Merge remote-tracking branch 'origin/main' into mvp_all_java

wpilibsuite · Sep 11, 2024 · 4c48e5e · 4c48e5e
2 parents 04dfc3a + 97c6c86
commit 4c48e5e
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diff --git a/.github/workflows/aql/wpilib-generic-gradle-cache_unused.aql b/.github/workflows/aql/wpilib-generic-gradle-cache_unused.aql
@@ -0,0 +1,23 @@
+{
+  "files": [
+    {
+      "aql": {
+        "items.find": {
+          "$or":[
+            { "repo": "wpilib-generic-gradlecache" },
+            { "repo": "wpilib-generic-cache-cmake" }
+          ],
+          "$or":[
+            {
+                "stat.downloaded": { "$before":"1mo" }
+            },
+            {
+                "stat.downloaded": { "$eq":null }
+            }
+          ],
+          "created": { "$before":"1mo" }
+        }
+      }
+    }
+  ]
+}
diff --git a/.github/workflows/aql/wpilib-mvn-development_unused.aql b/.github/workflows/aql/wpilib-mvn-development_unused.aql
@@ -0,0 +1,29 @@
+{
+  "files": [
+    {
+      "aql": {
+        "items.find": {
+          "repo": "wpilib-mvn-development",
+          "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
+          "$or":[
+            {
+                "artifact.module.build.name": { "$eq":"allwpilib" }
+            },
+            {
+                "artifact.module.build.name": { "$eq":"combiner" }
+            }
+          ],
+          "$or":[
+            {
+                "stat.downloaded": { "$before":"3mo" }
+            },
+            {
+                "stat.downloaded": { "$eq":null }
+            }
+          ],
+          "created": { "$before":"3mo" }
+        }
+      }
+    }
+  ]
+}
diff --git a/.github/workflows/artifactory-nightly-cleanup.yml b/.github/workflows/artifactory-nightly-cleanup.yml
@@ -0,0 +1,33 @@
+name: Artifactory Nightly Cleanup
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '15 2 * * *'
+
+jobs:
+  wpilib-mvn-development_unused_cleanup:
+    runs-on: ubuntu-latest
+    if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: jfrog/setup-jfrog-cli@v4
+        env:
+          JF_ENV_1: ${{ secrets.ARTIFACTORY_CLI_SECRET }}
+      - name: Cleanup
+        run: jf rt del --spec=.github/workflows/aql/wpilib-mvn-development_unused.aql
+
+  wpilib-generic-gradle-cache_unused_cleanup:
+    runs-on: ubuntu-latest
+    if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: jfrog/setup-jfrog-cli@v4
+        env:
+          JF_ENV_1: ${{ secrets.ARTIFACTORY_CLI_SECRET }}
+      - name: Cleanup
+        run: jf rt del --spec=.github/workflows/aql/wpilib-generic-gradle-cache_unused.aql
diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -6,6 +6,10 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
+env:
+  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
+
 jobs:
   build:
     strategy:
@@ -34,20 +38,22 @@ jobs:
         run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
-      - name: Run sccache-cache
+      - name: Install sccache
         uses: mozilla-actions/[email protected]
 
       - uses: actions/checkout@v4
 
       - name: configure
         run: cmake ${{ matrix.flags }}
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build-cmake
@@ -76,12 +82,14 @@ jobs:
       - name: configure
         run: cmake --preset 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"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build-cmake

diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -6,6 +6,10 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
+env:
+  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
+
 jobs:
   build:
     strategy:
@@ -31,21 +35,23 @@ jobs:
       - name: Install Dependencies
         run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java clang-14 libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Run sccache-cache
+      - name: Install sccache
         uses: mozilla-actions/[email protected]
 
       - 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-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build

diff --git a/.github/workflows/upstream-utils.yml b/.github/workflows/upstream-utils.yml
@@ -35,11 +35,21 @@ jobs:
           cd upstream_utils
           ./apriltag.py clone
           ./apriltag.py copy-src
+      - name: Run concurrentqueue.py
+        run: |
+          cd upstream_utils
+          ./concurrentqueue.py clone
+          ./concurrentqueue.py copy-src
       - name: Run eigen.py
         run: |
           cd upstream_utils
           ./eigen.py clone
           ./eigen.py copy-src
+      - name: Run expected.py
+        run: |
+          cd upstream_utils
+          ./expected.py clone
+          ./expected.py copy-src
       - name: Run fmt.py
         run: |
           cd upstream_utils

diff --git a/docs/build.gradle b/docs/build.gradle
@@ -16,6 +16,8 @@ evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpinet')
 evaluationDependsOn(':wpiunits')
 evaluationDependsOn(':wpiutil')
+evaluationDependsOn(':romiVendordep')
+evaluationDependsOn(':xrpVendordep')
 
 def baseArtifactIdCpp = 'documentation'
 def artifactGroupIdCpp = 'edu.wpi.first.wpilibc'
@@ -40,6 +42,8 @@ cppProjectZips.add(project(':wpilibc').cppHeadersZip)
 cppProjectZips.add(project(':wpimath').cppHeadersZip)
 cppProjectZips.add(project(':wpinet').cppHeadersZip)
 cppProjectZips.add(project(':wpiutil').cppHeadersZip)
+cppProjectZips.add(project(':romiVendordep').cppHeadersZip)
+cppProjectZips.add(project(':xrpVendordep').cppHeadersZip)
 
 doxygen {
     // Doxygen binaries are only provided for x86_64 platforms
@@ -148,6 +152,7 @@ doxygen {
 
     // Save space by excluding protobuf and eigen
     exclude 'Eigen/**'
+    exclude 'unsupported/**'
     exclude 'google/protobuf/**'
 
     exclude '**/.clang-tidy'
@@ -223,6 +228,8 @@ task generateJavaDocs(type: Javadoc) {
     source project(':wpinet').sourceSets.main.java
     source project(':wpiunits').sourceSets.main.java
     source project(':wpiutil').sourceSets.main.java
+    source project(':romiVendordep').sourceSets.main.java
+    source project(':xrpVendordep').sourceSets.main.java
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'
     failOnError = true

diff --git a/hal/src/main/native/athena/FRCDriverStation.cpp b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -272,10 +272,10 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
     std::string_view locationRef{location};
     std::string_view callStackRef{callStack};
 
-    // 1 tag, 4 timestamp, 2 seqnum
+    // 2 size, 1 tag, 4 timestamp, 2 seqnum
     // 2 numOccur, 4 error code, 1 flags, 6 strlen
     // 1 extra needed for padding on Netcomm end.
-    size_t baseLength = 21;
+    size_t baseLength = 23;
 
     if (baseLength + detailsRef.size() + locationRef.size() +
             callStackRef.size() <=

diff --git a/ntcore/src/dev/native/cpp/main.cpp b/ntcore/src/dev/native/cpp/main.cpp
@@ -18,12 +18,16 @@
 #include <wpi/print.h>
 #include <wpi/timestamp.h>
 
+#include "networktables/DoubleArrayTopic.h"
+#include "networktables/NetworkTableInstance.h"
 #include "ntcore.h"
+#include "ntcore_c.h"
 #include "ntcore_cpp.h"
 
 void bench();
 void bench2();
 void stress();
+void stress2();
 
 int main(int argc, char* argv[]) {
   wpi::impl::SetupNowDefaultOnRio();
@@ -40,6 +44,10 @@ int main(int argc, char* argv[]) {
     stress();
     return EXIT_SUCCESS;
   }
+  if (argc == 2 && std::string_view{argv[1]} == "stress2") {
+    stress2();
+    return EXIT_SUCCESS;
+  }
 
   auto myValue = nt::GetEntry(nt::GetDefaultInstance(), "MyValue");
 
@@ -266,3 +274,54 @@ void stress() {
 
   std::this_thread::sleep_for(100s);
 }
+
+void stress2() {
+  using namespace std::chrono_literals;
+
+  auto testTopicName = "testTopic";
+  auto count = 1000;
+  std::atomic_bool isDone{false};
+  nt::PubSubOptions pubSubOptions{
+      .periodic = std::numeric_limits<double>::min(),
+      .sendAll = true,
+      .keepDuplicates = true};
+  auto server = nt::NetworkTableInstance::Create();
+  server.StartServer();
+  auto serverTopic = server.GetDoubleArrayTopic(testTopicName);
+  auto subscriber = serverTopic.Subscribe({}, pubSubOptions);
+  std::atomic_int receivedCount{0};
+  server.AddListener(subscriber, NT_EVENT_VALUE_REMOTE, [&](auto event) {
+    if (receivedCount.fetch_add(1) == count) {
+      isDone = true;
+    }
+    // Warnings about duplicate pubs occur if I either introduce this short
+    // delay...
+    std::this_thread::sleep_for(1ms);
+    // ...or a little IO
+    // System.out.println("Got %d: %s"
+    // .formatted(receivedCount.get(), Arrays.toString(
+    // event.valueData.value.getDoubleArray())));
+  });
+
+  auto client = nt::NetworkTableInstance::Create();
+  client.SetServer("localhost");
+  auto clientName = "test client";
+  client.StartClient4(clientName);
+  std::this_thread::sleep_for(2s);  // Startup time.
+  int sentCount = 0;
+  while (sentCount < count) {
+    auto clientTopic = client.GetDoubleArrayTopic(testTopicName);
+    {
+      auto publisher = clientTopic.Publish(pubSubOptions);
+      publisher.Set(
+          {{static_cast<double>(sentCount), static_cast<double>(sentCount),
+            static_cast<double>(sentCount)}});
+      // client.Flush();
+      sentCount++;
+    }
+    std::this_thread::yield();
+  }
+
+  std::this_thread::sleep_for(10s);
+  fmt::print("isDone: {}", isDone.load());
+}
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.cpp b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
@@ -118,9 +118,7 @@ void ClientImpl::HandleLocal(std::vector<ClientMessage>&& msgs) {
               msg->properties, msg->options);
       m_outgoing.SendMessage(msg->pubHandle, std::move(elem));
     } else if (auto msg = std::get_if<UnpublishMsg>(&elem.contents)) {
-      if (Unpublish(msg->pubHandle, msg->topicHandle)) {
-        m_outgoing.SendMessage(msg->pubHandle, std::move(elem));
-      }
+      Unpublish(msg->pubHandle, msg->topicHandle, std::move(elem));
     } else {
       m_outgoing.SendMessage(0, std::move(elem));
     }
@@ -199,12 +197,12 @@ void ClientImpl::Publish(NT_Publisher pubHandle, NT_Topic topicHandle,
   UpdatePeriodic();
 }
 
-bool ClientImpl::Unpublish(NT_Publisher pubHandle, NT_Topic topicHandle) {
+void ClientImpl::Unpublish(NT_Publisher pubHandle, NT_Topic topicHandle,
+                           ClientMessage&& msg) {
   unsigned int index = Handle{pubHandle}.GetIndex();
   if (index >= m_publishers.size()) {
-    return false;
+    return;
   }
-  bool doSend = true;
   m_publishers[index].reset();
 
   // loop over all publishers to update period
@@ -216,10 +214,10 @@ bool ClientImpl::Unpublish(NT_Publisher pubHandle, NT_Topic topicHandle) {
   }
   UpdatePeriodic();
 
+  m_outgoing.SendMessage(pubHandle, std::move(msg));
+
   // remove from outgoing handle map
   m_outgoing.EraseHandle(pubHandle);
-
-  return doSend;
 }
 
 void ClientImpl::SetValue(NT_Publisher pubHandle, const Value& value) {

diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.h b/ntcore/src/main/native/cpp/net/ClientImpl.h
@@ -75,7 +75,8 @@ class ClientImpl final : private ServerMessageHandler {
   void Publish(NT_Publisher pubHandle, NT_Topic topicHandle,
                std::string_view name, std::string_view typeStr,
                const wpi::json& properties, const PubSubOptionsImpl& options);
-  bool Unpublish(NT_Publisher pubHandle, NT_Topic topicHandle);
+  void Unpublish(NT_Publisher pubHandle, NT_Topic topicHandle,
+                 ClientMessage&& msg);
   void SetValue(NT_Publisher pubHandle, const Value& value);
 
   int m_inst;