Merge branch 'main' into development

.github/workflows/cmake.yml

@@ -88,28 +88,13 @@ jobs:
         uses: lukka/[email protected]
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
+          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
 
       - name: configure
-        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
         env:
           SCCACHE_GHA_ENABLED: "true"
 
-      # Build wpiutil at full speed, wpimath depends on wpiutil
-      - name: build wpiutil
-        working-directory: build
-        run: cmake --build . --parallel $(nproc) --target wpiutil/all
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      # Build wpimath slow to prevent OOM
-      - name: build wpimath
-        working-directory: build
-        run: cmake --build . --parallel 1 --target wpimath/all
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      # Build everything else fast
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)

.github/workflows/lint-format.yml

@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2023.36
+        run: pip3 install wpiformat==2024.32
       - name: Run
         run: wpiformat
       - name: Check output

apriltag/convert_apriltag_layouts.py

@@ -82,6 +82,7 @@ def main():
         # Write JSON
         with open(filename.replace(".csv", ".json"), "w") as f:
             json.dump(json_data, f, indent=2)
+            f.write("\n")
 
 
 if __name__ == "__main__":

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

@@ -16,6 +16,7 @@
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.io.UncheckedIOException;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -221,6 +222,22 @@ public void serialize(Path path) throws IOException {
     new ObjectMapper().writeValue(path.toFile(), this);
   }
 
+  /**
+   * Get an official {@link AprilTagFieldLayout}.
+   *
+   * @param field The loadable AprilTag field layout.
+   * @return AprilTagFieldLayout of the field.
+   * @throws UncheckedIOException If the layout does not exist.
+   */
+  public static AprilTagFieldLayout loadField(AprilTagFields field) {
+    try {
+      return loadFromResource(field.m_resourceFile);
+    } catch (IOException e) {
+      throw new UncheckedIOException(
+          "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
+    }
+  }
+
   /**
    * Deserializes a field layout from a resource within a internal jar file.
    *

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

@@ -4,7 +4,6 @@
 
 package edu.wpi.first.apriltag;
 
-import java.io.IOException;
 import java.io.UncheckedIOException;
 
 /** Loadable AprilTag field layouts. */
@@ -36,11 +35,6 @@ public enum AprilTagFields {
    * @throws UncheckedIOException If the layout does not exist
    */
   public AprilTagFieldLayout loadAprilTagLayoutField() {
-    try {
-      return AprilTagFieldLayout.loadFromResource(m_resourceFile);
-    } catch (IOException e) {
-      throw new UncheckedIOException(
-          "Could not load AprilTagFieldLayout from " + m_resourceFile, e);
-    }
+    return AprilTagFieldLayout.loadField(this);
   }
 }

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

@@ -125,3 +125,37 @@ void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
   layout.m_fieldWidth =
       units::meter_t{json.at("field").at("width").get<double>()};
 }
+
+// Use namespace declaration for forward declaration
+namespace frc {
+
+// C++ generated from resource files
+std::string_view GetResource_2022_rapidreact_json();
+std::string_view GetResource_2023_chargedup_json();
+std::string_view GetResource_2024_crescendo_json();
+
+}  // namespace frc
+
+AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
+  std::string_view fieldString;
+  switch (field) {
+    case AprilTagField::k2022RapidReact:
+      fieldString = GetResource_2022_rapidreact_json();
+      break;
+    case AprilTagField::k2023ChargedUp:
+      fieldString = GetResource_2023_chargedup_json();
+      break;
+    case AprilTagField::k2024Crescendo:
+      fieldString = GetResource_2024_crescendo_json();
+      break;
+    case AprilTagField::kNumFields:
+      throw std::invalid_argument("Invalid Field");
+  }
+
+  wpi::json json = wpi::json::parse(fieldString);
+  return json.get<AprilTagFieldLayout>();
+}
+
+AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+  return AprilTagFieldLayout::LoadField(field);
+}

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

@@ -14,6 +14,7 @@
 #include <wpi/json_fwd.h>
 
 #include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagFields.h"
 #include "frc/geometry/Pose3d.h"
 
 namespace frc {
@@ -48,6 +49,14 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
     kRedAllianceWallRightSide,
   };
 
+  /**
+   * Loads an AprilTagFieldLayout from a predefined field
+   *
+   * @param field The predefined field
+   * @return AprilTagFieldLayout of the field
+   */
+  static AprilTagFieldLayout LoadField(AprilTagField field);
+
   AprilTagFieldLayout() = default;
 
   /**
@@ -152,4 +161,13 @@ void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
 WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
 
+/**
+ * Loads an AprilTagFieldLayout from a predefined field
+ *
+ * @param field The predefined field
+ * @return AprilTagFieldLayout of the field
+ */
+WPILIB_DLLEXPORT AprilTagFieldLayout
+LoadAprilTagLayoutField(AprilTagField field);
+
 }  // namespace frc

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

@@ -8,8 +8,6 @@
 
 #include <wpi/SymbolExports.h>
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
-
 namespace frc {
 
 /**
@@ -28,12 +26,4 @@ enum class AprilTagField {
   kNumFields,
 };
 
-/**
- * Loads an AprilTagFieldLayout from a predefined field
- *
- * @param field The predefined field
- */
-WPILIB_DLLEXPORT AprilTagFieldLayout
-LoadAprilTagLayoutField(AprilTagField field);
-
 }  // namespace frc

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

@@ -290,7 +290,7 @@
     }
   ],
   "field": {
-    "length": 16.451,
+    "length": 16.541,
     "width": 8.211
   }
 }

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

@@ -22,13 +22,14 @@ class LoadConfigTest {
   @ParameterizedTest
   @EnumSource(AprilTagFields.class)
   void testLoad(AprilTagFields field) {
-    AprilTagFieldLayout layout = Assertions.assertDoesNotThrow(field::loadAprilTagLayoutField);
+    AprilTagFieldLayout layout =
+        Assertions.assertDoesNotThrow(() -> AprilTagFieldLayout.loadField(field));
     assertNotNull(layout);
   }
 
   @Test
   void test2022RapidReact() {
-    AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
+    AprilTagFieldLayout layout = AprilTagFieldLayout.loadField(AprilTagFields.k2022RapidReact);
 
     // Blue Hangar Truss - Hub
     Pose3d expectedPose =

apriltag/src/test/native/cpp/LoadConfigTest.cpp

@@ -4,6 +4,7 @@
 
 #include <gtest/gtest.h>
 
+#include "frc/apriltag/AprilTagFieldLayout.h"
 #include "frc/apriltag/AprilTagFields.h"
 
 namespace frc {
@@ -20,7 +21,7 @@ std::vector<AprilTagField> GetAllFields() {
 
 TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
   AprilTagFieldLayout layout =
-      LoadAprilTagLayoutField(AprilTagField::k2022RapidReact);
+      AprilTagFieldLayout::LoadField(AprilTagField::k2022RapidReact);
 
   // Blue Hangar Truss - Hub
   auto expectedPose =
@@ -53,7 +54,7 @@ class AllFieldsFixtureTest : public ::testing::TestWithParam<AprilTagField> {};
 
 TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
   AprilTagField field = GetParam();
-  EXPECT_NO_THROW(LoadAprilTagLayoutField(field));
+  EXPECT_NO_THROW(AprilTagFieldLayout::LoadField(field));
 }
 
 INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,

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

@@ -5,6 +5,7 @@
 #include "glass/other/FMS.h"
 
 #include <imgui.h>
+#include <imgui_stdlib.h>
 #include <wpi/SmallString.h>
 
 #include "glass/DataSource.h"
@@ -58,8 +59,7 @@ void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
   if (auto data = model->GetMatchTimeData()) {
     double val = data->GetValue();
     ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
-    if (ImGui::InputDouble("Match Time", &val, 0, 0, "%.1f",
-                           ImGuiInputTextFlags_EnterReturnsTrue)) {
+    if (ImGui::InputDouble("Match Time", &val, 0, 0, "%.1f")) {
       model->SetMatchTime(val);
     }
     data->EmitDrag();
@@ -78,16 +78,12 @@ void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
   }
 
   // Game Specific Message
-  // make buffer full 64 width, null terminated, for editability
-  wpi::SmallString<64> gameSpecificMessage;
-  model->GetGameSpecificMessage(gameSpecificMessage);
-  gameSpecificMessage.resize(63);
-  gameSpecificMessage.push_back('\0');
+  wpi::SmallString<64> gameSpecificMessageBuf;
+  std::string gameSpecificMessage{
+      model->GetGameSpecificMessage(gameSpecificMessageBuf)};
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
-  if (ImGui::InputText("Game Specific", gameSpecificMessage.data(),
-                       gameSpecificMessage.size(),
-                       ImGuiInputTextFlags_EnterReturnsTrue)) {
-    model->SetGameSpecificMessage(gameSpecificMessage.data());
+  if (ImGui::InputText("Game Specific", &gameSpecificMessage)) {
+    model->SetGameSpecificMessage(gameSpecificMessage);
   }
 }
 
@@ -151,9 +147,10 @@ void glass::DisplayFMSReadOnly(FMSModel* model) {
     }
   }
 
-  wpi::SmallString<64> gameSpecificMessage;
-  model->GetGameSpecificMessage(gameSpecificMessage);
-  ImGui::Text("Game Specific: %s", exists ? gameSpecificMessage.c_str() : "?");
+  wpi::SmallString<64> gameSpecificMessageBuf;
+  std::string_view gameSpecificMessage =
+      model->GetGameSpecificMessage(gameSpecificMessageBuf);
+  ImGui::Text("Game Specific: %s", exists ? gameSpecificMessage.data() : "?");
 
   if (!exists) {
     ImGui::PopStyleColor();

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

@@ -75,6 +75,9 @@ public final class HAL extends JNIWrapper {
    */
   public static native void exitMain();
 
+  /** Terminates the executable (at the native level). Does nothing in simulation. */
+  public static native void terminate();
+
   private static native void simPeriodicBeforeNative();
 
   private static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();

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

@@ -539,15 +539,25 @@ HAL_Bool HAL_RefreshDSData(void) {
     }
     // If newest state shows we have a DS attached, just use the
     // control word out of the cache, As it will be the one in sync
-    // with the data. Otherwise use the state that shows disconnected.
-    if (controlWord.dsAttached) {
-      newestControlWord = currentRead->controlWord;
-    } else {
-      // Zero out the control word. When the DS has never been connected
-      // this returns garbage. And there is no way we can detect that.
-      std::memset(&controlWord, 0, sizeof(controlWord));
-      newestControlWord = controlWord;
+    // with the data. If no data has been updated, at this point,
+    // and a DS wasn't attached previously, this will still return
+    // a zeroed out control word, with is the correct state for
+    // no new data.
+    if (!controlWord.dsAttached) {
+      // If the DS is not attached, we need to zero out the control word.
+      // This is because HAL_RefreshDSData is called asynchronously from
+      // the DS data. The dsAttached variable comes directly from netcomm
+      // and could be updated before the caches are. If that happens,
+      // we would end up returning the previous cached control word,
+      // which is out of sync with the current control word and could
+      // break invariants such as which alliance station is in used.
+      // Also, when the DS has never been connected the rest of the fields
+      // in control word are garbage, so we also need to zero out in that
+      // case too
+      std::memset(&currentRead->controlWord, 0,
+                  sizeof(currentRead->controlWord));
     }
+    newestControlWord = currentRead->controlWord;
   }
 
   uint32_t mask = tcpMask.exchange(0);