (static, shared) x (aarch64, x86).  OSX and Windows are hard to compile for from any other OS, so we by default build for your local OS and the system core, with all the variants.
-
-This can be a bit expensive.  If you would like to build a subset, you can specify the repo environmental variable, `WPI_PUBLISH_CLASSIFIER_FILTER`, and pick what you build for.  The default is, in the .bazelrc file,
-```
-common --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
-```
-
-Modify this to your likings if you want to build less.
-
-## Pregenerating Files
-allwpilib uses extensive use of pre-generating files that are later used to build C++ / Java libraries that are tracked by version control. Quite often,
-these pre-generation scripts use some configuration file to create multipile files inside of an output directory. While this process could be accomplished
-with a `genrule` that would require an explicit listing of every output file, which would be tedious to maintain as well as potentially confusing to people
-adding new features those libraries. Therefor, we use `@aspect_bazel_lib` and their `write_source_files` feature to generate these directories. In the event that the generation process creates more than a small handful of predictable files, a custom rule is written to generate the directory.
-
-## Remote Caching
-One of the huge benefits of bazel is its remote caching ability. However, due to bazels strict build definitions it is hard to share remote cache artifacts between different computers unless our toolchains are fully hermetic, which means you are unlikely to be able to reuse the cache artifacts published from the `main` branch on your local machine like you might be able to with the `gradle` or `cmake` caches. Luckily the github actions CI machines are generally stable between runs and can reuse cache artifacts, and your local machine should remain stable, so if you set up a free buildbuddy account you can have your forks CI actions be able to use a personalized cache, as well as your local machine.
-
-For the main `allwpilib` upstream, the cache is only updated on the main branch; pull requests from forks will not be able to modify the cache. However, you can set up your fork to enable its own cache by following the steps below.
-
-### Setting Up API keys
-Follow the [buildbuddy authentication](https://www.buildbuddy.io/docs/guide-auth) guide to create keys. For your local machine, it is recommended that you place the following configuration line in either a `user.bazelrc` or `bazel_auth.rc` file in the repositories root directory.
-
-```
-build --remote_header=<your api key>
-```
-
-To get your forks CI actions using your own buildbuddy cache, follow [GitHub's](https://docs.github.com/en/actions/how-tos/security-for-github-actions/security-guides/using-secrets-in-github-actions) documentation for setting up a repository secret. The secrets key should be `BUILDBUDDY_API_KEY`, and the value should be your buildbuddy API key.

README-CMake.md

@@ -24,6 +24,7 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * datalogtool
 * glass
 * outlineviewer
+* roborioteamnumbersetter
 * sysid
 * halsim_gui (if simulation extensions are enabled)
 

README.md

@@ -50,7 +50,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS 13.3 or newer, install Xcode 14 or later (the command-line build tools are insufficient).
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
@@ -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

@@ -1,235 +1,43 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file")
-
-http_archive(
-    name = "bazel_features",
-    sha256 = "a015f3f2ebf4f1ac3f4ca8ea371610acb63e1903514fa8725272d381948d2747",
-    strip_prefix = "bazel_features-1.31.0",
-    url = "https://github.com/bazel-contrib/bazel_features/releases/download/v1.31.0/bazel_features-v1.31.0.tar.gz",
-)
-
-# TODO(austin): Upgrade when the patches land.
-# https://github.com/bazelbuild/rules_cc/pull/430
-# https://github.com/bazelbuild/rules_cc/pull/431
-# https://github.com/bazelbuild/rules_cc/pull/432
-http_archive(
-    name = "rules_cc",
-    patch_args = ["-p1"],
-    patches = ["//:shared/bazel/patches/rules_cc_windows.patch"],
-    sha256 = "712d77868b3152dd618c4d64faaddefcc5965f90f5de6e6dd1d5ddcd0be82d42",
-    strip_prefix = "rules_cc-0.1.1",
-    url = "https://github.com/bazelbuild/rules_cc/releases/download/0.1.1/rules_cc-0.1.1.tar.gz",
-)
-
-# TODO(austinschuh): Update to the next released apple_support once it lands.
-# This needs to contain https://github.com/bazelbuild/apple_support/commit/7009b77c98a67d3fea081c9db4dbcee8effc3b7e and should be the next release after 1.22.1
-http_archive(
-    name = "build_bazel_apple_support",
-    sha256 = "7d542be113180bc1da3660e51fe4792a867fb85537c9ef36a0d3366665a76803",
-    strip_prefix = "apple_support-7009b77c98a67d3fea081c9db4dbcee8effc3b7e",
-    url = "https://github.com/bazelbuild/apple_support/archive/7009b77c98a67d3fea081c9db4dbcee8effc3b7e.tar.gz",
-)
-
-http_archive(
-    name = "rules_java",
-    sha256 = "d31b6c69e479ffa45460b64dc9c7792a431cac721ef8d5219fc9f603fa2ff877",
-    urls = [
-        "https://github.com/bazelbuild/rules_java/releases/download/8.11.0/rules_java-8.11.0.tar.gz",
-    ],
-)
-
-http_archive(
-    name = "rules_pkg",
-    sha256 = "cad05f864a32799f6f9022891de91ac78f30e0fa07dc68abac92a628121b5b11",
-    urls = [
-        "https://github.com/bazelbuild/rules_pkg/releases/download/1.0.0/rules_pkg-1.0.0.tar.gz",
-    ],
-)
-
-# Rules Python
-http_archive(
-    name = "rules_python",
-    sha256 = "9f9f3b300a9264e4c77999312ce663be5dee9a56e361a1f6fe7ec60e1beef9a3",
-    strip_prefix = "rules_python-1.4.1",
-    url = "https://github.com/bazel-contrib/rules_python/releases/download/1.4.1/rules_python-1.4.1.tar.gz",
-)
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 
 # Download Extra java rules
 http_archive(
     name = "rules_jvm_external",
-    sha256 = "4f55980c25d0783b9fe43b049362018d8d79263476b5340a5491893ffcc06ab6",
-    strip_prefix = "rules_jvm_external-30899314873b6ec69dc7d02c4457fbe52a6e535d",
-    url = "https://github.com/bazel-contrib/rules_jvm_external/archive/30899314873b6ec69dc7d02c4457fbe52a6e535d.tar.gz",
+    sha256 = "08ea921df02ffe9924123b0686dc04fd0ff875710bfadb7ad42badb931b0fd50",
+    strip_prefix = "rules_jvm_external-6.1",
+    url = "https://github.com/bazelbuild/rules_jvm_external/releases/download/6.1/rules_jvm_external-6.1.tar.gz",
 )
 
-# Setup aspect lib
-http_archive(
-    name = "aspect_bazel_lib",
-    sha256 = "a8a92645e7298bbf538aa880131c6adb4cf6239bbd27230f077a00414d58e4ce",
-    strip_prefix = "bazel-lib-2.7.2",
-    url = "https://github.com/aspect-build/bazel-lib/releases/download/v2.7.2/bazel-lib-v2.7.2.tar.gz",
-)
-
-# Download toolchains
-http_archive(
-    name = "rules_bzlmodrio_toolchains",
-    sha256 = "37780b3d3f30de72aaca12d9f80edc4216f6d708bed5b261c424d4dde49e8531",
-    url = "https://github.com/wpilibsuite/rules_bzlmodrio_toolchains/releases/download/2025-1.bcr4/rules_bzlmodrio_toolchains-2025-1.bcr4.tar.gz",
-)
-
-load("@bazel_features//:deps.bzl", "bazel_features_deps")
-
-bazel_features_deps()
-
-load("@build_bazel_apple_support//lib:repositories.bzl", "apple_support_dependencies")
-
-apple_support_dependencies()
-
-load("@rules_cc//cc:repositories.bzl", "rules_cc_toolchains")
-
-rules_cc_toolchains()
-
-load("@rules_java//java:rules_java_deps.bzl", "rules_java_dependencies")
-
-rules_java_dependencies()
-
-# note that the following line is what is minimally required from protobuf for the java rules
-# consider using the protobuf_deps() public API from @com_google_protobuf//:protobuf_deps.bzl
-load("@com_google_protobuf//bazel/private:proto_bazel_features.bzl", "proto_bazel_features")  # buildifier: disable=bzl-visibility
-
-proto_bazel_features(name = "proto_bazel_features")
-
-# register toolchains
-load("@rules_java//java:repositories.bzl", "rules_java_toolchains")
-
-rules_java_toolchains()
-
-load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_toolchains")
-
-py_repositories()
-
-python_register_toolchains(
-    name = "python_3_10",
-    ignore_root_user_error = True,
-    python_version = "3.10",
-)
-
-load("@rules_python//python:pip.bzl", "pip_parse")
-
-pip_parse(
-    name = "allwpilib_pip_deps",
-    python_interpreter_target = "@python_3_10_host//:python",
-    requirements_lock = "//:requirements_lock.txt",
-)
-
-load("@allwpilib_pip_deps//:requirements.bzl", "install_deps")
-
-install_deps()
-
 load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
 
 rules_jvm_external_deps()
 
-load("@rules_jvm_external//:setup.bzl", "rules_jvm_external_setup")
-
-rules_jvm_external_setup()
-
 load("@rules_jvm_external//:defs.bzl", "maven_install")
-load("@rules_jvm_external//:specs.bzl", "maven")
 
 maven_artifacts = [
-    "org.ejml:ejml-simple:0.43.1",
-    "com.fasterxml.jackson.core:jackson-annotations:2.15.2",
-    "com.fasterxml.jackson.core:jackson-core:2.15.2",
-    "com.fasterxml.jackson.core:jackson-databind:2.15.2",
-    "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
-    "com.google.code.gson:gson:2.10.1",
-    maven.artifact(
-        "org.junit.jupiter",
-        "junit-jupiter",
-        "5.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.junit.platform",
-        "junit-platform-console",
-        "1.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.junit.platform",
-        "junit-platform-launcher",
-        "1.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.junit.platform",
-        "junit-platform-reporting",
-        "1.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "com.google.code.gson",
-        "gson",
-        "2.10.1",
-        testonly = False,
-    ),
-    maven.artifact(
-        "org.hamcrest",
-        "hamcrest-all",
-        "1.3",
-        testonly = True,
-    ),
-    maven.artifact(
-        "com.googlecode.junit-toolbox",
-        "junit-toolbox",
-        "2.4",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.apache.ant",
-        "ant",
-        "1.10.12",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.apache.ant",
-        "ant-junit",
-        "1.10.12",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.mockito",
-        "mockito-core",
-        "4.1.0",
-        testonly = True,
-    ),
-    maven.artifact(
-        "com.google.testing.compile",
-        "compile-testing",
-        "0.21.0",
-        testonly = True,
-    ),
+    "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(
     name = "maven",
     artifacts = maven_artifacts,
-    maven_install_json = "//:maven_install.json",
     repositories = [
         "https://repo1.maven.org/maven2",
         "https://frcmaven.wpi.edu/artifactory/release/",
     ],
 )
 
-load("@maven//:defs.bzl", "pinned_maven_install")
-
-pinned_maven_install()
-
-load("@aspect_bazel_lib//lib:repositories.bzl", "aspect_bazel_lib_dependencies", "aspect_bazel_lib_register_toolchains")
-
-aspect_bazel_lib_dependencies()
-
-aspect_bazel_lib_register_toolchains()
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.tar.gz",
+)
 
 load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
 
@@ -242,8 +50,8 @@ load_toolchains()
 #
 http_archive(
     name = "rules_bzlmodrio_jdk",
-    sha256 = "623b8bcdba1c3140f56e940365f011d2e5d90d74c7a30ace6a8817c037c1dd61",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7.bcr1/rules_bzlmodrio_jdk-17.0.12-7.bcr1.tar.gz",
+    sha256 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.tar.gz",
 )
 
 load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
@@ -291,8 +99,8 @@ setup_legacy_bzlmodrio_ni_cpp_dependencies()
 
 http_archive(
     name = "bzlmodrio-opencv",
-    sha256 = "27dff7aaedd00165b1a94867616ebf383220532e3956892cec649197077a9d01",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr3/bzlmodRio-opencv-2025.4.10.0-3.bcr3.tar.gz",
+    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.bcr1.tar.gz",
 )
 
 load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
@@ -304,69 +112,14 @@ load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_j
 setup_legacy_bzlmodrio_opencv_java_dependencies()
 
 http_archive(
-    name = "bzlmodrio-libssh",
-    sha256 = "f8fef627c7b393f7f6ed638e12b80ff90b2cfea11488b15214f25ce1e470723a",
-    url = "https://github.com/wpilibsuite/bzlmodRio-libssh/releases/download/2024.0.105-1.bcr1/bzlmodrio-libssh-2024.0.105-1.bcr1.tar.gz",
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
 )
 
-load("@bzlmodrio-libssh//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_libssh_cpp_dependencies")
-
-setup_legacy_bzlmodrio_libssh_cpp_dependencies()
-
-# Setup quickbuf compiler
-QUICKBUF_VERSION = "1.3.2"
-
-http_file(
-    name = "quickbuffer_protoc_linux",
-    executable = True,
-    sha256 = "f9a041bccaa7040db523666ef1b5fe9f6f94e70a82c88951f18f58aadd9c50b5",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-linux-x86_64.exe",
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
 )
 
-http_file(
-    name = "quickbuffer_protoc_osx_x86-64",
-    executable = True,
-    sha256 = "ea307c2b69664ae7e7c69db4cddf5803187e5a34bceffd09a21652f0f16044f7",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-osx-x86_64.exe   ",
-)
-
-http_file(
-    name = "quickbuffer_protoc_osx_aarch64",
-    executable = True,
-    sha256 = "a9abdee09d8b5ef0aa954b238536917313511deec11e1901994af26ade033e28",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-osx-aarch_64.exe   ",
-)
-
-http_file(
-    name = "quickbuffer_protoc_windows",
-    executable = True,
-    sha256 = "27dc1f29764a62b5e6a813a4bcd63e81bbdc3394da760a44acae1025b4a89f1d",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-windows-x86_64.exe ",
-)
-
-# Setup rules_proto
-http_archive(
-    name = "rules_proto",
-    sha256 = "0e5c64a2599a6e26c6a03d6162242d231ecc0de219534c38cb4402171def21e8",
-    strip_prefix = "rules_proto-7.0.2",
-    url = "https://github.com/bazelbuild/rules_proto/releases/download/7.0.2/rules_proto-7.0.2.tar.gz",
-)
-
-load("@rules_proto//proto:repositories.bzl", "rules_proto_dependencies")
-
-rules_proto_dependencies()
-
-load("@rules_proto//proto:setup.bzl", "rules_proto_setup")
-
-rules_proto_setup()
-
-load("@rules_pkg//:deps.bzl", "rules_pkg_dependencies")
-
-rules_pkg_dependencies()
-
-# Capture the repository environmental variables which specify the filter list for what architectures to build in CI.
-load("//shared/bazel/rules:publishing_rule.bzl", "publishing_repo")
-
-publishing_repo(
-    name = "com_wpilib_allwpilib_publishing_config",
-)
+apple_support_dependencies()

apriltag/BUILD.bazel

@@ -1,20 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary")
-load("@rules_pkg//:mappings.bzl", "pkg_files")
-load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
-load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
-load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
-load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 
-pkg_files(
-    name = "thirdparty-apriltag-src-pkg",
-    srcs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
-    strip_prefix = "src/main/native/thirdparty/apriltag/include",
-)
-
 cc_library(
     name = "thirdparty-apriltag",
     srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
@@ -43,6 +31,7 @@ cc_library(
     }),
     includes = ["src/main/native/thirdparty/apriltag/include/common"],
     strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
+    visibility = ["//visibility:public"],
 )
 
 generate_resources(
@@ -50,78 +39,29 @@ generate_resources(
     namespace = "frc",
     prefix = "APRILTAG",
     resource_files = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
 )
 
-wpilib_cc_library(
-    name = "apriltag",
+cc_library(
+    name = "apriltag.static",
     srcs = [":generate-resources"] + glob(
         ["src/main/native/cpp/**"],
         exclude = ["src/main/native/cpp/jni/**"],
     ),
     hdrs = glob(["src/main/native/include/**/*"]),
-    extra_hdr_pkg_files = [":thirdparty-apriltag-src-pkg"],
-    extra_src_pkg_files = [":apriltag-java-jni-hdrs-pkg"],
-    local_defines = ["WPILIB_EXPORTS"],
+    defines = ["WPILIB_EXPORTS"],
     strip_include_prefix = "src/main/native/include",
     visibility = ["//visibility:public"],
     deps = [
         ":thirdparty-apriltag",
-        "//wpimath",
-        "//wpiutil",
+        "//wpimath:wpimath.static",
+        "//wpiutil:wpiutil.static",
     ],
 )
 
-wpilib_cc_shared_library(
-    name = "shared/apriltag",
-    auto_export_windows_symbols = False,
-    dynamic_deps = [
-        "//wpimath:shared/wpimath",
-        "//wpiutil:shared/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":apriltag",
-    ],
-)
-
-wpilib_cc_static_library(
-    name = "static/apriltag",
-    static_deps = [
-        "//wpimath:static/wpimath",
-        "//wpiutil:static/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":apriltag",
-    ],
-)
-
-wpilib_jni_cc_library(
-    name = "apriltagjni",
-    srcs = glob(["src/main/native/cpp/jni/**"]),
-    java_dep = ":apriltag-java",
-    visibility = ["//visibility:public"],
-    deps = [
-        ":apriltag",
-    ],
-)
-
-wpilib_cc_shared_library(
-    name = "shared/apriltagjni",
-    auto_export_windows_symbols = False,
-    dynamic_deps = [
-        ":shared/apriltag",
-        "//wpimath:shared/wpimath",
-        "//wpiutil:shared/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [":apriltagjni"],
-)
-
-wpilib_jni_java_library(
+java_library(
     name = "apriltag-java",
     srcs = glob(["src/main/java/**/*.java"]),
-    native_libs = [":apriltagjni"],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
@@ -135,23 +75,6 @@ wpilib_jni_java_library(
     ],
 )
 
-pkg_java_files(name = "apriltag-java-srcs")
-
-pkg_files(
-    name = "resources",
-    srcs = glob(["src/main/native/resources/**"]),
-    strip_prefix = "src/main/native/resources/",
-)
-
-pkg_zip(
-    name = "libapriltag-java-sources",
-    srcs = [
-        ":apriltag-java-srcs",
-        ":resources",
-    ],
-    out = "libapriltag-java-sources.jar",
-)
-
 cc_test(
     name = "apriltag-cpp-test",
     size = "small",
@@ -160,22 +83,8 @@ cc_test(
         "no-asan",
     ],
     deps = [
-        ":apriltag",
-        "//thirdparty/googletest",
-    ],
-)
-
-wpilib_java_junit5_test(
-    name = "apriltag-java-test",
-    srcs = glob(["src/test/java/**/*.java"]),
-    resource_strip_prefix = "apriltag/src/test/resources",
-    resources = glob(["src/test/resources/**"]),
-    deps = [
-        ":apriltag-java",
-        "//wpimath:wpimath-java",
-        "//wpiutil:wpiutil-java",
-        "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+        ":apriltag.static",
+        "//thirdparty/googletest:googletest.static",
     ],
 )
 
@@ -183,7 +92,7 @@ cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
     deps = [
-        ":apriltag",
+        ":apriltag.static",
     ],
 )
 
@@ -199,8 +108,5 @@ java_binary(
 py_binary(
     name = "convert_apriltag_layouts",
     srcs = ["convert_apriltag_layouts.py"],
-    target_compatible_with = select({
-        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
-        "//conditions:default": [],
-    }),
+    tags = ["manual"],
 )

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

@@ -17,13 +17,17 @@ public enum AprilTagFields {
   /** 2025 Reefscape Welded (see TU 12). */
   k2025ReefscapeWelded("2025-reefscape-welded.json"),
   /** 2025 Reefscape AndyMark (see TU 12). */
-  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
+  /** 2026 Rebuilt Welded. */
+  k2026RebuiltWelded("2026-rebuilt-welded.json"),
+  /** 2026 Rebuilt AndyMark. */
+  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
+  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

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

@@ -135,6 +135,8 @@ std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
 std::string_view GetResource_2025_reefscape_welded_json();
 std::string_view GetResource_2025_reefscape_andymark_json();
+std::string_view GetResource_2026_rebuilt_welded_json();
+std::string_view GetResource_2026_rebuilt_andymark_json();
 
 }  // namespace frc
 
@@ -156,6 +158,12 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2025ReefscapeAndyMark:
       fieldString = GetResource_2025_reefscape_andymark_json();
       break;
+    case AprilTagField::k2026RebuiltWelded:
+      fieldString = GetResource_2026_rebuilt_welded_json();
+      break;
+    case AprilTagField::k2026RebuiltAndyMark:
+      fieldString = GetResource_2026_rebuilt_andymark_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

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

@@ -24,8 +24,12 @@ enum class AprilTagField {
   k2025ReefscapeAndyMark,
   /// 2025 Reefscape Welded (see TU12).
   k2025ReefscapeWelded,
+  /// 2026 Rebuilt Andymark.
+  k2026RebuiltAndyMark,
+  /// 2026 Rebuilt Welded.
+  k2026RebuiltWelded,
   /// Alias to the current game.
-  kDefaultField = k2025ReefscapeWelded,
+  kDefaultField = k2026RebuiltWelded,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv

@@ -0,0 +1,33 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,467.085,291.791,35,180,0
+2,468.559,182.077,44.25,90,0
+3,444.797,172.321,44.25,180,0
+4,444.797,158.321,44.25,180,0
+5,468.559,134.565,44.25,270,0
+6,467.085,24.851,35,180,0
+7,470.034,24.851,35,0,0
+8,482.559,134.565,44.25,270,0
+9,492.329,144.321,44.25,0,0
+10,492.329,158.321,44.25,0,0
+11,482.559,182.077,44.25,90,0
+12,470.034,291.791,35,0,0
+13,649.58,291.02,21.75,180,0
+14,649.58,274.02,21.75,180,0
+15,649.566,169.783,21.75,180,0
+16,649.566,152.783,21.75,180,0
+17,183.034,24.851,35,0,0
+18,181.559,134.565,44.25,270,0
+19,205.321,144.321,44.25,0,0
+20,205.321,158.321,44.25,0,0
+21,181.559,182.077,44.25,90,0
+22,183.034,291.791,35,0,0
+23,180.085,291.791,35,180,0
+24,167.559,182.077,44.25,90,0
+25,157.79,172.321,44.25,180,0
+26,157.79,158.321,44.25,180,0
+27,167.559,134.565,44.25,270,0
+28,180.085,24.851,35,180,0
+29,0.539,25.621,21.75,0,0
+30,0.539,42.621,21.75,0,0
+31,0.553,146.858,21.75,0,0
+32,0.553,163.858,21.75,0,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json

@@ -0,0 +1,584 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 11.863959,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 11.9013986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.2978438,
+          "y": 4.3769534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 11.2978438,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 11.9013986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 11.863959,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 11.9388636,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 12.2569986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.5051566,
+          "y": 3.6657534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.5051566,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.2569986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
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+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 26,
+      "pose": {
+        "translation": {
+          "x": 4.0218614,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 27,
+      "pose": {
+        "translation": {
+          "x": 4.2700194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 28,
+      "pose": {
+        "translation": {
+          "x": 4.5881798,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 29,
+      "pose": {
+        "translation": {
+          "x": 0.0077469999999999995,
+          "y": 0.6659626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 30,
+      "pose": {
+        "translation": {
+          "x": 0.0077469999999999995,
+          "y": 1.0977626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 31,
+      "pose": {
+        "translation": {
+          "x": 0.0080772,
+          "y": 3.7457125999999996,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 32,
+      "pose": {
+        "translation": {
+          "x": 0.0080772,
+          "y": 4.1775126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.541,
+    "width": 8.069
+  }
+}

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;

azure-pipelines-testbench.yaml

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

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

@@ -11,16 +11,16 @@ buildscript {
 plugins {
     id 'base'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2023.0.1'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
+    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')
@@ -32,7 +32,6 @@ allprojects {
         url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
     }
     }
-    wpilibRepositories.use2027Repos()
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)
     } else {
@@ -40,11 +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
@@ -82,7 +81,7 @@ task libraryBuild() {}
 build.dependsOn outputVersions
 
 task copyAllOutputs(type: Copy) {
-    destinationDir outputsFolder
+    destinationDir = outputsFolder
 }
 
 build.dependsOn copyAllOutputs
@@ -171,5 +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:2025.12.1"
+    implementation "edu.wpi.first:native-utils:2026.0.0"
 }

cameraserver/BUILD.bazel

@@ -1,9 +1,8 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 
-wpilib_cc_library(
-    name = "cameraserver",
+cc_library(
+    name = "cameraserver.static",
     srcs = glob(["src/main/native/cpp/**"]),
     hdrs = glob(["src/main/native/include/**/*"]),
     includes = [
@@ -13,21 +12,11 @@ wpilib_cc_library(
     strip_include_prefix = "src/main/native/include",
     visibility = ["//visibility:public"],
     deps = [
-        "//cscore",
-        "//ntcore",
+        "//cscore:cscore.static",
+        "//ntcore:ntcore.static",
     ],
 )
 
-wpilib_cc_static_library(
-    name = "static/cameraserver",
-    static_deps = [
-        "//cscore:static/cscore",
-        "//ntcore:static/ntcore",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [":cameraserver"],
-)
-
 java_library(
     name = "cameraserver-java",
     srcs = glob(["src/main/java/**/*.java"]),
@@ -35,7 +24,7 @@ java_library(
     deps = [
         "//cscore:cscore-java",
         "//hal:hal-java",
-        "//ntcore:ntcore-java",
+        "//ntcore:networktables-java",
         "//wpimath:wpimath-java",
         "//wpinet:wpinet-java",
         "//wpiutil:wpiutil-java",
@@ -48,8 +37,8 @@ cc_test(
     size = "small",
     srcs = glob(["src/test/native/**"]),
     deps = [
-        ":cameraserver",
-        "//thirdparty/googletest",
+        ":cameraserver.static",
+        "//thirdparty/googletest:googletest.static",
     ],
 )
 
@@ -57,7 +46,7 @@ cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
     deps = [
-        ":cameraserver",
+        ":cameraserver.static",
     ],
 )
 

cameraserver/multiCameraServer/BUILD.bazel

@@ -8,7 +8,7 @@ java_binary(
         "//cameraserver:cameraserver-java",
         "//cscore:cscore-java",
         "//hal:hal-java",
-        "//ntcore:ntcore-java",
+        "//ntcore:networktables-java",
         "//wpimath:wpimath-java",
         "//wpiutil:wpiutil-java",
         "@maven//:com_google_code_gson_gson",

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')
@@ -61,6 +61,9 @@ model {
                 lib project: ':cscore', library: 'cscore', linkage: 'static'
                 lib project: ':wpinet', library: 'wpinet', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                    nativeUtils.useRequiredLibrary(binary, 'ni_link_libraries', 'ni_runtime_libraries')
+                }
             }
         }
     }

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

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

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

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

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+import edu.wpi.first.cscore.AxisCamera;
 import edu.wpi.first.cscore.CameraServerJNI;
 import edu.wpi.first.cscore.CvSink;
 import edu.wpi.first.cscore.CvSource;
@@ -45,7 +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;
@@ -65,7 +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();
@@ -540,7 +541,9 @@ public final class CameraServer {
    * @return The USB camera capturing images.
    */
   public static UsbCamera startAutomaticCapture() {
-    return startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
+    UsbCamera camera = startAutomaticCapture(m_defaultUsbDevice.getAndIncrement());
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
+    return camera;
   }
 
   /**
@@ -555,7 +558,7 @@ public final class CameraServer {
   public static UsbCamera startAutomaticCapture(int dev) {
     UsbCamera camera = new UsbCamera("USB Camera " + dev, dev);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.reportUsage("UsbCamera[" + dev + "]", "auto");
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
     return camera;
   }
 
@@ -569,7 +572,7 @@ public final class CameraServer {
   public static UsbCamera startAutomaticCapture(String name, int dev) {
     UsbCamera camera = new UsbCamera(name, dev);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.reportUsage("UsbCamera[" + dev + "]", "name");
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
     return camera;
   }
 
@@ -583,7 +586,7 @@ public final class CameraServer {
   public static UsbCamera startAutomaticCapture(String name, String path) {
     UsbCamera camera = new UsbCamera(name, path);
     startAutomaticCapture(camera);
-    CameraServerSharedStore.reportUsage("UsbCamera[" + path + "]", "path");
+    CameraServerSharedStore.getCameraServerShared().reportUsbCamera(camera.getHandle());
     return camera;
   }
 
@@ -600,6 +603,72 @@ public final class CameraServer {
     return server;
   }
 
+  /**
+   * Adds an Axis IP camera.
+   *
+   * <p>This overload calls {@link #addAxisCamera(String, String)} with name "Axis Camera".
+   *
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
+   */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
+  public static AxisCamera addAxisCamera(String host) {
+    return addAxisCamera("Axis Camera", host);
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * <p>This overload calls {@link #addAxisCamera(String, String[])} with name "Axis Camera".
+   *
+   * @param hosts Array of Camera host IPs/DNS names
+   * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
+   */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
+  public static AxisCamera addAxisCamera(String[] hosts) {
+    return addAxisCamera("Axis Camera", hosts);
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
+   */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
+  public static AxisCamera addAxisCamera(String name, String host) {
+    AxisCamera camera = new AxisCamera(name, host);
+    // Create a passthrough MJPEG server for USB access
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
+    return camera;
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param hosts Array of Camera host IPs/DNS names
+   * @return The Axis camera capturing images.
+   * @deprecated Call startAutomaticCapture with a HttpCamera instead.
+   */
+  @Deprecated(forRemoval = true, since = "2025")
+  @SuppressWarnings("removal")
+  public static AxisCamera addAxisCamera(String name, String[] hosts) {
+    AxisCamera camera = new AxisCamera(name, hosts);
+    // Create a passthrough MJPEG server for USB access
+    startAutomaticCapture(camera);
+    CameraServerSharedStore.getCameraServerShared().reportAxisCamera(camera.getHandle());
+    return camera;
+  }
+
   /**
    * Adds a virtual camera for switching between two streams. Unlike the other addCamera methods,
    * this returns a VideoSink rather than a VideoSource. Calling setSource() on the returned object

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

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

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

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

cameraserver/src/main/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

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

@@ -184,9 +184,9 @@ std::vector<std::string> Instance::GetSourceStreamValues(CS_Source source) {
     value = "mjpg:" + value;
   }
 
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FRC_ROBORIO__
   // Look to see if we have a passthrough server for this source
-  // Only do this on the systemcore
+  // Only do this on the roboRIO
   for (const auto& i : m_sinks) {
     CS_Sink sink = i.second.GetHandle();
     CS_Source sinkSource = cs::GetSinkSource(sink, &status);
@@ -471,7 +471,11 @@ Instance::Instance() {
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture() {
-  return StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
+  cs::UsbCamera camera =
+      StartAutomaticCapture(::GetInstance().m_defaultUsbDevice++);
+  auto csShared = GetCameraServerShared();
+  csShared->ReportUsbCamera(camera.GetHandle());
+  return camera;
 }
 
 cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
@@ -479,7 +483,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(int dev) {
   cs::UsbCamera camera{fmt::format("USB Camera {}", dev), dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsage(fmt::format("UsbCamera[{}]", dev), "auto");
+  csShared->ReportUsbCamera(camera.GetHandle());
   return camera;
 }
 
@@ -489,7 +493,7 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   cs::UsbCamera camera{name, dev};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsage(fmt::format("UsbCamera[{}]", dev), "name");
+  csShared->ReportUsbCamera(camera.GetHandle());
   return camera;
 }
 
@@ -499,10 +503,67 @@ cs::UsbCamera CameraServer::StartAutomaticCapture(std::string_view name,
   cs::UsbCamera camera{name, path};
   StartAutomaticCapture(camera);
   auto csShared = GetCameraServerShared();
-  csShared->ReportUsage(fmt::format("UsbCamera[{}]", path), "path");
+  csShared->ReportUsbCamera(camera.GetHandle());
   return camera;
 }
 
+WPI_IGNORE_DEPRECATED
+cs::AxisCamera CameraServer::AddAxisCamera(std::string_view host) {
+  return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(const char* host) {
+  return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(const std::string& host) {
+  return AddAxisCamera("Axis Camera", host);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(std::span<const std::string> hosts) {
+  return AddAxisCamera("Axis Camera", hosts);
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
+                                           std::string_view host) {
+  ::GetInstance();
+  cs::AxisCamera camera{name, host};
+  StartAutomaticCapture(camera);
+  auto csShared = GetCameraServerShared();
+  csShared->ReportAxisCamera(camera.GetHandle());
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
+                                           const char* host) {
+  ::GetInstance();
+  cs::AxisCamera camera{name, host};
+  StartAutomaticCapture(camera);
+  auto csShared = GetCameraServerShared();
+  csShared->ReportAxisCamera(camera.GetHandle());
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
+                                           const std::string& host) {
+  ::GetInstance();
+  cs::AxisCamera camera{name, host};
+  StartAutomaticCapture(camera);
+  auto csShared = GetCameraServerShared();
+  csShared->ReportAxisCamera(camera.GetHandle());
+  return camera;
+}
+
+cs::AxisCamera CameraServer::AddAxisCamera(std::string_view name,
+                                           std::span<const std::string> hosts) {
+  ::GetInstance();
+  cs::AxisCamera camera{name, hosts};
+  StartAutomaticCapture(camera);
+  auto csShared = GetCameraServerShared();
+  csShared->ReportAxisCamera(camera.GetHandle());
+  return camera;
+}
+WPI_UNIGNORE_DEPRECATED
 cs::MjpegServer CameraServer::AddSwitchedCamera(std::string_view name) {
   auto& inst = ::GetInstance();
   // create a dummy CvSource

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

@@ -12,7 +12,9 @@
 namespace {
 class DefaultCameraServerShared : public frc::CameraServerShared {
  public:
-  void ReportUsage(std::string_view resource, std::string_view data) override {}
+  void ReportUsbCamera(int id) override {}
+  void ReportAxisCamera(int id) override {}
+  void ReportVideoServer(int id) override {}
   void SetCameraServerErrorV(fmt::string_view format,
                              fmt::format_args args) override {}
   void SetVisionRunnerErrorV(fmt::string_view format,

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

@@ -11,6 +11,8 @@
 #include <string_view>
 #include <vector>
 
+#include <wpi/deprecated.h>
+
 #include "cscore_cv.h"
 
 namespace frc {
@@ -73,6 +75,128 @@ class CameraServer {
    */
   static cs::MjpegServer StartAutomaticCapture(const cs::VideoSource& camera);
 
+  WPI_IGNORE_DEPRECATED
+  /**
+   * Adds an Axis IP camera.
+   *
+   * This overload calls AddAxisCamera() with name "Axis Camera".
+   *
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::string_view host);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * This overload calls AddAxisCamera() with name "Axis Camera".
+   *
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(const char* host);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * This overload calls AddAxisCamera() with name "Axis Camera".
+   *
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(const std::string& host);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * This overload calls AddAxisCamera() with name "Axis Camera".
+   *
+   * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::span<const std::string> hosts);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * This overload calls AddAxisCamera() with name "Axis Camera".
+   *
+   * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  template <typename T>
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::initializer_list<T> hosts) {
+    return AddAxisCamera("Axis Camera", hosts);
+  }
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      std::string_view host);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::string_view name, const char* host);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param host Camera host IP or DNS name (e.g. "10.x.y.11")
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      const std::string& host);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      std::span<const std::string> hosts);
+
+  /**
+   * Adds an Axis IP camera.
+   *
+   * @param name The name to give the camera
+   * @param hosts Array of Camera host IPs/DNS names
+   * @deprecated Call StartAutomaticCapture with a HttpCamera instead.
+   */
+  template <typename T>
+  [[deprecated("Call StartAutomaticCapture with a HttpCamera instead.")]]
+  static cs::AxisCamera AddAxisCamera(std::string_view name,
+                                      std::initializer_list<T> hosts) {
+    std::vector<std::string> vec;
+    vec.reserve(hosts.size());
+    for (const auto& host : hosts) {
+      vec.emplace_back(host);
+    }
+    return AddAxisCamera(name, vec);
+  }
+  WPI_UNIGNORE_DEPRECATED
+
   /**
    * Adds a virtual camera for switching between two streams.  Unlike the
    * other addCamera methods, this returns a VideoSink rather than a

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

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

cmake/modules/AddDoxygenDocs.cmake

@@ -45,9 +45,11 @@ macro(add_doxygen_docs)
                 "wpi/fs.h"
                 "wpi/FunctionExtras.h"
                 "wpi/function_ref.h"
+                "wpi/Hashing.h"
                 "wpi/iterator.h"
                 "wpi/iterator_range.h"
                 "wpi/ManagedStatic.h"
+                "wpi/MapVector.h"
                 "wpi/MathExtras.h"
                 "wpi/MemAlloc.h"
                 "wpi/PointerIntPair.h"

crossConnIntegrationTests/build.gradle

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

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

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

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

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

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

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

crossConnIntegrationTests/src/main/native/cpp/Main.cpp

@@ -0,0 +1,10 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <gtest/gtest.h>
+
+int main(int argc, char** argv) {
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

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

@@ -0,0 +1,359 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <atomic>
+#include <thread>
+#include <utility>
+
+#include <gtest/gtest.h>
+#include <hal/DMA.h>
+#include <hal/HAL.h>
+#include <wpi/SmallVector.h>
+#include <wpi/condition_variable.h>
+#include <wpi/priority_mutex.h>
+
+#include "CrossConnects.h"
+#include "LifetimeWrappers.h"
+
+using namespace hlt;
+
+class PWMTest : public ::testing::TestWithParam<std::pair<int, int>> {};
+
+void TestTimingDMA(int squelch, std::pair<int, int> param) {
+  // Initialize DMA
+  int32_t status = 0;
+  DMAHandle dmaHandle(&status);
+  ASSERT_NE(dmaHandle, HAL_kInvalidHandle);
+  ASSERT_EQ(0, status);
+
+  status = 0;
+  PWMHandle pwmHandle(param.first, &status);
+  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+  ASSERT_EQ(0, status);
+
+  // Ensure our PWM is disabled, and set up properly
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
+  HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
+
+  unsigned int checkPeriod = 0;
+  switch (squelch) {
+    case (0):
+      checkPeriod = 5050;
+      break;
+    case (1):
+      checkPeriod = 10100;
+      break;
+    case (3):
+      checkPeriod = 20200;
+      break;
+  }
+
+  status = 0;
+  DIOHandle dioHandle(param.second, true, &status);
+  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
+
+  HAL_AddDMADigitalSource(dmaHandle, dioHandle, &status);
+  ASSERT_EQ(0, status);
+
+  HAL_SetDMAExternalTrigger(dmaHandle, dioHandle,
+                            HAL_AnalogTriggerType::HAL_Trigger_kInWindow, true,
+                            true, &status);
+  ASSERT_EQ(0, status);
+
+  // Loop to test 5 speeds
+  for (unsigned int testWidth = 1000; testWidth < 2100; testWidth += 250) {
+    HAL_StartDMA(dmaHandle, 1024, &status);
+    ASSERT_EQ(0, status);
+
+    while (true) {
+      int32_t remaining = 0;
+      HAL_DMASample testSample;
+      HAL_ReadDMA(dmaHandle, &testSample, 0.01, &remaining, &status);
+      if (remaining == 0) {
+        break;
+      }
+    }
+
+    HAL_SetPWMSpeed(pwmHandle, (testWidth - 1000) / 1000.0, &status);
+
+    constexpr const int kSampleCount = 15;
+    HAL_DMASample dmaSamples[kSampleCount];
+    int readCount = 0;
+    while (readCount < kSampleCount) {
+      status = 0;
+      int32_t remaining = 0;
+      HAL_DMAReadStatus readStatus = HAL_ReadDMA(
+          dmaHandle, &dmaSamples[readCount], 1.0, &remaining, &status);
+      ASSERT_EQ(0, status);
+      ASSERT_EQ(HAL_DMAReadStatus::HAL_DMA_OK, readStatus);
+      readCount++;
+    }
+
+    HAL_SetPWMSpeed(pwmHandle, 0, &status);
+    HAL_StopDMA(dmaHandle, &status);
+
+    // Find first rising edge
+    int startIndex = 4;
+    while (startIndex < 6) {
+      status = 0;
+      auto value = HAL_GetDMASampleDigitalSource(&dmaSamples[startIndex],
+                                                 dioHandle, &status);
+      ASSERT_EQ(0, status);
+      if (value) {
+        break;
+      }
+      startIndex++;
+    }
+    ASSERT_LT(startIndex, 6);
+
+    // Check that samples alternate
+    bool previous = false;
+    int iterationCount = 0;
+    for (int i = startIndex; i < startIndex + 8; i++) {
+      auto value =
+          HAL_GetDMASampleDigitalSource(&dmaSamples[i], dioHandle, &status);
+      ASSERT_EQ(0, status);
+      ASSERT_NE(previous, value);
+      previous = !previous;
+      iterationCount++;
+    }
+    ASSERT_EQ(iterationCount, 8);
+    iterationCount = 0;
+
+    // Check width between samples
+    for (int i = startIndex; i < startIndex + 8; i += 2) {
+      auto width = HAL_GetDMASampleTime(&dmaSamples[i + 1], &status) -
+                   HAL_GetDMASampleTime(&dmaSamples[i], &status);
+      ASSERT_NEAR(testWidth, width, 10);
+      iterationCount++;
+    }
+    ASSERT_EQ(iterationCount, 4);
+    iterationCount = 0;
+
+    // Check period between samples
+    for (int i = startIndex; i < startIndex + 6; i += 2) {
+      auto period = HAL_GetDMASampleTime(&dmaSamples[i + 2], &status) -
+                    HAL_GetDMASampleTime(&dmaSamples[i], &status);
+      ASSERT_NEAR(checkPeriod, period, 10);
+      iterationCount++;
+    }
+    ASSERT_EQ(iterationCount, 3);
+  }
+}
+
+struct InterruptCheckData {
+  wpi::SmallVector<uint64_t, 8> risingStamps;
+  wpi::SmallVector<uint64_t, 8> fallingStamps;
+  wpi::priority_mutex mutex;
+  wpi::condition_variable cond;
+  HAL_InterruptHandle handle;
+};
+
+// TODO switch this to DMA
+void TestTiming(int squelch, std::pair<int, int> param) {
+  // Initialize interrupt
+  int32_t status = 0;
+  InterruptHandle interruptHandle(&status);
+  // Ensure we have a valid interrupt handle
+  ASSERT_NE(interruptHandle, HAL_kInvalidHandle);
+
+  status = 0;
+  PWMHandle pwmHandle(param.first, &status);
+  ASSERT_NE(pwmHandle, HAL_kInvalidHandle);
+
+  // Ensure our PWM is disabled, and set up properly
+  HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+  HAL_SetPWMConfigMicroseconds(pwmHandle, 2000, 1000, 1000, 0, 0, &status);
+  HAL_SetPWMPeriodScale(pwmHandle, squelch, &status);
+
+  unsigned int checkPeriod = 0;
+  switch (squelch) {
+    case (0):
+      checkPeriod = 5050;
+      break;
+    case (1):
+      checkPeriod = 10100;
+      break;
+    case (3):
+      checkPeriod = 20200;
+      break;
+  }
+
+  status = 0;
+  DIOHandle dioHandle(param.second, true, &status);
+  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
+
+  InterruptCheckData interruptData;
+  interruptData.handle = interruptHandle;
+
+  // Can use any type for the interrupt handle
+  HAL_RequestInterrupts(interruptHandle, dioHandle,
+                        HAL_AnalogTriggerType::HAL_Trigger_kInWindow, &status);
+
+  HAL_SetInterruptUpSourceEdge(interruptHandle, true, true, &status);
+
+  // Loop to test 5 speeds
+  for (unsigned int i = 1000; i < 2100; i += 250) {
+    interruptData.risingStamps.clear();
+    interruptData.fallingStamps.clear();
+
+    std::atomic_bool runThread{true};
+
+    status = 0;
+    std::thread interruptThread([&]() {
+      while (runThread) {
+        int32_t threadStatus = 0;
+        auto mask =
+            HAL_WaitForInterrupt(interruptHandle, 5, true, &threadStatus);
+
+        if ((mask & 0x100) == 0x100 && interruptData.risingStamps.size() == 0 &&
+            interruptData.fallingStamps.size() == 0) {
+          // Falling edge at start of tracking. Skip
+          continue;
+        }
+
+        int32_t status = 0;
+        if ((mask & 0x1) == 0x1) {
+          auto ts = HAL_ReadInterruptRisingTimestamp(interruptHandle, &status);
+          // Rising Edge
+          interruptData.risingStamps.push_back(ts);
+        } else if ((mask & 0x100) == 0x100) {
+          auto ts = HAL_ReadInterruptFallingTimestamp(interruptHandle, &status);
+          // Falling Edge
+          interruptData.fallingStamps.push_back(ts);
+        }
+
+        if (interruptData.risingStamps.size() >= 4 &&
+            interruptData.fallingStamps.size() >= 4) {
+          interruptData.cond.notify_all();
+          runThread = false;
+          break;
+        }
+      }
+    });
+
+    // Ensure our interrupt actually got created correctly.
+    ASSERT_EQ(status, 0);
+    HAL_SetPWMSpeed(pwmHandle, (i - 1000) / 1000.0, &status);
+    ASSERT_EQ(status, 0);
+    {
+      std::unique_lock<wpi::priority_mutex> lock(interruptData.mutex);
+      // Wait for lock
+      // TODO: Add Timeout
+      auto timeout = interruptData.cond.wait_for(lock, std::chrono::seconds(2));
+      if (timeout == std::cv_status::timeout) {
+        runThread = false;
+        if (interruptThread.joinable()) {
+          interruptThread.join();
+        }
+        ASSERT_TRUE(false);  // Exit test as failure on timeout
+      }
+    }
+
+    HAL_SetPWMPulseTimeMicroseconds(pwmHandle, 0, &status);
+
+    // Ensure our interrupts have the proper counts
+    ASSERT_EQ(interruptData.risingStamps.size(),
+              interruptData.fallingStamps.size());
+
+    ASSERT_GT(interruptData.risingStamps.size(), 0u);
+
+    ASSERT_EQ(interruptData.risingStamps.size() % 2, 0u);
+    ASSERT_EQ(interruptData.fallingStamps.size() % 2, 0u);
+
+    for (size_t j = 0; j < interruptData.risingStamps.size(); j++) {
+      uint64_t width =
+          interruptData.fallingStamps[j] - interruptData.risingStamps[j];
+      ASSERT_NEAR(width, i, 10);
+    }
+
+    for (unsigned int j = 0; j < interruptData.risingStamps.size() - 1; j++) {
+      uint64_t period =
+          interruptData.risingStamps[j + 1] - interruptData.risingStamps[j];
+      ASSERT_NEAR(period, checkPeriod, 10);
+    }
+    runThread = false;
+    if (interruptThread.joinable()) {
+      interruptThread.join();
+    }
+  }
+}
+
+TEST_P(PWMTest, Timing4x) {
+  auto param = GetParam();
+  TestTiming(3, param);
+}
+
+TEST_P(PWMTest, Timing2x) {
+  auto param = GetParam();
+  TestTiming(1, param);
+}
+
+TEST_P(PWMTest, Timing1x) {
+  auto param = GetParam();
+  TestTiming(0, param);
+}
+
+TEST_P(PWMTest, TimingDMA4x) {
+  auto param = GetParam();
+  TestTimingDMA(3, param);
+}
+
+TEST_P(PWMTest, TimingDMA2x) {
+  auto param = GetParam();
+  TestTimingDMA(1, param);
+}
+
+TEST_P(PWMTest, TimingDMA1x) {
+  auto param = GetParam();
+  TestTimingDMA(0, param);
+}
+
+TEST(PWMTest, AllocateAll) {
+  wpi::SmallVector<PWMHandle, 21> pwmHandles;
+  for (int i = 0; i < HAL_GetNumPWMChannels(); i++) {
+    int32_t status = 0;
+    pwmHandles.emplace_back(PWMHandle(i, &status));
+    ASSERT_EQ(status, 0);
+  }
+}
+
+TEST(PWMTest, MultipleAllocateFails) {
+  int32_t status = 0;
+  PWMHandle handle(0, &status);
+  ASSERT_NE(handle, HAL_kInvalidHandle);
+  ASSERT_EQ(status, 0);
+
+  PWMHandle handle2(0, &status);
+  ASSERT_EQ(handle2, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+TEST(PWMTest, OverAllocateFails) {
+  int32_t status = 0;
+  PWMHandle handle(HAL_GetNumPWMChannels(), &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(PWMTest, UnderAllocateFails) {
+  int32_t status = 0;
+  PWMHandle handle(-1, &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_OUT_OF_RANGE);
+}
+
+TEST(PWMTest, CrossAllocationFails) {
+  int32_t status = 0;
+  DIOHandle dioHandle(10, true, &status);
+  ASSERT_NE(dioHandle, HAL_kInvalidHandle);
+  ASSERT_EQ(status, 0);
+  PWMHandle handle(10, &status);
+  ASSERT_EQ(handle, HAL_kInvalidHandle);
+  ASSERT_LAST_ERROR_STATUS(status, RESOURCE_IS_ALLOCATED);
+}
+
+INSTANTIATE_TEST_SUITE_P(PWMCrossConnectTests, PWMTest,
+                         ::testing::ValuesIn(PWMCrossConnects));

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,62 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <array>
+#include <utility>
+
+namespace hlt {
+
+constexpr static std::array<std::pair<int, int>, 22> DIOCrossConnects{
+    std::pair{20, 25},
+    std::pair{19, 24},
+    std::pair{17, 13},
+    std::pair{16, 12},
+    std::pair{15, 11},
+    std::pair{14, 10},
+    std::pair{26, 2},
+    std::pair{27, 1},
+    std::pair{28, 0},
+    std::pair{29, 3},
+    std::pair{30, 4},
+
+    // Opposite direction
+    std::pair{25, 20},
+    std::pair{24, 19},
+    std::pair{13, 17},
+    std::pair{12, 16},
+    std::pair{11, 15},
+    std::pair{10, 14},
+    std::pair{2, 26},
+    std::pair{1, 27},
+    std::pair{0, 28},
+    std::pair{3, 29},
+    std::pair{4, 30},
+};
+
+// PWM on left, DIO on right
+constexpr static std::array<std::pair<int, int>, 2> PWMCrossConnects{
+    std::pair{0, 18},
+    std::pair{16, 25},
+};
+
+// FWD only, relay on left
+constexpr static std::array<std::pair<int, int>, 2> RelayAnalogCrossConnects{
+    std::pair{2, 0}, std::pair{3, 1}};
+
+struct RelayCross {
+  int Relay;
+  int FwdDio;
+  int RevDio;
+};
+
+constexpr static std::array<RelayCross, 1> RelayCrossConnects{
+    RelayCross{0, 23, 22}};
+
+// input on left
+constexpr static std::array<std::pair<int, int>, 2> AnalogCrossConnects{
+    std::pair{2, 0}, std::pair{4, 1}};
+
+}  // namespace hlt

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

@@ -0,0 +1,86 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/DMA.h>
+#include <hal/DutyCycle.h>
+#include <hal/HAL.h>
+
+namespace hlt {
+
+struct InterruptHandle : hal::Handle<HAL_InterruptHandle, HAL_CleanInterrupts> {
+ public:
+  explicit InterruptHandle(int32_t* status)
+      : Handle{HAL_InitializeInterrupts(status)} {}
+};
+
+struct DMAHandle : hal::Handle<HAL_DMAHandle, HAL_FreeDMA> {
+ public:
+  explicit DMAHandle(int32_t* status) : Handle{HAL_InitializeDMA(status)} {}
+};
+
+struct AnalogInputHandle
+    : hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> {
+ public:
+  AnalogInputHandle(int32_t port, int32_t* status)
+      : Handle{HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr,
+                                             status)} {}
+};
+
+struct AnalogOutputHandle
+    : hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> {
+ public:
+  AnalogOutputHandle(int32_t port, int32_t* status)
+      : Handle{HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr,
+                                              status)} {}
+};
+
+struct AnalogTriggerHandle
+    : hal::Handle<HAL_AnalogTriggerHandle, HAL_CleanAnalogTrigger> {
+ public:
+  explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status)
+      : Handle{HAL_InitializeAnalogTrigger(port, status)} {}
+};
+
+struct DutyCycleHandle : hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> {
+ public:
+  DutyCycleHandle(HAL_DigitalHandle port, int32_t* status)
+      : Handle{HAL_InitializeDutyCycle(
+            port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status)} {}
+};
+
+struct DIOHandle : hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> {
+ public:
+  DIOHandle() {}
+
+  DIOHandle(int32_t port, HAL_Bool input, int32_t* status)
+      : Handle{
+            HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status)} {}
+};
+
+struct PWMHandle : hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> {
+ public:
+  PWMHandle() {}
+
+  PWMHandle(int32_t port, int32_t* status)
+      : Handle{HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status)} {}
+};
+
+struct RelayHandle : hal::Handle<HAL_RelayHandle, HAL_FreeRelayPort> {
+ public:
+  RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status)
+      : Handle{
+            HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status)} {}
+};
+
+#define ASSERT_LAST_ERROR_STATUS(status, x)                          \
+  do {                                                               \
+    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
+    [[maybe_unused]]                                                 \
+    const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
+    ASSERT_EQ(status, x);                                            \
+  } while (0)
+
+}  // namespace hlt

cscore/BUILD.bazel

@@ -1,9 +1,5 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
-load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
-load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
-load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 
 WIN_SRCS = glob([
     "src/main/native/windows/**/*.cpp",
@@ -26,7 +22,7 @@ filegroup(
     }),
 )
 
-wpilib_objc_library(
+objc_library(
     name = "cscore-mac",
     srcs = glob([
         "src/main/native/objcpp/**/*.mm",
@@ -36,7 +32,9 @@ wpilib_objc_library(
         "src/main/native/include/**/*",
         "src/main/native/objcpp/**/*.h",
     ]),
-    include_arc = False,
+    copts = [
+        "-std=c++20",
+    ],
     includes = [
         "src/main/native/cpp",
         "src/main/native/include",
@@ -50,23 +48,21 @@ wpilib_objc_library(
         "CoreVideo",
         "IOKit",
     ],
+    tags = ["manual"],
     deps = [
-        "//wpinet",
-        "//wpiutil",
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
         "@bzlmodrio-opencv//libraries/cpp/opencv",
     ],
 )
 
-wpilib_cc_library(
-    name = "cscore",
+cc_library(
+    name = "cscore.static",
     srcs = [":native-srcs"] + glob(
         ["src/main/native/cpp/**"],
         exclude = ["src/main/native/cpp/jni/**"],
     ),
     hdrs = glob(["src/main/native/include/**/*"]),
-    extra_src_pkg_files = [
-        ":cscore-java-jni-hdrs-pkg",
-    ],
     includes = [
         "src/main/native/cpp",
         "src/main/native/include",
@@ -74,8 +70,8 @@ wpilib_cc_library(
     strip_include_prefix = "src/main/native/include",
     visibility = ["//visibility:public"],
     deps = [
-        "//wpinet",
-        "//wpiutil",
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
         "@bzlmodrio-opencv//libraries/cpp/opencv",
     ] + select({
         "@bazel_tools//src/conditions:darwin": [":cscore-mac"],
@@ -83,30 +79,9 @@ wpilib_cc_library(
     }),
 )
 
-wpilib_cc_static_library(
-    name = "static/cscore",
-    static_deps = [
-        "//wpinet:static/wpinet",
-        "//wpiutil:static/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [":cscore"],
-)
-
-wpilib_jni_cc_library(
-    name = "cscorejni",
-    srcs = glob(["src/main/native/cpp/jni/**"]),
-    java_dep = ":cscore-java",
-    visibility = ["//visibility:public"],
-    deps = [
-        ":cscore",
-    ],
-)
-
-wpilib_jni_java_library(
+java_library(
     name = "cscore-java",
     srcs = glob(["src/main/java/**/*.java"]),
-    native_libs = [":cscorejni"],
     visibility = ["//visibility:public"],
     deps = [
         "//wpiutil:wpiutil-java",
@@ -119,17 +94,8 @@ cc_test(
     size = "small",
     srcs = glob(["src/test/native/**"]),
     deps = [
-        ":cscore",
-        "//thirdparty/googletest",
-    ],
-)
-
-wpilib_java_junit5_test(
-    name = "cscore-java-test",
-    srcs = glob(["src/test/java/**/*.java"]),
-    deps = [
-        ":cscore-java",
-        "//wpiutil:wpiutil-java",
+        ":cscore.static",
+        "//thirdparty/googletest:googletest.static",
     ],
 )
 
@@ -137,7 +103,7 @@ cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
     deps = [
-        ":cscore",
+        ":cscore.static",
     ],
 )
 
@@ -150,24 +116,3 @@ java_binary(
         "//wpiutil:wpiutil-java",
     ],
 )
-
-[wpilib_cc_library(
-    name = example + "-examples",
-    srcs = glob([
-        "examples/" + example + "/*.cpp",
-    ]),
-    tags = [
-        "wpi-example",
-    ],
-    deps = [
-        "//cscore",
-        "//wpigui",
-    ],
-) for example in [
-    "enum_usb",
-    "httpcvstream",
-    "settings",
-    "usbcvstream",
-    "usbstream",
-    "usbviewer",
-]]

cscore/build.gradle

@@ -22,7 +22,7 @@ model {
 
             enableCheckTask true
             javaCompileTasks << compileJava
-            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.systemcore)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
             jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
 
@@ -172,7 +172,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxsystemcore')) {
+                if (!project.hasProperty('onlylinuxathena')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -181,7 +181,7 @@ model {
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                                 it.buildable = false
                                 return
                             }
@@ -195,6 +195,9 @@ model {
                                     it.linker.args << '-lGL'
                                 }
                             }
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+                            }
                         }
                         sources.cpp.source {
                             srcDirs 'examples/' + "${key}"
@@ -209,6 +212,9 @@ model {
                         lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                         lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
                         lib library: 'cscore', linkage: 'shared'
+                        if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                            nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+                        }
                     }
                     sources.cpp.source {
                         srcDirs 'examples/' + "${key}"

cscore/examples/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/java-examples/RawCVMatSink.java

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

cscore/java-examples/RawCVMatSource.java

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

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

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

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/cpp/jni/CameraServerJNI.cpp

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

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

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

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

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

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

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

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

@@ -484,7 +484,7 @@ const propertyInfo_t propertyInfo[] =
                 UVCERROR("USB control interface not found");
                 break;
             default:
-                UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02Xh}:{:03Xh}:{:04Xh}", 
+                UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02X}h:{:03X}h:{:04X}h", 
                     sys, sub, code);
                 break; 
         }

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

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

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

@@ -255,8 +255,9 @@ bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
 }
 
 void UsbCameraImpl::DeviceDisconnect() {
-  if (m_connectVerbose)
+  if (m_connectVerbose) {
     SINFO("Disconnected from {}", m_path);
+  }
   m_sourceReader.Reset();
   m_mediaSource.Reset();
   if (m_imageCallback) {
@@ -655,8 +656,9 @@ void UsbCameraImpl::DeviceCacheProperty(
     rawProp->valueStr = perProp->valueStr;  // copy
   } else {
     // Read current raw value and set percentage from it
-    if (!rawProp->DeviceGet(lock, pProcAmp))
+    if (!rawProp->DeviceGet(lock, pProcAmp)) {
       SWARNING("failed to get property {}", rawProp->name);
+    }
 
     if (perProp) {
       perProp->SetValue(RawToPercentage(*rawProp, rawProp->value));
@@ -666,8 +668,9 @@ void UsbCameraImpl::DeviceCacheProperty(
 
   // Set value on device if user-configured
   if (rawProp->valueSet) {
-    if (!rawProp->DeviceSet(lock, pProcAmp))
+    if (!rawProp->DeviceSet(lock, pProcAmp)) {
       SWARNING("failed to set property {}", rawProp->name);
+    }
   }
 
   // Update pointers since we released the lock
@@ -707,8 +710,9 @@ void UsbCameraImpl::DeviceCacheProperty(
   }
 
   NotifyPropertyCreated(*rawIndex, *rawPropPtr);
-  if (perPropPtr && perIndex)
+  if (perPropPtr && perIndex) {
     NotifyPropertyCreated(*perIndex, *perPropPtr);
+  }
 }
 
 CS_StatusValue UsbCameraImpl::DeviceProcessCommand(

datalog/.styleguide

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

datalog/BUILD.bazel

@@ -1,138 +0,0 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
-load("@rules_java//java:defs.bzl", "java_binary")
-load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
-load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
-load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
-
-wpilib_cc_library(
-    name = "datalog",
-    srcs = glob(
-        ["src/main/native/cpp/**"],
-        exclude = ["src/main/native/cpp/jni/**"],
-    ),
-    hdrs = glob(["src/main/native/include/**"]),
-    extra_src_pkg_files = [":datalog-java-jni-hdrs-pkg"],
-    includes = [
-        "src/main/native/cpp",
-        "src/main/native/include",
-    ],
-    strip_include_prefix = "src/main/native/include",
-    visibility = ["//visibility:public"],
-    deps = [
-        "//wpiutil",
-    ],
-)
-
-wpilib_cc_shared_library(
-    name = "shared/datalog",
-    dynamic_deps = [
-        "//wpiutil:shared/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [":datalog"],
-)
-
-wpilib_cc_static_library(
-    name = "static/datalog",
-    static_deps = [
-        "//wpiutil:static/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [":datalog"],
-)
-
-wpilib_jni_cc_library(
-    name = "datalogjni",
-    srcs = glob(["src/main/native/cpp/jni/**"]),
-    java_dep = ":datalog-java",
-    visibility = ["//visibility:public"],
-    deps = [
-        ":datalog",
-    ],
-)
-
-wpilib_cc_shared_library(
-    name = "shared/datalogjni",
-    auto_export_windows_symbols = False,
-    dynamic_deps = [
-        ":shared/datalog",
-        "//wpiutil:shared/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [":datalogjni"],
-)
-
-wpilib_jni_java_library(
-    name = "datalog-java",
-    srcs = glob(["src/main/java/**/*.java"]),
-    native_libs = [":datalogjni"],
-    visibility = ["//visibility:public"],
-    deps = [
-        "//wpiutil:wpiutil-java",
-        "@maven//:us_hebi_quickbuf_quickbuf_runtime",
-    ],
-)
-
-py_binary(
-    name = "datalog_example",
-    srcs = ["examples/printlog/datalog.py"],
-    main = "examples/printlog/datalog.py",
-    target_compatible_with = select({
-        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
-        "//conditions:default": [],
-    }),
-)
-
-cc_binary(
-    name = "printlog",
-    srcs = ["examples/printlog/printlog.cpp"],
-    deps = [
-        ":datalog",
-        "//wpiutil",
-    ],
-)
-
-cc_binary(
-    name = "writelog",
-    srcs = ["examples/writelog/writelog.cpp"],
-    deps = [
-        ":datalog",
-        "//wpiutil",
-    ],
-)
-
-java_binary(
-    name = "printlog-java",
-    srcs = ["src/printlog/java/printlog/PrintLog.java"],
-    main_class = "printlog.PrintLog",
-    deps = [
-        ":datalog-java",
-    ],
-)
-
-cc_test(
-    name = "datalog-cpp-test",
-    size = "small",
-    srcs = glob(["src/test/native/**/*.cpp"]),
-    tags = [
-        "exclusive",
-        "no-asan",
-        "no-tsan",
-    ],
-    deps = [
-        ":datalog",
-        "//thirdparty/googletest",
-        "//wpiutil:wpiutil-testlib",
-    ],
-)
-
-wpilib_java_junit5_test(
-    name = "datalog-java-test",
-    srcs = glob(["src/test/java/**/*.java"]),
-    tags = ["exclusive"],
-    deps = [
-        ":datalog-java",
-        "//wpiutil:wpiutil-java",
-    ],
-)

datalog/CMakeLists.txt

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

datalog/build.gradle

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

datalog/datalog-config.cmake.in

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

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

@@ -1,18 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <jni.h>
-
-#include <string_view>
-
-namespace wpi {
-
-void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg);
-void ThrowIndexOobException(JNIEnv* env, std::string_view msg);
-void ThrowIOException(JNIEnv* env, std::string_view msg);
-void ThrowNullPointerException(JNIEnv* env, std::string_view msg);
-
-}  // namespace wpi

datalogtool/BUILD.bazel

@@ -1,57 +0,0 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary")
-load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
-load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
-
-generate_resources(
-    name = "generate-resources",
-    namespace = "dlt",
-    prefix = "DLT",
-    resource_files = glob(["src/main/native/resources/*"]),
-)
-
-generate_version_file(
-    name = "generate-version",
-    output_file = "WPILibVersion.cpp",
-    template = "src/main/generate/WPILibVersion.cpp.in",
-)
-
-cc_binary(
-    name = "datalogtool",
-    srcs = glob(["src/main/native/cpp/*"]) + [
-        ":generate-resources",
-        ":generate-version",
-    ],
-    defines = ["LIBSSH_STATIC"],
-    linkopts = select({
-        "@bazel_tools//src/conditions:darwin": [
-            "-framework",
-            "Kerberos",
-        ],
-        "@bazel_tools//src/conditions:linux_x86_64": [],
-        "@bazel_tools//src/conditions:windows": [
-            "-DEFAULTLIB:Gdi32.lib",
-            "-DEFAULTLIB:Shell32.lib",
-            "-DEFAULTLIB:d3d11.lib",
-            "-DEFAULTLIB:d3dcompiler.lib",
-            "-DEFAULTLIB:ws2_32.lib",
-            "-DEFAULTLIB:advapi32.lib",
-            "-DEFAULTLIB:crypt32.lib",
-            "-DEFAULTLIB:user32.lib",
-            "-SUBSYSTEM:WINDOWS",
-        ],
-        "@rules_bzlmodrio_toolchains//constraints/combined:is_cross_compiler": [],
-    }),
-    tags = [
-        "wpi-cpp-gui",
-    ],
-    target_compatible_with = select({
-        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
-        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
-        "//conditions:default": [],
-    }),
-    deps = [
-        "//datalog",
-        "//glass:libglass",
-        "@bzlmodrio-libssh//libraries/cpp/libssh",
-    ],
-)

datalogtool/CMakeLists.txt

@@ -25,7 +25,7 @@ add_executable(
     ${APP_ICON_MACOSX}
 )
 wpilib_link_macos_gui(datalogtool)
-target_link_libraries(datalogtool libglass ssh datalog wpiutil)
+target_link_libraries(datalogtool libglass ssh)
 
 if(WIN32)
     set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)

datalogtool/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxsystemcore')) {
+if (project.hasProperty('onlylinuxathena')) {
     return;
 }
 
@@ -93,16 +93,15 @@ model {
                 }
             }
             binaries.all {
-                if (it.targetPlatform.name == nativeUtils.wpi.platforms.systemcore) {
+                if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     it.buildable = false
                     return
                 }
                 it.cppCompiler.define("LIBSSH_STATIC")
                 lib project: ':glass', library: 'glass', linkage: 'static'
-                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
-                lib project: ':datalog', library: 'datalog', linkage: 'static'
-                lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
+                lib project: ':wpigui', library: 'wpigui', linkage: 'static'
+                lib project: ':thirdparty:imgui_suite', library: 'imguiSuite', linkage: 'static'
                 nativeUtils.useRequiredLibrary(it, 'libssh')
                 if (it.targetPlatform.operatingSystem.isWindows()) {
                     it.linker.args << 'Gdi32.lib' << 'Shell32.lib' << 'd3d11.lib' << 'd3dcompiler.lib'

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()
             }
         }
     }