Merge branch 'main' into more-serialization

.gitattributes

@@ -1,12 +1,30 @@
+*.adoc text eol=lf
+*.c text eol=lf
+*.cmake text eol=lf
+*.clang-format text eol=lf
+*.clang-tidy text eol=lf
 *.cpp text eol=lf
 *.gradle text eol=lf
+*.groovy text eol=lf
 *.h text eol=lf
+*.hpp text eol=lf
+*.in text eol=lf
 *.inc text eol=lf
 *.java text eol=lf
 *.jinja text eol=lf
 *.json text eol=lf
+*.m text eol=lf
 *.md text eol=lf
+*.mm text eol=lf
+*.patch text eol=lf
+*.plist text eol=lf
+*.proto text eol=lf
+*.py text eol=lf
+*.styleguide text eol=lf
+*.txt text eol=lf
 *.xml text eol=lf
+*.yaml text eol=lf
+*.yml text eol=lf
 
 # Generated files
 */src/generated/** linguist-generated

.github/workflows/lint-format.yml

@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.34
+        run: pip3 install wpiformat==2024.38
       - name: Run
         run: wpiformat
       - name: Check output
@@ -66,7 +66,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.34
+        run: pip3 install wpiformat==2024.38
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

.github/workflows/upstream-utils.yml

@@ -45,6 +45,11 @@ jobs:
           cd upstream_utils
           ./gcem.py clone
           ./gcem.py copy-upstream-to-thirdparty
+      - name: Run googletest.py
+        run: |
+          cd upstream_utils
+          ./googletest.py clone
+          ./googletest.py copy-upstream-to-thirdparty
       - name: Run json.py
         run: |
           cd upstream_utils

.gitignore

@@ -24,6 +24,9 @@ out/
 # Fleet
 .fleet
 
+# jdtls
+.factorypath
+
 # Created by http://www.gitignore.io
 
 ### Linux ###

.styleguide

@@ -11,6 +11,7 @@ cppSrcFileInclude {
 
 modifiableFileExclude {
   cmake/toolchains/
+  thirdparty/
   \.patch$
   gradlew
 }

CMakeLists.txt

@@ -245,7 +245,7 @@ set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
 
 if(WITH_TESTS)
     enable_testing()
-    add_subdirectory(googletest)
+    add_subdirectory(thirdparty/googletest)
     include(GoogleTest)
 endif()
 

apriltag/CMakeLists.txt

@@ -157,5 +157,5 @@ install(EXPORT apriltag DESTINATION share/apriltag)
 if(WITH_TESTS)
     wpilib_add_test(apriltag src/test/native/cpp)
     target_include_directories(apriltag_test PRIVATE src/test/native/include)
-    target_link_libraries(apriltag_test apriltag gmock_main)
+    target_link_libraries(apriltag_test apriltag googletest)
 endif()

apriltag/convert_apriltag_layouts.py

@@ -21,7 +21,6 @@
 import os
 
 from wpimath import geometry, units
-import numpy as np
 
 
 def main():

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

@@ -112,8 +112,8 @@ public boolean equals(Object obj) {
   /** Quad threshold parameters. */
   @SuppressWarnings("MemberName")
   public static class QuadThresholdParameters {
-    /** Threshold used to reject quads containing too few pixels. Default is 5 pixels. */
-    public int minClusterPixels = 5;
+    /** Threshold used to reject quads containing too few pixels. Default is 300 pixels. */
+    public int minClusterPixels = 300;
 
     /**
      * How many corner candidates to consider when segmenting a group of pixels into a quad. Default
@@ -124,9 +124,9 @@ public static class QuadThresholdParameters {
     /**
      * Critical angle, in radians. The detector will reject quads where pairs of edges have angles
      * that are close to straight or close to 180 degrees. Zero means that no quads are rejected.
-     * Default is 10 degrees.
+     * Default is 45 degrees.
      */
-    public double criticalAngle = 10 * Math.PI / 180.0;
+    public double criticalAngle = 45 * Math.PI / 180.0;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error allowed. This is useful in
@@ -201,8 +201,10 @@ public boolean equals(Object obj) {
   }
 
   /** Constructs an AprilTagDetector. */
+  @SuppressWarnings("this-escape")
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
+    setQuadThresholdParameters(new QuadThresholdParameters());
   }
 
   @Override

apriltag/src/main/native/cpp/AprilTagDetector.cpp

@@ -46,7 +46,9 @@ void AprilTagDetector::Results::Destroy() {
   }
 }
 
-AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {}
+AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {
+  SetQuadThresholdParameters({});
+}
 
 AprilTagDetector& AprilTagDetector::operator=(AprilTagDetector&& rhs) {
   Destroy();

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

@@ -83,10 +83,10 @@ class WPILIB_DLLEXPORT AprilTagDetector {
     bool operator==(const QuadThresholdParameters&) const = default;
 
     /**
-     * Threshold used to reject quads containing too few pixels. Default is 5
+     * Threshold used to reject quads containing too few pixels. Default is 300
      * pixels.
      */
-    int minClusterPixels = 5;
+    int minClusterPixels = 300;
 
     /**
      * How many corner candidates to consider when segmenting a group of pixels
@@ -97,9 +97,9 @@ class WPILIB_DLLEXPORT AprilTagDetector {
     /**
      * Critical angle. The detector will reject quads where pairs of edges have
      * angles that are close to straight or close to 180 degrees. Zero means
-     * that no quads are rejected. Default is 10 degrees.
+     * that no quads are rejected. Default is 45 degrees.
      */
-    units::radian_t criticalAngle = 10_deg;
+    units::radian_t criticalAngle = 45_deg;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error

buildSrc/src/main/groovy/DisableBuildingGTest.groovy

@@ -1,70 +1,70 @@
-
-import org.gradle.api.GradleException;
-import org.gradle.api.Plugin;
-import org.gradle.api.Project;
-import org.gradle.api.Task;
-import org.gradle.api.file.FileTree;
-import org.gradle.api.tasks.compile.JavaCompile;
-import org.gradle.language.base.internal.ProjectLayout;
-import org.gradle.language.base.plugins.ComponentModelBasePlugin;
-import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
-import org.gradle.model.ModelMap;
-import edu.wpi.first.toolchain.ToolchainExtension
-import org.gradle.model.Mutate;
-import org.gradle.api.plugins.ExtensionContainer;
-import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
-import org.gradle.model.RuleSource;
-import org.gradle.model.Validate;
-import org.gradle.nativeplatform.NativeExecutableBinarySpec
-import org.gradle.nativeplatform.NativeBinarySpec;
-import org.gradle.nativeplatform.NativeComponentSpec;
-import org.gradle.nativeplatform.NativeLibrarySpec;
-import org.gradle.nativeplatform.SharedLibraryBinarySpec;
-import org.gradle.nativeplatform.StaticLibraryBinarySpec;
-import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
-import org.gradle.nativeplatform.toolchain.NativeToolChain;
-import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
-import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
-import org.gradle.nativeplatform.toolchain.internal.ToolType;
-import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
-import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
-import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
-import org.gradle.platform.base.BinarySpec;
-import org.gradle.platform.base.ComponentSpec;
-import org.gradle.platform.base.ComponentSpecContainer;
-import org.gradle.platform.base.BinaryContainer;
-import org.gradle.platform.base.ComponentType;
-import org.gradle.platform.base.TypeBuilder;
-import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
-import groovy.transform.CompileStatic;
-import groovy.transform.CompileDynamic
-import org.gradle.nativeplatform.BuildTypeContainer
-
-@CompileStatic
-class DisableBuildingGTest implements Plugin<Project> {
-  @CompileStatic
-  public void apply(Project project) {
-
-  }
-
-  @CompileStatic
-  static class Rules extends RuleSource {
-    @CompileDynamic
-    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
-        binary.buildable = false
-    }
-
-    @Validate
-    @CompileStatic
-    // TODO: Move this to tc plugin
-    void disableCrossTests(BinaryContainer binaries, ExtensionContainer extContainer) {
-        final ToolchainExtension ext = extContainer.getByType(ToolchainExtension.class);
-
-        for (GoogleTestTestSuiteBinarySpec binary : binaries.withType(GoogleTestTestSuiteBinarySpec.class)) {
-            if (ext.getCrossCompilers().findByName(binary.getTargetPlatform().getName()) != null) {
-              setBuildableFalseDynamically(binary)
-            }
-        }
-    }
-  }
-}
+
+import org.gradle.api.GradleException;
+import org.gradle.api.Plugin;
+import org.gradle.api.Project;
+import org.gradle.api.Task;
+import org.gradle.api.file.FileTree;
+import org.gradle.api.tasks.compile.JavaCompile;
+import org.gradle.language.base.internal.ProjectLayout;
+import org.gradle.language.base.plugins.ComponentModelBasePlugin;
+import org.gradle.language.nativeplatform.tasks.AbstractNativeSourceCompileTask;
+import org.gradle.model.ModelMap;
+import edu.wpi.first.toolchain.ToolchainExtension
+import org.gradle.model.Mutate;
+import org.gradle.api.plugins.ExtensionContainer;
+import org.gradle.nativeplatform.test.googletest.GoogleTestTestSuiteBinarySpec;
+import org.gradle.model.RuleSource;
+import org.gradle.model.Validate;
+import org.gradle.nativeplatform.NativeExecutableBinarySpec
+import org.gradle.nativeplatform.NativeBinarySpec;
+import org.gradle.nativeplatform.NativeComponentSpec;
+import org.gradle.nativeplatform.NativeLibrarySpec;
+import org.gradle.nativeplatform.SharedLibraryBinarySpec;
+import org.gradle.nativeplatform.StaticLibraryBinarySpec;
+import org.gradle.nativeplatform.platform.internal.NativePlatformInternal;
+import org.gradle.nativeplatform.toolchain.NativeToolChain;
+import org.gradle.nativeplatform.toolchain.NativeToolChainRegistry;
+import org.gradle.nativeplatform.toolchain.internal.PlatformToolProvider;
+import org.gradle.nativeplatform.toolchain.internal.ToolType;
+import org.gradle.nativeplatform.toolchain.internal.gcc.AbstractGccCompatibleToolChain;
+import org.gradle.nativeplatform.toolchain.internal.msvcpp.VisualCppToolChain;
+import org.gradle.nativeplatform.toolchain.internal.tools.ToolRegistry;
+import org.gradle.platform.base.BinarySpec;
+import org.gradle.platform.base.ComponentSpec;
+import org.gradle.platform.base.ComponentSpecContainer;
+import org.gradle.platform.base.BinaryContainer;
+import org.gradle.platform.base.ComponentType;
+import org.gradle.platform.base.TypeBuilder;
+import org.gradle.nativeplatform.tasks.ObjectFilesToBinary;
+import groovy.transform.CompileStatic;
+import groovy.transform.CompileDynamic
+import org.gradle.nativeplatform.BuildTypeContainer
+
+@CompileStatic
+class DisableBuildingGTest implements Plugin<Project> {
+  @CompileStatic
+  public void apply(Project project) {
+
+  }
+
+  @CompileStatic
+  static class Rules extends RuleSource {
+    @CompileDynamic
+    private static void setBuildableFalseDynamically(NativeBinarySpec binary) {
+        binary.buildable = false
+    }
+
+    @Validate
+    @CompileStatic
+    // TODO: Move this to tc plugin
+    void disableCrossTests(BinaryContainer binaries, ExtensionContainer extContainer) {
+        final ToolchainExtension ext = extContainer.getByType(ToolchainExtension.class);
+
+        for (GoogleTestTestSuiteBinarySpec binary : binaries.withType(GoogleTestTestSuiteBinarySpec.class)) {
+            if (ext.getCrossCompilers().findByName(binary.getTargetPlatform().getName()) != null) {
+              setBuildableFalseDynamically(binary)
+            }
+        }
+    }
+  }
+}