Merge branch 'wpilibsuite:main' into FFUnits

.github/workflows/comment-command.yml

@@ -43,7 +43,7 @@ jobs:
           distribution: 'temurin'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
+        run: pip3 install wpiformat==2024.41
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply

.github/workflows/lint-format.yml

@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
+        run: pip3 install wpiformat==2024.41
       - name: Run
         run: wpiformat
       - name: Check output
@@ -66,7 +66,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.40
+        run: pip3 install wpiformat==2024.41
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

.github/workflows/tools.yml

@@ -34,7 +34,7 @@ jobs:
         with:
           image: wpilib/roborio-cross-ubuntu:2024-22.04
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
-          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :fieldImages:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :fieldImages:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
       - uses: actions/upload-artifact@v4
         with:
           name: MavenArtifacts

.github/workflows/upstream-utils.yml

@@ -35,11 +35,26 @@ jobs:
           cd upstream_utils
           ./apriltag.py clone
           ./apriltag.py copy-src
+      - name: Run argparse_lib.py
+        run: |
+          cd upstream_utils
+          ./argparse_lib.py clone
+          ./argparse_lib.py copy-src
+      - name: Run concurrentqueue.py
+        run: |
+          cd upstream_utils
+          ./concurrentqueue.py clone
+          ./concurrentqueue.py copy-src
       - name: Run eigen.py
         run: |
           cd upstream_utils
           ./eigen.py clone
           ./eigen.py copy-src
+      - name: Run expected.py
+        run: |
+          cd upstream_utils
+          ./expected.py clone
+          ./expected.py copy-src
       - name: Run fmt.py
         run: |
           cd upstream_utils

.styleguide

@@ -33,8 +33,9 @@ includeOtherLibs {
   ^cameraserver/
   ^cscore
   ^fmt/
-  ^gtest/
+  ^glass/
   ^google/
+  ^gtest/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -81,6 +81,7 @@ option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
+option(WITH_PROTOBUF "Build protobuf support" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
@@ -128,12 +129,14 @@ else()
     find_package(Java REQUIRED COMPONENTS Runtime)
 endif()
 
-find_package(LIBSSH 0.7.1)
+find_package(LIBSSH CONFIG 0.7.1)
 
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
-set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
-find_package(Protobuf REQUIRED)
-find_program(PROTOC_COMPILER protoc REQUIRED)
+if(WITH_PROTOBUF)
+    set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
+    find_package(Protobuf REQUIRED)
+    find_program(PROTOC_COMPILER protoc REQUIRED)
+endif()
 set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
 
 get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)

apriltag/src/main/native/cpp/AprilTagDetector.cpp

@@ -5,7 +5,7 @@
 #include "frc/apriltag/AprilTagDetector.h"
 
 #include <cmath>
-#include <numbers>
+#include <utility>
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -5,6 +5,8 @@
 #include "frc/apriltag/AprilTagFieldLayout.h"
 
 #include <system_error>
+#include <utility>
+#include <vector>
 
 #include <units/angle.h>
 #include <units/length.h>
@@ -15,14 +17,12 @@
 using namespace frc;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(path, ec);
-  if (fileBuffer == nullptr || ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
+  if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
+  wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;

apriltag/src/test/native/cpp/LoadConfigTest.cpp

@@ -2,6 +2,8 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+#include <vector>
+
 #include <gtest/gtest.h>
 
 #include "frc/apriltag/AprilTagFieldLayout.h"

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.2.0"
+    implementation "edu.wpi.first:native-utils:2025.3.0"
 }

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -6,6 +6,7 @@
 #include <string>
 #include <string_view>
 #include <thread>
+#include <utility>
 #include <vector>
 
 #include <networktables/NetworkTableInstance.h>
@@ -94,18 +95,17 @@ bool ReadCameraConfig(const wpi::json& config) {
 
 bool ReadConfig() {
   // open config file
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(configFile, ec);
-  if (fileBuffer == nullptr || ec) {
-    wpi::print(stderr, "could not open '{}': {}\n", configFile, ec.message());
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(configFile);
+  if (!fileBuffer) {
+    wpi::print(stderr, "could not open '{}': {}\n", configFile,
+               fileBuffer.error().message());
     return false;
   }
 
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse(fileBuffer->GetCharBuffer());
+    j = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
   } catch (const wpi::json::parse_error& e) {
     wpi::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
                e.byte, e.what());

cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp

@@ -5,6 +5,9 @@
 #include "cameraserver/CameraServer.h"
 
 #include <atomic>
+#include <memory>
+#include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>

cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp

@@ -4,6 +4,9 @@
 
 #include "cameraserver/CameraServerShared.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/mutex.h>
 
 namespace {

cameraserver/src/main/native/cpp/vision/VisionRunner.cpp

@@ -4,6 +4,7 @@
 
 #include "vision/VisionRunner.h"
 
+#include <memory>
 #include <thread>
 
 #include <opencv2/core/mat.hpp>

cmake/modules/AddTest.cmake

@@ -2,6 +2,9 @@ include(CompileWarnings)
 
 macro(wpilib_add_test name srcdir)
     file(GLOB_RECURSE test_src ${srcdir}/*.cpp)
+    if(NOT WITH_PROTOBUF)
+        list(FILTER test_src EXCLUDE REGEX "/proto/")
+    endif()
     add_executable(${name}_test ${test_src})
     set_property(TARGET ${name}_test PROPERTY FOLDER "tests")
     wpilib_target_warnings(${name}_test)

crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp

@@ -4,6 +4,7 @@
 
 #include <atomic>
 #include <thread>
+#include <utility>
 
 #include <gtest/gtest.h>
 #include <hal/DMA.h>

cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp

@@ -4,11 +4,13 @@
 
 #include "ConfigurableSourceImpl.h"
 
+#include <memory>
+#include <string>
+
 #include <wpi/timestamp.h>
 
 #include "Handle.h"
 #include "Instance.h"
-#include "Log.h"
 #include "Notifier.h"
 
 using namespace cs;