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

.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 }}

ThirdPartyNotices.txt

@@ -43,6 +43,7 @@ Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 Sleipnir              wpimath/src/main/native/thirdparty/sleipnir
+Debugging             wpiutil/src/main/native/thirdparty/debugging
 
 ==============================================================================
 Google Test License
@@ -1224,3 +1225,29 @@ Redistribution and use in source and binary forms, with or without modification,
 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+=================
+Debugging License
+=================
+MIT License
+
+Copyright (c) 2021-2022 René Ferdinand Rivera Morell
+Copyright (c) 2018 Isabella Muerte
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

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

@@ -297,7 +297,7 @@ public void clearFamilies() {
    * @return Results (array of AprilTagDetection)
    */
   public AprilTagDetection[] detect(Mat img) {
-    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), img.cols(), img.dataAddr());
+    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), (int) img.step1(), img.dataAddr());
   }
 
   private long m_native;

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java

@@ -131,6 +131,34 @@ public Mat loadImage(String resource) throws IOException {
     return image;
   }
 
+  @Test
+  void testDecodeCropped() {
+    detector.addFamily("tag16h5");
+    detector.addFamily("tag36h11");
+
+    Mat image;
+    try {
+      image = loadImage("tag1_640_480.jpg");
+    } catch (IOException ex) {
+      fail(ex);
+      return;
+    }
+
+    // Pre-knowledge -- the tag is within this ROI of this particular test image
+    var cropped = image.submat(100, 400, 220, 570);
+
+    try {
+      AprilTagDetection[] results = detector.detect(cropped);
+      assertEquals(1, results.length);
+      assertEquals("tag36h11", results[0].getFamily());
+      assertEquals(1, results[0].getId());
+      assertEquals(0, results[0].getHamming());
+    } finally {
+      cropped.release();
+      image.release();
+    }
+  }
+
   @Test
   void testDecodeAndPose() {
     detector.addFamily("tag16h5");

hal/src/generate/Instances.txt

@@ -4,6 +4,7 @@ kLanguage_Java = 3
 kLanguage_Python = 4
 kLanguage_DotNet = 5
 kLanguage_Kotlin = 6
+kLanguage_Rust = 7
 kCANPlugin_BlackJagBridge = 1
 kCANPlugin_2CAN = 2
 kFramework_Iterative = 1
@@ -13,6 +14,7 @@ kFramework_Timed = 4
 kFramework_ROS = 5
 kFramework_RobotBuilder = 6
 kFramework_AdvantageKit = 7
+kFramework_MagicBot = 8
 kRobotDrive_ArcadeStandard = 1
 kRobotDrive_ArcadeButtonSpin = 2
 kRobotDrive_ArcadeRatioCurve = 3
@@ -26,6 +28,11 @@ kRobotDrive2_MecanumCartesian = 10
 kRobotDrive2_MecanumPolar = 11
 kRobotDrive2_KilloughCartesian = 12
 kRobotDrive2_KilloughPolar = 13
+kRobotDriveSwerve_Other = 14
+kRobotDriveSwerve_YAGSL = 15
+kRobotDriveSwerve_CTRE = 16
+kRobotDriveSwerve_MaxSwerve = 17
+kRobotDriveSwerve_AdvantageKit = 18
 kDriverStationCIO_Analog = 1
 kDriverStationCIO_DigitalIn = 2
 kDriverStationCIO_DigitalOut = 3

hal/src/generate/ResourceType.txt

@@ -114,3 +114,4 @@ kResourceType_Redux_future4 = 112
 kResourceType_Redux_future5 = 113
 kResourceType_RevSparkFlexCAN = 114
 kResourceType_RevSparkFlexPWM = 115
+kResourceType_BangBangController = 116