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

wpilibsuite · Nov 18, 2024 · d8af9b3 · d8af9b3
2 parents bf81de4 + 57e1075
commit d8af9b3
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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/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/upstream-utils.yml b/.github/workflows/upstream-utils.yml
@@ -35,101 +35,121 @@ jobs:
           cd upstream_utils
           ./apriltag.py clone
           ./apriltag.py copy-src
+          ./apriltag.py format-patch
       - name: Run argparse_lib.py
         run: |
           cd upstream_utils
           ./argparse_lib.py clone
           ./argparse_lib.py copy-src
+          ./argparse_lib.py format-patch
       - name: Run eigen.py
         run: |
           cd upstream_utils
           ./eigen.py clone
           ./eigen.py copy-src
+          ./eigen.py format-patch
       - name: Run expected.py
         run: |
           cd upstream_utils
           ./expected.py clone
           ./expected.py copy-src
+          ./expected.py format-patch
       - name: Run fmt.py
         run: |
           cd upstream_utils
           ./fmt.py clone
           ./fmt.py copy-src
+          ./fmt.py format-patch
       - name: Run gcem.py
         run: |
           cd upstream_utils
           ./gcem.py clone
           ./gcem.py copy-src
+          ./gcem.py format-patch
       - name: Run gl3w.py
         run: |
           cd upstream_utils
           ./gl3w.py clone
           ./gl3w.py copy-src
+          ./gl3w.py format-patch
       - name: Run glfw.py
         run: |
           cd upstream_utils
           ./glfw.py clone
           ./glfw.py copy-src
+          ./glfw.py format-patch
       - name: Run googletest.py
         run: |
           cd upstream_utils
           ./googletest.py clone
           ./googletest.py copy-src
+          ./googletest.py format-patch
       - name: Run imgui.py
         run: |
           cd upstream_utils
           ./imgui.py clone
           ./imgui.py copy-src
+          ./imgui.py format-patch
       - name: Run implot.py
         run: |
           cd upstream_utils
           ./implot.py clone
           ./implot.py copy-src
+          ./implot.py format-patch
       - name: Run json.py
         run: |
           cd upstream_utils
           ./json.py clone
           ./json.py copy-src
+          ./json.py format-patch
       - name: Run libuv.py
         run: |
           cd upstream_utils
           ./libuv.py clone
           ./libuv.py copy-src
+          ./libuv.py format-patch
       - name: Run llvm.py
         run: |
           cd upstream_utils
           ./llvm.py clone
           ./llvm.py copy-src
+          ./llvm.py format-patch
       - name: Run mpack.py
         run: |
           cd upstream_utils
           ./mpack.py clone
           ./mpack.py copy-src
+          ./mpack.py format-patch
       - name: Run stack_walker.py
         run: |
           cd upstream_utils
           ./stack_walker.py clone
           ./stack_walker.py copy-src
+          ./stack_walker.py format-patch
       - name: Run memory.py
         run: |
           cd upstream_utils
           ./memory.py clone
           ./memory.py copy-src
+          ./memory.py format-patch
       - name: Run protobuf.py
         run: |
           cd upstream_utils
           ./protobuf.py clone
           ./protobuf.py copy-src
+          ./protobuf.py format-patch
       - name: Run sleipnir.py
         run: |
           cd upstream_utils
           ./sleipnir.py clone
           ./sleipnir.py copy-src
+          ./sleipnir.py format-patch
       - name: Run stb.py
         run: |
           cd upstream_utils
           ./stb.py clone
           ./stb.py copy-src
+          ./stb.py format-patch
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -131,10 +131,9 @@ set(java_lib_dest java)
 if(WITH_JAVA OR WITH_JAVA_SOURCE)
     set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
     find_package(Java REQUIRED COMPONENTS Development)
-    find_package(JNI REQUIRED COMPONENTS JVM)
-else()
-    # Protoc requires the java runtime
-    find_package(Java REQUIRED COMPONENTS Runtime)
+    if(NOT ANDROID)
+        find_package(JNI REQUIRED COMPONENTS JVM)
+    endif()
 endif()
 
 if(WITH_DOCS)

diff --git a/build.gradle b/build.gradle
@@ -170,5 +170,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.10.2'
+    gradleVersion = '8.11'
 }
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
@@ -22,7 +22,7 @@ class DefaultCameraServerShared : public frc::CameraServerShared {
   void ReportDriverStationErrorV(fmt::string_view format,
                                  fmt::format_args args) override {}
   std::pair<std::thread::id, bool> GetRobotMainThreadId() const override {
-    return std::make_pair(std::thread::id(), false);
+    return std::pair{std::thread::id(), false};
   }
 };
 }  // namespace

diff --git a/cmake/modules/CompileWarnings.cmake b/cmake/modules/CompileWarnings.cmake
@@ -55,9 +55,4 @@ macro(wpilib_target_warnings target)
     )
         target_compile_options(${target} PRIVATE -gz=zlib)
     endif()
-
-    # Disable std::mutex constexpr constructor on MSVC
-    if(MSVC)
-        target_compile_options(${target} PRIVATE /D_DISABLE_CONSTEXPR_MUTEX_CONSTRUCTOR)
-    endif()
 endmacro()
diff --git a/cscore/src/main/native/cpp/Telemetry.cpp b/cscore/src/main/native/cpp/Telemetry.cpp
@@ -34,7 +34,7 @@ class Telemetry::Thread : public wpi::SafeThread {
 
 int64_t Telemetry::Thread::GetValue(CS_Handle handle, CS_TelemetryKind kind,
                                     CS_Status* status) {
-  auto it = m_user.find(std::make_pair(handle, static_cast<int>(kind)));
+  auto it = m_user.find(std::pair{handle, static_cast<int>(kind)});
   if (it == m_user.end()) {
     *status = CS_EMPTY_VALUE;
     return 0;
@@ -136,8 +136,8 @@ void Telemetry::RecordSourceBytes(const SourceImpl& source, int quantity) {
     return;
   }
   auto handleData = Instance::GetInstance().FindSource(source);
-  thr->m_current[std::make_pair(Handle{handleData.first, Handle::kSource},
-                                static_cast<int>(CS_SOURCE_BYTES_RECEIVED))] +=
+  thr->m_current[std::pair{Handle{handleData.first, Handle::kSource},
+                           static_cast<int>(CS_SOURCE_BYTES_RECEIVED)}] +=
       quantity;
 }
 
@@ -147,7 +147,7 @@ void Telemetry::RecordSourceFrames(const SourceImpl& source, int quantity) {
     return;
   }
   auto handleData = Instance::GetInstance().FindSource(source);
-  thr->m_current[std::make_pair(Handle{handleData.first, Handle::kSource},
-                                static_cast<int>(CS_SOURCE_FRAMES_RECEIVED))] +=
+  thr->m_current[std::pair{Handle{handleData.first, Handle::kSource},
+                           static_cast<int>(CS_SOURCE_FRAMES_RECEIVED)}] +=
       quantity;
 }
diff --git a/cscore/src/main/native/cpp/UnlimitedHandleResource.h b/cscore/src/main/native/cpp/UnlimitedHandleResource.h
@@ -183,10 +183,10 @@ UnlimitedHandleResource<THandle, TStruct, typeValue, TMutex>::FindIf(F func) {
   for (size_t i = 0; i < m_structures.size(); i++) {
     auto& structure = m_structures[i];
     if (structure != nullptr && func(*structure)) {
-      return std::make_pair(MakeHandle(i), structure);
+      return std::pair{MakeHandle(i), structure};
     }
   }
-  return std::make_pair(0, nullptr);
+  return std::pair{0, nullptr};
 }
 
 }  // namespace cs

diff --git a/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java b/epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/EpilogueGenerator.java
@@ -176,7 +176,7 @@ public static boolean shouldLog(Logged.Importance importance) {
             out.println("      config.loggingPeriod = Seconds.of(robot.getPeriod());");
             out.println("    }");
             out.println("    if (config.loggingPeriodOffset == null) {");
-            out.println("      config.loggingPeriodOffset = config.loggingPeriod.divide(2);");
+            out.println("      config.loggingPeriodOffset = config.loggingPeriod.div(2);");
             out.println("    }");
             out.println();
             out.println("    robot.addPeriodic(() -> {");

diff --git a/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java b/epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/EpilogueGeneratorTest.java
@@ -172,7 +172,7 @@ public static void bind(edu.wpi.first.epilogue.Example robot) {
               config.loggingPeriod = Seconds.of(robot.getPeriod());
             }
             if (config.loggingPeriodOffset == null) {
-              config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+              config.loggingPeriodOffset = config.loggingPeriod.div(2);
             }
 
             robot.addPeriodic(() -> {
@@ -252,7 +252,7 @@ public static void bind(edu.wpi.first.epilogue.AlphaBot robot) {
               config.loggingPeriod = Seconds.of(robot.getPeriod());
             }
             if (config.loggingPeriodOffset == null) {
-              config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+              config.loggingPeriodOffset = config.loggingPeriod.div(2);
             }
 
             robot.addPeriodic(() -> {
@@ -284,7 +284,7 @@ public static void bind(edu.wpi.first.epilogue.BetaBot robot) {
               config.loggingPeriod = Seconds.of(robot.getPeriod());
             }
             if (config.loggingPeriodOffset == null) {
-              config.loggingPeriodOffset = config.loggingPeriod.divide(2);
+              config.loggingPeriodOffset = config.loggingPeriod.div(2);
             }
 
             robot.addPeriodic(() -> {

diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

diff --git a/hal/generate_usage_reporting.py b/hal/generate_usage_reporting.py
@@ -67,6 +67,22 @@ def generate_usage_reporting(output_directory: Path, template_directory: Path):
         )
         usage_reporting_hdr.write_text(contents, encoding="utf-8", newline="\n")
 
+    with (template_directory / "UsageReporting.h.in").open(
+        encoding="utf-8"
+    ) as cpp_usage_reporting:
+        contents = (
+            # fmt: off
+            cpp_usage_reporting.read()
+            .replace(r"${usage_reporting_types_cpp}", "\n".join(usage_reporting_types_cpp))
+            .replace(r"${usage_reporting_instances_cpp}", "\n".join(usage_reporting_instances_cpp))
+            # fmt: on
+        )
+
+        usage_reporting_hdr = (
+            output_directory / "main/native/include/hal/UsageReporting.h"
+        )
+        usage_reporting_hdr.write_text(contents, encoding="utf-8", newline="\n")
+
 
 def main():
     dirname = Path(__file__).parent

diff --git a/hal/src/generate/Instances.txt b/hal/src/generate/Instances.txt
@@ -52,3 +52,12 @@ kKinematics_SwerveDrive = 3
 kOdometry_DifferentialDrive = 1
 kOdometry_MecanumDrive = 2
 kOdometry_SwerveDrive = 3
+kDashboard_Unknown = 1
+kDashboard_Glass = 2
+kDashboard_SmartDashboard = 3
+kDashboard_Shuffleboard = 4
+kDashboard_Elastic = 5
+kDashboard_LabVIEW = 6
+kDashboard_AdvantageScope = 7
+kDashboard_QFRCDashboard = 8
+kDashboard_FRCWebComponents = 9