Merge remote-tracking branch 'wpilibsuite/main' into mvp_cpp

wpilibsuite · Nov 15, 2024 · 320d521 · 320d521
2 parents 2ddf1b1 + c289562
commit 320d521
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Showing 656 changed files with 37,533 additions and 13,089 deletions.
diff --git a/.bazelrc b/.bazelrc
@@ -40,7 +40,7 @@ build:build_buddy --experimental_profile_include_target_label
 build:build_buddy --experimental_profile_include_primary_output
 build:build_buddy --nolegacy_important_outputs
 
-build:build_buddy_readonly --noremote_upload_local_results
+common:build_buddy_readonly --noremote_upload_local_results
 
 # This config should be used locally. It downloads more than the CI version
 build:remote_user --config=build_buddy

diff --git a/.github/workflows/bazel.yml b/.github/workflows/bazel.yml
@@ -14,7 +14,6 @@ jobs:
         include:
           - { name: "Windows (native)",             os: windows-2022, action: "test",  config: "--config=windows",     }
           - { name: "Windows (arm)",                os: windows-2022, action: "build", config: "--config=windows_arm", }
-          - { name: "Windows (roborio)",            os: windows-2022, action: "build", config: "--config=roborio",     }
 
     name: "Build ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -36,20 +35,9 @@ jobs:
         run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
         shell: bash
 
-      - name: Build Debug
-        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c dbg ${{ matrix.config }} --verbose_failures
-        shell: bash
-
   build-mac:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { name: "Mac (native)",            os: macos-14,   action: "test",  config: "--config=macos",      }
-          - { name: "Mac (roborio)",           os: macos-14,   action: "build", config: "--config=roborio",  }
-
-    name: "${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
+    name: "Mac"
+    runs-on: macos-14
     steps:
       - uses: actions/checkout@v4
         with: { fetch-depth: 0 }
@@ -60,11 +48,7 @@ jobs:
           token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: Build Release
-        run: bazel ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --nojava_header_compilation --verbose_failures
-        shell: bash
-
-      - name: Build Debug
-        run: bazel ${{ matrix.action }} -k ...   --config=ci -c dbg ${{ matrix.config }} --nojava_header_compilation --verbose_failures
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
         shell: bash
 
   build-linux:
@@ -89,38 +73,14 @@ jobs:
       - name: Build and Test Release
         run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
 
-      - name: Build and Test Debug
-        run: bazel ${{ matrix.action }} ... --config=ci -c dbg ${{ matrix.config }} -k --verbose_failures
-
-  build-sanitizers:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - config: "asan"
-          - config: "ubsan"
-    runs-on: ubuntu-22.04
-    name: "Sanitizer ${{ matrix.config }}"
-    steps:
-      - uses: actions/checkout@v4
-        with: { fetch-depth: 0 }
-      - uses: bazelbuild/setup-bazelisk@v3
-
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
-        with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
-
-      - name: Build and Test
-        run: bazel test  -k --config=ci --config=linux --config=${{ matrix.config }} //...
-
   buildifier:
     name: "buildifier"
     runs-on: ubuntu-22.04
     steps:
       - name: Set up Go 1.15.x
         uses: actions/setup-go@v5
         with:
+          cache: false
           go-version: 1.15.x
         id: go
 

diff --git a/.github/workflows/comment-command.yml b/.github/workflows/comment-command.yml
@@ -33,17 +33,17 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Setup Java
         uses: actions/setup-java@v4
         with:
           distribution: 'temurin'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.42
+        run: pip3 install wpiformat==2024.45
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply
@@ -81,10 +81,10 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.9
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.9
+          python-version: '3.12'
       - name: Install jinja
         run: python -m pip install jinja2
       - name: Install protobuf dependencies

diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
@@ -121,7 +121,7 @@ jobs:
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 3600
+        run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))

diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -22,12 +22,12 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.42
+        run: pip3 install wpiformat==2024.45
       - name: Run
         run: wpiformat
       - name: Check output
@@ -61,12 +61,12 @@ jobs:
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.42
+        run: pip3 install wpiformat==2024.45
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

diff --git a/.github/workflows/pregen_all.py b/.github/workflows/pregen_all.py
@@ -6,7 +6,7 @@
 from pathlib import Path
 
 
-def main(argv):
+def main():
     script_path = Path(__file__).resolve()
     REPO_ROOT = script_path.parent.parent.parent
     parser = argparse.ArgumentParser()
@@ -15,26 +15,64 @@ def main(argv):
         help="Path to the quickbuf protoc plugin",
         required=True,
     )
-    args = parser.parse_args(argv)
-    subprocess.run(["python", f"{REPO_ROOT}/hal/generate_usage_reporting.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/ntcore/generate_topics.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/wpimath/generate_numbers.py"])
+    args = parser.parse_args()
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/hal/generate_usage_reporting.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/ntcore/generate_topics.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpimath/generate_numbers.py"], check=True
+    )
     subprocess.run(
         [
-            "python",
+            sys.executable,
             f"{REPO_ROOT}/wpimath/generate_quickbuf.py",
             f"--quickbuf_plugin={args.quickbuf_plugin}",
-        ]
-    )
-    subprocess.run(["python", f"{REPO_ROOT}/wpiunits/generate_units.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/wpilibc/generate_hids.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/wpilibj/generate_hids.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/wpilibNewCommands/generate_hids.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/wpilibc/generate_pwm_motor_controllers.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/wpilibj/generate_pwm_motor_controllers.py"])
-    subprocess.run(["python", f"{REPO_ROOT}/thirdparty/imgui_suite/generate_gl3w.py"])
-    subprocess.run(f"{REPO_ROOT}/thirdparty/imgui_suite/generate_fonts.sh")
+        ],
+        check=True,
+    )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpimath/generate_nanopb.py",
+        ],
+        check=True,
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpiunits/generate_units.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibc/generate_hids.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibj/generate_hids.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibNewCommands/generate_hids.py"], check=True
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibc/generate_pwm_motor_controllers.py"],
+        check=True,
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/wpilibj/generate_pwm_motor_controllers.py"],
+        check=True,
+    )
+    subprocess.run(
+        [
+            sys.executable,
+            f"{REPO_ROOT}/wpiutil/generate_nanopb.py",
+        ],
+        check=True,
+    )
+    subprocess.run(
+        [sys.executable, f"{REPO_ROOT}/thirdparty/imgui_suite/generate_gl3w.py"],
+        check=True,
+    )
+    subprocess.run(f"{REPO_ROOT}/thirdparty/imgui_suite/generate_fonts.sh", check=True)
 
 
 if __name__ == "__main__":
-    main(sys.argv[1:])
+    main()
diff --git a/.github/workflows/pregenerate.yml b/.github/workflows/pregenerate.yml
@@ -18,12 +18,12 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - name: Set up Python 3.9
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
+          python-version: '3.12'
+      - name: Install jinja and protobuf
+        run: python -m pip install jinja2 protobuf grpcio-tools
       - name: Install protobuf dependencies
         run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && 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
       - name: Regenerate all

diff --git a/.github/workflows/sentinel-build.yml b/.github/workflows/sentinel-build.yml
@@ -119,7 +119,7 @@ jobs:
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
       - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 3600
+        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

diff --git a/.github/workflows/upstream-utils.yml b/.github/workflows/upstream-utils.yml
@@ -22,10 +22,10 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.9
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.9
+          python-version: '3.12'
       - name: Configure committer identity
         run: |
           git config --global user.email "[email protected]"

diff --git a/.gitignore b/.gitignore
@@ -15,6 +15,8 @@ networktables.json
 ntcore/connectionlistenertest.json
 ntcore/timesynctest.json
 
+nanopb_pb2.py
+
 # Created by the jenkins test script
 test-reports
 
@@ -253,6 +255,3 @@ bazel_auth.rc
 
 # ctest
 /Testing/
-
-# protobuf
-!wpiprotoplugin.jar
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -66,6 +66,14 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
 option(WITH_JAVA "Include Java and JNI in the build" OFF)
 option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
+option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
+cmake_dependent_option(
+    DOCS_WARNINGS_AS_ERRORS
+    "Make docs warnings into errors"
+    OFF
+    WITH_DOCS
+    OFF
+)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
@@ -129,6 +137,12 @@ else()
     find_package(Java REQUIRED COMPONENTS Runtime)
 endif()
 
+if(WITH_DOCS)
+    find_package(Doxygen REQUIRED)
+    find_package(Git REQUIRED)
+    include(AddDoxygenDocs)
+    add_doxygen_docs()
+endif()
 find_package(LIBSSH CONFIG 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
@@ -279,8 +293,6 @@ if(WITH_NTCORE)
     add_subdirectory(ntcore)
 endif()
 
-add_subdirectory(protoplugin)
-
 if(WITH_WPIMATH)
     if(WITH_JAVA)
         set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})