Update dependencies in prep for Bazel 7

.bazelignore

@@ -0,0 +1,17 @@
+build_cmake
+build-cmake
+
+# Auto generated by vscode
+apriltag/bin
+cameraserver/bin
+cameraserver/multiCameraServer/bin
+cscore/bin
+fieldImages/bin
+hal/bin
+myRobot/bin
+ntcore/bin
+wpilibNewCommands/bin
+wpilibj/bin
+wpimath/bin
+wpinet/bin
+wpiutil/bin

.bazelrc

@@ -0,0 +1,31 @@
+try-import %workspace%/user.bazelrc
+
+build --java_language_version=11
+test --test_output=errors
+test --test_verbose_timeout_warnings
+
+import shared/bazel/rc/buildbuddy.rc
+import shared/bazel/compiler_flags/sanitizers.rc
+import shared/bazel/compiler_flags/bullseye32_flags.rc
+import shared/bazel/compiler_flags/bullseye64_flags.rc
+import shared/bazel/compiler_flags/linux_flags.rc
+import shared/bazel/compiler_flags/osx_flags.rc
+import shared/bazel/compiler_flags/raspbian_flags.rc
+import shared/bazel/compiler_flags/roborio_flags.rc
+import shared/bazel/compiler_flags/windows_flags.rc
+import shared/bazel/compiler_flags/windows_arm_flags.rc
+import shared/bazel/compiler_flags/coverage_flags.rc
+
+build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
+build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
+build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+
+
+build --lockfile_mode=update
+build --registry=https://raw.githubusercontent.com/pjreiniger/bazel-central-registry/bzlmodrio/
+
+build:ci --config=remote
+
+build --proto_toolchain_for_java=//:quickbuf_toolchain
+build --proto_toolchain_for_cc=//:proto_cc_toolchain

.bazelversion

@@ -0,0 +1 @@
+6.4.0

.github/workflows/bazel.yml

@@ -0,0 +1,291 @@
+name: Bazel
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-windows:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Windows (native)",             os: windows-2022, action: "test", config: "--config=windows --noenable_bzlmod",      }
+          - { name: "Windows (bzlmod)",             os: windows-2022, action: "test", config: "--config=windows --enable_bzlmod",        }
+
+          - {  name: "Windows (arm)",               os: windows-2022, action: "build", config: "--config=windows_arm --noenable_bzlmod", }
+          - {  name: "Windows (arm bzlmod)",        os: windows-2022, action: "build", config: "--config=windows_arm --enable_bzlmod",   }
+
+          - {  name: "Windows (roborio)",           os: windows-2022, action: "build", config: "--config=roborio --noenable_bzlmod",      }
+          # - {  name: "Windows (roborio bzlmod)",    os: windows-2022, action: "build", config: "--config=roborio --enable_bzlmod",     }
+
+          - {  name: "Windows (bullseye32)",        os: windows-2022, action: "build", config: "--config=bullseye32 --noenable_bzlmod",      }
+          - {  name: "Windows (bullseye32 bzlmod)", os: windows-2022, action: "build", config: "--config=bullseye32 --enable_bzlmod",  }
+
+          - {  name: "Windows (bullseye64)",        os: windows-2022, action: "build", config: "--config=bullseye64 --noenable_bzlmod",      }
+          - {  name: "Windows (bullseye64 bzlmod)", os: windows-2022, action: "build", config: "--config=bullseye64 --enable_bzlmod",  }
+
+          - {  name: "Windows (raspi32)",           os: windows-2022, action: "build", config: "--config=raspi32 --noenable_bzlmod",      }
+          - {  name: "Windows (raspi32 bzlmod)",    os: windows-2022, action: "build", config: "--config=raspi32 --enable_bzlmod",     }
+
+    name: "Build ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v3
+        with: { fetch-depth: 0 }
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
+      - uses: actions/setup-java@v3
+        with:
+          distribution: 'zulu'
+          java-version: 17
+          architecture: x64
+
+      - name: Build wpimath dependencies
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k wpiutil/... --config=ci ${{ matrix.config }} --nojava_header_compilation --verbose_failures
+        shell: bash
+
+      - name: Build wpimath
+        run: bazel --output_user_root=C:\\bazelroot build -k wpimath/... --config=ci ${{ matrix.config }} --local_cpu_resources=1 --nojava_header_compilation --verbose_failures
+        shell: bash
+
+      - name: Build allowing failures
+        run: bazel --output_user_root=C:\\bazelroot build -k ...   --config=ci ${{ matrix.config }} --nojava_header_compilation --verbose_failures || true
+        shell: bash
+
+      - name: Build
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-mac:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Mac (native)",            os: macos-14,   action: "test",  config: "--config=osx -c opt --noenable_bzlmod",      }
+          - { name: "Mac (bzlmod)",            os: macos-14,   action: "test",  config: "--config=osx -c opt --enable_bzlmod" }
+
+          - { name: "Mac (roborio)",           os: macos-14,   action: "build", config: "--config=roborio -c opt --noenable_bzlmod",      }
+          - { name: "Mac (roborio bzlmod)",    os: macos-14,   action: "build", config: "--config=roborio -c opt --enable_bzlmod" }
+
+          - { name: "Mac (bullseye32)",        os: macos-14,   action: "build", config: "--config=bullseye32 -c opt --noenable_bzlmod",      }
+          - { name: "Mac (bullseye32 bzlmod)", os: macos-14,   action: "build", config: "--config=bullseye32 -c opt --enable_bzlmod" }
+
+          - { name: "Mac (bullseye64)",        os: macos-14,   action: "build", config: "--config=bullseye64 -c opt --noenable_bzlmod",      }
+          - { name: "Mac (bullseye64 bzlmod)", os: macos-14,   action: "build", config: "--config=bullseye64 -c opt --enable_bzlmod" }
+
+          - { name: "Mac (raspi32)",           os: macos-14,   action: "build", config: "--config=raspi32 -c opt --noenable_bzlmod",      }
+          - { name: "Mac (raspi32 bzlmod)",    os: macos-14,   action: "build", config: "--config=raspi32 -c opt --enable_bzlmod" }
+
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v3
+        with: { fetch-depth: 0 }
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
+      - uses: actions/setup-java@v3
+        with:
+          distribution: 'zulu'
+          java-version: 17
+          architecture: aarch64
+
+      - name: Build allowing failures
+        run: bazel build -k ...   --config=ci ${{ matrix.config }} --nojava_header_compilation --verbose_failures || true
+        shell: bash
+
+      - name: Build
+        run: bazel ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --nojava_header_compilation --verbose_failures
+        shell: bash
+
+      # - name: Check Lockfile update
+      #   run: git --no-pager diff --exit-code HEAD
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { container: "wpilib/ubuntu-base:22.04", action: "test", artifact-name: "Linux (native)",             config: "--config=linux  --noenable_bzlmod",      }
+          - { container: "wpilib/ubuntu-base:22.04", action: "test", artifact-name: "Linux (bzlmod)",             config: "--config=linux  --enable_bzlmod" }
+
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (roborio)",           config: "--config=roborio  --noenable_bzlmod",      }
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (roborio bzlmod)",    config: "--config=roborio --enable_bzlmod" }
+
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (bullseye32)",        config: "--config=bullseye32 --noenable_bzlmod",      }
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (bullseye32 bzlmod)", config: "--config=bullseye32 --enable_bzlmod" }
+
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (bullseye64)",        config: "--config=bullseye64 --noenable_bzlmod",      }
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (bullseye64 bzlmod)", config: "--config=bullseye64 --enable_bzlmod" }
+
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (raspi32)",           config: "--config=raspi32 --noenable_bzlmod",      }
+          - { container: "wpilib/ubuntu-base:22.04", action: "build", artifact-name: "Linux (raspi32 bzlmod)",    config: "--config=raspi32 --enable_bzlmod" }
+    runs-on: ubuntu-22.04
+    name: "Build - ${{ matrix.artifact-name }}"
+    container: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v3
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v1
+
+      - name: Build and allow failures
+        run: bazel build ... --config=ci ${{ matrix.config }} -k --verbose_failures || true
+
+      - name: Build and Test
+        run: bazel ${{ matrix.action }} ... --config=ci ${{ matrix.config }} -k --verbose_failures
+
+
+  repin-maven:
+    strategy:
+      fail-fast: false
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - run:  bazel run --noenable_bzlmod @unpinned_maven//:pin
+      - run:  git diff HEAD
+      - uses: actions/upload-artifact@v2
+        with:
+          name: Re-pinned maven
+          path: shared/bazel/deps/maven_install.json
+
+  build-sanitizers:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - config: "tsan"
+          - config: "asan"
+          - config: "ubsan"
+    runs-on: ubuntu-22.04
+    container: wpilib/ubuntu-base:22.04
+    name: "Sanitizer ${{ matrix.config }}"
+    steps:
+      - uses: actions/checkout@v3
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v1
+      - name: Build and Test
+        run: bazel test  -k --config=ci --config=linux --noenable_bzlmod --config=${{ matrix.config }} //...
+
+  build-coverage:
+    runs-on: ubuntu-22.04
+    name: "Code Coverage"
+    steps:
+      - uses: actions/checkout@v3
+        with: { fetch-depth: 0 }
+
+      - name: Install LCOV
+        run: sudo apt-get install -y lcov
+
+      - name: Build, allow buildbudy failure
+        run: bazel coverage --config=ci --config=linux --noenable_bzlmod -k -- //... -//simulation/halsim_gui/src/test/native/cpp:halsim_gui-test -//sysid/src/test/native:sysid-test
+
+      - name: genhtml
+        run: |
+          genhtml bazel-out/_coverage/_coverage_report.dat -o coverage_report/combined
+
+      - uses: actions/upload-artifact@v2
+        with:
+          name: "Coverage"
+          path: coverage_report
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Set up Go 1.15.x
+        uses: actions/setup-go@v2
+        with:
+          go-version: 1.15.x
+        id: go
+
+      - name: Install Buildifier
+        run: |
+          cd $(mktemp -d)
+          GO111MODULE=on go get github.com/bazelbuild/buildtools/[email protected]
+
+      - uses: actions/checkout@v3
+        with: { fetch-depth: 0 }
+
+      - name: Run buildifier
+        run: buildifier -warnings all --lint=fix -r .
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - name: Generate diff
+        run: git diff HEAD > bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.platform }}-bazel-lint-fixes
+          path: bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+  unused_deps:
+    name: "unused_deps"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Set up Go 1.15.x
+        uses: actions/setup-go@v2
+        with:
+          go-version: 1.15.x
+        id: go
+
+      - uses: actions/checkout@v3
+
+      - name: Install Unused Deps
+        run: |
+          cd $(mktemp -d)
+          GO111MODULE=on go get github.com/bazelbuild/buildtools/[email protected]
+
+      - name: Install Buildozer
+        run: |
+          cd $(mktemp -d)
+          GO111MODULE=on go get github.com/bazelbuild/buildtools/[email protected]
+
+      - name: Dump Platform Flag
+        run: |
+          echo "# Flags for unused deps"                 > user.bazelrc
+          echo "build --config=linux"                   >> user.bazelrc
+          echo "build --config=ci"                  >> user.bazelrc
+          echo "build --build_tag_filters=-wpi-cpp-gui" >> user.bazelrc
+          echo "build --test_tag_filters=-wpi-cpp-gui"  >> user.bazelrc
+
+      - name: Debug userrc
+        run: cat user.bazelrc
+
+      - name: Prep unused deps
+        run:  bazel query --tool_tag=unused_deps --keep_going "kind('(kt|java|android)_*', //...)" || true
+
+      - name: Run unused deps
+        run: unused_deps -cquery //... > buildozer-cmds.sh
+
+      - name: Show unused deps
+        run: cat buildozer-cmds.sh
+
+      - uses: actions/upload-artifact@v2
+        with:
+          name: Upload Unused Deps Script
+          path: buildozer-cmds.sh
+
+      - name: Fix unused deps
+        run: chmod +x buildozer-cmds.sh && ./buildozer-cmds.sh
+
+      - name: Generate diff
+        run: git diff > bazel-unused-deps-fixes.patch
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - uses: actions/upload-artifact@v2
+        with:
+          name: Upload Unused Deps Patch
+          path: bazel-unused-deps-fixes.patch
+        if: ${{ failure() }}

.github/workflows/gradle.yml

@@ -163,6 +163,10 @@ jobs:
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.build-dir }}/${{ matrix.outputs }}
+      # - uses: actions/upload-artifact@v2
+      #   with:
+      #     name: ${{ matrix.artifact-name }} BUILD OPTIONS
+      #     path: "**/build/tmp/**/options.txt"
 
   build-documentation:
     name: "Build - Documentation"

.github/workflows/sync_fork.yml

@@ -0,0 +1,20 @@
+name: Sync Fork
+
+on:
+  schedule:
+    - cron: '0 13 * * *' # Once a day at 1pm
+  workflow_dispatch: # on button click
+
+jobs:
+  sync:
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: tgymnich/[email protected]
+        with:
+          token: ${{ secrets.AUTO_UPDATE_KEY }}
+          owner: bazelRio
+          base: main
+          head: main
+          auto_merge: false

.github/workflows/upstream-utils.yml

@@ -73,4 +73,4 @@ jobs:
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD
+        run: git --no-pager diff --exit-code HEAD ':!*.bazel'

.styleguide

@@ -20,6 +20,8 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
+  BUILD.bazel
+  MODULE.bazel.lock
 }
 
 repoRootNameOverride {