Merge branch 'main' into simplify-pose-estimator

.gitattributes

@@ -3,11 +3,10 @@
 *.h text eol=lf
 *.inc text eol=lf
 *.java text eol=lf
+*.jinja text eol=lf
 *.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf
 
 # Generated files
-hal/src/generated/** linguist-generated
-ntcore/src/generated/** linguist-generated
-wpimath/src/generated/** linguist-generated
+*/src/generated/** linguist-generated

.github/workflows/command-robotpy-pr.yml

@@ -1,7 +1,7 @@
 name: Comment on PR for robotpy
 
 on:
-  pull_request:
+  pull_request_target:
     types:
       - opened
     paths:

.github/workflows/pregenerate.yml

@@ -32,6 +32,8 @@ jobs:
         run: ./ntcore/generate_topics.py
       - name: Run wpimath
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Run HIDs
+        run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.github/workflows/tools.yml

@@ -0,0 +1,144 @@
+name: Tools
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  YEAR: 2024
+
+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
+      - name: Build WPILib with Gradle
+        uses: addnab/docker-run-action@v3
+        with:
+          image: wpilib/roborio-cross-ubuntu:2024-22.04
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
+          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+      - uses: actions/upload-artifact@v4
+        with:
+          name: MavenArtifacts
+          path: |
+            development
+          retention-days: 1
+
+  Robotbuilder:
+    name: "Build - RobotBuilder"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/robotbuilder
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - name: Patch RobotBuilder to use local development
+        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$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
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: TestResults
+          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
+      - 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
+      - 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

.styleguide

@@ -20,6 +20,7 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
+  wpilibc/src/generated/
 }
 
 repoRootNameOverride {

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

@@ -281,11 +281,11 @@ public int hashCode() {
   private static class FieldDimensions {
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "length")
-    public double fieldLength;
+    public final double fieldLength;
 
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "width")
-    public double fieldWidth;
+    public final double fieldWidth;
 
     @JsonCreator()
     FieldDimensions(

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.0.0"
+    implementation "edu.wpi.first:native-utils:2025.1.0"
 }

cmake/modules/CompileWarnings.cmake

@@ -53,4 +53,9 @@ macro(wpilib_target_warnings target)
     )
         target_compile_options(${target} PRIVATE -gz=zlib)
     endif()
+
+    # Disable std::mutex constexpr constructor on MSCV; Workaround for MSVCP redist mismatch on GHA
+    if(MSVC)
+        target_compile_options(${target} PRIVATE /D_DISABLE_CONSTEXPR_MUTEX_CONSTRUCTOR)
+    endif()
 endmacro()

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

@@ -15,7 +15,7 @@ public final class OpenCvLoader {
   static boolean libraryLoaded;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
+  public static final class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
     /**

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

@@ -64,7 +64,10 @@ public boolean isValid() {
 
   private static final ReentrantLock s_lock = new ReentrantLock();
   private static final Map<Integer, Consumer<VideoEvent>> s_listeners = new HashMap<>();
+
+  @SuppressWarnings("PMD.SingularField")
   private static Thread s_thread;
+
   private static int s_poller;
   private static boolean s_waitQueue;
   private static final Condition s_waitQueueCond = s_lock.newCondition();

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

@@ -212,5 +212,5 @@ public String[] getChoices() {
   }
 
   int m_handle;
-  private Kind m_kind;
+  private final Kind m_kind;
 }

developerRobot/build.gradle

@@ -269,8 +269,6 @@ model {
                                 def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
                                 run.dependsOn it.tasks.install
                                 run.systemProperty 'java.library.path', filePath
-                                run.environment 'LD_LIBRARY_PATH', filePath
-                                run.environment 'DYLD_LIBRARY_PATH', filePath
 
                                 def installTask = it.tasks.install
 
@@ -297,8 +295,6 @@ model {
                                 runTask.doFirst doFirstTask
                                 run.doFirst doFirstTask
 
-                                run.workingDir filePath
-
                                 found = true
                             }
                         }

hal/src/generate/FRCNetComm.java.in

@@ -9,6 +9,7 @@ package edu.wpi.first.hal;
 /**
  * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
  */
+@SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass")
 public final class FRCNetComm {
   /**
    * Resource type from UsageReporting.

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

@@ -82,7 +82,7 @@ public final class HAL extends JNIWrapper {
 
   private static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();
 
-  public static class SimPeriodicBeforeCallback implements AutoCloseable {
+  public static final class SimPeriodicBeforeCallback implements AutoCloseable {
     private SimPeriodicBeforeCallback(Runnable r) {
       m_run = r;
     }
@@ -128,7 +128,7 @@ public static void simPeriodicBefore() {
 
   private static final List<Runnable> s_simPeriodicAfter = new ArrayList<>();
 
-  public static class SimPeriodicAfterCallback implements AutoCloseable {
+  public static final class SimPeriodicAfterCallback implements AutoCloseable {
     private SimPeriodicAfterCallback(Runnable r) {
       m_run = r;
     }

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

@@ -541,14 +541,7 @@ public final class NetworkTableEntry implements Publisher, Subscriber {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    if (!(other instanceof NetworkTableEntry)) {
-      return false;
-    }
-
-    return m_handle == ((NetworkTableEntry) other).m_handle;
+    return other == this || other instanceof NetworkTableEntry entry && m_handle == entry.m_handle;
   }
 
   @Override

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

@@ -43,7 +43,6 @@ import us.hebi.quickbuf.ProtoMessage;
  * kept to the NetworkTableInstance returned by this function to keep it from being garbage
  * collected.
  */
-@SuppressWarnings("PMD.CouplingBetweenObjects")
 public final class NetworkTableInstance implements AutoCloseable {
   /** Client/server mode flag values (as returned by {@link #getNetworkMode()}). */
   public enum NetworkMode {
@@ -493,7 +492,10 @@ public final class NetworkTableInstance implements AutoCloseable {
   private static class ListenerStorage implements AutoCloseable {
     private final ReentrantLock m_lock = new ReentrantLock();
     private final Map<Integer, Consumer<NetworkTableEvent>> m_listeners = new HashMap<>();
+
+    @SuppressWarnings("PMD.SingularField")
     private Thread m_thread;
+
     private int m_poller;
     private boolean m_waitQueue;
     private final Event m_waitQueueEvent = new Event();
@@ -1239,10 +1241,7 @@ public final class NetworkTableInstance implements AutoCloseable {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
+    return other == this || other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
   }
 
   @Override

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

@@ -154,12 +154,10 @@ public final class NetworkTableValue {
 {% endfor %}
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof NetworkTableValue ntOther
-        && m_type == ntOther.m_type
-        && m_value.equals(ntOther.m_value);
+    return other == this
+        || other instanceof NetworkTableValue ntOther
+            && m_type == ntOther.m_type
+            && m_value.equals(ntOther.m_value);
   }
 
   @Override