Merge branch 'main' into cleanup

.gersemirc

@@ -0,0 +1,6 @@
+color: false
+definitions: []
+line_length: 100
+list_expansion: favour-inlining
+quiet: false
+unsafe: false

.github/workflows/cmake.yml

@@ -19,18 +19,23 @@ jobs:
           - os: macOS-12
             name: macOS
             container: ""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON"
+            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     container: ${{ matrix.container }}
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers (Linux)
+        if: runner.os == 'Linux'
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
 
       - name: Install opencv (macOS)
-        run: brew install opencv ninja
+        run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
       - name: Set up Python 3.8 (macOS)
@@ -45,7 +50,7 @@ jobs:
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: configure
         run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
@@ -71,19 +76,19 @@ jobs:
       - name: Install CMake
         uses: lukka/[email protected]
 
-      - name: Run vcpkg
-        uses: lukka/[email protected]
-        with:
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
-
       - name: Run sccache-cache
         uses: mozilla-actions/[email protected]
 
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+
+      - name: Run vcpkg
+        uses: lukka/[email protected]
+        with:
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
+          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
 
       - name: configure
         run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -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

.github/workflows/comment-command.yml

@@ -9,22 +9,22 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v4
+        uses: actions/github-script@v6
         with:
           script: |
             const {owner, repo} = context.issue
-            github.reactions.createForIssueComment({
+            github.rest.reactions.createForIssueComment({
               owner,
               repo,
               comment_id: context.payload.comment.id,
               content: "rocket",
             });
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
+          fetch-depth: 0
           token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
       - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Checkout PR
@@ -34,7 +34,7 @@ jobs:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Setup Java

.github/workflows/documentation.yml

@@ -16,7 +16,7 @@ jobs:
     if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           persist-credentials: false

.github/workflows/gradle-wrapper-validation.yml

@@ -10,5 +10,5 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: gradle/wrapper-validation-action@v1

.github/workflows/gradle.yml

@@ -37,7 +37,7 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Set release environment variable
@@ -61,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:
@@ -109,7 +109,7 @@ jobs:
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v3
@@ -168,7 +168,7 @@ jobs:
     name: "Build - Documentation"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v3
@@ -193,7 +193,20 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - name: Free Disk Space
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
         if: |
           github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
@@ -223,7 +236,7 @@ jobs:
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           distribution: 'zulu'
-          java-version: 11
+          java-version: 17
       - name: Combine (Main)
         if: |
           github.repository_owner == 'wpilibsuite' &&

.github/workflows/lint-format.yml

@@ -15,19 +15,19 @@ jobs:
     name: "wpiformat"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
         uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2023.36
       - name: Run
         run: wpiformat
       - name: Check output
@@ -53,11 +53,12 @@ jobs:
     runs-on: ubuntu-22.04
     container: wpilib/roborio-cross-ubuntu:2023-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
@@ -70,18 +71,21 @@ jobs:
         run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
       - name: List changed files
         run: wpiformat -list-changed-files
-      - name: Run clang-tidy
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+      - name: Run clang-tidy release
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
+      - name: Run clang-tidy debug
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
   javaformat:
     name: "Java format"
     runs-on: ubuntu-22.04
     container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Run Java format
@@ -95,7 +99,7 @@ jobs:
     name: "Documentation"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v3

.github/workflows/pregenerate.yml

@@ -0,0 +1,43 @@
+name: Check Pregenerated Files
+
+on:
+  pull_request:
+  push:
+    branches-ignore:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  update:
+    name: "Update"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.9
+      - name: Install jinja
+        run: python -m pip install jinja2
+      - name: Run ntcore
+        run: ./ntcore/generate_topics.py
+      - 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
+      - name: Generate diff
+        run: git diff HEAD > pregenerated-files-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v3
+        with:
+          name: pregenerated-files-fixes
+          path: pregenerated-files-fixes.patch
+        if: ${{ failure() }}

.github/workflows/sanitizers.yml

@@ -29,18 +29,22 @@ jobs:
     container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers
+        if: runner.os == 'Linux'
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
 
       - name: Run sccache-cache
         uses: mozilla-actions/[email protected]
 
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: configure
-        run: mkdir build && cd build && cmake -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 ${{ matrix.cmake-flags }} ..
+        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"
 

.github/workflows/upstream-utils.yml

@@ -15,10 +15,11 @@ jobs:
     name: "Update"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.9
@@ -41,6 +42,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_gcem.py
+      - name: Run update_json.py
+        run: |
+          cd upstream_utils
+          ./update_json.py
       - name: Run update_libuv.py
         run: |
           cd upstream_utils
@@ -61,6 +66,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_memory.py
+      - name: Run update_protobuf.py
+        run: |
+          cd upstream_utils
+          ./update_protobuf.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.styleguide

@@ -10,6 +10,7 @@ cppSrcFileInclude {
 }
 
 modifiableFileExclude {
+  cmake/toolchains/
   \.patch$
   gradlew
 }
@@ -31,6 +32,7 @@ includeOtherLibs {
   ^cscore
   ^fmt/
   ^gtest/
+  ^google/
   ^hal/
   ^imgui
   ^implot