Merge branch 'main' into fix/led-pattern-offsets

wpilibsuite · Nov 28, 2024 · 67cc69d · 67cc69d
2 parents d3331bd + f377a9c
commit 67cc69d
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diff --git a/.bazelrc b/.bazelrc
@@ -38,7 +38,7 @@ 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/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -2,7 +2,7 @@
 name: Bug report
 about: Create a report to help us improve
 title: ''
-labels: bug
+labels: 'type: bug'
 assignees: ''
 
 ---

diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -2,7 +2,7 @@
 name: Feature request
 about: Suggest an idea for this project
 title: ''
-labels: enhancement
+labels: 'type: feature'
 assignees: ''
 
 ---

diff --git a/.github/ISSUE_TEMPLATE/question.md b/.github/ISSUE_TEMPLATE/question.md
@@ -2,7 +2,7 @@
 name: Question
 about: Ask about features or parts of this project
 title: ''
-labels: ''
+labels: 'type: support'
 assignees: ''
 
 ---

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/cmake-android.yml b/.github/workflows/cmake-android.yml
@@ -0,0 +1,51 @@
+name: CMake Android
+
+on: [pull_request, push]
+
+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:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            name: Android Arm64
+            abi: arm64-v8a
+          - os: ubuntu-22.04
+            name: Android X64
+            abi: "x86_64"
+
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r27c
+          add-to-path: false
+
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+
+      - name: Install sccache
+        uses: mozilla-actions/[email protected]
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - name: configure
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+
+      - name: build
+        run: cmake --build build-cmake --parallel $(nproc)
diff --git a/.github/workflows/comment-command.yml b/.github/workflows/comment-command.yml
@@ -33,17 +33,17 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.10
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: '3.10'
+          python-version: '3.12'
       - name: Setup Java
         uses: actions/setup-java@v4
         with:
           distribution: 'temurin'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.44
+        run: pip3 install wpiformat==2024.45
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply
@@ -81,10 +81,10 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ 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
@@ -96,9 +96,16 @@ jobs:
             task: "build"
             outputs: "build/allOutputs"
           - os: windows-2022
-            artifact-name: Win32
+            artifact-name: Win32FFI
             architecture: x86
             task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
             outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -121,7 +128,7 @@ 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==2024.44
+        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==2024.44
+        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