diff --git a/.github/workflows/comment-command.yml b/.github/workflows/comment-command.yml
index cafece2fcf9..15f99264a4e 100644
--- a/.github/workflows/comment-command.yml
+++ b/.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
diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
index a995ec44c6b..624414b165e 100644
--- a/.github/workflows/lint-format.yml
+++ b/.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
diff --git a/.github/workflows/tools.yml b/.github/workflows/tools.yml
index 07341b7fbfe..3e71c5e8301 100644
--- a/.github/workflows/tools.yml
+++ b/.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
diff --git a/.github/workflows/upstream-utils.yml b/.github/workflows/upstream-utils.yml
index 15597d05143..bd4e7ac39a8 100644
--- a/.github/workflows/upstream-utils.yml
+++ b/.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
diff --git a/.styleguide b/.styleguide
index f1e32ce536f..feb5dc3e00e 100644
--- a/.styleguide
+++ b/.styleguide
@@ -33,8 +33,9 @@ includeOtherLibs {
   ^cameraserver/
   ^cscore
   ^fmt/
-  ^gtest/
+  ^glass/
   ^google/
+  ^gtest/
   ^hal/
   ^imgui
   ^implot
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4bcc181ea80..13c85a831e8 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/apriltag/src/main/native/cpp/AprilTagDetector.cpp b/apriltag/src/main/native/cpp/AprilTagDetector.cpp
index ca06c2b9477..08046d16dca 100644
--- a/apriltag/src/main/native/cpp/AprilTagDetector.cpp
+++ b/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)
diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
index c0b4ca233bb..c90fad3626d 100644
--- a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
+++ b/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;
diff --git a/apriltag/src/test/native/cpp/LoadConfigTest.cpp b/apriltag/src/test/native/cpp/LoadConfigTest.cpp
index ba6fe81ff96..9cf5b6fa105 100644
--- a/apriltag/src/test/native/cpp/LoadConfigTest.cpp
+++ b/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"
diff --git a/buildSrc/build.gradle b/buildSrc/build.gradle
index 3a0ddb1510e..99d4892632a 100644
--- a/buildSrc/build.gradle
+++ b/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"
 }
diff --git a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
index 011f8119f08..f3e0a7b72e3 100644
--- a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
+++ b/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());
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
index c13c113c563..69293bbaac9 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/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>
diff --git a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp b/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
index 6d1ebc2c17a..4b6c9cf5af1 100644
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServerShared.cpp
+++ b/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 {
diff --git a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
index b55325a7df1..1458db502bf 100644
--- a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp
+++ b/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>
diff --git a/cmake/modules/AddTest.cmake b/cmake/modules/AddTest.cmake
index 224cffa3b2d..b916f6f2cc4 100644
--- a/cmake/modules/AddTest.cmake
+++ b/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)
diff --git a/cmake/modules/FindLIBSSH.cmake b/cmake/modules/FindLIBSSH.cmake
deleted file mode 100644
index 6578aa99761..00000000000
--- a/cmake/modules/FindLIBSSH.cmake
+++ /dev/null
@@ -1,143 +0,0 @@
-# - Try to find LibSSH
-# Once done this will define
-#
-#  LIBSSH_FOUND - system has LibSSH
-#  LIBSSH_INCLUDE_DIRS - the LibSSH include directory
-#  LIBSSH_LIBRARIES - link these to use LibSSH
-#  LIBSSH_VERSION -
-#
-#  Author Michal Vasko <mvasko@cesnet.cz>
-#  Copyright (c) 2020 CESNET, z.s.p.o.
-#
-#  Redistribution and use in source and binary forms, with or without
-#  modification, are permitted provided that the following conditions
-#  are met:
-#
-#  1. Redistributions of source code must retain the copyright
-#     notice, this list of conditions and the following disclaimer.
-#  2. Redistributions in binary form must reproduce the copyright
-#     notice, this list of conditions and the following disclaimer in the
-#     documentation and/or other materials provided with the distribution.
-#  3. The name of the author may not be used to endorse or promote products
-#     derived from this software without specific prior written permission.
-#
-#  THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
-#
-include(FindPackageHandleStandardArgs)
-
-if(LIBSSH_LIBRARIES AND LIBSSH_INCLUDE_DIRS)
-    # in cache already
-    set(LIBSSH_FOUND TRUE)
-else()
-    find_path(
-        LIBSSH_INCLUDE_DIR
-        NAMES libssh/libssh.h
-        PATHS
-            /usr/include
-            /usr/local/include
-            /opt/local/include
-            /sw/include
-            ${CMAKE_INCLUDE_PATH}
-            ${CMAKE_INSTALL_PREFIX}/include
-    )
-
-    find_library(
-        LIBSSH_LIBRARY
-        NAMES ssh.so libssh.so libssh.dylib
-        PATHS
-            /usr/lib
-            /usr/local/lib
-            /opt/local/lib
-            /sw/lib
-            ${CMAKE_LIBRARY_PATH}
-            ${CMAKE_INSTALL_PREFIX}/lib
-    )
-
-    if(LIBSSH_INCLUDE_DIR AND LIBSSH_LIBRARY)
-        # learn libssh version
-        if(EXISTS ${LIBSSH_INCLUDE_DIR}/libssh/libssh_version.h)
-            set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh_version.h)
-        else()
-            set(LIBSSH_HEADER_PATH ${LIBSSH_INCLUDE_DIR}/libssh/libssh.h)
-        endif()
-        file(
-            STRINGS
-            ${LIBSSH_HEADER_PATH}
-            LIBSSH_VERSION_MAJOR
-            REGEX "#define[ ]+LIBSSH_VERSION_MAJOR[ ]+[0-9]+"
-        )
-        if(NOT LIBSSH_VERSION_MAJOR)
-            message(
-                STATUS
-                "LIBSSH_VERSION_MAJOR not found, assuming libssh is too old and cannot be used!"
-            )
-            set(LIBSSH_INCLUDE_DIR "LIBSSH_INCLUDE_DIR-NOTFOUND")
-            set(LIBSSH_LIBRARY "LIBSSH_LIBRARY-NOTFOUND")
-        else()
-            string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MAJOR ${LIBSSH_VERSION_MAJOR})
-            file(
-                STRINGS
-                ${LIBSSH_HEADER_PATH}
-                LIBSSH_VERSION_MINOR
-                REGEX "#define[ ]+LIBSSH_VERSION_MINOR[ ]+[0-9]+"
-            )
-            string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_MINOR ${LIBSSH_VERSION_MINOR})
-            file(
-                STRINGS
-                ${LIBSSH_HEADER_PATH}
-                LIBSSH_VERSION_PATCH
-                REGEX "#define[ ]+LIBSSH_VERSION_MICRO[ ]+[0-9]+"
-            )
-            string(REGEX MATCH "[0-9]+" LIBSSH_VERSION_PATCH ${LIBSSH_VERSION_PATCH})
-
-            set(LIBSSH_VERSION
-                ${LIBSSH_VERSION_MAJOR}.${LIBSSH_VERSION_MINOR}.${LIBSSH_VERSION_PATCH}
-            )
-
-            if(LIBSSH_VERSION VERSION_LESS 0.8.0)
-                # libssh_threads also needs to be linked for these versions
-                string(
-                    REPLACE
-                    "libssh.so"
-                    "libssh_threads.so"
-                    LIBSSH_THREADS_LIBRARY
-                    ${LIBSSH_LIBRARY}
-                )
-                string(
-                    REPLACE
-                    "libssh.dylib"
-                    "libssh_threads.dylib"
-                    LIBSSH_THREADS_LIBRARY
-                    ${LIBSSH_THREADS_LIBRARY}
-                )
-                string(
-                    REPLACE
-                    "ssh.so"
-                    "ssh_threads.so"
-                    LIBSSH_THREADS_LIBRARY
-                    ${LIBSSH_THREADS_LIBRARY}
-                )
-            endif()
-        endif()
-    endif()
-
-    set(LIBSSH_INCLUDE_DIRS ${LIBSSH_INCLUDE_DIR})
-    set(LIBSSH_LIBRARIES ${LIBSSH_LIBRARY} ${LIBSSH_THREADS_LIBRARY})
-    mark_as_advanced(LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES)
-
-    find_package_handle_standard_args(
-        LIBSSH
-        FOUND_VAR LIBSSH_FOUND
-        REQUIRED_VARS LIBSSH_INCLUDE_DIRS LIBSSH_LIBRARIES
-        VERSION_VAR LIBSSH_VERSION
-    )
-endif()
diff --git a/crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp b/crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp
index d209658c9ce..49ff7b0e45d 100644
--- a/crossConnIntegrationTests/src/main/native/cpp/PWMTest.cpp
+++ b/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>
diff --git a/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp b/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
index e7e8721d9f4..0244c28bfe3 100644
--- a/cscore/src/main/native/cpp/ConfigurableSourceImpl.cpp
+++ b/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;
diff --git a/cscore/src/main/native/cpp/Frame.cpp b/cscore/src/main/native/cpp/Frame.cpp
index af108f46a72..759086f4e07 100644
--- a/cscore/src/main/native/cpp/Frame.cpp
+++ b/cscore/src/main/native/cpp/Frame.cpp
@@ -5,13 +5,13 @@
 #include "Frame.h"
 
 #include <cstdlib>
+#include <memory>
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "Instance.h"
-#include "Log.h"
 #include "SourceImpl.h"
 
 using namespace cs;
diff --git a/cscore/src/main/native/cpp/HttpCameraImpl.cpp b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
index 05a5c90cafe..8c463d0408a 100644
--- a/cscore/src/main/native/cpp/HttpCameraImpl.cpp
+++ b/cscore/src/main/native/cpp/HttpCameraImpl.cpp
@@ -4,12 +4,16 @@
 
 #include "HttpCameraImpl.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <wpi/MemAlloc.h>
 #include <wpi/StringExtras.h>
 #include <wpi/timestamp.h>
 #include <wpinet/TCPConnector.h>
 
-#include "Handle.h"
 #include "Instance.h"
 #include "JpegUtil.h"
 #include "Log.h"
diff --git a/cscore/src/main/native/cpp/Instance.cpp b/cscore/src/main/native/cpp/Instance.cpp
index 979c80adcfb..33ee5968d92 100644
--- a/cscore/src/main/native/cpp/Instance.cpp
+++ b/cscore/src/main/native/cpp/Instance.cpp
@@ -4,7 +4,9 @@
 
 #include "Instance.h"
 
+#include <memory>
 #include <string_view>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/fs.h>
@@ -30,6 +32,7 @@ static void def_log_func(unsigned int level, const char* file,
     return;
   }
   wpi::print(stderr, "CS: {}: {} ({}:{})\n", levelmsg, msg,
+             // NOLINTNEXTLINE(build/include_what_you_use)
              fs::path{file}.filename().string(), line);
 }
 
diff --git a/cscore/src/main/native/cpp/JpegUtil.cpp b/cscore/src/main/native/cpp/JpegUtil.cpp
index 1abc01979c3..18bcf8c8faf 100644
--- a/cscore/src/main/native/cpp/JpegUtil.cpp
+++ b/cscore/src/main/native/cpp/JpegUtil.cpp
@@ -4,6 +4,8 @@
 
 #include "JpegUtil.h"
 
+#include <string>
+
 #include <wpi/StringExtras.h>
 #include <wpi/raw_istream.h>
 
diff --git a/cscore/src/main/native/cpp/MjpegServerImpl.cpp b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
index f6f63d6673d..5ce5c39a528 100644
--- a/cscore/src/main/native/cpp/MjpegServerImpl.cpp
+++ b/cscore/src/main/native/cpp/MjpegServerImpl.cpp
@@ -5,6 +5,9 @@
 #include "MjpegServerImpl.h"
 
 #include <chrono>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
@@ -15,7 +18,6 @@
 #include <wpinet/raw_socket_istream.h>
 #include <wpinet/raw_socket_ostream.h>
 
-#include "Handle.h"
 #include "Instance.h"
 #include "JpegUtil.h"
 #include "Log.h"
diff --git a/cscore/src/main/native/cpp/Notifier.cpp b/cscore/src/main/native/cpp/Notifier.cpp
index 371189634d3..f9127ed41ea 100644
--- a/cscore/src/main/native/cpp/Notifier.cpp
+++ b/cscore/src/main/native/cpp/Notifier.cpp
@@ -4,9 +4,7 @@
 
 #include "Notifier.h"
 
-#include <queue>
 #include <utility>
-#include <vector>
 
 #include "Handle.h"
 #include "Instance.h"
diff --git a/cscore/src/main/native/cpp/PropertyContainer.cpp b/cscore/src/main/native/cpp/PropertyContainer.cpp
index 0b8474f7241..5fdbd6899b9 100644
--- a/cscore/src/main/native/cpp/PropertyContainer.cpp
+++ b/cscore/src/main/native/cpp/PropertyContainer.cpp
@@ -4,6 +4,10 @@
 
 #include "PropertyContainer.h"
 
+#include <memory>
+#include <string>
+#include <vector>
+
 #include <wpi/Logger.h>
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>
diff --git a/cscore/src/main/native/cpp/RawSinkImpl.cpp b/cscore/src/main/native/cpp/RawSinkImpl.cpp
index bdbf2c1a9a6..3e38cb81c3b 100644
--- a/cscore/src/main/native/cpp/RawSinkImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSinkImpl.cpp
@@ -4,8 +4,10 @@
 
 #include "RawSinkImpl.h"
 
+#include <algorithm>
+#include <memory>
+
 #include "Instance.h"
-#include "cscore.h"
 #include "cscore_raw.h"
 
 using namespace cs;
diff --git a/cscore/src/main/native/cpp/RawSourceImpl.cpp b/cscore/src/main/native/cpp/RawSourceImpl.cpp
index aad27b240ef..d06cecdb412 100644
--- a/cscore/src/main/native/cpp/RawSourceImpl.cpp
+++ b/cscore/src/main/native/cpp/RawSourceImpl.cpp
@@ -4,11 +4,11 @@
 
 #include "RawSourceImpl.h"
 
+#include <memory>
+
 #include <wpi/timestamp.h>
 
-#include "Handle.h"
 #include "Instance.h"
-#include "Log.h"
 #include "Notifier.h"
 #include "cscore_raw.h"
 
diff --git a/cscore/src/main/native/cpp/SinkImpl.cpp b/cscore/src/main/native/cpp/SinkImpl.cpp
index 0897bb8d6a5..32d86adf163 100644
--- a/cscore/src/main/native/cpp/SinkImpl.cpp
+++ b/cscore/src/main/native/cpp/SinkImpl.cpp
@@ -4,6 +4,8 @@
 
 #include "SinkImpl.h"
 
+#include <string>
+
 #include <wpi/SmallString.h>
 #include <wpi/json.h>
 
diff --git a/cscore/src/main/native/cpp/SourceImpl.cpp b/cscore/src/main/native/cpp/SourceImpl.cpp
index e30821064ae..6bdee5bab98 100644
--- a/cscore/src/main/native/cpp/SourceImpl.cpp
+++ b/cscore/src/main/native/cpp/SourceImpl.cpp
@@ -7,6 +7,9 @@
 #include <algorithm>
 #include <cstring>
 #include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
diff --git a/cscore/src/main/native/cpp/Telemetry.cpp b/cscore/src/main/native/cpp/Telemetry.cpp
index 751ef44cf5f..a3e8e5b7144 100644
--- a/cscore/src/main/native/cpp/Telemetry.cpp
+++ b/cscore/src/main/native/cpp/Telemetry.cpp
@@ -5,7 +5,7 @@
 #include "Telemetry.h"
 
 #include <chrono>
-#include <limits>
+#include <utility>
 
 #include <wpi/DenseMap.h>
 #include <wpi/timestamp.h>
@@ -14,7 +14,6 @@
 #include "Instance.h"
 #include "Notifier.h"
 #include "SourceImpl.h"
-#include "cscore_cpp.h"
 
 using namespace cs;
 
diff --git a/cscore/src/main/native/cpp/cscore_c.cpp b/cscore/src/main/native/cpp/cscore_c.cpp
index 521a1ffa501..b55d6979955 100644
--- a/cscore/src/main/native/cpp/cscore_c.cpp
+++ b/cscore/src/main/native/cpp/cscore_c.cpp
@@ -4,15 +4,17 @@
 
 #include "cscore_c.h"
 
+#include <algorithm>
 #include <cstddef>
 #include <cstdlib>
+#include <utility>
+#include <vector>
 
 #include <wpi/MemAlloc.h>
 #include <wpi/SmallString.h>
 
 #include "c_util.h"
 #include "cscore_cpp.h"
-#include "cscore_raw.h"
 
 static CS_Event ConvertToC(const cs::RawEvent& rawEvent) {
   CS_Event event;
diff --git a/cscore/src/main/native/cpp/cscore_cpp.cpp b/cscore/src/main/native/cpp/cscore_cpp.cpp
index a46b805c01f..f0414f40100 100644
--- a/cscore/src/main/native/cpp/cscore_cpp.cpp
+++ b/cscore/src/main/native/cpp/cscore_cpp.cpp
@@ -4,13 +4,16 @@
 
 #include "cscore_cpp.h"
 
+#include <memory>
+#include <string>
+#include <vector>
+
 #include <wpi/SmallString.h>
 #include <wpi/json.h>
 #include <wpinet/hostname.h>
 
 #include "Handle.h"
 #include "Instance.h"
-#include "Log.h"
 #include "NetworkListener.h"
 #include "Notifier.h"
 #include "PropertyContainer.h"
diff --git a/cscore/src/main/native/cpp/cscore_oo.cpp b/cscore/src/main/native/cpp/cscore_oo.cpp
index cca5ba73dde..457fb1870c3 100644
--- a/cscore/src/main/native/cpp/cscore_oo.cpp
+++ b/cscore/src/main/native/cpp/cscore_oo.cpp
@@ -4,6 +4,9 @@
 
 #include "cscore_oo.h"
 
+#include <string>
+#include <vector>
+
 #include <fmt/format.h>
 #include <wpi/json.h>
 
diff --git a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
index 6c133762122..b000894310b 100644
--- a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
+++ b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
@@ -2,8 +2,9 @@
 // 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 <exception>
+#include <memory>
 #include <span>
+#include <string>
 
 #include <fmt/format.h>
 
diff --git a/cscore/src/main/native/linux/NetworkListener.cpp b/cscore/src/main/native/linux/NetworkListener.cpp
index 9771cfa20f8..e84ae8f4ac0 100644
--- a/cscore/src/main/native/linux/NetworkListener.cpp
+++ b/cscore/src/main/native/linux/NetworkListener.cpp
@@ -13,6 +13,7 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <algorithm>
 #include <cerrno>
 
 #include <wpi/SafeThread.h>
diff --git a/cscore/src/main/native/linux/NetworkUtil.cpp b/cscore/src/main/native/linux/NetworkUtil.cpp
index 43e0fa8cd1f..7a7b1ef2cec 100644
--- a/cscore/src/main/native/linux/NetworkUtil.cpp
+++ b/cscore/src/main/native/linux/NetworkUtil.cpp
@@ -9,6 +9,9 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <string>
+#include <vector>
+
 namespace cs {
 
 std::vector<std::string> GetNetworkInterfaces() {
diff --git a/cscore/src/main/native/linux/UsbCameraImpl.cpp b/cscore/src/main/native/linux/UsbCameraImpl.cpp
index eca6ab77975..e46bb1402ff 100644
--- a/cscore/src/main/native/linux/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/linux/UsbCameraImpl.cpp
@@ -21,6 +21,9 @@
 
 #include <algorithm>
 #include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <wpi/MemAlloc.h>
@@ -30,7 +33,6 @@
 #include <wpi/raw_ostream.h>
 #include <wpi/timestamp.h>
 
-#include "Handle.h"
 #include "Instance.h"
 #include "JpegUtil.h"
 #include "Log.h"
diff --git a/cscore/src/main/native/linux/UsbCameraListener.cpp b/cscore/src/main/native/linux/UsbCameraListener.cpp
index c5a993470c4..70aac34bb9e 100644
--- a/cscore/src/main/native/linux/UsbCameraListener.cpp
+++ b/cscore/src/main/native/linux/UsbCameraListener.cpp
@@ -4,6 +4,8 @@
 
 #include "UsbCameraListener.h"
 
+#include <memory>
+
 #include <wpi/StringExtras.h>
 #include <wpinet/EventLoopRunner.h>
 #include <wpinet/uv/FsEvent.h>
diff --git a/cscore/src/main/native/linux/UsbCameraProperty.cpp b/cscore/src/main/native/linux/UsbCameraProperty.cpp
index d6bb9804f6e..d8847d17657 100644
--- a/cscore/src/main/native/linux/UsbCameraProperty.cpp
+++ b/cscore/src/main/native/linux/UsbCameraProperty.cpp
@@ -4,6 +4,10 @@
 
 #include "UsbCameraProperty.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
diff --git a/cscore/src/main/native/linux/UsbUtil.cpp b/cscore/src/main/native/linux/UsbUtil.cpp
index fc6cbd29712..620871db0bd 100644
--- a/cscore/src/main/native/linux/UsbUtil.cpp
+++ b/cscore/src/main/native/linux/UsbUtil.cpp
@@ -8,6 +8,8 @@
 #include <libgen.h>
 #include <sys/ioctl.h>
 
+#include <string>
+
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
@@ -16,7 +18,6 @@
 #include <wpi/raw_ostream.h>
 
 #include "Instance.h"
-#include "Log.h"
 
 namespace cs {
 
diff --git a/cscore/src/main/native/osx/NetworkUtil.cpp b/cscore/src/main/native/osx/NetworkUtil.cpp
index 0aaf53537fc..f45e0b5964d 100644
--- a/cscore/src/main/native/osx/NetworkUtil.cpp
+++ b/cscore/src/main/native/osx/NetworkUtil.cpp
@@ -2,6 +2,9 @@
 // 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 <string>
+#include <vector>
+
 #include "cscore_cpp.h"
 
 namespace cs {
diff --git a/cscore/src/main/native/windows/COMCreators.cpp b/cscore/src/main/native/windows/COMCreators.cpp
index 5ccddff2671..f3a1e56e5ca 100644
--- a/cscore/src/main/native/windows/COMCreators.cpp
+++ b/cscore/src/main/native/windows/COMCreators.cpp
@@ -13,13 +13,13 @@
 
 // https://github.com/opencv/opencv/blob/master/modules/videoio/src/cap_msmf.cpp
 
-#include <mfidl.h>
-#include <mfapi.h>
 #include <Dbt.h>
 #include <ks.h>
 #include <ksmedia.h>
 #include <mfreadwrite.h>
 
+#include <memory>
+
 #include "COMCreators.h"
 #include "ComPtr.h"
 
diff --git a/cscore/src/main/native/windows/NetworkUtil.cpp b/cscore/src/main/native/windows/NetworkUtil.cpp
index 86b99bc2493..f3ab681470c 100644
--- a/cscore/src/main/native/windows/NetworkUtil.cpp
+++ b/cscore/src/main/native/windows/NetworkUtil.cpp
@@ -5,6 +5,9 @@
 #include <uv.h>
 #include <ws2tcpip.h>
 
+#include <string>
+#include <vector>
+
 #include "cscore_cpp.h"
 
 #pragma comment(lib, "Ws2_32.lib")
diff --git a/cscore/src/main/native/windows/UsbCameraImpl.cpp b/cscore/src/main/native/windows/UsbCameraImpl.cpp
index 606ceb2145d..1f180a142ca 100644
--- a/cscore/src/main/native/windows/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/windows/UsbCameraImpl.cpp
@@ -16,6 +16,7 @@
 #include <cmath>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include <Dbt.h>
diff --git a/cscore/src/main/native/windows/UsbCameraListener.cpp b/cscore/src/main/native/windows/UsbCameraListener.cpp
index be33771ab82..ec2d07617ad 100644
--- a/cscore/src/main/native/windows/UsbCameraListener.cpp
+++ b/cscore/src/main/native/windows/UsbCameraListener.cpp
@@ -9,6 +9,8 @@
 
 #include <dbt.h>  // NOLINT(build/include_order)
 
+#include <memory>
+
 #define IDT_TIMER1 1001
 
 using namespace cs;
diff --git a/datalogtool/CMakeLists.txt b/datalogtool/CMakeLists.txt
index 00b760e14a9..ba9475d2eb7 100644
--- a/datalogtool/CMakeLists.txt
+++ b/datalogtool/CMakeLists.txt
@@ -25,8 +25,7 @@ add_executable(
     ${APP_ICON_MACOSX}
 )
 wpilib_link_macos_gui(datalogtool)
-target_link_libraries(datalogtool libglass ${LIBSSH_LIBRARIES})
-target_include_directories(datalogtool SYSTEM PRIVATE ${LIBSSH_INCLUDE_DIRS})
+target_link_libraries(datalogtool libglass ssh)
 
 if(WIN32)
     set_target_properties(datalogtool PROPERTIES WIN32_EXECUTABLE YES)
diff --git a/datalogtool/src/main/native/cpp/Downloader.cpp b/datalogtool/src/main/native/cpp/Downloader.cpp
index 0a8b90dceeb..84b186db2bf 100644
--- a/datalogtool/src/main/native/cpp/Downloader.cpp
+++ b/datalogtool/src/main/native/cpp/Downloader.cpp
@@ -13,6 +13,9 @@
 
 #include <algorithm>
 #include <filesystem>
+#include <memory>
+#include <string>
+#include <vector>
 
 #include <fmt/format.h>
 #include <glass/Storage.h>
diff --git a/datalogtool/src/main/native/cpp/Exporter.cpp b/datalogtool/src/main/native/cpp/Exporter.cpp
index afca913e64d..a1213f40b62 100644
--- a/datalogtool/src/main/native/cpp/Exporter.cpp
+++ b/datalogtool/src/main/native/cpp/Exporter.cpp
@@ -6,12 +6,14 @@
 
 #include <atomic>
 #include <ctime>
+#include <functional>
 #include <future>
 #include <map>
 #include <memory>
 #include <set>
 #include <string>
 #include <string_view>
+#include <utility>
 #include <vector>
 
 #include <fmt/chrono.h>
@@ -180,17 +182,16 @@ InputFile::~InputFile() {
 }
 
 static std::unique_ptr<InputFile> LoadDataLog(std::string_view filename) {
-  std::error_code ec;
-  auto buf = wpi::MemoryBuffer::GetFile(filename, ec);
-  std::string fn{filename};
-  if (ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  if (!fileBuffer) {
     return std::make_unique<InputFile>(
-        fn, fmt::format("Could not open file: {}", ec.message()));
+        filename,
+        fmt::format("Could not open file: {}", fileBuffer.error().message()));
   }
 
-  wpi::log::DataLogReader reader{std::move(buf)};
+  wpi::log::DataLogReader reader{std::move(*fileBuffer)};
   if (!reader.IsValid()) {
-    return std::make_unique<InputFile>(fn, "Not a valid datalog file");
+    return std::make_unique<InputFile>(filename, "Not a valid datalog file");
   }
 
   return std::make_unique<InputFile>(
diff --git a/datalogtool/src/main/native/cpp/Sftp.cpp b/datalogtool/src/main/native/cpp/Sftp.cpp
index 3a33d13afe3..42f2d039ac5 100644
--- a/datalogtool/src/main/native/cpp/Sftp.cpp
+++ b/datalogtool/src/main/native/cpp/Sftp.cpp
@@ -4,6 +4,10 @@
 
 #include "Sftp.h"
 
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <fmt/format.h>
 
 using namespace sftp;
diff --git a/glass/src/app/native/cpp/main.cpp b/glass/src/app/native/cpp/main.cpp
index ec0c2c0ddd6..63715b25780 100644
--- a/glass/src/app/native/cpp/main.cpp
+++ b/glass/src/app/native/cpp/main.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <memory>
+#include <string>
 
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
@@ -14,7 +15,6 @@
 
 #include "glass/Context.h"
 #include "glass/MainMenuBar.h"
-#include "glass/Model.h"
 #include "glass/Storage.h"
 #include "glass/View.h"
 #include "glass/networktables/NetworkTables.h"
diff --git a/glass/src/lib/native/cpp/Context.cpp b/glass/src/lib/native/cpp/Context.cpp
index 5adcd943bb1..be837e64b55 100644
--- a/glass/src/lib/native/cpp/Context.cpp
+++ b/glass/src/lib/native/cpp/Context.cpp
@@ -4,9 +4,10 @@
 
 #include "glass/Context.h"
 
-#include <algorithm>
-#include <cinttypes>
 #include <filesystem>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <fmt/format.h>
 #include <imgui.h>
@@ -128,50 +129,44 @@ static bool JsonToWindow(const wpi::json& jfile, const char* filename) {
 }
 
 static bool LoadWindowStorageImpl(const std::string& filename) {
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(filename, ec);
-  if (fileBuffer == nullptr || ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  if (!fileBuffer) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
-                   ec.message().c_str());
+                   fileBuffer.error().message().c_str());
+    return false;
+  }
+  try {
+    return JsonToWindow(wpi::json::parse(fileBuffer.value()->GetCharBuffer()),
+                        filename.c_str());
+  } catch (wpi::json::parse_error& e) {
+    ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
     return false;
-  } else {
-    try {
-      return JsonToWindow(wpi::json::parse(fileBuffer->GetCharBuffer()),
-                          filename.c_str());
-    } catch (wpi::json::parse_error& e) {
-      ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
-      return false;
-    }
   }
 }
 
 static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
                                 std::string_view rootName) {
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(filename, ec);
-  if (fileBuffer == nullptr || ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  if (!fileBuffer) {
     ImGui::LogText("error opening %s: %s", filename.c_str(),
-                   ec.message().c_str());
+                   fileBuffer.error().message().c_str());
     return false;
-  } else {
-    auto& storage = ctx->storageRoots[rootName];
-    bool createdStorage = false;
-    if (!storage) {
-      storage = std::make_unique<Storage>();
-      createdStorage = true;
-    }
-    try {
-      storage->FromJson(wpi::json::parse(fileBuffer->GetCharBuffer()),
-                        filename.c_str());
-    } catch (wpi::json::parse_error& e) {
-      ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
-      if (createdStorage) {
-        ctx->storageRoots.erase(rootName);
-      }
-      return false;
+  }
+  auto& storage = ctx->storageRoots[rootName];
+  bool createdStorage = false;
+  if (!storage) {
+    storage = std::make_unique<Storage>();
+    createdStorage = true;
+  }
+  try {
+    storage->FromJson(wpi::json::parse(fileBuffer.value()->GetCharBuffer()),
+                      filename.c_str());
+  } catch (wpi::json::parse_error& e) {
+    ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
+    if (createdStorage) {
+      ctx->storageRoots.erase(rootName);
     }
+    return false;
   }
   return true;
 }
diff --git a/glass/src/lib/native/cpp/MainMenuBar.cpp b/glass/src/lib/native/cpp/MainMenuBar.cpp
index b426df40fcb..97da26a9afd 100644
--- a/glass/src/lib/native/cpp/MainMenuBar.cpp
+++ b/glass/src/lib/native/cpp/MainMenuBar.cpp
@@ -4,6 +4,9 @@
 
 #include "glass/MainMenuBar.h"
 
+#include <memory>
+#include <utility>
+
 #include <imgui.h>
 #include <wpi/StringExtras.h>
 #include <wpigui.h>
diff --git a/glass/src/lib/native/cpp/Storage.cpp b/glass/src/lib/native/cpp/Storage.cpp
index 6cab4430b7a..f455212f61b 100644
--- a/glass/src/lib/native/cpp/Storage.cpp
+++ b/glass/src/lib/native/cpp/Storage.cpp
@@ -5,6 +5,10 @@
 #include "glass/Storage.h"
 
 #include <concepts>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <imgui.h>
 #include <wpi/StringExtras.h>
diff --git a/glass/src/lib/native/cpp/View.cpp b/glass/src/lib/native/cpp/View.cpp
index 3f28200d7d7..1007603a5c3 100644
--- a/glass/src/lib/native/cpp/View.cpp
+++ b/glass/src/lib/native/cpp/View.cpp
@@ -4,6 +4,9 @@
 
 #include "glass/View.h"
 
+#include <memory>
+#include <utility>
+
 using namespace glass;
 
 namespace {
diff --git a/glass/src/lib/native/cpp/WindowManager.cpp b/glass/src/lib/native/cpp/WindowManager.cpp
index 8e76b5f87a4..3d90be5624b 100644
--- a/glass/src/lib/native/cpp/WindowManager.cpp
+++ b/glass/src/lib/native/cpp/WindowManager.cpp
@@ -6,6 +6,8 @@
 
 #include <algorithm>
 #include <cstdio>
+#include <memory>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/print.h>
diff --git a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
index a2051cf6b49..8c45f011386 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogInput.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/hardware/AnalogInput.h"
 
+#include <string>
+
 #include <imgui.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp b/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
index 2436dd28f41..11790f8ca8d 100644
--- a/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
+++ b/glass/src/lib/native/cpp/hardware/AnalogOutput.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/hardware/AnalogOutput.h"
 
+#include <string>
+
 #include <wpi/StringExtras.h>
 
 #include "glass/Context.h"
diff --git a/glass/src/lib/native/cpp/hardware/Encoder.cpp b/glass/src/lib/native/cpp/hardware/Encoder.cpp
index b359274e5a4..b74547c735a 100644
--- a/glass/src/lib/native/cpp/hardware/Encoder.cpp
+++ b/glass/src/lib/native/cpp/hardware/Encoder.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/hardware/Encoder.h"
 
+#include <string>
+
 #include <fmt/format.h>
 #include <imgui.h>
 #include <wpi/StringExtras.h>
diff --git a/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp b/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
index c3c2406dbcb..6ad7fc54a74 100644
--- a/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
+++ b/glass/src/lib/native/cpp/hardware/LEDDisplay.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/hardware/LEDDisplay.h"
 
+#include <vector>
+
 #include <wpi/SmallVector.h>
 
 #include "glass/Context.h"
diff --git a/glass/src/lib/native/cpp/hardware/PWM.cpp b/glass/src/lib/native/cpp/hardware/PWM.cpp
index f719a2b15aa..6f58fbaff02 100644
--- a/glass/src/lib/native/cpp/hardware/PWM.cpp
+++ b/glass/src/lib/native/cpp/hardware/PWM.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/hardware/PWM.h"
 
+#include <string>
+
 #include <imgui.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/lib/native/cpp/hardware/Pneumatic.cpp b/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
index 10ec61e142b..bc39860dbb4 100644
--- a/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
+++ b/glass/src/lib/native/cpp/hardware/Pneumatic.cpp
@@ -6,6 +6,7 @@
 
 #include <cstdio>
 #include <cstring>
+#include <string>
 
 #include <imgui.h>
 #include <wpi/SmallVector.h>
diff --git a/glass/src/lib/native/cpp/hardware/Relay.cpp b/glass/src/lib/native/cpp/hardware/Relay.cpp
index e071de7d3ca..ff383d0fa5f 100644
--- a/glass/src/lib/native/cpp/hardware/Relay.cpp
+++ b/glass/src/lib/native/cpp/hardware/Relay.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/hardware/Relay.h"
 
+#include <string>
+
 #include <imgui.h>
 
 #include "glass/Context.h"
diff --git a/glass/src/lib/native/cpp/other/DeviceTree.cpp b/glass/src/lib/native/cpp/other/DeviceTree.cpp
index b242c07b46c..2360d83386a 100644
--- a/glass/src/lib/native/cpp/other/DeviceTree.cpp
+++ b/glass/src/lib/native/cpp/other/DeviceTree.cpp
@@ -5,6 +5,7 @@
 #include "glass/other/DeviceTree.h"
 
 #include <cinttypes>
+#include <string>
 
 #include <imgui.h>
 #include <wpi/StringExtras.h>
diff --git a/glass/src/lib/native/cpp/other/FMS.cpp b/glass/src/lib/native/cpp/other/FMS.cpp
index 4e702e5b481..86ed0205a7a 100644
--- a/glass/src/lib/native/cpp/other/FMS.cpp
+++ b/glass/src/lib/native/cpp/other/FMS.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/other/FMS.h"
 
+#include <string>
+
 #include <imgui.h>
 #include <imgui_stdlib.h>
 #include <wpi/SmallString.h>
diff --git a/glass/src/lib/native/cpp/other/Field2D.cpp b/glass/src/lib/native/cpp/other/Field2D.cpp
index be6cca6485f..505a9d60550 100644
--- a/glass/src/lib/native/cpp/other/Field2D.cpp
+++ b/glass/src/lib/native/cpp/other/Field2D.cpp
@@ -8,8 +8,10 @@
 #include <cmath>
 #include <cstdio>
 #include <memory>
+#include <string>
 #include <string_view>
 #include <utility>
+#include <vector>
 
 #include <fields/fields.h>
 #include <frc/geometry/Pose2d.h>
@@ -540,16 +542,14 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
 }
 
 void FieldInfo::LoadJsonFile(std::string_view jsonfile) {
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(jsonfile, ec);
-  if (fileBuffer == nullptr || ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(jsonfile);
+  if (!fileBuffer) {
     std::fputs("GUI: could not open field JSON file\n", stderr);
     return;
   }
-  LoadJson(
-      {reinterpret_cast<const char*>(fileBuffer->begin()), fileBuffer->size()},
-      jsonfile);
+  LoadJson({reinterpret_cast<const char*>(fileBuffer.value()->begin()),
+            fileBuffer.value()->size()},
+           jsonfile);
 }
 
 bool FieldInfo::LoadImageImpl(const std::string& fn) {
diff --git a/glass/src/lib/native/cpp/other/Log.cpp b/glass/src/lib/native/cpp/other/Log.cpp
index accf024063e..4209338526f 100644
--- a/glass/src/lib/native/cpp/other/Log.cpp
+++ b/glass/src/lib/native/cpp/other/Log.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/other/Log.h"
 
+#include <string>
+
 #include <imgui.h>
 
 using namespace glass;
diff --git a/glass/src/lib/native/cpp/other/Mechanism2D.cpp b/glass/src/lib/native/cpp/other/Mechanism2D.cpp
index 0592910d049..b09acf81d30 100644
--- a/glass/src/lib/native/cpp/other/Mechanism2D.cpp
+++ b/glass/src/lib/native/cpp/other/Mechanism2D.cpp
@@ -8,8 +8,10 @@
 #include <cmath>
 #include <cstdio>
 #include <memory>
+#include <string>
 #include <string_view>
 #include <utility>
+#include <vector>
 
 #include <frc/geometry/Pose2d.h>
 #include <frc/geometry/Rotation2d.h>
diff --git a/glass/src/lib/native/cpp/other/Plot.cpp b/glass/src/lib/native/cpp/other/Plot.cpp
index 0b617098541..56fc04d099d 100644
--- a/glass/src/lib/native/cpp/other/Plot.cpp
+++ b/glass/src/lib/native/cpp/other/Plot.cpp
@@ -12,6 +12,7 @@
 #include <memory>
 #include <string>
 #include <string_view>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
@@ -29,7 +30,6 @@
 #include <wpi/Signal.h>
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>
-#include <wpi/StringExtras.h>
 #include <wpi/timestamp.h>
 
 #include "glass/Context.h"
diff --git a/glass/src/lib/native/cpp/other/Subsystem.cpp b/glass/src/lib/native/cpp/other/Subsystem.cpp
index c4ed4746deb..b8bbb5b06d0 100644
--- a/glass/src/lib/native/cpp/other/Subsystem.cpp
+++ b/glass/src/lib/native/cpp/other/Subsystem.cpp
@@ -4,10 +4,9 @@
 
 #include "glass/other/Subsystem.h"
 
-#include <imgui.h>
+#include <string>
 
-#include "glass/Context.h"
-#include "glass/DataSource.h"
+#include <imgui.h>
 
 using namespace glass;
 
diff --git a/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp b/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
index b9fdb445631..c4336f65567 100644
--- a/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
+++ b/glass/src/lib/native/cpp/support/DataLogReaderThread.cpp
@@ -4,6 +4,7 @@
 
 #include "glass/support/DataLogReaderThread.h"
 
+#include <string>
 #include <utility>
 
 #include <wpi/StringExtras.h>
@@ -109,11 +110,13 @@ void DataLogReaderThread::ReadMain() {
                    schema, err);
       }
     } else if (auto filename = wpi::remove_prefix(name, "/.schema/proto:")) {
+#ifndef NO_PROTOBUF
       // protobuf descriptor handling
       if (!m_protoDb.Add(*filename, data)) {
         wpi::print("could not decode protobuf '{}' filename '{}'\n", name,
                    *filename);
       }
+#endif
     }
   }
 
diff --git a/glass/src/lib/native/cpp/support/EnumSetting.cpp b/glass/src/lib/native/cpp/support/EnumSetting.cpp
index b863b70ab89..167cf1b7d25 100644
--- a/glass/src/lib/native/cpp/support/EnumSetting.cpp
+++ b/glass/src/lib/native/cpp/support/EnumSetting.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/support/EnumSetting.h"
 
+#include <string>
+
 #include <imgui.h>
 
 using namespace glass;
diff --git a/glass/src/lib/native/cpp/support/ExpressionParser.cpp b/glass/src/lib/native/cpp/support/ExpressionParser.cpp
index 6522b3cf8be..c7bb1a72eb2 100644
--- a/glass/src/lib/native/cpp/support/ExpressionParser.cpp
+++ b/glass/src/lib/native/cpp/support/ExpressionParser.cpp
@@ -6,6 +6,7 @@
 
 #include <cmath>
 #include <stack>
+#include <string>
 #include <type_traits>
 
 #include <wpi/StringExtras.h>
diff --git a/glass/src/lib/native/include/glass/support/DataLogReaderThread.h b/glass/src/lib/native/include/glass/support/DataLogReaderThread.h
index bcbc9623ef8..2cfb89e39be 100644
--- a/glass/src/lib/native/include/glass/support/DataLogReaderThread.h
+++ b/glass/src/lib/native/include/glass/support/DataLogReaderThread.h
@@ -17,9 +17,12 @@
 #include <wpi/DenseMap.h>
 #include <wpi/Signal.h>
 #include <wpi/mutex.h>
-#include <wpi/protobuf/ProtobufMessageDatabase.h>
 #include <wpi/struct/DynamicStruct.h>
 
+#ifndef NO_PROTOBUF
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#endif
+
 namespace glass {
 
 class DataLogReaderRange {
@@ -75,7 +78,9 @@ class DataLogReaderThread {
   }
 
   wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+#endif
 
   const wpi::log::DataLogReader& GetReader() const { return m_reader; }
 
@@ -94,7 +99,9 @@ class DataLogReaderThread {
   std::map<std::string, DataLogReaderEntry, std::less<>> m_entriesByName;
   wpi::DenseMap<int, DataLogReaderEntry*> m_entriesById;
   wpi::StructDescriptorDatabase m_structDb;
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase m_protoDb;
+#endif
   std::thread m_thread;
 };
 
diff --git a/glass/src/libnt/native/cpp/NTCommandScheduler.cpp b/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
index 26a5740c78a..eef0c1a40cf 100644
--- a/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
+++ b/glass/src/libnt/native/cpp/NTCommandScheduler.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTCommandScheduler.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTCommandSelector.cpp b/glass/src/libnt/native/cpp/NTCommandSelector.cpp
index 64c616e4b18..ce8f8a2e48f 100644
--- a/glass/src/libnt/native/cpp/NTCommandSelector.cpp
+++ b/glass/src/libnt/native/cpp/NTCommandSelector.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTCommandSelector.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp b/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
index 57d1fa837c1..58de26f392c 100644
--- a/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
+++ b/glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTDifferentialDrive.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <imgui.h>
 #include <wpi/MathExtras.h>
diff --git a/glass/src/libnt/native/cpp/NTDigitalInput.cpp b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
index 28b916cfbba..e96a041e5fa 100644
--- a/glass/src/libnt/native/cpp/NTDigitalInput.cpp
+++ b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTDigitalInput.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
index aa9200dc705..fe9021f97ef 100644
--- a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
+++ b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTDigitalOutput.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 
 using namespace glass;
diff --git a/glass/src/libnt/native/cpp/NTField2D.cpp b/glass/src/libnt/native/cpp/NTField2D.cpp
index 1fd87377570..a9ed6f650e1 100644
--- a/glass/src/libnt/native/cpp/NTField2D.cpp
+++ b/glass/src/libnt/native/cpp/NTField2D.cpp
@@ -5,6 +5,9 @@
 #include "glass/networktables/NTField2D.h"
 
 #include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
diff --git a/glass/src/libnt/native/cpp/NTGyro.cpp b/glass/src/libnt/native/cpp/NTGyro.cpp
index a036b39c53d..1a078f57a25 100644
--- a/glass/src/libnt/native/cpp/NTGyro.cpp
+++ b/glass/src/libnt/native/cpp/NTGyro.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTGyro.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
index cb564e81689..f090cfcf6f4 100644
--- a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
+++ b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTMecanumDrive.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <imgui.h>
 #include <wpi/MathExtras.h>
diff --git a/glass/src/libnt/native/cpp/NTMechanism2D.cpp b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
index 3954936d2ca..d98da48d47a 100644
--- a/glass/src/libnt/native/cpp/NTMechanism2D.cpp
+++ b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
@@ -5,6 +5,8 @@
 #include "glass/networktables/NTMechanism2D.h"
 
 #include <algorithm>
+#include <memory>
+#include <string>
 #include <string_view>
 #include <vector>
 
diff --git a/glass/src/libnt/native/cpp/NTMotorController.cpp b/glass/src/libnt/native/cpp/NTMotorController.cpp
index 1de6714fbf2..d28b8dd983b 100644
--- a/glass/src/libnt/native/cpp/NTMotorController.cpp
+++ b/glass/src/libnt/native/cpp/NTMotorController.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTMotorController.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTPIDController.cpp b/glass/src/libnt/native/cpp/NTPIDController.cpp
index 9796f6d4471..49037abab4a 100644
--- a/glass/src/libnt/native/cpp/NTPIDController.cpp
+++ b/glass/src/libnt/native/cpp/NTPIDController.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTPIDController.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp b/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
index 798864c313c..2beb829a4f7 100644
--- a/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
+++ b/glass/src/libnt/native/cpp/NTProfiledPIDController.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTProfiledPIDController.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/StringExtras.h>
 
diff --git a/glass/src/libnt/native/cpp/NTStringChooser.cpp b/glass/src/libnt/native/cpp/NTStringChooser.cpp
index f0fad43843a..92c2a4bd035 100644
--- a/glass/src/libnt/native/cpp/NTStringChooser.cpp
+++ b/glass/src/libnt/native/cpp/NTStringChooser.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTStringChooser.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/json.h>
 
diff --git a/glass/src/libnt/native/cpp/NTSubsystem.cpp b/glass/src/libnt/native/cpp/NTSubsystem.cpp
index 3078f87fc40..28a8e7bf482 100644
--- a/glass/src/libnt/native/cpp/NTSubsystem.cpp
+++ b/glass/src/libnt/native/cpp/NTSubsystem.cpp
@@ -4,6 +4,8 @@
 
 #include "glass/networktables/NTSubsystem.h"
 
+#include <utility>
+
 #include <fmt/format.h>
 
 using namespace glass;
diff --git a/glass/src/libnt/native/cpp/NetworkTables.cpp b/glass/src/libnt/native/cpp/NetworkTables.cpp
index 0f249ca340a..179de1fad21 100644
--- a/glass/src/libnt/native/cpp/NetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTables.cpp
@@ -4,18 +4,21 @@
 
 #include "glass/networktables/NetworkTables.h"
 
+#include <algorithm>
 #include <cinttypes>
 #include <concepts>
 #include <cstring>
+#include <functional>
 #include <initializer_list>
+#include <map>
 #include <memory>
 #include <span>
+#include <string>
 #include <string_view>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/message.h>
 #include <imgui.h>
 #include <imgui_stdlib.h>
 #include <networktables/NetworkTableInstance.h>
@@ -31,6 +34,11 @@
 #include <wpi/print.h>
 #include <wpi/raw_ostream.h>
 
+#ifndef NO_PROTOBUF
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/message.h>
+#endif
+
 #include "glass/Context.h"
 #include "glass/DataSource.h"
 #include "glass/Storage.h"
@@ -346,6 +354,7 @@ static void UpdateStructValueSource(NetworkTablesModel& model,
   }
 }
 
+#ifndef NO_PROTOBUF
 static void UpdateProtobufValueSource(NetworkTablesModel& model,
                                       NetworkTablesModel::ValueSource* out,
                                       const google::protobuf::Message& msg,
@@ -534,6 +543,7 @@ static void UpdateProtobufValueSource(NetworkTablesModel& model,
     }
   }
 }
+#endif
 
 static void UpdateJsonValueSource(NetworkTablesModel& model,
                                   NetworkTablesModel::ValueSource* out,
@@ -764,6 +774,7 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
           valueChildren.clear();
         }
       } else if (auto filename = wpi::remove_prefix(typeStr, "proto:")) {
+#ifndef NO_PROTOBUF
         auto msg = model.m_protoDb.Find(*filename);
         if (msg) {
           msg->Clear();
@@ -777,6 +788,9 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
         } else {
           valueChildren.clear();
         }
+#else
+        valueChildren.clear();
+#endif
       } else {
         valueChildren.clear();
       }
@@ -902,6 +916,7 @@ void NetworkTablesModel::Update() {
                        wpi::remove_prefix(entry->info.name, "/.schema/proto:");
                    entry->value.IsRaw() && filename &&
                    entry->info.type_str == "proto:FileDescriptorProto") {
+#ifndef NO_PROTOBUF
           // protobuf descriptor handling
           if (!m_protoDb.Add(*filename, entry->value.GetRaw())) {
             wpi::print("could not decode protobuf '{}' filename '{}'\n",
@@ -918,6 +933,7 @@ void NetworkTablesModel::Update() {
               }
             }
           }
+#endif
         }
       }
     }
diff --git a/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp b/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
index 414c2a331d4..36e892ecaa0 100644
--- a/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTablesProvider.cpp
@@ -5,6 +5,8 @@
 #include "glass/networktables/NetworkTablesProvider.h"
 
 #include <algorithm>
+#include <memory>
+#include <utility>
 
 #include <fmt/format.h>
 #include <ntcore_cpp.h>
diff --git a/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp b/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
index 33c4f02e4c5..bca067f779d 100644
--- a/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
+++ b/glass/src/libnt/native/cpp/NetworkTablesSettings.cpp
@@ -7,6 +7,7 @@
 #include <optional>
 #include <string_view>
 #include <utility>
+#include <vector>
 
 #include <imgui.h>
 #include <imgui_stdlib.h>
diff --git a/glass/src/libnt/native/cpp/StandardNetworkTables.cpp b/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
index 4cc21212690..05796c39a76 100644
--- a/glass/src/libnt/native/cpp/StandardNetworkTables.cpp
+++ b/glass/src/libnt/native/cpp/StandardNetworkTables.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 <memory>
+
 #include "glass/networktables/NTCommandScheduler.h"
 #include "glass/networktables/NTCommandSelector.h"
 #include "glass/networktables/NTDifferentialDrive.h"
diff --git a/glass/src/libnt/native/include/glass/networktables/NetworkTables.h b/glass/src/libnt/native/include/glass/networktables/NetworkTables.h
index 8416cf9dfdb..bca5a411925 100644
--- a/glass/src/libnt/native/include/glass/networktables/NetworkTables.h
+++ b/glass/src/libnt/native/include/glass/networktables/NetworkTables.h
@@ -18,9 +18,12 @@
 #include <ntcore_cpp.h>
 #include <wpi/DenseMap.h>
 #include <wpi/json.h>
-#include <wpi/protobuf/ProtobufMessageDatabase.h>
 #include <wpi/struct/DynamicStruct.h>
 
+#ifndef NO_PROTOBUF
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#endif
+
 #include "glass/Model.h"
 #include "glass/View.h"
 
@@ -168,7 +171,9 @@ class NetworkTablesModel : public Model {
   Entry* AddEntry(NT_Topic topic);
 
   wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+#endif
 
  private:
   void RebuildTree();
@@ -191,7 +196,9 @@ class NetworkTablesModel : public Model {
   Client m_server;
 
   wpi::StructDescriptorDatabase m_structDb;
+#ifndef NO_PROTOBUF
   wpi::ProtobufMessageDatabase m_protoDb;
+#endif
 };
 
 using NetworkTablesFlags = int;
diff --git a/hal/src/main/native/athena/AddressableLED.cpp b/hal/src/main/native/athena/AddressableLED.cpp
index 05fe5def2b4..8aaa2f33b78 100644
--- a/hal/src/main/native/athena/AddressableLED.cpp
+++ b/hal/src/main/native/athena/AddressableLED.cpp
@@ -5,6 +5,7 @@
 #include "hal/AddressableLED.h"
 
 #include <cstring>
+#include <memory>
 
 #include <fmt/format.h>
 
diff --git a/hal/src/main/native/athena/AnalogInternal.cpp b/hal/src/main/native/athena/AnalogInternal.cpp
index 7ae6adc2b50..47dd1bdbb58 100644
--- a/hal/src/main/native/athena/AnalogInternal.cpp
+++ b/hal/src/main/native/athena/AnalogInternal.cpp
@@ -5,6 +5,7 @@
 #include "AnalogInternal.h"
 
 #include <atomic>
+#include <memory>
 
 #include <wpi/mutex.h>
 
diff --git a/hal/src/main/native/athena/AnalogTrigger.cpp b/hal/src/main/native/athena/AnalogTrigger.cpp
index 2e72a43a395..e90b55e3f5f 100644
--- a/hal/src/main/native/athena/AnalogTrigger.cpp
+++ b/hal/src/main/native/athena/AnalogTrigger.cpp
@@ -4,6 +4,8 @@
 
 #include "hal/AnalogTrigger.h"
 
+#include <memory>
+
 #include "AnalogInternal.h"
 #include "ConstantsInternal.h"
 #include "DutyCycleInternal.h"
diff --git a/hal/src/main/native/athena/CANAPI.cpp b/hal/src/main/native/athena/CANAPI.cpp
index c69bc748269..751b0253f55 100644
--- a/hal/src/main/native/athena/CANAPI.cpp
+++ b/hal/src/main/native/athena/CANAPI.cpp
@@ -5,6 +5,7 @@
 #include "hal/CANAPI.h"
 
 #include <ctime>
+#include <memory>
 
 #include <wpi/DenseMap.h>
 #include <wpi/mutex.h>
diff --git a/hal/src/main/native/athena/CTREPCM.cpp b/hal/src/main/native/athena/CTREPCM.cpp
index 79c1ae39833..ba3da88bbfb 100644
--- a/hal/src/main/native/athena/CTREPCM.cpp
+++ b/hal/src/main/native/athena/CTREPCM.cpp
@@ -4,6 +4,8 @@
 
 #include "hal/CTREPCM.h"
 
+#include <string>
+
 #include <fmt/format.h>
 
 #include "HALInitializer.h"
diff --git a/hal/src/main/native/athena/CTREPDP.cpp b/hal/src/main/native/athena/CTREPDP.cpp
index 21896ec7785..571240d62e5 100644
--- a/hal/src/main/native/athena/CTREPDP.cpp
+++ b/hal/src/main/native/athena/CTREPDP.cpp
@@ -4,6 +4,8 @@
 
 #include "CTREPDP.h"
 
+#include <string>
+
 #include <fmt/format.h>
 #include <wpi/mutex.h>
 
diff --git a/hal/src/main/native/athena/Counter.cpp b/hal/src/main/native/athena/Counter.cpp
index bb8da37098e..5259cbff99b 100644
--- a/hal/src/main/native/athena/Counter.cpp
+++ b/hal/src/main/native/athena/Counter.cpp
@@ -5,6 +5,7 @@
 #include "hal/Counter.h"
 
 #include <limits>
+#include <memory>
 
 #include <fmt/format.h>
 
diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp
index 13fa560d197..dc41fc81814 100644
--- a/hal/src/main/native/athena/DigitalInternal.cpp
+++ b/hal/src/main/native/athena/DigitalInternal.cpp
@@ -6,6 +6,7 @@
 
 #include <atomic>
 #include <cmath>
+#include <memory>
 #include <thread>
 
 #include <FRC_NetworkCommunication/LoadOut.h>
diff --git a/hal/src/main/native/athena/Encoder.cpp b/hal/src/main/native/athena/Encoder.cpp
index 1f50eb8b244..055ad163fa6 100644
--- a/hal/src/main/native/athena/Encoder.cpp
+++ b/hal/src/main/native/athena/Encoder.cpp
@@ -4,6 +4,8 @@
 
 #include "hal/Encoder.h"
 
+#include <memory>
+
 #include <fmt/format.h>
 
 #include "EncoderInternal.h"
diff --git a/hal/src/main/native/athena/FRCDriverStation.cpp b/hal/src/main/native/athena/FRCDriverStation.cpp
index e3080782b55..9891033039a 100644
--- a/hal/src/main/native/athena/FRCDriverStation.cpp
+++ b/hal/src/main/native/athena/FRCDriverStation.cpp
@@ -4,6 +4,7 @@
 
 #include <atomic>
 #include <chrono>
+#include <cstdio>
 #include <cstdlib>
 #include <cstring>
 #include <limits>
diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp
index 7c5f1f64a97..d91d976fd53 100644
--- a/hal/src/main/native/athena/HAL.cpp
+++ b/hal/src/main/native/athena/HAL.cpp
@@ -13,7 +13,9 @@
 #include <cstdio>
 #include <cstdlib>
 #include <fstream>
+#include <memory>
 #include <thread>
+#include <utility>
 
 #include <FRC_NetworkCommunication/FRCComm.h>
 #include <FRC_NetworkCommunication/LoadOut.h>
@@ -297,20 +299,15 @@ void HAL_GetSerialNumber(struct WPI_String* serialNumber) {
 
 void InitializeRoboRioComments(void) {
   if (!roboRioCommentsStringInitialized) {
-    std::error_code ec;
-    std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-        wpi::MemoryBuffer::GetFile("/etc/machine-info", ec);
-
-    std::string_view fileContents;
-    if (fileBuffer && !ec) {
-      fileContents =
-          std::string_view(reinterpret_cast<const char*>(fileBuffer->begin()),
-                           fileBuffer->size());
-    } else {
+    auto fileBuffer = wpi::MemoryBuffer::GetFile("/etc/machine-info");
+    if (!fileBuffer) {
       roboRioCommentsStringSize = 0;
       roboRioCommentsStringInitialized = true;
       return;
     }
+    std::string_view fileContents{
+        reinterpret_cast<const char*>(fileBuffer.value()->begin()),
+        fileBuffer.value()->size()};
     std::string_view searchString = "PRETTY_HOSTNAME=\"";
 
     size_t start = fileContents.find(searchString);
diff --git a/hal/src/main/native/athena/REVPDH.cpp b/hal/src/main/native/athena/REVPDH.cpp
index 053f6d06db9..86f2e34dc68 100644
--- a/hal/src/main/native/athena/REVPDH.cpp
+++ b/hal/src/main/native/athena/REVPDH.cpp
@@ -12,6 +12,7 @@
 #include <hal/handles/IndexedHandleResource.h>
 
 #include <cstring>
+#include <string>
 #include <thread>
 
 #include <fmt/format.h>
diff --git a/hal/src/main/native/athena/REVPH.cpp b/hal/src/main/native/athena/REVPH.cpp
index a7a6bb87bd9..bb3784c5c30 100644
--- a/hal/src/main/native/athena/REVPH.cpp
+++ b/hal/src/main/native/athena/REVPH.cpp
@@ -4,6 +4,7 @@
 
 #include "hal/REVPH.h"
 
+#include <string>
 #include <thread>
 
 #include <fmt/format.h>
diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp
index 6c277a93ea3..8654af947d4 100644
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -13,6 +13,7 @@
 #include <atomic>
 #include <cstdio>
 #include <cstring>
+#include <memory>
 
 #include <fmt/format.h>
 #include <wpi/mutex.h>
diff --git a/hal/src/main/native/athena/cpp/SerialHelper.cpp b/hal/src/main/native/athena/cpp/SerialHelper.cpp
index 71e747c070c..11d61872c74 100644
--- a/hal/src/main/native/athena/cpp/SerialHelper.cpp
+++ b/hal/src/main/native/athena/cpp/SerialHelper.cpp
@@ -7,7 +7,9 @@
 #include <algorithm>
 #include <cstdio>
 #include <cstring>
+#include <string>
 #include <string_view>
+#include <vector>
 
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
diff --git a/hal/src/main/native/cpp/jni/CANJNI.cpp b/hal/src/main/native/cpp/jni/CANJNI.cpp
index 40838d3892c..40f77ddd5cc 100644
--- a/hal/src/main/native/cpp/jni/CANJNI.cpp
+++ b/hal/src/main/native/cpp/jni/CANJNI.cpp
@@ -176,7 +176,6 @@ Java_edu_wpi_first_hal_can_CANJNI_readCANStreamSession
       // OOM, just return
       elem = JLocal<jobject>{env, CreateCANStreamMessage(env)};
       if (elem) {
-        std::printf("Allocated and set object\n");
         env->SetObjectArrayElement(messages, i, elem);
       } else {
         return 0;
diff --git a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
index d489bdd36e3..c001c2c5a1f 100644
--- a/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SimDeviceJNI.cpp
@@ -4,6 +4,9 @@
 
 #include <jni.h>
 
+#include <string>
+#include <vector>
+
 #include <wpi/jni_util.h>
 
 #include "HALUtil.h"
diff --git a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
index 38d9ce7ca42..00335b67be0 100644
--- a/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/AddressableLEDDataJNI.cpp
@@ -4,6 +4,8 @@
 
 #include <jni.h>
 
+#include <memory>
+
 #include "CallbackStore.h"
 #include "ConstBufferCallbackStore.h"
 #include "edu_wpi_first_hal_simulation_AddressableLEDDataJNI.h"
diff --git a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
index f83ab625887..54fb3ecaba1 100644
--- a/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/BufferCallbackStore.cpp
@@ -7,14 +7,13 @@
 #include <jni.h>
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/jni_util.h>
 
 #include "SimulatorJNI.h"
 #include "hal/Types.h"
-#include "hal/Value.h"
 #include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
index f57dfb35418..f36478aaf2c 100644
--- a/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/CallbackStore.cpp
@@ -7,6 +7,7 @@
 #include <jni.h>
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/jni_util.h>
 
@@ -14,7 +15,6 @@
 #include "hal/Types.h"
 #include "hal/Value.h"
 #include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
index af57803ebd4..e8c8b3161d2 100644
--- a/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/ConstBufferCallbackStore.cpp
@@ -7,14 +7,13 @@
 #include <jni.h>
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/jni_util.h>
 
 #include "SimulatorJNI.h"
 #include "hal/Types.h"
-#include "hal/Value.h"
 #include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
index 98dab720b10..3d9e2cb1468 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimDeviceDataJNI.cpp
@@ -7,13 +7,15 @@
 #include <jni.h>
 
 #include <cstdio>
+#include <memory>
+#include <string>
 #include <utility>
+#include <vector>
 
 #include <wpi/jni_util.h>
 
 #include "SimulatorJNI.h"
 #include "edu_wpi_first_hal_simulation_SimDeviceDataJNI.h"
-#include "hal/SimDevice.h"
 #include "hal/handles/UnlimitedHandleResource.h"
 #include "hal/simulation/SimDeviceData.h"
 
diff --git a/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp b/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
index 5b2ff2bfcfe..3c58c945753 100644
--- a/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp
@@ -7,14 +7,13 @@
 #include <jni.h>
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/jni_util.h>
 
 #include "SimulatorJNI.h"
 #include "hal/Types.h"
-#include "hal/Value.h"
 #include "hal/handles/UnlimitedHandleResource.h"
-#include "hal/simulation/NotifyListener.h"
 
 using namespace hal;
 using namespace hal::sim;
diff --git a/hal/src/main/native/sim/CANAPI.cpp b/hal/src/main/native/sim/CANAPI.cpp
index 4689d1f4e4e..eaa42fa2a16 100644
--- a/hal/src/main/native/sim/CANAPI.cpp
+++ b/hal/src/main/native/sim/CANAPI.cpp
@@ -4,6 +4,8 @@
 
 #include "hal/CANAPI.h"
 
+#include <memory>
+
 #include <wpi/DenseMap.h>
 
 #include "CANAPIInternal.h"
diff --git a/hal/src/main/native/sim/CTREPCM.cpp b/hal/src/main/native/sim/CTREPCM.cpp
index 93f91356b91..9d06ecb6364 100644
--- a/hal/src/main/native/sim/CTREPCM.cpp
+++ b/hal/src/main/native/sim/CTREPCM.cpp
@@ -4,10 +4,11 @@
 
 #include "hal/CTREPCM.h"
 
+#include <string>
+
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/CANAPI.h"
 #include "hal/Errors.h"
 #include "hal/handles/IndexedHandleResource.h"
 #include "mockdata/CTREPCMDataInternal.h"
diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 66ad87d2743..f7be2bdd9bd 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -4,6 +4,8 @@
 
 #include "hal/Encoder.h"
 
+#include <limits>
+
 #include "CounterInternal.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
diff --git a/hal/src/main/native/sim/Extensions.cpp b/hal/src/main/native/sim/Extensions.cpp
index 95495c645d5..7d22f41fe55 100644
--- a/hal/src/main/native/sim/Extensions.cpp
+++ b/hal/src/main/native/sim/Extensions.cpp
@@ -5,7 +5,9 @@
 #include "hal/Extensions.h"
 
 #include <cstdio>
+#include <string>
 #include <string_view>
+#include <utility>
 #include <vector>
 
 #include <wpi/SmallVector.h>
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
index 5960452be02..1754f5f215f 100644
--- a/hal/src/main/native/sim/HAL.cpp
+++ b/hal/src/main/native/sim/HAL.cpp
@@ -6,6 +6,7 @@
 
 #include <cstdio>
 #include <cstring>
+#include <utility>
 #include <vector>
 
 #include <wpi/mutex.h>
@@ -25,7 +26,6 @@ NtQueryTimerResolution(PULONG MinimumResolution, PULONG MaximumResolution,
 #include "ErrorsInternal.h"
 #include "HALInitializer.h"
 #include "MockHooksInternal.h"
-#include "hal/DriverStation.h"
 #include "hal/Errors.h"
 #include "hal/Extensions.h"
 #include "hal/handles/HandlesInternal.h"
diff --git a/hal/src/main/native/sim/Notifier.cpp b/hal/src/main/native/sim/Notifier.cpp
index 225798c0775..8ec58858a43 100644
--- a/hal/src/main/native/sim/Notifier.cpp
+++ b/hal/src/main/native/sim/Notifier.cpp
@@ -8,7 +8,9 @@
 #include <chrono>
 #include <cstdio>
 #include <cstring>
+#include <memory>
 #include <string>
+#include <utility>
 
 #include <wpi/SmallVector.h>
 #include <wpi/StringExtras.h>
diff --git a/hal/src/main/native/sim/REVPH.cpp b/hal/src/main/native/sim/REVPH.cpp
index 957aed73f8a..e09deeaea5f 100644
--- a/hal/src/main/native/sim/REVPH.cpp
+++ b/hal/src/main/native/sim/REVPH.cpp
@@ -4,10 +4,11 @@
 
 #include "hal/REVPH.h"
 
+#include <string>
+
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
-#include "hal/CANAPI.h"
 #include "hal/Errors.h"
 #include "hal/handles/IndexedHandleResource.h"
 #include "mockdata/REVPHDataInternal.h"
diff --git a/hal/src/main/native/sim/mockdata/DriverStationData.cpp b/hal/src/main/native/sim/mockdata/DriverStationData.cpp
index d7b8a087fa4..b46e0e81d62 100644
--- a/hal/src/main/native/sim/mockdata/DriverStationData.cpp
+++ b/hal/src/main/native/sim/mockdata/DriverStationData.cpp
@@ -5,7 +5,6 @@
 #include <cstring>
 
 #include "DriverStationDataInternal.h"
-#include "hal/DriverStation.h"
 
 using namespace hal;
 
diff --git a/hal/src/main/native/sim/mockdata/EncoderData.cpp b/hal/src/main/native/sim/mockdata/EncoderData.cpp
index 62ff7440993..8b012ed9d06 100644
--- a/hal/src/main/native/sim/mockdata/EncoderData.cpp
+++ b/hal/src/main/native/sim/mockdata/EncoderData.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 <limits>
+
 #include "../PortsInternal.h"
 #include "EncoderDataInternal.h"
 
diff --git a/hal/src/main/native/sim/mockdata/RoboRioData.cpp b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
index 94d61f8972b..613d89d4fdc 100644
--- a/hal/src/main/native/sim/mockdata/RoboRioData.cpp
+++ b/hal/src/main/native/sim/mockdata/RoboRioData.cpp
@@ -2,7 +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 "../PortsInternal.h"
+#include <string>
+
 #include "RoboRioDataInternal.h"
 
 using namespace hal;
diff --git a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
index 5b60cbb264a..b849957f68c 100644
--- a/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
+++ b/hal/src/main/native/sim/mockdata/SimDeviceData.cpp
@@ -5,6 +5,8 @@
 #include "hal/simulation/SimDeviceData.h"  // NOLINT(build/include_order)
 
 #include <algorithm>
+#include <memory>
+#include <utility>
 
 #include <wpi/StringExtras.h>
 
diff --git a/hal/src/test/native/cpp/can/CANTest.cpp b/hal/src/test/native/cpp/can/CANTest.cpp
index 72a81cd9c17..4a0ad691d3f 100644
--- a/hal/src/test/native/cpp/can/CANTest.cpp
+++ b/hal/src/test/native/cpp/can/CANTest.cpp
@@ -2,10 +2,11 @@
 // 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 <utility>
+
 #include <gtest/gtest.h>
 
 #include "hal/CANAPI.h"
-#include "hal/HAL.h"
 #include "hal/simulation/CanData.h"
 
 namespace hal {
diff --git a/hal/src/test/native/cpp/handles/HandleTest.cpp b/hal/src/test/native/cpp/handles/HandleTest.cpp
index d230a06bbd5..d3fd1c72658 100644
--- a/hal/src/test/native/cpp/handles/HandleTest.cpp
+++ b/hal/src/test/native/cpp/handles/HandleTest.cpp
@@ -2,9 +2,10 @@
 // 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 <memory>
+
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
 #include "hal/handles/IndexedClassedHandleResource.h"
 
 #define HAL_TestHandle HAL_Handle
diff --git a/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
index e823375545e..965565cbb40 100644
--- a/hal/src/test/native/cpp/mockdata/AnalogInDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/AnalogInDataTest.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "hal/AnalogInput.h"
diff --git a/hal/src/test/native/cpp/mockdata/AnalogOutDataTest.cpp b/hal/src/test/native/cpp/mockdata/AnalogOutDataTest.cpp
index 11dad057975..56ed8ba053c 100644
--- a/hal/src/test/native/cpp/mockdata/AnalogOutDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/AnalogOutDataTest.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "hal/AnalogOutput.h"
diff --git a/hal/src/test/native/cpp/mockdata/DIODataTest.cpp b/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
index 35bfac5a37e..fba657df087 100644
--- a/hal/src/test/native/cpp/mockdata/DIODataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/DIODataTest.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "hal/DIO.h"
diff --git a/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
index ffab223b18a..5ff1a316e6a 100644
--- a/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/DriverStationDataTest.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstring>
+#include <string>
 
 #include <gtest/gtest.h>
 #include <wpi/StringExtras.h>
diff --git a/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
index af4499b88f7..ef6cc042968 100644
--- a/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/I2CDataTest.cpp
@@ -2,11 +2,11 @@
 // 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 <string>
+
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
 #include "hal/I2C.h"
-#include "hal/handles/HandlesInternal.h"
 #include "hal/simulation/I2CData.h"
 
 namespace hal {
diff --git a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
index 70a36a9b35d..d3c5a8021b9 100644
--- a/hal/src/test/native/cpp/mockdata/PCMDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PCMDataTest.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "hal/CTREPCM.h"
diff --git a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
index 2e9977f0ae7..14a36843eda 100644
--- a/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PDPDataTest.cpp
@@ -2,11 +2,11 @@
 // 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 <string>
+
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
 #include "hal/PowerDistribution.h"
-#include "hal/handles/HandlesInternal.h"
 #include "hal/simulation/PowerDistributionData.h"
 
 namespace hal {
diff --git a/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp b/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
index b32e0a03c54..1054589af3b 100644
--- a/hal/src/test/native/cpp/mockdata/PWMDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/PWMDataTest.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "hal/HAL.h"
diff --git a/hal/src/test/native/cpp/mockdata/RelayDataTest.cpp b/hal/src/test/native/cpp/mockdata/RelayDataTest.cpp
index e4017ca4549..3815b89c964 100644
--- a/hal/src/test/native/cpp/mockdata/RelayDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/RelayDataTest.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "hal/HAL.h"
diff --git a/hal/src/test/native/cpp/mockdata/SPIDataTest.cpp b/hal/src/test/native/cpp/mockdata/SPIDataTest.cpp
index 1ae626072f5..18e8ab3fbb6 100644
--- a/hal/src/test/native/cpp/mockdata/SPIDataTest.cpp
+++ b/hal/src/test/native/cpp/mockdata/SPIDataTest.cpp
@@ -2,11 +2,11 @@
 // 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 <string>
+
 #include <gtest/gtest.h>
 
-#include "hal/HAL.h"
 #include "hal/SPI.h"
-#include "hal/handles/HandlesInternal.h"
 #include "hal/simulation/SPIData.h"
 
 namespace hal {
diff --git a/ntcore/src/dev/native/cpp/main.cpp b/ntcore/src/dev/native/cpp/main.cpp
index 49cae5be4a1..c37949a2951 100644
--- a/ntcore/src/dev/native/cpp/main.cpp
+++ b/ntcore/src/dev/native/cpp/main.cpp
@@ -7,10 +7,12 @@
 #include <chrono>
 #include <cmath>
 #include <cstdlib>
+#include <limits>
 #include <numeric>
 #include <random>
 #include <string_view>
 #include <thread>
+#include <vector>
 
 #include <fmt/format.h>
 #include <fmt/ranges.h>
diff --git a/ntcore/src/main/native/cpp/ConnectionList.cpp b/ntcore/src/main/native/cpp/ConnectionList.cpp
index 8dfca216cad..f4ae7475a14 100644
--- a/ntcore/src/main/native/cpp/ConnectionList.cpp
+++ b/ntcore/src/main/native/cpp/ConnectionList.cpp
@@ -4,6 +4,9 @@
 
 #include "ConnectionList.h"
 
+#include <string>
+#include <vector>
+
 #include <wpi/SmallVector.h>
 #include <wpi/json.h>
 #include <wpi/raw_ostream.h>
diff --git a/ntcore/src/main/native/cpp/InstanceImpl.cpp b/ntcore/src/main/native/cpp/InstanceImpl.cpp
index b34db7323df..fd442ccb8a0 100644
--- a/ntcore/src/main/native/cpp/InstanceImpl.cpp
+++ b/ntcore/src/main/native/cpp/InstanceImpl.cpp
@@ -4,6 +4,10 @@
 
 #include "InstanceImpl.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 using namespace nt;
 
 std::atomic<int> InstanceImpl::s_default{-1};
diff --git a/ntcore/src/main/native/cpp/ListenerStorage.cpp b/ntcore/src/main/native/cpp/ListenerStorage.cpp
index 4270d0b919e..da06d6192e0 100644
--- a/ntcore/src/main/native/cpp/ListenerStorage.cpp
+++ b/ntcore/src/main/native/cpp/ListenerStorage.cpp
@@ -5,6 +5,8 @@
 #include "ListenerStorage.h"
 
 #include <algorithm>
+#include <utility>
+#include <vector>
 
 #include <wpi/SmallVector.h>
 
diff --git a/ntcore/src/main/native/cpp/LocalStorage.cpp b/ntcore/src/main/native/cpp/LocalStorage.cpp
index 7bc931f5345..e34139b12c2 100644
--- a/ntcore/src/main/native/cpp/LocalStorage.cpp
+++ b/ntcore/src/main/native/cpp/LocalStorage.cpp
@@ -5,6 +5,10 @@
 #include "LocalStorage.h"
 
 #include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/ranges.h>
 #include <wpi/DataLog.h>
diff --git a/ntcore/src/main/native/cpp/LoggerImpl.cpp b/ntcore/src/main/native/cpp/LoggerImpl.cpp
index 4e49070b3d4..90a655a64ab 100644
--- a/ntcore/src/main/native/cpp/LoggerImpl.cpp
+++ b/ntcore/src/main/native/cpp/LoggerImpl.cpp
@@ -4,6 +4,8 @@
 
 #include "LoggerImpl.h"
 
+#include <string>
+
 #include <wpi/Logger.h>
 #include <wpi/SmallVector.h>
 #include <wpi/fs.h>
diff --git a/ntcore/src/main/native/cpp/NetworkClient.cpp b/ntcore/src/main/native/cpp/NetworkClient.cpp
index 477ade1a72d..0fd9d37a7a0 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.cpp
+++ b/ntcore/src/main/native/cpp/NetworkClient.cpp
@@ -8,6 +8,8 @@
 
 #include <atomic>
 #include <memory>
+#include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
diff --git a/ntcore/src/main/native/cpp/NetworkServer.cpp b/ntcore/src/main/native/cpp/NetworkServer.cpp
index 04f2c052bdb..b6d8e0d79fd 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.cpp
+++ b/ntcore/src/main/native/cpp/NetworkServer.cpp
@@ -7,8 +7,11 @@
 #include <stdint.h>
 
 #include <atomic>
+#include <memory>
 #include <span>
+#include <string>
 #include <system_error>
+#include <utility>
 #include <vector>
 
 #include <wpi/MemoryBuffer.h>
@@ -351,15 +354,14 @@ void NetworkServer::HandleLocal() {
 }
 
 void NetworkServer::LoadPersistent() {
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(m_persistentFilename, ec);
-  if (fileBuffer == nullptr || ec.value() != 0) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(m_persistentFilename);
+  if (!fileBuffer) {
     INFO(
         "could not open persistent file '{}': {} "
         "(this can be ignored if you aren't expecting persistent values)",
-        m_persistentFilename, ec.message());
+        m_persistentFilename, fileBuffer.error().message());
     // backup file
+    std::error_code ec;
     fs::copy_file(m_persistentFilename, m_persistentFilename + ".bak",
                   std::filesystem::copy_options::overwrite_existing, ec);
     // try to write an empty file so it doesn't happen again
@@ -370,7 +372,8 @@ void NetworkServer::LoadPersistent() {
     }
     return;
   }
-  m_persistentData = std::string{fileBuffer->begin(), fileBuffer->end()};
+  m_persistentData =
+      std::string{fileBuffer.value()->begin(), fileBuffer.value()->end()};
   DEBUG4("read data: {}", m_persistentData);
 }
 
diff --git a/ntcore/src/main/native/cpp/Value.cpp b/ntcore/src/main/native/cpp/Value.cpp
index 28765487ae2..c54a2ac63ea 100644
--- a/ntcore/src/main/native/cpp/Value.cpp
+++ b/ntcore/src/main/native/cpp/Value.cpp
@@ -6,8 +6,12 @@
 
 #include <algorithm>
 #include <cstring>
+#include <memory>
 #include <numeric>
 #include <span>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <wpi/MemAlloc.h>
 #include <wpi/timestamp.h>
diff --git a/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp b/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
index 55c2968616e..b9a449f54fd 100644
--- a/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
+++ b/ntcore/src/main/native/cpp/ValueCircularBuffer.cpp
@@ -4,6 +4,9 @@
 
 #include "ValueCircularBuffer.h"
 
+#include <utility>
+#include <vector>
+
 using namespace nt;
 
 std::vector<Value> ValueCircularBuffer::ReadValue(unsigned int types) {
diff --git a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
index ae10656bb99..4d58d2ec4a0 100644
--- a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
+++ b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
@@ -5,6 +5,9 @@
 #include <jni.h>
 
 #include <cassert>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <wpi/ConvertUTF.h>
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.cpp b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
index 0352ef91e48..abcf3e77b98 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.cpp
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
@@ -4,9 +4,11 @@
 
 #include "ClientImpl.h"
 
+#include <memory>
 #include <numeric>
 #include <optional>
 #include <string>
+#include <utility>
 #include <variant>
 
 #include <fmt/format.h>
diff --git a/ntcore/src/main/native/cpp/net/ServerImpl.cpp b/ntcore/src/main/native/cpp/net/ServerImpl.cpp
index 4dbb3e82a21..bbbc85d0a05 100644
--- a/ntcore/src/main/native/cpp/net/ServerImpl.cpp
+++ b/ntcore/src/main/native/cpp/net/ServerImpl.cpp
@@ -6,11 +6,11 @@
 
 #include <stdint.h>
 
-#include <algorithm>
 #include <cmath>
-#include <numeric>
+#include <memory>
 #include <optional>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/ranges.h>
diff --git a/ntcore/src/main/native/cpp/net/WireDecoder.cpp b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
index 48bf5ad4130..1add69325a7 100644
--- a/ntcore/src/main/native/cpp/net/WireDecoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireDecoder.cpp
@@ -6,6 +6,9 @@
 
 #include <algorithm>
 #include <concepts>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <wpi/Logger.h>
diff --git a/ntcore/src/main/native/cpp/net/WireEncoder.cpp b/ntcore/src/main/native/cpp/net/WireEncoder.cpp
index 42de91cfea6..62cf4c01d8a 100644
--- a/ntcore/src/main/native/cpp/net/WireEncoder.cpp
+++ b/ntcore/src/main/native/cpp/net/WireEncoder.cpp
@@ -5,6 +5,7 @@
 #include "WireEncoder.h"
 
 #include <optional>
+#include <string>
 
 #include <wpi/json.h>
 #include <wpi/mpack.h>
diff --git a/ntcore/src/main/native/cpp/net3/ClientImpl3.cpp b/ntcore/src/main/native/cpp/net3/ClientImpl3.cpp
index a65dd89c871..b97d7e65918 100644
--- a/ntcore/src/main/native/cpp/net3/ClientImpl3.cpp
+++ b/ntcore/src/main/native/cpp/net3/ClientImpl3.cpp
@@ -5,8 +5,10 @@
 #include "ClientImpl3.h"
 
 #include <algorithm>
+#include <memory>
 #include <numeric>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
diff --git a/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp b/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp
index 51180279b54..03bc9c11c9c 100644
--- a/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp
+++ b/ntcore/src/main/native/cpp/net3/WireDecoder3.cpp
@@ -6,6 +6,7 @@
 
 #include <algorithm>
 #include <string>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/MathExtras.h>
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
index c81f33ca492..815d5166375 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTable.cpp
@@ -5,6 +5,10 @@
 #include "networktables/NetworkTable.h"
 
 #include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
diff --git a/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp b/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
index d2cac1ce6a3..19c1ebfb3e0 100644
--- a/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
+++ b/ntcore/src/main/native/cpp/networktables/NetworkTableInstance.cpp
@@ -4,6 +4,11 @@
 
 #include "networktables/NetworkTableInstance.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <wpi/SmallVector.h>
 #include <wpi/print.h>
 
diff --git a/ntcore/src/main/native/cpp/ntcore_c.cpp b/ntcore/src/main/native/cpp/ntcore_c.cpp
index ee8b45eeb1e..83227928118 100644
--- a/ntcore/src/main/native/cpp/ntcore_c.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_c.cpp
@@ -10,6 +10,8 @@
 #include <cstdlib>
 #include <cstring>
 #include <string_view>
+#include <utility>
+#include <vector>
 
 #include <wpi/MemAlloc.h>
 #include <wpi/SmallVector.h>
diff --git a/ntcore/src/main/native/cpp/ntcore_cpp.cpp b/ntcore/src/main/native/cpp/ntcore_cpp.cpp
index 75f20a6db5c..3cb3ce4fd77 100644
--- a/ntcore/src/main/native/cpp/ntcore_cpp.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_cpp.cpp
@@ -8,6 +8,9 @@
 #include <cassert>
 #include <cstdio>
 #include <cstdlib>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <wpi/json.h>
diff --git a/ntcore/src/main/native/cpp/ntcore_meta.cpp b/ntcore/src/main/native/cpp/ntcore_meta.cpp
index 3b947a01fde..05933914190 100644
--- a/ntcore/src/main/native/cpp/ntcore_meta.cpp
+++ b/ntcore/src/main/native/cpp/ntcore_meta.cpp
@@ -2,6 +2,10 @@
 // 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 <string>
+#include <utility>
+#include <vector>
+
 #include <fmt/format.h>
 #include <wpi/MessagePack.h>
 #include <wpi/mpack.h>
diff --git a/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp b/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
index 3e4dd24fcb6..b5ae9daf868 100644
--- a/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/ConnectionListenerTest.cpp
@@ -4,6 +4,7 @@
 
 #include <chrono>
 #include <thread>
+#include <vector>
 
 #include <gtest/gtest.h>
 #include <wpi/Synchronization.h>
diff --git a/ntcore/src/test/native/cpp/LocalStorageTest.cpp b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
index 5ea4ec5c8ee..30aa9b2051b 100644
--- a/ntcore/src/test/native/cpp/LocalStorageTest.cpp
+++ b/ntcore/src/test/native/cpp/LocalStorageTest.cpp
@@ -2,6 +2,9 @@
 // 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 <string>
+#include <vector>
+
 #include <gtest/gtest.h>
 #include <wpi/SpanMatcher.h>
 
diff --git a/ntcore/src/test/native/cpp/LoggerTest.cpp b/ntcore/src/test/native/cpp/LoggerTest.cpp
index 9e974c3fa73..38aaab1901b 100644
--- a/ntcore/src/test/native/cpp/LoggerTest.cpp
+++ b/ntcore/src/test/native/cpp/LoggerTest.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 <wpi/Synchronization.h>
 
diff --git a/ntcore/src/test/native/cpp/NetworkTableTest.cpp b/ntcore/src/test/native/cpp/NetworkTableTest.cpp
index 4429c8979cc..db856a5d871 100644
--- a/ntcore/src/test/native/cpp/NetworkTableTest.cpp
+++ b/ntcore/src/test/native/cpp/NetworkTableTest.cpp
@@ -2,6 +2,9 @@
 // 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 <string>
+#include <vector>
+
 #include <gtest/gtest.h>
 
 #include "TestPrinters.h"
diff --git a/ntcore/src/test/native/cpp/TopicListenerTest.cpp b/ntcore/src/test/native/cpp/TopicListenerTest.cpp
index 8f46742a85c..8511b3b4da7 100644
--- a/ntcore/src/test/native/cpp/TopicListenerTest.cpp
+++ b/ntcore/src/test/native/cpp/TopicListenerTest.cpp
@@ -3,7 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <chrono>
+#include <cstdio>
 #include <thread>
+#include <vector>
 
 #include <gtest/gtest.h>
 #include <wpi/Synchronization.h>
diff --git a/ntcore/src/test/native/cpp/ValueTest.cpp b/ntcore/src/test/native/cpp/ValueTest.cpp
index abb0dd5ece9..c45d5aafa5c 100644
--- a/ntcore/src/test/native/cpp/ValueTest.cpp
+++ b/ntcore/src/test/native/cpp/ValueTest.cpp
@@ -3,7 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <algorithm>
+#include <string>
 #include <string_view>
+#include <utility>
+#include <vector>
 
 #include <gtest/gtest.h>
 
@@ -13,7 +16,7 @@
 
 using namespace std::string_view_literals;
 
-namespace std {  // NOLINT(clang-tidy.cert-dcl58-cpp)
+namespace std {  // NOLINT (clang-tidy.cert-dcl58-cpp)
 template <typename T, typename U>
 inline bool operator==(std::span<T> lhs, std::span<U> rhs) {
   if (lhs.size() != rhs.size()) {
diff --git a/ntcore/src/test/native/cpp/main.cpp b/ntcore/src/test/native/cpp/main.cpp
index 20bd583d2d4..1e832b84cec 100644
--- a/ntcore/src/test/native/cpp/main.cpp
+++ b/ntcore/src/test/native/cpp/main.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <climits>
+#include <cstdio>
 
 #include <wpi/timestamp.h>
 
diff --git a/ntcore/src/test/native/cpp/net/ServerImplTest.cpp b/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
index 13488acac3d..b21c6e11a27 100644
--- a/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
+++ b/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
@@ -6,6 +6,7 @@
 
 #include <concepts>
 #include <span>
+#include <string>
 #include <string_view>
 #include <vector>
 
diff --git a/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp b/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
index fe5c469f1c8..5d74c61e370 100644
--- a/ntcore/src/test/native/cpp/net/WireDecoderTest.cpp
+++ b/ntcore/src/test/native/cpp/net/WireDecoderTest.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 <string>
+
 #include <gtest/gtest.h>
 #include <wpi/SmallString.h>
 #include <wpi/raw_ostream.h>
diff --git a/ntcore/src/test/native/cpp/net3/WireDecoder3Test.cpp b/ntcore/src/test/native/cpp/net3/WireDecoder3Test.cpp
index 74f0d5462b8..af40483db02 100644
--- a/ntcore/src/test/native/cpp/net3/WireDecoder3Test.cpp
+++ b/ntcore/src/test/native/cpp/net3/WireDecoder3Test.cpp
@@ -8,6 +8,8 @@
 #include <climits>
 #include <string>
 #include <string_view>
+#include <utility>
+#include <vector>
 
 #include <gtest/gtest.h>
 #include <wpi/SpanMatcher.h>
diff --git a/ntcore/src/test/native/cpp/net3/WireEncoder3Test.cpp b/ntcore/src/test/native/cpp/net3/WireEncoder3Test.cpp
index de0593467e5..96c39a12438 100644
--- a/ntcore/src/test/native/cpp/net3/WireEncoder3Test.cpp
+++ b/ntcore/src/test/native/cpp/net3/WireEncoder3Test.cpp
@@ -6,6 +6,7 @@
 #include <climits>
 #include <string>
 #include <string_view>
+#include <utility>
 #include <vector>
 
 #include <gtest/gtest.h>
diff --git a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
index d8543482fe6..462069f3825 100644
--- a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
+++ b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
@@ -8,12 +8,13 @@
 #include <ctime>
 #include <random>
 #include <string>
-#include <string_view>
+#include <vector>
 
 #include <fmt/chrono.h>
 #include <fmt/format.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DataLogBackgroundWriter.h>
+#include <wpi/FileLogger.h>
 #include <wpi/SafeThread.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
@@ -191,6 +192,8 @@ struct Thread final : public wpi::SafeThread {
 
   void StartNTLog();
   void StopNTLog();
+  void StartConsoleLog();
+  void StopConsoleLog();
 
   std::string m_logDir;
   bool m_filenameOverride;
@@ -198,6 +201,8 @@ struct Thread final : public wpi::SafeThread {
   bool m_ntLoggerEnabled = false;
   NT_DataLogger m_ntEntryLogger = 0;
   NT_ConnectionDataLogger m_ntConnLogger = 0;
+  bool m_consoleLoggerEnabled = false;
+  wpi::FileLogger m_consoleLogger;
   wpi::log::StringLogEntry m_messageLog;
 };
 
@@ -452,6 +457,20 @@ void Thread::StopNTLog() {
   }
 }
 
+void Thread::StartConsoleLog() {
+  if (!m_consoleLoggerEnabled) {
+    m_consoleLoggerEnabled = true;
+    m_consoleLogger = {"/home/lvuser/FRC_UserProgram.log", m_log, "output"};
+  }
+}
+
+void Thread::StopConsoleLog() {
+  if (m_consoleLoggerEnabled) {
+    m_consoleLoggerEnabled = false;
+    m_consoleLogger = {};
+  }
+}
+
 Instance::Instance(std::string_view dir, std::string_view filename,
                    double period) {
   // Delete all previously existing FRC_TBD_*.wpilog files. These only exist
@@ -516,6 +535,16 @@ void DataLogManager::LogNetworkTables(bool enabled) {
   }
 }
 
+void DataLogManager::LogConsoleOutput(bool enabled) {
+  if (auto thr = GetInstance().owner.GetThread()) {
+    if (enabled) {
+      thr->StartConsoleLog();
+    } else if (!enabled) {
+      thr->StopConsoleLog();
+    }
+  }
+}
+
 void DataLogManager::SignalNewDSDataOccur() {
   wpi::SetSignalObject(DriverStation::gNewDataEvent);
 }
@@ -546,6 +575,10 @@ void DLM_LogNetworkTables(int enabled) {
   DataLogManager::LogNetworkTables(enabled);
 }
 
+void DLM_LogConsoleOutput(int enabled) {
+  DataLogManager::LogConsoleOutput(enabled);
+}
+
 void DLM_SignalNewDSDataOccur(void) {
   DataLogManager::SignalNewDSDataOccur();
 }
diff --git a/ntcoreffi/src/main/native/include/DataLogManager.h b/ntcoreffi/src/main/native/include/DataLogManager.h
index 79d73eaaec7..c0bd6e2b07a 100644
--- a/ntcoreffi/src/main/native/include/DataLogManager.h
+++ b/ntcoreffi/src/main/native/include/DataLogManager.h
@@ -89,6 +89,11 @@ class DataLogManager final {
    */
   static void LogNetworkTables(bool enabled);
 
+  /**
+   * Enable or disable logging of the console output. Defaults to enabled.
+   * @param enabled  true to enable, false to disable
+   */
+  static void LogConsoleOutput(bool enabled);
   /**
    * Signal new DS data is available.
    */
@@ -152,6 +157,13 @@ const char* DLM_GetLogDir(void);
  */
 void DLM_LogNetworkTables(int enabled);
 
+
+  /**
+   * Enable or disable logging of the console output. Defaults to enabled.
+   * @param enabled  true to enable, false to disable
+   */
+void DLM_LogConsoleOutput(int enabled);
+
 /**
  * Signal new DS data is available.
  */
diff --git a/ntcoreffi/src/main/native/symbols.txt b/ntcoreffi/src/main/native/symbols.txt
index aeacd0f849e..15668d45773 100644
--- a/ntcoreffi/src/main/native/symbols.txt
+++ b/ntcoreffi/src/main/native/symbols.txt
@@ -1,6 +1,7 @@
 DLM_GetLog
 DLM_GetLogDir
 DLM_Log
+DLM_LogConsoleOutput
 DLM_LogNetworkTables
 DLM_SignalNewDSDataOccur
 DLM_Start
diff --git a/outlineviewer/src/main/native/cpp/main.cpp b/outlineviewer/src/main/native/cpp/main.cpp
index 36801ee3dac..72c2b647424 100644
--- a/outlineviewer/src/main/native/cpp/main.cpp
+++ b/outlineviewer/src/main/native/cpp/main.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <memory>
+#include <string>
 
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
diff --git a/processstarter/src/main/native/linux/main.cpp b/processstarter/src/main/native/linux/main.cpp
index 1ddf1cdc6db..7663292dea5 100644
--- a/processstarter/src/main/native/linux/main.cpp
+++ b/processstarter/src/main/native/linux/main.cpp
@@ -12,6 +12,7 @@
 #include <cstdio>
 #include <cstring>
 #include <filesystem>
+#include <string>
 
 int main(int argc, char* argv[]) {
   char path[PATH_MAX];
diff --git a/roborioteamnumbersetter/CMakeLists.txt b/roborioteamnumbersetter/CMakeLists.txt
index 7a43baaed9d..c249c7c8c2a 100644
--- a/roborioteamnumbersetter/CMakeLists.txt
+++ b/roborioteamnumbersetter/CMakeLists.txt
@@ -25,8 +25,7 @@ add_executable(
     ${APP_ICON_MACOSX}
 )
 wpilib_link_macos_gui(roborioteamnumbersetter)
-target_link_libraries(roborioteamnumbersetter libglass wpinet ${LIBSSH_LIBRARIES})
-target_include_directories(roborioteamnumbersetter SYSTEM PRIVATE ${LIBSSH_INCLUDE_DIRS})
+target_link_libraries(roborioteamnumbersetter libglass wpinet ssh)
 
 if(WIN32)
     set_target_properties(roborioteamnumbersetter PROPERTIES WIN32_EXECUTABLE YES)
diff --git a/roborioteamnumbersetter/src/main/native/cpp/App.cpp b/roborioteamnumbersetter/src/main/native/cpp/App.cpp
index 62b493c4af2..4394b3d841b 100644
--- a/roborioteamnumbersetter/src/main/native/cpp/App.cpp
+++ b/roborioteamnumbersetter/src/main/native/cpp/App.cpp
@@ -3,8 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <memory>
+#include <string>
 #include <string_view>
 #include <unordered_map>
+#include <utility>
 
 #ifndef _WIN32
 #include <arpa/inet.h>
diff --git a/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp b/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp
index f831e5f28ba..84a950b4838 100644
--- a/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp
+++ b/roborioteamnumbersetter/src/main/native/cpp/DeploySession.cpp
@@ -4,8 +4,10 @@
 
 #include "DeploySession.h"
 
+#include <string>
 #include <string_view>
 #include <unordered_map>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
diff --git a/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp b/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
index 84fbd6cc188..e20da94d455 100644
--- a/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
+++ b/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
@@ -9,7 +9,7 @@
 #include <sys/stat.h>
 
 #include <algorithm>
-#include <stdexcept>
+#include <string>
 
 #include <fmt/format.h>
 #include <libssh/libssh.h>
diff --git a/romiVendordep/RomiVendordep.json b/romiVendordep/RomiVendordep.json
index 4ebc02fd9ce..7f6eda70c8c 100644
--- a/romiVendordep/RomiVendordep.json
+++ b/romiVendordep/RomiVendordep.json
@@ -3,7 +3,7 @@
   "name": "Romi-Vendordep",
   "version": "1.0.0",
   "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp b/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
index cefe9ff2e4c..bba2901f923 100644
--- a/romiVendordep/src/main/native/cpp/romi/OnBoardIO.cpp
+++ b/romiVendordep/src/main/native/cpp/romi/OnBoardIO.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 <memory>
+
 #include <frc/DigitalInput.h>
 #include <frc/DigitalOutput.h>
 #include <frc/Errors.h>
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
index 6151250c599..48e67e8d737 100644
--- a/shared/java/javacommon.gradle
+++ b/shared/java/javacommon.gradle
@@ -5,7 +5,7 @@ apply plugin: 'com.google.protobuf'
 
 def baseArtifactId = project.baseId
 def artifactGroupId = project.groupId
-def javaBaseName = "_GROUP_edu_wpi_first_${project.baseId}_ID_${project.baseId}-java_CLS"
+def javaBaseName = "_GROUP_${project.groupId.replace('.', '_')}_ID_${project.baseId}-java_CLS"
 
 def outputsFolder = file("$project.buildDir/outputs")
 
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
index 7bb86d71c59..3686d3affdb 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -17,6 +17,7 @@
 #include <cstdio>
 #include <cstring>
 #include <exception>
+#include <memory>
 #include <string_view>
 
 #include <DSCommPacket.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/AccelerometerSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AccelerometerSimGui.cpp
index 22676569f68..115b4ecef50 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AccelerometerSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AccelerometerSimGui.cpp
@@ -4,11 +4,10 @@
 
 #include "AccelerometerSimGui.h"
 
-#include <glass/hardware/Accelerometer.h>
-#include <glass/other/DeviceTree.h>
-
 #include <memory>
 
+#include <glass/hardware/Accelerometer.h>
+#include <glass/other/DeviceTree.h>
 #include <hal/Value.h>
 #include <hal/simulation/AccelerometerData.h>
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
index 2528185516a..d7049362c8a 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
@@ -4,8 +4,10 @@
 
 #include "AddressableLEDGui.h"
 
-#include <glass/hardware/LEDDisplay.h>
+#include <memory>
+#include <vector>
 
+#include <glass/hardware/LEDDisplay.h>
 #include <hal/Ports.h>
 #include <hal/simulation/AddressableLEDData.h>
 #include <imgui.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.cpp
index 12149ec69cc..4bd328f4e46 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AnalogGyroSimGui.cpp
@@ -4,12 +4,11 @@
 
 #include "AnalogGyroSimGui.h"
 
-#include <glass/hardware/AnalogGyro.h>
-#include <glass/other/DeviceTree.h>
-
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/AnalogGyro.h>
+#include <glass/other/DeviceTree.h>
 #include <hal/Ports.h>
 #include <hal/Value.h>
 #include <hal/simulation/AnalogGyroData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
index e100d5dd32e..4a428b602ab 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
@@ -4,12 +4,11 @@
 
 #include "AnalogInputSimGui.h"
 
-#include <glass/View.h>
-#include <glass/hardware/AnalogInput.h>
-
 #include <memory>
 #include <vector>
 
+#include <glass/View.h>
+#include <glass/hardware/AnalogInput.h>
 #include <hal/Ports.h>
 #include <hal/simulation/AnalogGyroData.h>
 #include <hal/simulation/AnalogInData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/AnalogOutputSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AnalogOutputSimGui.cpp
index 8e02fb69ef7..7a98bed575c 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AnalogOutputSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AnalogOutputSimGui.cpp
@@ -4,12 +4,11 @@
 
 #include "AnalogOutputSimGui.h"
 
-#include <glass/hardware/AnalogOutput.h>
-#include <glass/other/DeviceTree.h>
-
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/AnalogOutput.h>
+#include <glass/other/DeviceTree.h>
 #include <hal/Ports.h>
 #include <hal/simulation/AnalogOutData.h>
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
index 150e4bf436a..13ec169406b 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
@@ -4,12 +4,11 @@
 
 #include "DIOSimGui.h"
 
-#include <glass/hardware/DIO.h>
-#include <glass/hardware/Encoder.h>
-
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/DIO.h>
+#include <glass/hardware/Encoder.h>
 #include <hal/Ports.h>
 #include <hal/simulation/DIOData.h>
 #include <hal/simulation/DigitalPWMData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
index 119075642dd..cb238d87e6a 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -4,12 +4,6 @@
 
 #include "DriverStationGui.h"
 
-#include <glass/Context.h>
-#include <glass/Storage.h>
-#include <glass/other/FMS.h>
-#include <glass/support/ExtraGuiWidgets.h>
-#include <glass/support/NameSetting.h>
-
 #include <algorithm>
 #include <atomic>
 #include <cstring>
@@ -20,6 +14,11 @@
 
 #include <GLFW/glfw3.h>
 #include <fmt/format.h>
+#include <glass/Context.h>
+#include <glass/Storage.h>
+#include <glass/other/FMS.h>
+#include <glass/support/ExtraGuiWidgets.h>
+#include <glass/support/NameSetting.h>
 #include <hal/DriverStationTypes.h>
 #include <hal/simulation/DriverStationData.h>
 #include <hal/simulation/MockHooks.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
index cb086c839d4..55c90a39f61 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.h
@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <glass/WindowManager.h>
-
 #include <memory>
 #include <string_view>
 
+#include <glass/WindowManager.h>
+
 namespace halsimgui {
 
 class DSManager : public glass::WindowManager {
diff --git a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
index 6a1be270cee..8e53c864d6f 100644
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
@@ -4,7 +4,6 @@
 
 #include "EncoderSimGui.h"
 
-#include <glass/hardware/Encoder.h>
 #include <stdint.h>
 
 #include <limits>
@@ -13,6 +12,7 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <glass/hardware/Encoder.h>
 #include <hal/Ports.h>
 #include <hal/simulation/EncoderData.h>
 #include <hal/simulation/SimDeviceData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
index dffcd00b700..7d36478b8f0 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
@@ -4,12 +4,11 @@
 
 #include "HALProvider.h"
 
-#include <glass/Model.h>
-#include <glass/Storage.h>
-
-#include <algorithm>
 #include <string>
+#include <utility>
 
+#include <glass/Model.h>
+#include <glass/Storage.h>
 #include <hal/simulation/DriverStationData.h>
 
 using namespace halsimgui;
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
index 4d005ad0d49..e6329c3b6e8 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -4,9 +4,11 @@
 
 #include "HALSimGui.h"
 
+#include <memory>
+#include <utility>
+
 #include <glass/Context.h>
 #include <glass/Storage.h>
-
 #include <imgui.h>
 #include <wpigui.h>
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
index 30f123259e9..763d28e8aab 100644
--- a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
@@ -4,10 +4,11 @@
 
 #include "NetworkTablesSimGui.h"
 
+#include <memory>
+
 #include <glass/Context.h>
 #include <glass/Storage.h>
 #include <glass/networktables/NetworkTables.h>
-
 #include <wpigui.h>
 
 #include "HALSimGui.h"
diff --git a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
index d5a3f3604e4..019a86c76cf 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
@@ -4,13 +4,12 @@
 
 #include "PCMSimGui.h"
 
-#include <glass/hardware/Pneumatic.h>
-#include <glass/other/DeviceTree.h>
-
 #include <cstdio>
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/Pneumatic.h>
+#include <glass/other/DeviceTree.h>
 #include <hal/Ports.h>
 #include <hal/Value.h>
 #include <hal/simulation/CTREPCMData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.h b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.h
index da20022ef14..d4842492671 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.h
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.h
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
-#include <glass/hardware/Pneumatic.h>
-
 #include <memory>
 
+#include <glass/hardware/Pneumatic.h>
+
 namespace halsimgui {
 
 class PCMSimGui {
diff --git a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
index 47e65e1e5b2..0fc66914c7b 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
@@ -4,13 +4,12 @@
 
 #include "PHSimGui.h"
 
-#include <glass/hardware/Pneumatic.h>
-#include <glass/other/DeviceTree.h>
-
 #include <cstdio>
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/Pneumatic.h>
+#include <glass/other/DeviceTree.h>
 #include <hal/Ports.h>
 #include <hal/Value.h>
 #include <hal/simulation/REVPHData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.h b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.h
index 84fe9d76ac7..348f6df963f 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.h
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.h
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #pragma once
-#include <glass/hardware/Pneumatic.h>
-
 #include <memory>
 
+#include <glass/hardware/Pneumatic.h>
+
 namespace halsimgui {
 
 class PHSimGui {
diff --git a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
index 9eceabdc1c4..2a60f9f4ef0 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
@@ -4,11 +4,10 @@
 
 #include "PWMSimGui.h"
 
-#include <glass/hardware/PWM.h>
-
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/PWM.h>
 #include <hal/Ports.h>
 #include <hal/simulation/AddressableLEDData.h>
 #include <hal/simulation/PWMData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
index c136c7eddea..a3d4c2b3f72 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
@@ -4,13 +4,12 @@
 
 #include "PowerDistributionSimGui.h"
 
-#include <glass/hardware/PowerDistribution.h>
-
 #include <cstdio>
 #include <cstring>
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/PowerDistribution.h>
 #include <hal/Ports.h>
 #include <hal/simulation/PowerDistributionData.h>
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
index badb4f9a32a..1d163fbb32e 100644
--- a/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RelaySimGui.cpp
@@ -4,11 +4,10 @@
 
 #include "RelaySimGui.h"
 
-#include <glass/hardware/Relay.h>
-
 #include <memory>
 #include <vector>
 
+#include <glass/hardware/Relay.h>
 #include <hal/Ports.h>
 #include <hal/simulation/RelayData.h>
 #include <wpigui.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
index b693569571f..29fa7b4cf24 100644
--- a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
@@ -4,10 +4,9 @@
 
 #include "RoboRioSimGui.h"
 
-#include <glass/hardware/RoboRio.h>
-
 #include <memory>
 
+#include <glass/hardware/RoboRio.h>
 #include <hal/simulation/RoboRioData.h>
 
 #include "HALDataSource.h"
diff --git a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
index 55b83cef252..aee5130e440 100644
--- a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
@@ -4,10 +4,13 @@
 
 #include "SimDeviceGui.h"
 
-#include <glass/other/DeviceTree.h>
 #include <stdint.h>
 
+#include <memory>
+#include <utility>
+
 #include <fmt/format.h>
+#include <glass/other/DeviceTree.h>
 #include <hal/SimDevice.h>
 #include <hal/simulation/SimDeviceData.h>
 #include <wpi/DenseMap.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
index 3ccf6306d18..043e360d571 100644
--- a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
@@ -4,13 +4,13 @@
 
 #include "TimingGui.h"
 
-#include <glass/Model.h>
-#include <glass/View.h>
-
 #include <cstdio>
 #include <cstring>
+#include <memory>
 #include <vector>
 
+#include <glass/Model.h>
+#include <glass/View.h>
 #include <hal/HALBase.h>
 #include <hal/simulation/MockHooks.h>
 #include <hal/simulation/NotifierData.h>
diff --git a/simulation/halsim_gui/src/main/native/cpp/main.cpp b/simulation/halsim_gui/src/main/native/cpp/main.cpp
index 574090b974c..21fe17404f7 100644
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -2,14 +2,14 @@
 // 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 <cstdio>
+#include <memory>
+#include <string_view>
+
 #include <glass/Context.h>
 #include <glass/Storage.h>
 #include <glass/hardware/Pneumatic.h>
 #include <glass/other/Plot.h>
-
-#include <cstdio>
-#include <string_view>
-
 #include <hal/Extensions.h>
 #include <hal/Main.h>
 #include <imgui.h>
diff --git a/simulation/halsim_gui/src/main/native/include/HALProvider.h b/simulation/halsim_gui/src/main/native/include/HALProvider.h
index 0a26a09cd5f..11372b11f45 100644
--- a/simulation/halsim_gui/src/main/native/include/HALProvider.h
+++ b/simulation/halsim_gui/src/main/native/include/HALProvider.h
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <glass/Model.h>
-#include <glass/Provider.h>
-
 #include <functional>
 #include <memory>
 #include <string>
 #include <string_view>
 #include <vector>
 
+#include <glass/Model.h>
+#include <glass/Provider.h>
+
 namespace halsimgui {
 
 class HALProvider : private glass::Provider<> {
diff --git a/simulation/halsim_gui/src/main/native/include/HALSimGui.h b/simulation/halsim_gui/src/main/native/include/HALSimGui.h
index 68597e5f672..50590e6b6cd 100644
--- a/simulation/halsim_gui/src/main/native/include/HALSimGui.h
+++ b/simulation/halsim_gui/src/main/native/include/HALSimGui.h
@@ -4,13 +4,13 @@
 
 #pragma once
 
+#include <functional>
+#include <memory>
+
 #include <glass/MainMenuBar.h>
 #include <glass/WindowManager.h>
 #include <glass/networktables/NetworkTablesProvider.h>
 
-#include <functional>
-#include <memory>
-
 #include "HALProvider.h"
 
 namespace halsimgui {
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
index 21742f06126..3e27d3ec943 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
@@ -5,6 +5,8 @@
 #include "HALSimWS.h"
 
 #include <cstdio>
+#include <memory>
+#include <string>
 
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
index 1df7ebc7372..14896926b6b 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
@@ -4,6 +4,8 @@
 
 #include "HALSimWSClient.h"
 
+#include <memory>
+
 #include <WSProviderContainer.h>
 #include <WSProvider_AddressableLED.h>
 #include <WSProvider_Analog.h>
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
index 3e7305b47ad..c889d38b8a3 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
@@ -5,6 +5,7 @@
 #include "HALSimWSClientConnection.h"
 
 #include <cstdio>
+#include <string>
 
 #include <fmt/format.h>
 #include <wpi/print.h>
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
index 4d6c024558c..4afc6b65bc6 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSHalProviders.cpp
@@ -4,6 +4,8 @@
 
 #include "WSHalProviders.h"
 
+#include <memory>
+
 #include <fmt/format.h>
 
 namespace wpilibws {
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
index d316fc17e49..78629a3dbd0 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
@@ -4,6 +4,8 @@
 
 #include "WSProvider_AddressableLED.h"
 
+#include <vector>
+
 #include <hal/Ports.h>
 #include <hal/simulation/AddressableLEDData.h>
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_BuiltInAccelerometer.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_BuiltInAccelerometer.cpp
index fefbcd547a3..1928b5df3ac 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_BuiltInAccelerometer.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_BuiltInAccelerometer.cpp
@@ -4,6 +4,8 @@
 
 #include "WSProvider_BuiltInAccelerometer.h"
 
+#include <memory>
+
 #include <hal/Ports.h>
 #include <hal/simulation/AccelerometerData.h>
 
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
index 27495263b92..3c3989eac10 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
@@ -4,8 +4,8 @@
 
 #include "WSProvider_DriverStation.h"
 
-#include <algorithm>
 #include <atomic>
+#include <string>
 #include <string_view>
 
 #include <hal/DriverStation.h>
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
index 3c1602646b1..8e35d56b502 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Joystick.cpp
@@ -4,7 +4,9 @@
 
 #include "WSProvider_Joystick.h"
 
+#include <algorithm>
 #include <atomic>
+#include <vector>
 
 #include <hal/Ports.h>
 #include <hal/simulation/DriverStationData.h>
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
index 7c3d710f47c..cad7e22b9b0 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_SimDevice.cpp
@@ -6,6 +6,9 @@
 
 #include <algorithm>
 #include <cmath>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <fmt/format.h>
 #include <hal/Ports.h>
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp
index a26a4e59ab3..944367b7af6 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Solenoid.cpp
@@ -4,6 +4,10 @@
 
 #include "WSProvider_Solenoid.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <fmt/format.h>
 #include <hal/Ports.h>
 #include <hal/simulation/CTREPCMData.h>
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
index 3567b720096..cb6b43715ae 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
@@ -6,6 +6,8 @@
 
 #include <uv.h>
 
+#include <cstdio>
+#include <string>
 #include <string_view>
 
 #include <wpi/MemoryBuffer.h>
@@ -125,9 +127,8 @@ void HALSimHttpConnection::SendFileResponse(int code, std::string_view codeText,
   }
 
   // open file
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(filename, ec);
-  if (fileBuffer == nullptr || ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(filename);
+  if (!fileBuffer) {
     MySendError(404, "error opening file");
     return;
   }
@@ -143,7 +144,7 @@ void HALSimHttpConnection::SendFileResponse(int code, std::string_view codeText,
   wpi::SmallVector<uv::Buffer, 4> bodyData;
   wpi::raw_uv_ostream bodyOs{bodyData, 4096};
 
-  bodyOs << fileBuffer->GetBuffer();
+  bodyOs << fileBuffer.value()->GetBuffer();
 
   SendData(bodyOs.bufs(), false);
   if (!m_keepAlive) {
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
index 9ecccb049c9..0661b975d6c 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWSServer.cpp
@@ -4,6 +4,8 @@
 
 #include "HALSimWSServer.h"
 
+#include <memory>
+
 #include <WSProviderContainer.h>
 #include <WSProvider_AddressableLED.h>
 #include <WSProvider_Analog.h>
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
index 163af753f21..f231cf44878 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
@@ -4,6 +4,9 @@
 
 #include "HALSimWeb.h"
 
+#include <memory>
+#include <string>
+
 #include <wpi/SmallString.h>
 #include <wpi/fs.h>
 #include <wpi/print.h>
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
index cd38f7b39a2..3a7429127fe 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
@@ -5,6 +5,8 @@
 #include "WebServerClientTest.h"
 
 #include <cstdio>
+#include <memory>
+#include <string>
 
 #include <fmt/format.h>
 #include <wpi/SmallString.h>
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
index 254cc092b76..2ff9a5aaf98 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/main.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 <memory>
+#include <string>
 #include <thread>
 
 #include <gtest/gtest.h>
diff --git a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
index 8a85bfaac8d..704e172c828 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRP.cpp
@@ -5,6 +5,7 @@
 #include "HALSimXRP.h"
 
 #include <cstdio>
+#include <string>
 
 #include <wpi/Endian.h>
 #include <wpi/MathExtras.h>
diff --git a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
index 2cd36c39be6..adc4e26a46c 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/HALSimXRPClient.cpp
@@ -4,6 +4,8 @@
 
 #include "HALSimXRPClient.h"
 
+#include <memory>
+
 #include <WSProviderContainer.h>
 #include <WSProvider_Analog.h>
 #include <WSProvider_BuiltInAccelerometer.h>
diff --git a/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp b/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
index bc84b881efe..ffa1a5e56c1 100644
--- a/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/XRP.cpp
@@ -4,6 +4,8 @@
 
 #include "XRP.h"
 
+#include <string>
+
 #include <fmt/format.h>
 #include <wpi/Endian.h>
 #include <wpi/MathExtras.h>
@@ -388,8 +390,9 @@ void XRP::ReadEncoderTag(std::span<const uint8_t> packet) {
         static_cast<double>(period_numerator >> 1) / period_denominator;
 
     // If direction is not forward, return negative value for period.
-    if (!(period_numerator & 1))
+    if (!(period_numerator & 1)) {
       period = -period;
+    }
 
     encJson["data"].push_back({wpi::json(">period"), wpi::json(period)});
   }
diff --git a/sysid/src/main/native/cpp/App.cpp b/sysid/src/main/native/cpp/App.cpp
index 8b35dca2d3d..e9b058f57e3 100644
--- a/sysid/src/main/native/cpp/App.cpp
+++ b/sysid/src/main/native/cpp/App.cpp
@@ -8,6 +8,8 @@
 
 #include <filesystem>
 #include <memory>
+#include <string>
+#include <utility>
 #include <string_view>
 
 #include <glass/Context.h>
diff --git a/sysid/src/main/native/cpp/Util.cpp b/sysid/src/main/native/cpp/Util.cpp
index c4dc7803046..fcd27c49486 100644
--- a/sysid/src/main/native/cpp/Util.cpp
+++ b/sysid/src/main/native/cpp/Util.cpp
@@ -83,6 +83,7 @@ void sysid::SaveFile(std::string_view contents,
 
   // Open a fd_ostream to write to file.
   std::error_code ec;
+  // NOLINTNEXTLINE(build/include_what_you_use)
   wpi::raw_fd_ostream ostream{path.string(), ec};
 
   // Check error code.
diff --git a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
index b76b4414e5c..11137a31861 100644
--- a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
+++ b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
@@ -5,12 +5,13 @@
 #include "sysid/analysis/AnalysisManager.h"
 
 #include <cmath>
-#include <functional>
+#include <limits>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <units/angle.h>
 #include <wpi/MathExtras.h>
-#include <wpi/MemoryBuffer.h>
 #include <wpi/StringExtras.h>
 #include <wpi/StringMap.h>
 
diff --git a/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp b/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
index 110ff9463f1..3f517d9da2d 100644
--- a/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
+++ b/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
@@ -7,6 +7,8 @@
 #include <array>
 #include <bitset>
 #include <cmath>
+#include <string>
+#include <vector>
 
 #include <Eigen/Eigenvalues>
 #include <fmt/format.h>
@@ -14,8 +16,6 @@
 #include <units/math.h>
 #include <units/time.h>
 
-#include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/FilteringUtils.h"
 #include "sysid/analysis/OLS.h"
 
 namespace sysid {
diff --git a/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp b/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
index 8432e7c8ff7..43eb8e244b0 100644
--- a/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
+++ b/sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
@@ -4,10 +4,13 @@
 
 #include "sysid/analysis/FilteringUtils.h"
 
+#include <algorithm>
+#include <functional>
 #include <limits>
 #include <numbers>
 #include <numeric>
-#include <stdexcept>
+#include <string>
+#include <tuple>
 #include <vector>
 
 #include <fmt/format.h>
diff --git a/sysid/src/main/native/cpp/view/Analyzer.cpp b/sysid/src/main/native/cpp/view/Analyzer.cpp
index 7efca4e16f5..748a1e358c8 100644
--- a/sysid/src/main/native/cpp/view/Analyzer.cpp
+++ b/sysid/src/main/native/cpp/view/Analyzer.cpp
@@ -6,7 +6,9 @@
 
 #include <algorithm>
 #include <exception>
+#include <memory>
 #include <numbers>
+#include <string>
 #include <thread>
 
 #include <fmt/format.h>
diff --git a/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp b/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
index 6963f2c1b8f..bc640d9c7eb 100644
--- a/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
+++ b/sysid/src/main/native/cpp/view/AnalyzerPlot.cpp
@@ -6,7 +6,10 @@
 
 #include <algorithm>
 #include <cmath>
+#include <functional>
 #include <mutex>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <units/math.h>
diff --git a/sysid/src/main/native/cpp/view/DataSelector.cpp b/sysid/src/main/native/cpp/view/DataSelector.cpp
index 75b12e5e3ab..ecb1c012171 100644
--- a/sysid/src/main/native/cpp/view/DataSelector.cpp
+++ b/sysid/src/main/native/cpp/view/DataSelector.cpp
@@ -4,6 +4,11 @@
 
 #include "sysid/view/DataSelector.h"
 
+#include <algorithm>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <fmt/format.h>
 #include <glass/support/DataLogReaderThread.h>
 #include <imgui.h>
diff --git a/sysid/src/main/native/cpp/view/LogLoader.cpp b/sysid/src/main/native/cpp/view/LogLoader.cpp
index fdaa3af11be..6884519a6d2 100644
--- a/sysid/src/main/native/cpp/view/LogLoader.cpp
+++ b/sysid/src/main/native/cpp/view/LogLoader.cpp
@@ -7,7 +7,10 @@
 #include <algorithm>
 #include <memory>
 #include <span>
+#include <string>
 #include <string_view>
+#include <utility>
+#include <vector>
 
 #include <glass/support/DataLogReaderThread.h>
 #include <imgui.h>
@@ -35,15 +38,15 @@ void LogLoader::Display() {
     if (!m_opener->result().empty()) {
       m_filename = m_opener->result()[0];
 
-      std::error_code ec;
-      auto buf = wpi::MemoryBuffer::GetFile(m_filename, ec);
-      if (ec) {
+      auto fileBuffer = wpi::MemoryBuffer::GetFile(m_filename);
+      if (!fileBuffer) {
         ImGui::OpenPopup("Error");
-        m_error = fmt::format("Could not open file: {}", ec.message());
+        m_error = fmt::format("Could not open file: {}",
+                              fileBuffer.error().message());
         return;
       }
 
-      wpi::log::DataLogReader reader{std::move(buf)};
+      wpi::log::DataLogReader reader{std::move(*fileBuffer)};
       if (!reader.IsValid()) {
         ImGui::OpenPopup("Error");
         m_error = "Not a valid datalog file";
diff --git a/upstream_utils/argparse_lib.py b/upstream_utils/argparse_lib.py
new file mode 100755
index 00000000000..6adfd39e640
--- /dev/null
+++ b/upstream_utils/argparse_lib.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib
+
+
+def copy_upstream_src(wpilib_root):
+    wpiutil = os.path.join(wpilib_root, "wpiutil")
+
+    # Copy header into allwpilib
+    dest_filename = os.path.join(
+        wpiutil,
+        f"src/main/native/thirdparty/argparse/include/wpi/argparse.h",
+    )
+    shutil.copyfile("include/argparse/argparse.hpp", dest_filename)
+    # Rename namespace from argparse to wpi
+    with open(dest_filename) as f:
+        content = f.read()
+    content = content.replace("namespace argparse", "namespace wpi")
+    content = content.replace("argparse::", "wpi::")
+    content = content.replace("ARGPARSE_", "WPI_")
+    with open(dest_filename, "w") as f:
+        f.write(content)
+
+
+def main():
+    name = "argparse"
+    url = "https://github.com/p-ranav/argparse"
+    # master on 2024-09-11
+    tag = "fd13c2859131ab463e617a5a8abcc69eb7e1d897"
+
+    expected = Lib(name, url, tag, copy_upstream_src)
+    expected.main()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/upstream_utils/concurrentqueue.py b/upstream_utils/concurrentqueue.py
new file mode 100755
index 00000000000..81c3306721a
--- /dev/null
+++ b/upstream_utils/concurrentqueue.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import Lib
+
+
+def copy_upstream_src(wpilib_root):
+    wpiutil = os.path.join(wpilib_root, "wpiutil")
+
+    # Copy header into allwpilib
+    dest_filename = os.path.join(
+        wpiutil,
+        f"src/main/native/thirdparty/concurrentqueue/include/wpi/concurrentqueue.h",
+    )
+    shutil.copyfile("concurrentqueue.h", dest_filename)
+    # Rename namespace from moodycamel to wpi
+    with open(dest_filename) as f:
+        content = f.read()
+    content = content.replace("namespace moodycamel", "namespace wpi")
+    content = content.replace("moodycamel::", "wpi::")
+    # The upstream library has macros that would conflict with other thirdparty WPI_ macros
+    content = content.replace("MOODYCAMEL_", "WPI_CQ_")
+    with open(dest_filename, "w") as f:
+        f.write(content)
+
+
+def main():
+    name = "concurrentqueue"
+    url = "https://github.com/cameron314/concurrentqueue"
+    # master on 2024-09-10
+    tag = "6dd38b8a1dbaa7863aa907045f32308a56a6ff5d"
+
+    expected = Lib(name, url, tag, copy_upstream_src)
+    expected.main()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/upstream_utils/sleipnir.py b/upstream_utils/sleipnir.py
index fba7a712924..28d2fb38e5a 100755
--- a/upstream_utils/sleipnir.py
+++ b/upstream_utils/sleipnir.py
@@ -51,8 +51,8 @@ def copy_upstream_src(wpilib_root):
 def main():
     name = "sleipnir"
     url = "https://github.com/SleipnirGroup/Sleipnir"
-    # main on 2024-08-03
-    tag = "4f182964d9bbb1c703260bddbfaa0c4435097675"
+    # main on 2024-09-18
+    tag = "8bbce85252bc351c5aacb0de9f50fa31b8b9e1ae"
 
     sleipnir = Lib(name, url, tag, copy_upstream_src)
     sleipnir.main()
diff --git a/upstream_utils/sleipnir_patches/0002-Use-fmtlib.patch b/upstream_utils/sleipnir_patches/0002-Use-fmtlib.patch
index 6a5c679c12e..e5779dc71f0 100644
--- a/upstream_utils/sleipnir_patches/0002-Use-fmtlib.patch
+++ b/upstream_utils/sleipnir_patches/0002-Use-fmtlib.patch
@@ -19,13 +19,13 @@ index 8fb61fdf9cc5ceff633d3126f0579eef25a1326f..6a7f8ed28f9cb037c9746a7e0ef5e110
 +  ^fmt/
  }
 diff --git a/include/sleipnir/util/Print.hpp b/include/sleipnir/util/Print.hpp
-index 339320bce6d017ca85025060ba445b2f025bb225..a9220cdaadcb9b88862542935bc72781d8389239 100644
+index a746cb77b70f095bb15f4c493295cb925bc74cd3..c01fd4ac679df854b885293d681ea1e0984626fa 100644
 --- a/include/sleipnir/util/Print.hpp
 +++ b/include/sleipnir/util/Print.hpp
-@@ -2,52 +2,57 @@
- 
+@@ -3,52 +3,57 @@
  #pragma once
  
+ #include <cstdio>
 -#include <print>
  #include <system_error>
  #include <utility>
diff --git a/upstream_utils/sleipnir_patches/0004-Use-wpi-SmallVector.patch b/upstream_utils/sleipnir_patches/0004-Use-wpi-SmallVector.patch
index 7dcbdf5eb60..550983549db 100644
--- a/upstream_utils/sleipnir_patches/0004-Use-wpi-SmallVector.patch
+++ b/upstream_utils/sleipnir_patches/0004-Use-wpi-SmallVector.patch
@@ -408,7 +408,7 @@ index f3b2f0cf9e60b3a86b9654ff2b381f9c48734ff6..ad739cea6dce6f6cb586f538d1d30b92
 +  ^wpi/
  }
 diff --git a/src/optimization/solver/InteriorPoint.cpp b/src/optimization/solver/InteriorPoint.cpp
-index 817e3d1dcb808c36192ea5b483eee1a08dbb5e2f..1470eb235bfdac363557c207ac0eaedb6c73d295 100644
+index dcd8b56dc08516b80f89550c43cb7002745b93d8..892d2dd20f7fe92c2c91518a4ecb487425643585 100644
 --- a/src/optimization/solver/InteriorPoint.cpp
 +++ b/src/optimization/solver/InteriorPoint.cpp
 @@ -9,6 +9,7 @@
diff --git a/upstream_utils/upstream_utils.py b/upstream_utils/upstream_utils.py
index f750139f5ea..72ad63eb51e 100644
--- a/upstream_utils/upstream_utils.py
+++ b/upstream_utils/upstream_utils.py
@@ -7,59 +7,6 @@
 import tempfile
 
 
-def clone_repo(url, treeish, shallow=True):
-    """Clones a Git repo at the given URL into a temp folder, checks out the
-    given tree-ish (either branch or tag), then returns the repo root.
-
-    Keyword argument:
-    url -- The URL of the Git repo
-    treeish -- The tree-ish to check out (branch or tag)
-    shallow -- Whether to do a shallow clone
-
-    Returns:
-    root -- root directory of the cloned Git repository
-    """
-    cwd = os.getcwd()
-    if url.startswith("file://"):
-        os.chdir(os.path.dirname(url[7:]))
-    else:
-        os.chdir(tempfile.gettempdir())
-
-    repo = os.path.basename(url)
-    dest = os.path.join(os.getcwd(), repo)
-    if dest.endswith(".git"):
-        dest = dest[:-4]
-
-    # Clone Git repository into current directory or update it
-    if not os.path.exists(dest):
-        cmd = ["git", "clone"]
-        if shallow:
-            cmd += ["--branch", treeish, "--depth", "1"]
-        subprocess.run(cmd + [url, dest])
-        os.chdir(dest)
-    else:
-        os.chdir(dest)
-        subprocess.run(["git", "fetch", "origin", treeish])
-
-    # Get list of heads
-    # Example output of "git ls-remote --heads":
-    #   From https://gitlab.com/libeigen/eigen.git
-    #   77c66e368c7e355f8be299659f57b0ffcaedb505  refs/heads/3.4
-    #   3e006bfd31e4389e8c5718c30409cddb65a73b04  refs/heads/master
-    ls_out = subprocess.check_output(["git", "ls-remote", "--heads"]).decode().rstrip()
-    heads = [x.split()[1] for x in ls_out.split("\n")[1:]]
-
-    if f"refs/heads/{treeish}" in heads:
-        # Checking out the remote branch avoids needing to handle syncing a
-        # preexisting local one
-        subprocess.run(["git", "checkout", f"origin/{treeish}"])
-    else:
-        subprocess.run(["git", "checkout", treeish])
-
-    os.chdir(cwd)
-    return dest
-
-
 def get_repo_root():
     """Returns the Git repository root as an absolute path.
 
@@ -558,7 +505,7 @@ def main(self, argv=sys.argv[1:]):
         )
         parser_rebase.add_argument("new_tag", help="The tag to rebase onto")
 
-        parser_format_patch = subparsers.add_parser(
+        subparsers.add_parser(
             "format-patch",
             help="Generates patch files for the upstream repository and moves them into the upstream_utils patch directory",
         )
diff --git a/vcpkg.json b/vcpkg.json
index fc499d086bd..ea1d2a9b5b4 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -5,7 +5,8 @@
     "opencv",
     "fmt",
     "libuv",
-    "protobuf"
+    "protobuf",
+    "libssh"
   ],
   "builtin-baseline": "37c3e63a1306562f7f59c4c3c8892ddd50fdf992"
 }
diff --git a/wpigui/src/main/native/cpp/wpigui.cpp b/wpigui/src/main/native/cpp/wpigui.cpp
index e2e05ce0674..b50540ff6b5 100644
--- a/wpigui/src/main/native/cpp/wpigui.cpp
+++ b/wpigui/src/main/native/cpp/wpigui.cpp
@@ -10,7 +10,9 @@
 #include <chrono>
 #include <cstdio>
 #include <cstring>
+#include <string>
 #include <thread>
+#include <utility>
 
 #include <GLFW/glfw3.h>
 #include <IconsFontAwesome6.h>
diff --git a/wpigui/src/main/native/cpp/wpigui_openurl.cpp b/wpigui/src/main/native/cpp/wpigui_openurl.cpp
index f6095670fc5..0a071b17910 100644
--- a/wpigui/src/main/native/cpp/wpigui_openurl.cpp
+++ b/wpigui/src/main/native/cpp/wpigui_openurl.cpp
@@ -14,6 +14,8 @@
 #include <unistd.h>
 #endif
 
+#include <string>
+
 void wpi::gui::OpenURL(const std::string& url) {
 #ifdef _WIN32
   ShellExecuteA(nullptr, "open", url.c_str(), nullptr, nullptr, SW_SHOWNORMAL);
diff --git a/wpilibNewCommands/WPILibNewCommands.json b/wpilibNewCommands/WPILibNewCommands.json
index 67bf3898d54..3718e0acd7c 100644
--- a/wpilibNewCommands/WPILibNewCommands.json
+++ b/wpilibNewCommands/WPILibNewCommands.json
@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index ff5e8f6aa51..365cf80a4ea 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -4,22 +4,15 @@
 
 #include "frc2/command/Command.h"
 
+#include <string>
+#include <utility>
+
 #include <wpi/StackTrace.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
-#include "frc2/command/CommandHelper.h"
+#include "frc2/command/CommandPtr.h"
 #include "frc2/command/CommandScheduler.h"
-#include "frc2/command/ConditionalCommand.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelCommandGroup.h"
-#include "frc2/command/ParallelDeadlineGroup.h"
-#include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/RepeatCommand.h"
-#include "frc2/command/SequentialCommandGroup.h"
-#include "frc2/command/WaitCommand.h"
-#include "frc2/command/WaitUntilCommand.h"
-#include "frc2/command/WrapperCommand.h"
 
 using namespace frc2;
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
index ee7182a7847..298cc2e50ca 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -4,6 +4,10 @@
 
 #include "frc2/command/CommandPtr.h"
 
+#include <memory>
+#include <utility>
+#include <vector>
+
 #include <frc/Errors.h>
 
 #include "frc2/command/CommandScheduler.h"
@@ -12,7 +16,6 @@
 #include "frc2/command/ParallelCommandGroup.h"
 #include "frc2/command/ParallelDeadlineGroup.h"
 #include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/PrintCommand.h"
 #include "frc2/command/ProxyCommand.h"
 #include "frc2/command/RepeatCommand.h"
 #include "frc2/command/SequentialCommandGroup.h"
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index f845cbc0533..aa57bf00d08 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -5,6 +5,10 @@
 #include "frc2/command/CommandScheduler.h"
 
 #include <cstdio>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <frc/RobotBase.h>
 #include <frc/RobotState.h>
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
index 15458083d69..bc4bd39da73 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/Commands.h"
 
+#include <utility>
+#include <vector>
+
 #include <wpi/deprecated.h>
 
 #include "frc2/command/ConditionalCommand.h"
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
index 6ce33b75486..753eb85a70a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ConditionalCommand.cpp
@@ -4,6 +4,10 @@
 
 #include "frc2/command/ConditionalCommand.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/DeferredCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/DeferredCommand.cpp
index 2a7f16280a9..0bb0e14176e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/DeferredCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/DeferredCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/DeferredCommand.h"
 
+#include <utility>
+
 #include <wpi/sendable/SendableBuilder.h>
 
 #include "frc2/command/Commands.h"
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
index e4ff6ea4174..e28c7c4709d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/FunctionalCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/FunctionalCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 
 FunctionalCommand::FunctionalCommand(std::function<void()> onInit,
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
index b78d30e0e88..c8a189e99fb 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/InstantCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/InstantCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 
 InstantCommand::InstantCommand(std::function<void()> toRun,
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
index c22ac99ce8a..742a37d9597 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
@@ -4,6 +4,7 @@
 
 #include "frc2/command/MecanumControllerCommand.h"
 
+#include <memory>
 #include <utility>
 
 #include <units/velocity.h>
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp
index 5dc5add96f5..a49ead9eef4 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/NotifierCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/NotifierCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 
 NotifierCommand::NotifierCommand(std::function<void()> toRun,
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
index 4a234b14756..b433eb445a1 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/ParallelCommandGroup.h"
 
+#include <utility>
+#include <vector>
+
 using namespace frc2;
 
 ParallelCommandGroup::ParallelCommandGroup(
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
index 1c9b7005345..90669fe20be 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -4,6 +4,10 @@
 
 #include "frc2/command/ParallelDeadlineGroup.h"
 
+#include <memory>
+#include <utility>
+#include <vector>
+
 #include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
index 334286f8e37..5896dd88aaa 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/ParallelRaceGroup.h"
 
+#include <utility>
+#include <vector>
+
 using namespace frc2;
 
 ParallelRaceGroup::ParallelRaceGroup(
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp
index 8032dada7ea..d08f53ef88e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/PrintCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/PrintCommand.h"
 
+#include <string>
+
 #include <wpi/print.h>
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
index fa72906b622..92999ea691e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/ProxyCommand.h"
 
+#include <string>
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/deprecated.h>
 #include <wpi/sendable/SendableBuilder.h>
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
index 2a08f1b0438..15097af843e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/RepeatCommand.h"
 
+#include <string>
+#include <utility>
+
 #include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp
index c3378eaf1f0..633715393d8 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RunCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/RunCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 
 RunCommand::RunCommand(std::function<void()> toRun, Requirements requirements)
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
index 173b9d93c8e..fa873654589 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/SequentialCommandGroup.h"
 
+#include <utility>
+#include <vector>
+
 #include <wpi/sendable/SendableBuilder.h>
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp
index 2d257a3bc7e..90d1961df6d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/StartEndCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/StartEndCommand.h"
 
+#include <utility>
+
 using namespace frc2;
 
 StartEndCommand::StartEndCommand(std::function<void()> onInit,
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
index 5800c440692..876269a1b47 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/Subsystem.h"
 
+#include <string>
+#include <utility>
+
 #include <wpi/Demangle.h>
 
 #include "frc2/command/CommandPtr.h"
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
index e5a40388e4a..e0638263642 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/SubsystemBase.h"
 
+#include <string>
+
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
index 9ccd94eda8a..9ea6fbfae9d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/WaitUntilCommand.h"
 
+#include <utility>
+
 #include <frc/Timer.h>
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
index 2e1b280d693..775e84a30c5 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WrapperCommand.cpp
@@ -4,6 +4,8 @@
 
 #include "frc2/command/WrapperCommand.h"
 
+#include <utility>
+
 #include "frc2/command/Command.h"
 
 using namespace frc2;
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
index a0923a3ba50..a5234c92a65 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp
@@ -4,6 +4,9 @@
 
 #include "frc2/command/button/NetworkButton.h"
 
+#include <memory>
+#include <utility>
+
 using namespace frc2;
 
 NetworkButton::NetworkButton(nt::BooleanTopic topic)
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
index 78fd0b3f769..a3b02d18f3a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
@@ -4,9 +4,11 @@
 
 #include "frc2/command/button/Trigger.h"
 
+#include <utility>
+
 #include <frc/filter/Debouncer.h>
 
-#include "frc2/command/InstantCommand.h"
+#include "frc2/command/CommandPtr.h"
 
 using namespace frc;
 using namespace frc2;
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
index a5059b16e11..3a31308a3f0 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -2,6 +2,9 @@
 // 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 <string>
+#include <utility>
+
 #include <frc/simulation/SimHooks.h>
 
 #include "CommandTestBase.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandPtrTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandPtrTest.cpp
index 75ec0409649..1dae951bea7 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandPtrTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandPtrTest.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 <utility>
+
 #include <frc/Errors.h>
 
 #include "CommandTestBase.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
index b46bb8bbde9..e8d3c16ff4f 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandRequirementsTest.cpp
@@ -2,17 +2,13 @@
 // 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 <utility>
+
 #include <frc/Errors.h>
 
 #include "CommandTestBase.h"
 #include "frc2/command/CommandScheduler.h"
-#include "frc2/command/ConditionalCommand.h"
 #include "frc2/command/FunctionalCommand.h"
-#include "frc2/command/InstantCommand.h"
-#include "frc2/command/ParallelCommandGroup.h"
-#include "frc2/command/ParallelDeadlineGroup.h"
-#include "frc2/command/ParallelRaceGroup.h"
-#include "frc2/command/SequentialCommandGroup.h"
 
 using namespace frc2;
 class CommandRequirementsTest : public CommandTestBase {};
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
index d7bbd26b20c..7896a1aa326 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ConditionalCommandTest.cpp
@@ -2,6 +2,9 @@
 // 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 <memory>
+#include <utility>
+
 #include "CommandTestBase.h"
 #include "frc2/command/Commands.h"
 #include "frc2/command/ConditionalCommand.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
index a9e3fc681ca..a024a2f1955 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/DefaultCommandTest.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 <utility>
+
 #include "CommandTestBase.h"
 #include "frc2/command/RunCommand.h"
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
index ff5384c8f98..21457d024cd 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelCommandGroupTest.cpp
@@ -2,6 +2,9 @@
 // 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 <memory>
+#include <utility>
+
 #include "CommandTestBase.h"
 #include "CompositionTestBase.h"
 #include "frc2/command/InstantCommand.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
index f35bd000c28..d36b97ad6c6 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelDeadlineGroupTest.cpp
@@ -2,6 +2,10 @@
 // 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 <memory>
+#include <utility>
+#include <vector>
+
 #include "CommandTestBase.h"
 #include "CompositionTestBase.h"
 #include "frc2/command/InstantCommand.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
index be18fc30490..032c3c1dd33 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
@@ -2,6 +2,9 @@
 // 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 <memory>
+#include <utility>
+
 #include "CommandTestBase.h"
 #include "CompositionTestBase.h"
 #include "frc2/command/InstantCommand.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp
index 37353032a12..52436b97ac6 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SchedulingRecursionTest.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 <utility>
+
 #include <gtest/gtest.h>
 
 #include "CommandTestBase.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
index dfea0d336ac..eb05034da28 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SelectCommandTest.cpp
@@ -2,9 +2,12 @@
 // 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 <memory>
+#include <utility>
+#include <vector>
+
 #include "CommandTestBase.h"
 #include "CompositionTestBase.h"
-#include "frc2/command/ConditionalCommand.h"
 #include "frc2/command/InstantCommand.h"
 #include "frc2/command/SelectCommand.h"
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
index e1283136e8f..b8920c733f9 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SequentialCommandGroupTest.cpp
@@ -2,6 +2,9 @@
 // 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 <memory>
+#include <utility>
+
 #include "CommandTestBase.h"
 #include "CompositionTestBase.h"
 #include "frc2/command/InstantCommand.h"
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
index a97b4f566c3..9b0899edb78 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/button/TriggerTest.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 <utility>
+
 #include <frc/simulation/SimHooks.h>
 #include <gtest/gtest.h>
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
index 1cfe39c6ee8..ae0b9a2241e 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/sysid/SysIdRoutineTest.cpp
@@ -5,7 +5,8 @@
 #include <frc2/command/Subsystem.h>
 #include <frc2/command/sysid/SysIdRoutine.h>
 
-#include <numbers>
+#include <utility>
+#include <vector>
 
 #include <frc/Timer.h>
 #include <frc/simulation/SimHooks.h>
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
index 74a3e420662..ea768e3120a 100644
--- a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -13,23 +13,21 @@
 
 #include "frc/ADIS16448_IMU.h"
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalOutput.h>
-#include <frc/DigitalSource.h>
-#include <frc/DriverStation.h>
-#include <frc/SPI.h>
-#include <frc/Timer.h>
-
 #include <algorithm>
 #include <cmath>
 #include <numbers>
+#include <utility>
 
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
+#include "frc/DigitalInput.h"
+#include "frc/DigitalOutput.h"
 #include "frc/Errors.h"
 #include "frc/MathUtil.h"
+#include "frc/SPI.h"
+#include "frc/Timer.h"
 
 /* Helpful conversion functions */
 static inline uint16_t BuffToUShort(const uint32_t* buf) {
diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
index b29c498ad17..5f99e300c08 100644
--- a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -13,11 +13,6 @@
 
 #include "frc/ADIS16470_IMU.h"
 
-#include <frc/DigitalInput.h>
-#include <frc/DigitalSource.h>
-#include <frc/DriverStation.h>
-#include <frc/Timer.h>
-
 #include <cmath>
 #include <numbers>
 #include <utility>
@@ -26,8 +21,10 @@
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
+#include "frc/DigitalInput.h"
 #include "frc/Errors.h"
 #include "frc/MathUtil.h"
+#include "frc/Timer.h"
 
 /* Helpful conversion functions */
 static inline int32_t ToInt(const uint32_t* buf) {
diff --git a/wpilibc/src/main/native/cpp/Alert.cpp b/wpilibc/src/main/native/cpp/Alert.cpp
index 86bfd68cb92..c9523fab555 100644
--- a/wpilibc/src/main/native/cpp/Alert.cpp
+++ b/wpilibc/src/main/native/cpp/Alert.cpp
@@ -4,11 +4,15 @@
 
 #include "frc/Alert.h"
 
-#include <frc/Timer.h>
-#include <frc/smartdashboard/SmartDashboard.h>
+#include <algorithm>
+#include <string>
+#include <vector>
 
 #include <networktables/NTSendableBuilder.h>
 
+#include "frc/Timer.h"
+#include "frc/smartdashboard/SmartDashboard.h"
+
 using namespace frc;
 
 Alert::Alert(std::string_view text, AlertType type)
diff --git a/wpilibc/src/main/native/cpp/AnalogEncoder.cpp b/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
index 152b34f98c5..13a788788cb 100644
--- a/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogEncoder.cpp
@@ -4,11 +4,12 @@
 
 #include "frc/AnalogEncoder.h"
 
+#include <utility>
+
 #include <wpi/NullDeleter.h>
 #include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/AnalogInput.h"
-#include "frc/Errors.h"
 #include "frc/MathUtil.h"
 #include "frc/RobotController.h"
 
diff --git a/wpilibc/src/main/native/cpp/AnalogGyro.cpp b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
index 36d70b9daad..6362b45b41a 100644
--- a/wpilibc/src/main/native/cpp/AnalogGyro.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogGyro.cpp
@@ -5,7 +5,8 @@
 #include "frc/AnalogGyro.h"
 
 #include <climits>
-#include <utility>
+#include <memory>
+#include <string>
 
 #include <hal/AnalogGyro.h>
 #include <hal/Errors.h>
@@ -17,7 +18,6 @@
 
 #include "frc/AnalogInput.h"
 #include "frc/Errors.h"
-#include "frc/Timer.h"
 
 using namespace frc;
 
diff --git a/wpilibc/src/main/native/cpp/AnalogInput.cpp b/wpilibc/src/main/native/cpp/AnalogInput.cpp
index 9960d3704af..15e28ceeffc 100644
--- a/wpilibc/src/main/native/cpp/AnalogInput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogInput.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/AnalogInput.h"
 
+#include <string>
+
 #include <hal/AnalogAccumulator.h>
 #include <hal/AnalogInput.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/AnalogOutput.cpp b/wpilibc/src/main/native/cpp/AnalogOutput.cpp
index d5857abded2..ca7dec1f397 100644
--- a/wpilibc/src/main/native/cpp/AnalogOutput.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogOutput.cpp
@@ -4,8 +4,7 @@
 
 #include "frc/AnalogOutput.h"
 
-#include <limits>
-#include <utility>
+#include <string>
 
 #include <hal/AnalogOutput.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
index d8b8b1e0a88..31432e9681c 100644
--- a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/AnalogPotentiometer.h"
 
+#include <memory>
 #include <utility>
 
 #include <wpi/NullDeleter.h>
diff --git a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
index 81bd3c5f8e9..6759b61dde6 100644
--- a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
+++ b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/AnalogTrigger.h"
 
+#include <memory>
 #include <utility>
 
 #include <hal/AnalogTrigger.h>
diff --git a/wpilibc/src/main/native/cpp/AsynchronousInterrupt.cpp b/wpilibc/src/main/native/cpp/AsynchronousInterrupt.cpp
index d45d5e4a5cf..20fc761c278 100644
--- a/wpilibc/src/main/native/cpp/AsynchronousInterrupt.cpp
+++ b/wpilibc/src/main/native/cpp/AsynchronousInterrupt.cpp
@@ -6,6 +6,9 @@
 
 #include <frc/DigitalSource.h>
 
+#include <memory>
+#include <utility>
+
 using namespace frc;
 
 AsynchronousInterrupt::AsynchronousInterrupt(
diff --git a/wpilibc/src/main/native/cpp/Counter.cpp b/wpilibc/src/main/native/cpp/Counter.cpp
index f6506b98fb3..1c35923969a 100644
--- a/wpilibc/src/main/native/cpp/Counter.cpp
+++ b/wpilibc/src/main/native/cpp/Counter.cpp
@@ -4,7 +4,7 @@
 
 #include "frc/Counter.h"
 
-#include <utility>
+#include <memory>
 
 #include <hal/Counter.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/DMA.cpp b/wpilibc/src/main/native/cpp/DMA.cpp
index 806e18b4071..5661af28820 100644
--- a/wpilibc/src/main/native/cpp/DMA.cpp
+++ b/wpilibc/src/main/native/cpp/DMA.cpp
@@ -15,11 +15,6 @@
 #include <hal/DMA.h>
 #include <hal/HALBase.h>
 
-#include "frc/AnalogInput.h"
-#include "frc/Counter.h"
-#include "frc/DigitalSource.h"
-#include "frc/DutyCycle.h"
-#include "frc/Encoder.h"
 #include "frc/Errors.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/DataLogManager.cpp b/wpilibc/src/main/native/cpp/DataLogManager.cpp
index dc9d3d73875..9ab1211c0ec 100644
--- a/wpilibc/src/main/native/cpp/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/DataLogManager.cpp
@@ -9,11 +9,14 @@
 #include <algorithm>
 #include <ctime>
 #include <random>
+#include <string>
+#include <vector>
 
 #include <fmt/chrono.h>
 #include <networktables/NetworkTableInstance.h>
 #include <wpi/DataLog.h>
 #include <wpi/DataLogBackgroundWriter.h>
+#include <wpi/FileLogger.h>
 #include <wpi/SafeThread.h>
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
@@ -37,6 +40,8 @@ struct Thread final : public wpi::SafeThread {
 
   void StartNTLog();
   void StopNTLog();
+  void StartConsoleLog();
+  void StopConsoleLog();
 
   std::string m_logDir;
   bool m_filenameOverride;
@@ -44,6 +49,8 @@ struct Thread final : public wpi::SafeThread {
   bool m_ntLoggerEnabled = false;
   NT_DataLogger m_ntEntryLogger = 0;
   NT_ConnectionDataLogger m_ntConnLogger = 0;
+  bool m_consoleLoggerEnabled = false;
+  wpi::FileLogger m_consoleLogger;
   wpi::log::StringLogEntry m_messageLog;
 };
 
@@ -109,10 +116,12 @@ Thread::Thread(std::string_view dir, std::string_view filename, double period)
       m_log{dir, MakeLogFilename(filename), period},
       m_messageLog{m_log, "messages"} {
   StartNTLog();
+  StartConsoleLog();
 }
 
 Thread::~Thread() {
   StopNTLog();
+  StopConsoleLog();
 }
 
 void Thread::Main() {
@@ -297,6 +306,20 @@ void Thread::StopNTLog() {
   }
 }
 
+void Thread::StartConsoleLog() {
+  if (!m_consoleLoggerEnabled && RobotBase::IsReal()) {
+    m_consoleLoggerEnabled = true;
+    m_consoleLogger = {"/home/lvuser/FRC_UserProgram.log", m_log, "output"};
+  }
+}
+
+void Thread::StopConsoleLog() {
+  if (m_consoleLoggerEnabled && RobotBase::IsReal()) {
+    m_consoleLoggerEnabled = false;
+    m_consoleLogger = {};
+  }
+}
+
 Instance::Instance(std::string_view dir, std::string_view filename,
                    double period) {
   // Delete all previously existing FRC_TBD_*.wpilog files. These only exist
@@ -360,3 +383,13 @@ void DataLogManager::LogNetworkTables(bool enabled) {
     }
   }
 }
+
+void DataLogManager::LogConsoleOutput(bool enabled) {
+  if (auto thr = GetInstance().owner.GetThread()) {
+    if (enabled) {
+      thr->StartConsoleLog();
+    } else if (!enabled) {
+      thr->StopConsoleLog();
+    }
+  }
+}
diff --git a/wpilibc/src/main/native/cpp/DigitalInput.cpp b/wpilibc/src/main/native/cpp/DigitalInput.cpp
index b3c110875ea..f6c2d8b03c6 100644
--- a/wpilibc/src/main/native/cpp/DigitalInput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalInput.cpp
@@ -4,7 +4,7 @@
 
 #include "frc/DigitalInput.h"
 
-#include <limits>
+#include <string>
 
 #include <hal/DIO.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
index 01d3ef74fd2..6cac8e8f064 100644
--- a/wpilibc/src/main/native/cpp/DigitalOutput.cpp
+++ b/wpilibc/src/main/native/cpp/DigitalOutput.cpp
@@ -4,7 +4,7 @@
 
 #include "frc/DigitalOutput.h"
 
-#include <limits>
+#include <string>
 
 #include <hal/DIO.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index 16032a17d38..862b2464eb4 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -8,12 +8,10 @@
 
 #include <array>
 #include <atomic>
-#include <chrono>
+#include <memory>
 #include <span>
 #include <string>
 #include <string_view>
-#include <thread>
-#include <type_traits>
 
 #include <fmt/format.h>
 #include <hal/DriverStation.h>
@@ -33,7 +31,6 @@
 #include <wpi/timestamp.h>
 
 #include "frc/Errors.h"
-#include "frc/MotorSafety.h"
 #include "frc/Timer.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/DutyCycle.cpp b/wpilibc/src/main/native/cpp/DutyCycle.cpp
index 943baa8b1bf..6ac7a37c8e2 100644
--- a/wpilibc/src/main/native/cpp/DutyCycle.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycle.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/DutyCycle.h"
 
+#include <utility>
+
 #include <hal/DutyCycle.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
index f127cf2ed1b..41a1b4b987d 100644
--- a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
+++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -4,13 +4,15 @@
 
 #include "frc/DutyCycleEncoder.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/NullDeleter.h>
 #include <wpi/sendable/SendableBuilder.h>
 
 #include "frc/DigitalInput.h"
 #include "frc/DigitalSource.h"
 #include "frc/DutyCycle.h"
-#include "frc/Errors.h"
 #include "frc/MathUtil.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/Encoder.cpp b/wpilibc/src/main/native/cpp/Encoder.cpp
index 795183f3ab8..b7eda548fea 100644
--- a/wpilibc/src/main/native/cpp/Encoder.cpp
+++ b/wpilibc/src/main/native/cpp/Encoder.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/Encoder.h"
 
+#include <memory>
 #include <utility>
 
 #include <hal/Encoder.h>
diff --git a/wpilibc/src/main/native/cpp/Errors.cpp b/wpilibc/src/main/native/cpp/Errors.cpp
index 0ff4dc1699a..f29a420e4a4 100644
--- a/wpilibc/src/main/native/cpp/Errors.cpp
+++ b/wpilibc/src/main/native/cpp/Errors.cpp
@@ -4,7 +4,8 @@
 
 #include "frc/Errors.h"
 
-#include <exception>
+#include <string>
+#include <utility>
 
 #include <hal/DriverStation.h>
 #include <hal/HALBase.h>
diff --git a/wpilibc/src/main/native/cpp/Filesystem.cpp b/wpilibc/src/main/native/cpp/Filesystem.cpp
index 7947d750733..7add0e8f8e6 100644
--- a/wpilibc/src/main/native/cpp/Filesystem.cpp
+++ b/wpilibc/src/main/native/cpp/Filesystem.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/Filesystem.h"
 
+#include <string>
+
 #include <wpi/fs.h>
 
 #include "frc/RobotBase.h"
diff --git a/wpilibc/src/main/native/cpp/GenericHID.cpp b/wpilibc/src/main/native/cpp/GenericHID.cpp
index f4d26b64def..6e9e0e0b0db 100644
--- a/wpilibc/src/main/native/cpp/GenericHID.cpp
+++ b/wpilibc/src/main/native/cpp/GenericHID.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/GenericHID.h"
 
+#include <string>
+
 #include <hal/DriverStation.h>
 
 #include "frc/DriverStation.h"
diff --git a/wpilibc/src/main/native/cpp/LEDPattern.cpp b/wpilibc/src/main/native/cpp/LEDPattern.cpp
index c5ce8a7754f..537b459603c 100644
--- a/wpilibc/src/main/native/cpp/LEDPattern.cpp
+++ b/wpilibc/src/main/native/cpp/LEDPattern.cpp
@@ -8,6 +8,7 @@
 #include <cmath>
 #include <numbers>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <wpi/MathExtras.h>
diff --git a/wpilibc/src/main/native/cpp/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
index 06e37a4a3aa..7169438d9e2 100644
--- a/wpilibc/src/main/native/cpp/PneumaticHub.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticHub.cpp
@@ -5,6 +5,9 @@
 #include "frc/PneumaticHub.h"
 
 #include <array>
+#include <cstdio>
+#include <memory>
+#include <string>
 
 #include <fmt/format.h>
 #include <hal/REVPH.h>
diff --git a/wpilibc/src/main/native/cpp/PneumaticsBase.cpp b/wpilibc/src/main/native/cpp/PneumaticsBase.cpp
index bd9e033bda2..78c5f0dd72a 100644
--- a/wpilibc/src/main/native/cpp/PneumaticsBase.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticsBase.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/PneumaticsBase.h"
 
+#include <memory>
+
 #include <hal/REVPH.h>
 
 #include "frc/Errors.h"
diff --git a/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp b/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
index e34e85097d2..e743e5e6f43 100644
--- a/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
+++ b/wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/PneumaticsControlModule.h"
 
+#include <memory>
+#include <string>
+
 #include <hal/CTREPCM.h>
 #include <wpi/NullDeleter.h>
 #include <wpi/StackTrace.h>
diff --git a/wpilibc/src/main/native/cpp/PowerDistribution.cpp b/wpilibc/src/main/native/cpp/PowerDistribution.cpp
index df5f6ddeed0..14a4cec49d8 100644
--- a/wpilibc/src/main/native/cpp/PowerDistribution.cpp
+++ b/wpilibc/src/main/native/cpp/PowerDistribution.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/PowerDistribution.h"
 
+#include <vector>
+
 #include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/Ports.h>
@@ -13,7 +15,6 @@
 #include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
-#include "frc/SensorUtil.h"
 
 static_assert(static_cast<HAL_PowerDistributionType>(
                   frc::PowerDistribution::ModuleType::kCTRE) ==
diff --git a/wpilibc/src/main/native/cpp/Preferences.cpp b/wpilibc/src/main/native/cpp/Preferences.cpp
index 07d79cb57c5..9706f90b019 100644
--- a/wpilibc/src/main/native/cpp/Preferences.cpp
+++ b/wpilibc/src/main/native/cpp/Preferences.cpp
@@ -4,7 +4,9 @@
 
 #include "frc/Preferences.h"
 
-#include <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
 
 #include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/Relay.cpp b/wpilibc/src/main/native/cpp/Relay.cpp
index 7c523711a50..0cd2dac86b1 100644
--- a/wpilibc/src/main/native/cpp/Relay.cpp
+++ b/wpilibc/src/main/native/cpp/Relay.cpp
@@ -4,7 +4,7 @@
 
 #include "frc/Relay.h"
 
-#include <utility>
+#include <string>
 
 #include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
diff --git a/wpilibc/src/main/native/cpp/Resource.cpp b/wpilibc/src/main/native/cpp/Resource.cpp
index de32e11631f..34aeba5861f 100644
--- a/wpilibc/src/main/native/cpp/Resource.cpp
+++ b/wpilibc/src/main/native/cpp/Resource.cpp
@@ -4,6 +4,11 @@
 
 #include "frc/Resource.h"
 
+#include <limits>
+#include <memory>
+#include <string>
+#include <vector>
+
 #include <wpi/deprecated.h>
 
 #include "frc/Errors.h"
diff --git a/wpilibc/src/main/native/cpp/RobotController.cpp b/wpilibc/src/main/native/cpp/RobotController.cpp
index 5c0f7fd7826..31258f1234e 100644
--- a/wpilibc/src/main/native/cpp/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/RobotController.cpp
@@ -4,7 +4,7 @@
 
 #include "frc/RobotController.h"
 
-#include <cstddef>
+#include <string>
 
 #include <hal/CAN.h>
 #include <hal/HALBase.h>
diff --git a/wpilibc/src/main/native/cpp/SerialPort.cpp b/wpilibc/src/main/native/cpp/SerialPort.cpp
index 0d96a9e9e64..8c6fdb380ca 100644
--- a/wpilibc/src/main/native/cpp/SerialPort.cpp
+++ b/wpilibc/src/main/native/cpp/SerialPort.cpp
@@ -4,7 +4,7 @@
 
 #include "frc/SerialPort.h"
 
-#include <utility>
+#include <string>
 
 #include <hal/FRCUsageReporting.h>
 #include <hal/SerialPort.h>
diff --git a/wpilibc/src/main/native/cpp/SharpIR.cpp b/wpilibc/src/main/native/cpp/SharpIR.cpp
index db9b9b9a89d..67e00f6a67e 100644
--- a/wpilibc/src/main/native/cpp/SharpIR.cpp
+++ b/wpilibc/src/main/native/cpp/SharpIR.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/SharpIR.h"
 
+#include <algorithm>
+
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
diff --git a/wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp b/wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp
index 298ecdd864b..084efd9d1f1 100644
--- a/wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp
+++ b/wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp
@@ -4,7 +4,9 @@
 
 #include "frc/SynchronousInterrupt.h"
 
+#include <memory>
 #include <type_traits>
+#include <utility>
 
 #include <hal/Interrupts.h>
 #include <wpi/NullDeleter.h>
diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
index ec4c9c3c140..640a56c4f41 100644
--- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -4,7 +4,9 @@
 
 #include "frc/Ultrasonic.h"
 
+#include <memory>
 #include <utility>
+#include <vector>
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
diff --git a/wpilibc/src/main/native/cpp/Watchdog.cpp b/wpilibc/src/main/native/cpp/Watchdog.cpp
index 91d999d6c41..063ed5a09b0 100644
--- a/wpilibc/src/main/native/cpp/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/Watchdog.cpp
@@ -7,6 +7,7 @@
 #include <atomic>
 #include <thread>
 #include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 #include <hal/Notifier.h>
diff --git a/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp b/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
index 3bea166ec66..d518a2f0fc5 100644
--- a/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
+++ b/wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/counter/ExternalDirectionCounter.h"
 
+#include <memory>
+
 #include <hal/Counter.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
diff --git a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
index 30b9ea6afea..7da57924777 100644
--- a/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
+++ b/wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/counter/UpDownCounter.h"
 
+#include <memory>
+
 #include <hal/Counter.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/NullDeleter.h>
diff --git a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
index e3a0a8c4945..85232193a41 100644
--- a/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
@@ -6,6 +6,8 @@
 
 #include <algorithm>
 #include <cmath>
+#include <string>
+#include <utility>
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/sendable/SendableBuilder.h>
diff --git a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
index aeec27d0ded..d40d02c6343 100644
--- a/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
+++ b/wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
@@ -5,6 +5,8 @@
 #include "frc/drive/MecanumDrive.h"
 
 #include <algorithm>
+#include <string>
+#include <utility>
 
 #include <hal/FRCUsageReporting.h>
 #include <wpi/sendable/SendableBuilder.h>
diff --git a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
index 0f6cdfe22cc..d108a0fd141 100644
--- a/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/BooleanEvent.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/event/BooleanEvent.h"
 
+#include <memory>
+#include <utility>
+
 using namespace frc;
 
 BooleanEvent::BooleanEvent(EventLoop* loop, std::function<bool()> condition)
diff --git a/wpilibc/src/main/native/cpp/event/EventLoop.cpp b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
index c85286ba371..cf2b3f3d7c8 100644
--- a/wpilibc/src/main/native/cpp/event/EventLoop.cpp
+++ b/wpilibc/src/main/native/cpp/event/EventLoop.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/event/EventLoop.h"
 
+#include <utility>
+
 #include "frc/Errors.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp b/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
index d910361b64b..0f8576d8ff9 100644
--- a/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
+++ b/wpilibc/src/main/native/cpp/event/NetworkBooleanEvent.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/event/NetworkBooleanEvent.h"
 
+#include <memory>
+#include <utility>
+
 #include <networktables/BooleanTopic.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
diff --git a/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp b/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
index aff42a4efc6..04f66c723e5 100644
--- a/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
+++ b/wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/livewindow/LiveWindow.h"
 
+#include <memory>
+
 #include <networktables/BooleanTopic.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
index cf57f7c55b2..c5a0e0316f4 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/MotorControllerGroup.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/motorcontrol/MotorControllerGroup.h"
 
+#include <utility>
+#include <vector>
+
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
index a05b7cc8416..5acf3c818d0 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/NidecBrushless.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/motorcontrol/NidecBrushless.h"
 
+#include <string>
+
 #include <fmt/format.h>
 #include <hal/FRCUsageReporting.h>
 #include <wpi/sendable/SendableBuilder.h>
diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
index 1f1d2628ab3..28ef00fbef5 100644
--- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
+++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/motorcontrol/PWMMotorController.h"
 
+#include <string>
+
 #include <fmt/format.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp
index eaac17366f5..adc015c914f 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ComplexWidget.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/shuffleboard/ComplexWidget.h"
 
+#include <memory>
+
 #include <wpi/sendable/Sendable.h>
 
 #include "frc/smartdashboard/SendableBuilderImpl.h"
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp b/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
index fb1ef9c6ac0..90adca62085 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/RecordingController.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/shuffleboard/RecordingController.h"
 
+#include <string>
+
 #include "frc/Errors.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/Shuffleboard.cpp b/wpilibc/src/main/native/cpp/shuffleboard/Shuffleboard.cpp
index 913501278fd..0fff070d50a 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/Shuffleboard.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/Shuffleboard.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/shuffleboard/Shuffleboard.h"
 
+#include <memory>
+
 #include <networktables/NetworkTableInstance.h>
 
 #include "frc/shuffleboard/ShuffleboardTab.h"
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardComponentBase.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardComponentBase.cpp
index c43fc90890f..4ef59fdd56b 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardComponentBase.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardComponentBase.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/shuffleboard/ShuffleboardComponentBase.h"
 
+#include <memory>
+#include <string>
+
 using namespace frc;
 
 ShuffleboardComponentBase::ShuffleboardComponentBase(
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
index ca3c6d69dee..b8f4ccae341 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
@@ -4,6 +4,11 @@
 
 #include "frc/shuffleboard/ShuffleboardContainer.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <ntcore_cpp.h>
 #include <wpi/sendable/SendableRegistry.h>
 
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
index 8c0880a5884..e443e82e8c6 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardInstance.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/shuffleboard/ShuffleboardInstance.h"
 
+#include <memory>
+#include <string>
+
 #include <hal/FRCUsageReporting.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardLayout.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardLayout.cpp
index fb7d35bfe4b..da2f71460cc 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardLayout.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardLayout.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 
+#include <memory>
+
 #include <wpi/json.h>
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardTab.cpp b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardTab.cpp
index 6cd1c3878bb..359a63c753b 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardTab.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardTab.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/shuffleboard/ShuffleboardTab.h"
 
+#include <memory>
+
 #include <wpi/json.h>
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/shuffleboard/SimpleWidget.cpp b/wpilibc/src/main/native/cpp/shuffleboard/SimpleWidget.cpp
index c62b76de929..5550136d6d3 100644
--- a/wpilibc/src/main/native/cpp/shuffleboard/SimpleWidget.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/SimpleWidget.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/shuffleboard/SimpleWidget.h"
 
+#include <memory>
+
 #include "frc/shuffleboard/Shuffleboard.h"
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 #include "frc/shuffleboard/ShuffleboardTab.h"
diff --git a/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp b/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
index da99867b2e4..c6a8d55e59f 100644
--- a/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/simulation/DoubleSolenoidSim.h"
 
+#include <memory>
+#include <utility>
+
 #include "frc/PneumaticsBase.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
index 04aef3a6699..88fed272771 100644
--- a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/simulation/PneumaticsBaseSim.h"
 
+#include <memory>
+
 #include "frc/Errors.h"
 #include "frc/PneumaticsModuleType.h"
 #include "frc/simulation/CTREPCMSim.h"
diff --git a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
index 3717128d99e..4973080b546 100644
--- a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
@@ -5,7 +5,7 @@
 #include "frc/simulation/RoboRioSim.h"
 
 #include <memory>
-#include <utility>
+#include <string>
 
 #include <hal/simulation/RoboRioData.h>
 
diff --git a/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp b/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
index 29d820783e5..5ad5c20a344 100644
--- a/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SolenoidSim.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/simulation/SolenoidSim.h"
 
+#include <memory>
+#include <utility>
+
 #include "frc/PneumaticsBase.h"
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
index ec52e9ccee1..5decef99e23 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/smartdashboard/Field2d.h"
 
+#include <memory>
+#include <utility>
+
 #include <networktables/DoubleArrayTopic.h>
 #include <networktables/NTSendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
index 3895e870f96..10a027024e3 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/smartdashboard/FieldObject2d.h"
 
+#include <utility>
 #include <vector>
 
 #include "frc/trajectory/Trajectory.h"
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp b/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
index 2a531969355..0e19026b47f 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/ListenerExecutor.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/smartdashboard/ListenerExecutor.h"
 
+#include <utility>
+
 using namespace frc::detail;
 
 void ListenerExecutor::Execute(std::function<void()> task) {
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
index 1bee916c91c..e060e49bf64 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/smartdashboard/Mechanism2d.h"
 
+#include <memory>
 #include <string_view>
 
 #include <networktables/NTSendableBuilder.h>
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
index 85f112d86a5..bd44a723e32 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
@@ -4,6 +4,9 @@
 
 #include "frc/smartdashboard/MechanismLigament2d.h"
 
+#include <cstdio>
+#include <memory>
+
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
 
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
index 15d24a38c17..c6419d14031 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismObject2d.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/smartdashboard/MechanismObject2d.h"
 
+#include <string>
+
 using namespace frc;
 
 MechanismObject2d::MechanismObject2d(std::string_view name) : m_name{name} {}
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
index a49689b81dc..0098eae7367 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
@@ -4,6 +4,10 @@
 
 #include "frc/smartdashboard/SendableBuilderImpl.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <networktables/BooleanArrayTopic.h>
 #include <networktables/BooleanTopic.h>
 #include <networktables/DoubleArrayTopic.h>
@@ -18,8 +22,6 @@
 #include <wpi/SmallVector.h>
 #include <wpi/json.h>
 
-#include "frc/smartdashboard/SmartDashboard.h"
-
 using namespace frc;
 
 template <typename Topic>
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
index f19d9e4612a..5375346321b 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/smartdashboard/SendableChooserBase.h"
 
+#include <utility>
+
 #include <wpi/sendable/SendableRegistry.h>
 
 using namespace frc;
diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
index d57473fbe04..30b542b81b4 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -4,6 +4,11 @@
 
 #include "frc/smartdashboard/SmartDashboard.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <hal/FRCUsageReporting.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
diff --git a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
index 1ee35b8863b..594aeb76c77 100644
--- a/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
+++ b/wpilibc/src/main/native/cpp/sysid/SysIdRoutineLog.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/sysid/SysIdRoutineLog.h"
 
+#include <string>
+
 #include <fmt/format.h>
 
 #include "frc/DataLogManager.h"
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index da75ad4c87d..04af2fe3a4c 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -9,6 +9,8 @@
 #endif
 
 #include <cstdio>
+#include <memory>
+#include <utility>
 
 #include <cameraserver/CameraServerShared.h>
 #include <hal/FRCUsageReporting.h>
@@ -22,7 +24,6 @@
 #include "frc/DriverStation.h"
 #include "frc/Errors.h"
 #include "frc/Notifier.h"
-#include "frc/RobotState.h"
 #include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
diff --git a/wpilibc/src/main/native/include/frc/DataLogManager.h b/wpilibc/src/main/native/include/frc/DataLogManager.h
index f171cd380a6..a624b5a0120 100644
--- a/wpilibc/src/main/native/include/frc/DataLogManager.h
+++ b/wpilibc/src/main/native/include/frc/DataLogManager.h
@@ -85,6 +85,12 @@ class DataLogManager final {
    * @param enabled true to enable, false to disable
    */
   static void LogNetworkTables(bool enabled);
+
+  /**
+   * Enable or disable logging of the console output. Defaults to enabled.
+   * @param enabled  true to enable, false to disable
+   */
+  static void LogConsoleOutput(bool enabled);
 };
 
 }  // namespace frc
diff --git a/wpilibc/src/main/native/include/frc/DoubleSolenoid.h b/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
index 57c2c11d82a..e31fb8a290d 100644
--- a/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
+++ b/wpilibc/src/main/native/include/frc/DoubleSolenoid.h
@@ -70,14 +70,14 @@ class DoubleSolenoid : public wpi::Sendable,
    *
    * @param value The value to set (Off, Forward or Reverse)
    */
-  virtual void Set(Value value);
+  void Set(Value value);
 
   /**
    * Read the current value of the solenoid.
    *
    * @return The current value of the solenoid.
    */
-  virtual Value Get() const;
+  Value Get() const;
 
   /**
    * Toggle the value of the solenoid.
diff --git a/wpilibc/src/main/native/include/frc/Solenoid.h b/wpilibc/src/main/native/include/frc/Solenoid.h
index 7fa49530a17..ba10a73f205 100644
--- a/wpilibc/src/main/native/include/frc/Solenoid.h
+++ b/wpilibc/src/main/native/include/frc/Solenoid.h
@@ -52,14 +52,14 @@ class Solenoid : public wpi::Sendable, public wpi::SendableHelper<Solenoid> {
    *
    * @param on Turn the solenoid output off or on.
    */
-  virtual void Set(bool on);
+  void Set(bool on);
 
   /**
    * Read the current value of the solenoid.
    *
    * @return The current value of the solenoid.
    */
-  virtual bool Get() const;
+  bool Get() const;
 
   /**
    * Toggle the value of the solenoid.
diff --git a/wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h b/wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h
index dd2e8e79cc1..0bb471a0938 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SolenoidSim.h
@@ -16,7 +16,7 @@ class SolenoidSim {
   SolenoidSim(std::shared_ptr<PneumaticsBaseSim> moduleSim, int channel);
   SolenoidSim(int module, PneumaticsModuleType type, int channel);
   SolenoidSim(PneumaticsModuleType type, int channel);
-  virtual ~SolenoidSim() = default;
+  ~SolenoidSim() = default;
 
   bool GetOutput() const;
   void SetOutput(bool output);
@@ -31,8 +31,8 @@ class SolenoidSim {
    * callback.
    */
   [[nodiscard]]
-  virtual std::unique_ptr<CallbackStore> RegisterOutputCallback(
-      NotifyCallback callback, bool initialNotify);
+  std::unique_ptr<CallbackStore> RegisterOutputCallback(NotifyCallback callback,
+                                                        bool initialNotify);
 
   std::shared_ptr<PneumaticsBaseSim> GetModuleSim() const;
 
diff --git a/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp b/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
index f4107e72fec..4899a4a63d8 100644
--- a/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
+++ b/wpilibc/src/test/native/cpp/ScopedTracerTest.cpp
@@ -24,5 +24,5 @@ TEST(ScopedTracerTest, Timing) {
   frc::sim::ResumeTiming();
 
   std::string_view out = os.str();
-  EXPECT_TRUE(wpi::starts_with(out, "	timing_test: 1.5"));
+  EXPECT_TRUE(wpi::starts_with(out, "\ttiming_test: 1.5"));
 }
diff --git a/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp b/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp
index cb2e0023e86..6354713d5d4 100644
--- a/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp
+++ b/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp
@@ -11,7 +11,6 @@
 #include <networktables/NetworkTableListener.h>
 #include <networktables/StringTopic.h>
 
-#include "frc/shuffleboard/ShuffleboardInstance.h"
 #include "shuffleboard/MockActuatorSendable.h"
 
 class NTWrapper {
diff --git a/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp b/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp
index 37185dd27a8..91c68db79aa 100644
--- a/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp
+++ b/wpilibc/src/test/native/cpp/shuffleboard/SuppliedValueWidgetTest.cpp
@@ -2,6 +2,9 @@
 // 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 <string>
+#include <vector>
+
 #include <gtest/gtest.h>
 #include <networktables/NetworkTableEntry.h>
 #include <networktables/NetworkTableInstance.h>
diff --git a/wpilibc/src/test/native/cpp/simulation/AnalogGyroSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/AnalogGyroSimTest.cpp
index e82fa0480f0..6352491d36e 100644
--- a/wpilibc/src/test/native/cpp/simulation/AnalogGyroSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/AnalogGyroSimTest.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/simulation/AnalogGyroSim.h"  // NOLINT(build/include_order)
 
+#include <memory>
+
 #include <gtest/gtest.h>
 #include <hal/HAL.h>
 
diff --git a/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
index fc61ebfe613..99652a94968 100644
--- a/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/PDPSimTest.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/simulation/PowerDistributionSim.h"  // NOLINT(build/include_order)
 
+#include <vector>
+
 #include <gtest/gtest.h>
 #include <hal/HAL.h>
 
diff --git a/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
index 3b74a9157a8..c713005659a 100644
--- a/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/RoboRioSimTest.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/simulation/RoboRioSim.h"  // NOLINT(build/include_order)
 
+#include <string>
+
 #include <gtest/gtest.h>
 #include <hal/HAL.h>
 #include <hal/HALBase.h>
diff --git a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
index b5df25d5973..9d060712929 100644
--- a/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/AprilTagsVision/cpp/Robot.cpp
@@ -4,9 +4,9 @@
 
 #include <cstdio>
 #include <span>
-#include <sstream>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include <cameraserver/CameraServer.h>
 #include <fmt/format.h>
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
index 236d4682357..e5705f1b704 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp
@@ -4,6 +4,8 @@
 
 #include "subsystems/DriveSubsystem.h"
 
+#include <utility>
+
 using namespace DriveConstants;
 
 DriveSubsystem::DriveSubsystem()
diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
index caba17d9e93..3683e9cf422 100644
--- a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
@@ -4,7 +4,7 @@
 
 #include "Drivetrain.h"
 
-#include "ExampleGlobalMeasurementSensor.h"
+#include <vector>
 
 Drivetrain::Drivetrain() {
   m_leftLeader.AddFollower(m_leftFollower);
diff --git a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
index 3841118cc59..449defdb28d 100644
--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp
@@ -4,6 +4,8 @@
 
 #include "RobotContainer.h"
 
+#include <utility>
+
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
diff --git a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
index ecfb4802f84..5f4a1a892f9 100644
--- a/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/I2CCommunication/cpp/Robot.cpp
@@ -4,6 +4,8 @@
 
 #include "Robot.h"
 
+#include <string>
+
 #include <fmt/format.h>
 #include <frc/DriverStation.h>
 #include <frc/Timer.h>
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/AnalogLoopTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/AnalogLoopTest.cpp
index cf3f30fb241..7a7af84f6e2 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/AnalogLoopTest.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/AnalogLoopTest.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 <memory>
+
 #include <gtest/gtest.h>
 #include <units/time.h>
 
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp
index 30a1caf558a..35d94b5549e 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/DMATest.cpp
@@ -2,17 +2,18 @@
 // 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 <frc/AnalogInput.h>
-#include <frc/AnalogOutput.h>
-#include <frc/DigitalOutput.h>
-#include <frc/Timer.h>
-#include <frc/motorcontrol/Jaguar.h>
+#include <vector>
 
 #include <gtest/gtest.h>
 
 #include "TestBench.h"
+#include "frc/AnalogInput.h"
+#include "frc/AnalogOutput.h"
 #include "frc/DMA.h"
 #include "frc/DMASample.h"
+#include "frc/DigitalOutput.h"
+#include "frc/Timer.h"
+#include "frc/motorcontrol/Jaguar.h"
 
 using namespace frc;
 
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/FakeEncoderTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/FakeEncoderTest.cpp
index 0d4999fe19b..44033fe515c 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/FakeEncoderTest.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/FakeEncoderTest.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/Encoder.h"  // NOLINT(build/include_order)
 
+#include <memory>
+
 #include <gtest/gtest.h>
 #include <units/time.h>
 
diff --git a/wpilibcIntegrationTests/src/main/native/cpp/PreferencesTest.cpp b/wpilibcIntegrationTests/src/main/native/cpp/PreferencesTest.cpp
index cdc8ecbd42a..03c6819185b 100644
--- a/wpilibcIntegrationTests/src/main/native/cpp/PreferencesTest.cpp
+++ b/wpilibcIntegrationTests/src/main/native/cpp/PreferencesTest.cpp
@@ -6,6 +6,7 @@
 
 #include <cstdio>
 #include <fstream>
+#include <string>
 
 #include <gtest/gtest.h>
 #include <networktables/MultiSubscriber.h>
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
index 3b6bbd61c6e..b0143e0fc4d 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
@@ -5,6 +5,7 @@
 package edu.wpi.first.wpilibj;
 
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.FileLogger;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.util.concurrent.Event;
 import edu.wpi.first.util.datalog.DataLog;
@@ -52,6 +53,8 @@ public final class DataLogManager {
   private static boolean m_ntLoggerEnabled = true;
   private static int m_ntEntryLogger;
   private static int m_ntConnLogger;
+  private static boolean m_consoleLoggerEnabled = true;
+  private static FileLogger m_consoleLogger;
   private static StringLogEntry m_messageLog;
 
   // if less than this much free space, delete log files until there is this much free space
@@ -121,6 +124,10 @@ public static synchronized void start(String dir, String filename, double period
       if (m_ntLoggerEnabled) {
         startNtLog();
       }
+      // Log console output
+      if (m_consoleLoggerEnabled) {
+        startConsoleLog();
+      }
     } else if (m_stopped) {
       m_log.setFilename(makeLogFilename(filename));
       m_log.resume();
@@ -205,6 +212,25 @@ public static synchronized void logNetworkTables(boolean enabled) {
     }
   }
 
+  /**
+   * Enable or disable logging of the console output. Defaults to enabled.
+   *
+   * @param enabled true to enable, false to disable
+   */
+  public static synchronized void logConsoleOutput(boolean enabled) {
+    boolean wasEnabled = m_consoleLoggerEnabled;
+    m_consoleLoggerEnabled = enabled;
+    if (m_log == null) {
+      start();
+      return;
+    }
+    if (enabled && !wasEnabled) {
+      startConsoleLog();
+    } else if (!enabled && wasEnabled) {
+      stopConsoleLog();
+    }
+  }
+
   private static String makeLogDir(String dir) {
     if (!dir.isEmpty()) {
       return dir;
@@ -266,6 +292,18 @@ private static void stopNtLog() {
     NetworkTableInstance.stopConnectionDataLog(m_ntConnLogger);
   }
 
+  private static void startConsoleLog() {
+    if (RobotBase.isReal()) {
+      m_consoleLogger = new FileLogger("/home/lvuser/FRC_UserProgram.log", m_log, "console");
+    }
+  }
+
+  private static void stopConsoleLog() {
+    if (RobotBase.isReal()) {
+      m_consoleLogger.close();
+    }
+  }
+
   private static void logMain() {
     // based on free disk space, scan for "old" FRC_*.wpilog files and remove
     {
diff --git a/wpimath/.styleguide b/wpimath/.styleguide
index 00437ce869e..3e67f48eec5 100644
--- a/wpimath/.styleguide
+++ b/wpimath/.styleguide
@@ -38,6 +38,7 @@ includeOtherLibs {
   ^Eigen/
   ^fmt/
   ^gcem/
+  ^google/
   ^gtest/
   ^unsupported/
   ^wpi/
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index 52624ed9d52..2b75f8d14ba 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -6,9 +6,11 @@ include(AddTest)
 include(DownloadAndCheck)
 include(WpiProtobuf)
 
-# workaround for makefiles - for some reason parent directories aren't created.
-file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
-file(GLOB wpimath_proto_src src/main/proto/*.proto)
+if(WITH_PROTOBUF)
+    # workaround for makefiles - for some reason parent directories aren't created.
+    file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/protobuf")
+    file(GLOB wpimath_proto_src src/main/proto/*.proto)
+endif()
 
 file(
     GLOB wpimath_jni_src
@@ -120,21 +122,28 @@ file(
     src/main/native/thirdparty/sleipnir/src/*.cpp
 )
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
+if(NOT WITH_PROTOBUF)
+    list(FILTER wpimath_native_src EXCLUDE REGEX "/proto/")
+endif()
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
 
-add_library(protobuf OBJECT)
-target_link_libraries(protobuf wpiutil)
+if(WITH_PROTOBUF)
+    add_library(protobuf OBJECT)
+    target_link_libraries(protobuf wpiutil)
 
-add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
+    add_library(wpimath ${wpimath_native_src} $<TARGET_OBJECTS:protobuf>)
 
-wpi_protobuf_generate(
-    TARGET
-    protobuf
-    PROTOS ${wpimath_proto_src}
-    PLUGIN ${PROTOC_WPILIB_PLUGIN}
-    PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
-)
+    wpi_protobuf_generate(
+        TARGET
+        protobuf
+        PROTOS ${wpimath_proto_src}
+        PLUGIN ${PROTOC_WPILIB_PLUGIN}
+        PROTOC_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/protobuf"
+    )
+else()
+    add_library(wpimath ${wpimath_native_src})
+endif()
 
 if(MSVC)
     get_property(IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
@@ -164,12 +173,18 @@ set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpimath PROPERTY FOLDER "libraries")
 target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
 
-target_compile_features(protobuf PUBLIC cxx_std_20)
 target_compile_features(wpimath PUBLIC cxx_std_20)
 if(MSVC)
     target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
-    target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
 endif()
+
+if(WITH_PROTOBUF)
+    target_compile_features(protobuf PUBLIC cxx_std_20)
+    if(MSVC)
+        target_compile_options(protobuf PUBLIC /utf-8 /bigobj)
+    endif()
+endif()
+
 wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)
 
diff --git a/wpimath/src/main/native/cpp/MathShared.cpp b/wpimath/src/main/native/cpp/MathShared.cpp
index b53d080ac06..5b2d14671f6 100644
--- a/wpimath/src/main/native/cpp/MathShared.cpp
+++ b/wpimath/src/main/native/cpp/MathShared.cpp
@@ -4,6 +4,9 @@
 
 #include "wpimath/MathShared.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/mutex.h>
 #include <wpi/timestamp.h>
 
diff --git a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
index 57a7f45ed4f..4cfaf89157b 100644
--- a/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
+++ b/wpimath/src/main/native/cpp/controller/ArmFeedforward.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/controller/ArmFeedforward.h"
 
+#include <algorithm>
 #include <limits>
 
 #include <sleipnir/autodiff/Gradient.hpp>
diff --git a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
index 213ba991760..bf844a12aa8 100644
--- a/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
+++ b/wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/estimator/DifferentialDrivePoseEstimator.h"
 
+#include <vector>
+
 using namespace frc;
 
 DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
diff --git a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
index 4288b8b44bf..6f8afa636a2 100644
--- a/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp
@@ -6,8 +6,6 @@
 
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
-#include "geometry2d.pb.h"
-
 using namespace frc;
 
 units::meter_t Ellipse2d::Distance(const Translation2d& point) const {
diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index bd7ab8681e8..66c5bab910b 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -5,12 +5,11 @@
 #include "frc/geometry/Pose3d.h"
 
 #include <cmath>
+#include <utility>
 
 #include <Eigen/Core>
 #include <wpi/json.h>
 
-#include "geometry3d.pb.h"
-
 using namespace frc;
 
 namespace {
diff --git a/wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp b/wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp
deleted file mode 100644
index 0d1f77bc64f..00000000000
--- a/wpimath/src/main/native/cpp/geometry/Rectangle2d.cpp
+++ /dev/null
@@ -1,7 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// 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 "frc/geometry/Rectangle2d.h"
-
-#include "geometry2d.pb.h"
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
index 69193028f77..921e1f81a09 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
@@ -8,7 +8,6 @@
 
 #include <wpi/json.h>
 
-#include "geometry2d.pb.h"
 #include "units/math.h"
 
 using namespace frc;
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
index 072d023cb28..b8c4063eb73 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
@@ -6,6 +6,7 @@
 
 #include <cmath>
 #include <numbers>
+#include <string>
 
 #include <Eigen/Core>
 #include <Eigen/LU>
@@ -13,7 +14,6 @@
 #include <wpi/json.h>
 
 #include "frc/fmt/Eigen.h"
-#include "geometry3d.pb.h"
 #include "units/math.h"
 #include "wpimath/MathShared.h"
 
diff --git a/wpimath/src/main/native/cpp/geometry/Transform2d.cpp b/wpimath/src/main/native/cpp/geometry/Transform2d.cpp
index 157359bfbc5..25b05907ed9 100644
--- a/wpimath/src/main/native/cpp/geometry/Transform2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Transform2d.cpp
@@ -5,7 +5,6 @@
 #include "frc/geometry/Transform2d.h"
 
 #include "frc/geometry/Pose2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/geometry/Transform3d.cpp b/wpimath/src/main/native/cpp/geometry/Transform3d.cpp
index 4879bb12ad5..34dad68f277 100644
--- a/wpimath/src/main/native/cpp/geometry/Transform3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Transform3d.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/geometry/Transform3d.h"
 
+#include <utility>
+
 #include "frc/geometry/Pose3d.h"
 
 using namespace frc;
diff --git a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
index c0a349e7aac..3d7d5d7d0bb 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation2d.cpp
@@ -4,9 +4,10 @@
 
 #include "frc/geometry/Translation2d.h"
 
+#include <algorithm>
+
 #include <wpi/json.h>
 
-#include "geometry2d.pb.h"
 #include "units/math.h"
 
 using namespace frc;
diff --git a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
index c3b8cb4b775..69757f30801 100644
--- a/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Translation3d.cpp
@@ -6,7 +6,6 @@
 
 #include <wpi/json.h>
 
-#include "geometry3d.pb.h"
 #include "units/length.h"
 #include "units/math.h"
 
diff --git a/wpimath/src/main/native/cpp/jni/TrajectoryUtilJNI.cpp b/wpimath/src/main/native/cpp/jni/TrajectoryUtilJNI.cpp
index 1066e037c8c..62abc36e8ed 100644
--- a/wpimath/src/main/native/cpp/jni/TrajectoryUtilJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/TrajectoryUtilJNI.cpp
@@ -5,6 +5,7 @@
 #include <jni.h>
 
 #include <exception>
+#include <vector>
 
 #include <wpi/jni_util.h>
 
diff --git a/wpimath/src/main/native/cpp/spline/SplineHelper.cpp b/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
index c78a54f4645..cd47ab03834 100644
--- a/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
+++ b/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
@@ -5,6 +5,7 @@
 #include "frc/spline/SplineHelper.h"
 
 #include <cstddef>
+#include <vector>
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
index 5393f8318ce..467c3a89d09 100644
--- a/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
@@ -6,6 +6,7 @@
 
 #include <algorithm>
 #include <stdexcept>
+#include <vector>
 
 #include <wpi/MathExtras.h>
 #include <wpi/json.h>
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
index daf6670385a..e12157a43c9 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -5,6 +5,7 @@
 #include "frc/trajectory/TrajectoryGenerator.h"
 
 #include <utility>
+#include <vector>
 
 #include <wpi/print.h>
 
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
index 4c0a55e4702..fb2d6cdb6bb 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
@@ -28,6 +28,8 @@
 
 #include "frc/trajectory/TrajectoryParameterizer.h"
 
+#include <vector>
+
 #include <fmt/format.h>
 
 #include "units/math.h"
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp
index d9cb853a5bf..644af1beb37 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp
@@ -4,6 +4,7 @@
 
 #include "frc/trajectory/TrajectoryUtil.h"
 
+#include <string>
 #include <system_error>
 
 #include <fmt/format.h>
@@ -28,14 +29,12 @@ void TrajectoryUtil::ToPathweaverJson(const Trajectory& trajectory,
 }
 
 Trajectory TrajectoryUtil::FromPathweaverJson(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());
 
   return Trajectory{json.get<std::vector<Trajectory::State>>()};
 }
diff --git a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
index 460ff8b5d7f..8e4093ca70e 100644
--- a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
 
+#include <utility>
+
 using namespace frc;
 
 DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint(
diff --git a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
index 46c306e09f7..f18012804c5 100644
--- a/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
@@ -6,6 +6,7 @@
 
 #include <algorithm>
 #include <limits>
+#include <utility>
 
 #include <wpi/MathExtras.h>
 
diff --git a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
index f4f5eb92d14..3190719d597 100644
--- a/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/trajectory/proto/TrajectoryProto.h"
 
+#include <vector>
+
 #include <wpi/ProtoHelper.h>
 
 #include "trajectory.pb.h"
diff --git a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
index ab5ba920fcb..f5647324ac7 100644
--- a/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -235,5 +235,7 @@ class WPILIB_DLLEXPORT ArmFeedforward {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/ArmFeedforwardProto.h"
+#endif
 #include "frc/controller/struct/ArmFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
index be7e5b4facc..ff4ed61015f 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveFeedforward.h
@@ -87,5 +87,7 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
+#endif
 #include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h b/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
index 424cd2d1b39..6d9b6dd0562 100644
--- a/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
+++ b/wpimath/src/main/native/include/frc/controller/DifferentialDriveWheelVoltages.h
@@ -21,5 +21,7 @@ struct DifferentialDriveWheelVoltages {
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
+#endif
 #include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
diff --git a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
index 2180ab0b7b8..6c7f9279797 100644
--- a/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -225,5 +225,7 @@ class ElevatorFeedforward {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/controller/proto/ElevatorFeedforwardProto.h"
+#endif
 #include "frc/controller/struct/ElevatorFeedforwardStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
index f57303d1e87..e1731105ebb 100644
--- a/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
@@ -208,5 +208,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Ellipse2dProto.h"
+#endif
 #include "frc/geometry/struct/Ellipse2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose2d.h b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
index 65a146c3dd7..7f8f47cafe3 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose2d.h
@@ -213,6 +213,8 @@ void from_json(const wpi::json& json, Pose2d& pose);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Pose2dProto.h"
+#endif
 #include "frc/geometry/struct/Pose2dStruct.h"
 #include "frc/geometry/Pose2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose3d.h b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
index 526dced399d..f077a610109 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Pose3d.h
@@ -215,5 +215,7 @@ void from_json(const wpi::json& json, Pose3d& pose);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Pose3dProto.h"
+#endif
 #include "frc/geometry/struct/Pose3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Quaternion.h b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
index 4fe694cf25e..4a4927632b8 100644
--- a/wpimath/src/main/native/include/frc/geometry/Quaternion.h
+++ b/wpimath/src/main/native/include/frc/geometry/Quaternion.h
@@ -191,5 +191,7 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/QuaternionProto.h"
+#endif
 #include "frc/geometry/struct/QuaternionStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h b/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
index f03ca98c448..22ee80f22e6 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rectangle2d.h
@@ -206,5 +206,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rectangle2dProto.h"
+#endif
 #include "frc/geometry/struct/Rectangle2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 6e9cd8e2a88..4e5357e9bb8 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -169,6 +169,8 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rotation2dProto.h"
+#endif
 #include "frc/geometry/struct/Rotation2dStruct.h"
 #include "frc/geometry/Rotation2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
index bc01f2b8ee2..632f2ba29f9 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation3d.h
@@ -195,5 +195,7 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Rotation3dProto.h"
+#endif
 #include "frc/geometry/struct/Rotation3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform2d.h b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
index dccc0e1eeec..af984eadb4a 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform2d.h
@@ -124,6 +124,8 @@ class WPILIB_DLLEXPORT Transform2d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Transform2dProto.h"
+#endif
 #include "frc/geometry/struct/Transform2dStruct.h"
 #include "frc/geometry/Transform2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Transform3d.h b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
index 94ecfe37eda..9f42d185812 100644
--- a/wpimath/src/main/native/include/frc/geometry/Transform3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Transform3d.h
@@ -130,5 +130,7 @@ class WPILIB_DLLEXPORT Transform3d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Transform3dProto.h"
+#endif
 #include "frc/geometry/struct/Transform3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation2d.h b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
index 674bd9efe16..5c91e9d8fde 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
@@ -232,6 +232,8 @@ void from_json(const wpi::json& json, Translation2d& state);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Translation2dProto.h"
+#endif
 #include "frc/geometry/struct/Translation2dStruct.h"
 #include "frc/geometry/Translation2d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation3d.h b/wpimath/src/main/native/include/frc/geometry/Translation3d.h
index b83b661fd98..75e5bf3dcf3 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation3d.h
@@ -199,6 +199,8 @@ void from_json(const wpi::json& json, Translation3d& state);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Translation3dProto.h"
+#endif
 #include "frc/geometry/struct/Translation3dStruct.h"
 #include "frc/geometry/Translation3d.inc"
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist2d.h b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
index d13cc4ec80b..4d61501d998 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
@@ -58,5 +58,7 @@ struct WPILIB_DLLEXPORT Twist2d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Twist2dProto.h"
+#endif
 #include "frc/geometry/struct/Twist2dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist3d.h b/wpimath/src/main/native/include/frc/geometry/Twist3d.h
index 3262367dc0f..2ce4a964e3f 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist3d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist3d.h
@@ -78,5 +78,7 @@ struct WPILIB_DLLEXPORT Twist3d {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/geometry/proto/Twist3dProto.h"
+#endif
 #include "frc/geometry/struct/Twist3dStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index 299e18a28b2..4e8302b154a 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -279,5 +279,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/ChassisSpeedsProto.h"
+#endif
 #include "frc/kinematics/struct/ChassisSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index fbbb519182f..11c04be7a49 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -99,5 +99,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
+#endif
 #include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
index f22d6874f66..60575cf8c73 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
@@ -50,5 +50,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
+#endif
 #include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
index 676b8ad59c6..98db2b861aa 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -113,5 +113,7 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
+#endif
 #include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
index 218908fd31a..e23e7e3adbd 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -200,5 +200,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
+#endif
 #include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
index 77d79192b9d..8a9943bcc80 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
@@ -61,5 +61,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveWheelPositionsProto.h"
+#endif
 #include "frc/kinematics/struct/MecanumDriveWheelPositionsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
index 5df198c8018..10f971e988a 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -121,5 +121,7 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/MecanumDriveWheelSpeedsProto.h"
+#endif
 #include "frc/kinematics/struct/MecanumDriveWheelSpeedsStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
index 576bfcf00f9..4cbe97fcb57 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
@@ -43,5 +43,7 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/SwerveModulePositionProto.h"
+#endif
 #include "frc/kinematics/struct/SwerveModulePositionStruct.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
index 3060d35fc24..adfeebbbbfc 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -48,5 +48,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/kinematics/proto/SwerveModuleStateProto.h"
+#endif
 #include "frc/kinematics/struct/SwerveModuleStateStruct.h"
diff --git a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
index 420566b3d5b..2580b1be7e5 100644
--- a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -115,5 +115,7 @@ class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/spline/proto/CubicHermiteSplineProto.h"
+#endif
 #include "frc/spline/struct/CubicHermiteSplineStruct.h"
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index fb0d227e291..1c592eb2fa8 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -125,5 +125,7 @@ class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
 };
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/spline/proto/QuinticHermiteSplineProto.h"
+#endif
 #include "frc/spline/struct/QuinticHermiteSplineStruct.h"
diff --git a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
index 6d5452fc72a..f47f63e67c0 100644
--- a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
+++ b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.h
@@ -6,7 +6,6 @@
 
 #include <wpi/protobuf/Protobuf.h>
 
-#include "frc/proto/MatrixProto.h"
 #include "frc/system/LinearSystem.h"
 
 template <int States, int Inputs, int Outputs>
diff --git a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
index f41d8e91ec9..5151f4e17b8 100644
--- a/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
+++ b/wpimath/src/main/native/include/frc/system/proto/LinearSystemProto.inc
@@ -9,6 +9,7 @@
 #include <fmt/format.h>
 #include <wpi/ProtoHelper.h>
 
+#include "frc/proto/MatrixProto.h"
 #include "frc/system/proto/LinearSystemProto.h"
 #include "system.pb.h"
 
diff --git a/wpimath/src/main/native/include/frc/trajectory/Trajectory.h b/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
index 753bf9e2d14..ba29617ee16 100644
--- a/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/wpimath/src/main/native/include/frc/trajectory/Trajectory.h
@@ -146,5 +146,7 @@ void from_json(const wpi::json& json, Trajectory::State& state);
 
 }  // namespace frc
 
+#ifndef NO_PROTOBUF
 #include "frc/trajectory/proto/TrajectoryProto.h"
 #include "frc/trajectory/proto/TrajectoryStateProto.h"
+#endif
diff --git a/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/Print.hpp b/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/Print.hpp
index a9220cdaadc..c01fd4ac679 100644
--- a/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/Print.hpp
+++ b/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/util/Print.hpp
@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <cstdio>
 #include <system_error>
 #include <utility>
 
diff --git a/wpimath/src/main/native/thirdparty/sleipnir/src/optimization/solver/InteriorPoint.cpp b/wpimath/src/main/native/thirdparty/sleipnir/src/optimization/solver/InteriorPoint.cpp
index 1470eb235bf..892d2dd20f7 100644
--- a/wpimath/src/main/native/thirdparty/sleipnir/src/optimization/solver/InteriorPoint.cpp
+++ b/wpimath/src/main/native/thirdparty/sleipnir/src/optimization/solver/InteriorPoint.cpp
@@ -240,11 +240,16 @@ void InteriorPoint(std::span<Variable> decisionVariables,
   // Error estimate
   double E_0 = std::numeric_limits<double>::infinity();
 
-  iterationsStartTime = std::chrono::system_clock::now();
+  if (config.diagnostics) {
+    iterationsStartTime = std::chrono::system_clock::now();
+  }
 
   while (E_0 > config.tolerance &&
          acceptableIterCounter < config.maxAcceptableIterations) {
-    auto innerIterStartTime = std::chrono::system_clock::now();
+    std::chrono::system_clock::time_point innerIterStartTime;
+    if (config.diagnostics) {
+      innerIterStartTime = std::chrono::system_clock::now();
+    }
 
     // Check for local equality constraint infeasibility
     if (IsEqualityLocallyInfeasible(A_e, c_e)) {
diff --git a/wpimath/src/test/native/cpp/ProtoTestBase.h b/wpimath/src/test/native/cpp/ProtoTestBase.h
index 88e149e3e0a..5a5affd812c 100644
--- a/wpimath/src/test/native/cpp/ProtoTestBase.h
+++ b/wpimath/src/test/native/cpp/ProtoTestBase.h
@@ -4,15 +4,10 @@
 
 #pragma once
 
+#include <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 #include <wpi/protobuf/Protobuf.h>
 
-#include "controller.pb.h"
-#include "kinematics.pb.h"
-#include "spline.pb.h"
-#include "system.pb.h"
-#include "wpimath.pb.h"
-
 template <typename T>
 class ProtoTest : public testing::Test {};
 
diff --git a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
index 4df8566db27..6ad9579a745 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp
@@ -2,9 +2,9 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
-#include "controller.pb.h"
 #include "frc/controller/ArmFeedforward.h"
 
 using namespace frc;
diff --git a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
index 1adad90fd76..466aa50f399 100644
--- a/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp
@@ -2,9 +2,9 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
-#include "controller.pb.h"
 #include "frc/controller/DifferentialDriveWheelVoltages.h"
 
 using namespace frc;
diff --git a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
index 5ec136f6aab..62d8bdb4c85 100644
--- a/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp
@@ -2,9 +2,9 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
-#include "controller.pb.h"
 #include "frc/controller/ElevatorFeedforward.h"
 
 using namespace frc;
diff --git a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
index fbc2d212331..f6d229ec653 100644
--- a/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
@@ -6,6 +6,7 @@
 #include <random>
 #include <tuple>
 #include <utility>
+#include <vector>
 
 #include <gtest/gtest.h>
 #include <wpi/print.h>
diff --git a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
index d631cfc7f8c..362de8b699e 100644
--- a/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp
@@ -2,8 +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 <array>
 #include <cmath>
+#include <vector>
 
 #include <Eigen/QR>
 #include <gtest/gtest.h>
diff --git a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
index 8ba38c23256..ae2f573874d 100644
--- a/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
@@ -5,6 +5,7 @@
 #include <limits>
 #include <random>
 #include <tuple>
+#include <vector>
 
 #include <gtest/gtest.h>
 #include <wpi/print.h>
diff --git a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
index 9619e6a30f3..11938246981 100644
--- a/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <limits>
-#include <numbers>
 #include <random>
 #include <tuple>
+#include <vector>
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
diff --git a/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp b/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
index 66be5083098..c2c6f824d8d 100644
--- a/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
+++ b/wpimath/src/test/native/cpp/estimator/UnscentedKalmanFilterTest.cpp
@@ -2,8 +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 <array>
 #include <cmath>
+#include <vector>
 
 #include <Eigen/QR>
 #include <gtest/gtest.h>
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
index 47819002b53..810d368e638 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Ellipse2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
index c6e9d49ec5c..64067dde4b5 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Pose2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
index d8847cab88e..f685f9b8e17 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Pose3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
index 92338df8327..13c206e6aad 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Quaternion.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
index 4949c0bb14d..04f2d774f2c 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Rectangle2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
index 3ab9e1bb26f..4a10988ab75 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Rotation2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
index a83b78c2a08..7850894b0ae 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Rotation3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
index 4b975f3e142..6225426f328 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Transform2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
index 3a86421cfa3..c5731eea0d1 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Transform3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
index e6a895969dd..37ec61b3b1a 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Translation2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
index 3f6d59f9cfb..732b1a62afe 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Translation3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
index d9f4faeb213..305d3297d87 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Twist2d.h"
-#include "geometry2d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
index b4e7bf0730b..9c454840a06 100644
--- a/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/geometry/Twist3d.h"
-#include "geometry3d.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
index 375909a330c..9d91a5b2ffa 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/ChassisSpeedsProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/ChassisSpeeds.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
index 4d57108833e..47ed61fea6a 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveKinematicsProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
index 83e317f2060..35ac5aebce3 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/DifferentialDriveWheelSpeedsProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
index c601fc3b4d4..fd1b4d15269 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/MecanumDriveKinematics.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
index e63ffbeadd6..fae1f0b33e7 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelPositionsProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/MecanumDriveWheelPositions.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
index ae91c3a1eb5..26a98b4cb6d 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveWheelSpeedsProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
index 80af48935f5..776d2b4756f 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp
@@ -2,6 +2,7 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "../../ProtoTestBase.h"
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
index c511b9f840a..4a3013e6f8e 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModulePositionProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/SwerveModulePosition.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
index e210db94790..c86152d93a7 100644
--- a/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/kinematics/proto/SwerveModuleStateProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/kinematics/SwerveModuleState.h"
-#include "kinematics.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
index 7b59f59f70c..39e8a8c2564 100644
--- a/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
+++ b/wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp
@@ -8,7 +8,6 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/system/plant/LinearSystemId.h"
 #include "units/length.h"
 #include "units/mass.h"
 
diff --git a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
index d977cf4e715..2c4a6747dfc 100644
--- a/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/system/plant/proto/DCMotorProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/system/plant/DCMotor.h"
-#include "plant.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
index 400689bf847..eb60c9dd01f 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/trajectory/Trajectory.h"
-#include "trajectory.pb.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
index 1d0b0497de9..4f3e42c0971 100644
--- a/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
+++ b/wpimath/src/test/native/cpp/trajectory/proto/TrajectoryStateProtoTest.cpp
@@ -2,10 +2,10 @@
 // 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 <google/protobuf/arena.h>
 #include <gtest/gtest.h>
 
 #include "frc/trajectory/Trajectory.h"
-#include "trajectory.pb.h"
 
 using namespace frc;
 
diff --git a/wpinet/examples/dsclient/dsclient.cpp b/wpinet/examples/dsclient/dsclient.cpp
index 596f617ac32..7f8b74e36d3 100644
--- a/wpinet/examples/dsclient/dsclient.cpp
+++ b/wpinet/examples/dsclient/dsclient.cpp
@@ -3,13 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/Logger.h>
 #include <wpi/print.h>
 
 #include "wpinet/DsClient.h"
 #include "wpinet/EventLoopRunner.h"
-#include "wpinet/uv/Error.h"
 
 namespace uv = wpi::uv;
 
diff --git a/wpinet/examples/parallelconnect/parallelconnect.cpp b/wpinet/examples/parallelconnect/parallelconnect.cpp
index fecdac84737..adcc74e4621 100644
--- a/wpinet/examples/parallelconnect/parallelconnect.cpp
+++ b/wpinet/examples/parallelconnect/parallelconnect.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/Logger.h>
 
diff --git a/wpinet/examples/webserver/webserver.cpp b/wpinet/examples/webserver/webserver.cpp
index 53dd6ea1b47..0579c3fd653 100644
--- a/wpinet/examples/webserver/webserver.cpp
+++ b/wpinet/examples/webserver/webserver.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstdio>
+#include <memory>
 
 #include <wpi/print.h>
 
diff --git a/wpinet/src/main/native/cpp/DsClient.cpp b/wpinet/src/main/native/cpp/DsClient.cpp
index 97509cb323a..02a19c60088 100644
--- a/wpinet/src/main/native/cpp/DsClient.cpp
+++ b/wpinet/src/main/native/cpp/DsClient.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/DsClient.h"
 
+#include <memory>
+
 #include <fmt/format.h>
 #include <wpi/Logger.h>
 #include <wpi/StringExtras.h>
diff --git a/wpinet/src/main/native/cpp/EventLoopRunner.cpp b/wpinet/src/main/native/cpp/EventLoopRunner.cpp
index 6c143ac674f..8ee976c0d66 100644
--- a/wpinet/src/main/native/cpp/EventLoopRunner.cpp
+++ b/wpinet/src/main/native/cpp/EventLoopRunner.cpp
@@ -4,6 +4,9 @@
 
 #include "wpinet/EventLoopRunner.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/SmallVector.h>
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
diff --git a/wpinet/src/main/native/cpp/HttpServerConnection.cpp b/wpinet/src/main/native/cpp/HttpServerConnection.cpp
index 765173e2ce2..8e8b5d0ffe0 100644
--- a/wpinet/src/main/native/cpp/HttpServerConnection.cpp
+++ b/wpinet/src/main/native/cpp/HttpServerConnection.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/HttpServerConnection.h"
 
+#include <memory>
+
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>
 #include <wpi/SpanExtras.h>
diff --git a/wpinet/src/main/native/cpp/HttpUtil.cpp b/wpinet/src/main/native/cpp/HttpUtil.cpp
index 12ff0841bfe..c17f68288f3 100644
--- a/wpinet/src/main/native/cpp/HttpUtil.cpp
+++ b/wpinet/src/main/native/cpp/HttpUtil.cpp
@@ -5,14 +5,14 @@
 #include "wpinet/HttpUtil.h"
 
 #include <cctype>
+#include <string>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/Base64.h>
 #include <wpi/StringExtras.h>
 #include <wpi/raw_ostream.h>
 
-#include "wpinet/TCPConnector.h"
-
 namespace wpi {
 
 std::string_view UnescapeURI(std::string_view str, SmallVectorImpl<char>& buf,
diff --git a/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
index daa7e8df038..3885d93f283 100644
--- a/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/cpp/MulticastServiceAnnouncer.cpp
@@ -4,6 +4,9 @@
 
 #include "wpinet/MulticastServiceAnnouncer.h"
 
+#include <memory>
+#include <utility>
+
 #include <wpi/SmallVector.h>
 
 #include "MulticastHandleManager.h"
diff --git a/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp b/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
index c16db2e2e80..4a320899452 100644
--- a/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/cpp/MulticastServiceResolver.cpp
@@ -4,6 +4,10 @@
 
 #include "wpinet/MulticastServiceResolver.h"
 
+#include <memory>
+#include <utility>
+#include <vector>
+
 #include <wpi/MemAlloc.h>
 
 #include "MulticastHandleManager.h"
diff --git a/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp b/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
index 5fb1dd5ea29..30663fc7325 100644
--- a/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
+++ b/wpinet/src/main/native/cpp/ParallelTcpConnector.cpp
@@ -5,6 +5,10 @@
 #include "wpinet/ParallelTcpConnector.h"
 
 #include <cstring>
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <fmt/format.h>
 #include <wpi/Logger.h>
diff --git a/wpinet/src/main/native/cpp/PortForwarder.cpp b/wpinet/src/main/native/cpp/PortForwarder.cpp
index 7ba9ac485d6..d0e085df031 100644
--- a/wpinet/src/main/native/cpp/PortForwarder.cpp
+++ b/wpinet/src/main/native/cpp/PortForwarder.cpp
@@ -4,6 +4,9 @@
 
 #include "wpinet/PortForwarder.h"
 
+#include <memory>
+#include <string>
+
 #include <fmt/format.h>
 #include <wpi/DenseMap.h>
 #include <wpi/print.h>
diff --git a/wpinet/src/main/native/cpp/SocketError.cpp b/wpinet/src/main/native/cpp/SocketError.cpp
index 233c5de366c..26a43efe2a2 100644
--- a/wpinet/src/main/native/cpp/SocketError.cpp
+++ b/wpinet/src/main/native/cpp/SocketError.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/SocketError.h"
 
+#include <string>
+
 #ifdef _WIN32
 #include <winsock2.h>
 #else
diff --git a/wpinet/src/main/native/cpp/UDPClient.cpp b/wpinet/src/main/native/cpp/UDPClient.cpp
index 1e9bc872ddf..6a438b15f3c 100644
--- a/wpinet/src/main/native/cpp/UDPClient.cpp
+++ b/wpinet/src/main/native/cpp/UDPClient.cpp
@@ -16,6 +16,8 @@
 #include <unistd.h>
 #endif
 
+#include <utility>
+
 #include <wpi/Logger.h>
 #include <wpi/SmallString.h>
 
diff --git a/wpinet/src/main/native/cpp/WebSocket.cpp b/wpinet/src/main/native/cpp/WebSocket.cpp
index 3a6c346ba4d..142369c1da9 100644
--- a/wpinet/src/main/native/cpp/WebSocket.cpp
+++ b/wpinet/src/main/native/cpp/WebSocket.cpp
@@ -4,10 +4,13 @@
 
 #include "wpinet/WebSocket.h"
 
+#include <functional>
+#include <memory>
 #include <random>
 #include <span>
 #include <string>
 #include <string_view>
+#include <utility>
 
 #include <wpi/Base64.h>
 #include <wpi/SmallString.h>
diff --git a/wpinet/src/main/native/cpp/WebSocketServer.cpp b/wpinet/src/main/native/cpp/WebSocketServer.cpp
index 383d8559cc7..9b75aabaeda 100644
--- a/wpinet/src/main/native/cpp/WebSocketServer.cpp
+++ b/wpinet/src/main/native/cpp/WebSocketServer.cpp
@@ -4,6 +4,7 @@
 
 #include "wpinet/WebSocketServer.h"
 
+#include <memory>
 #include <utility>
 
 #include <wpi/StringExtras.h>
diff --git a/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp b/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
index 1528001ea5c..fb59c4d9598 100644
--- a/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
+++ b/wpinet/src/main/native/cpp/jni/WPINetJNI.cpp
@@ -4,6 +4,11 @@
 
 #include <jni.h>
 
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include <wpi/jni_util.h>
 
 #include "../MulticastHandleManager.h"
diff --git a/wpinet/src/main/native/cpp/uv/Async.cpp b/wpinet/src/main/native/cpp/uv/Async.cpp
index 58ef5f392b3..17f7c57f694 100644
--- a/wpinet/src/main/native/cpp/uv/Async.cpp
+++ b/wpinet/src/main/native/cpp/uv/Async.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Async.h"
 
+#include <memory>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Check.cpp b/wpinet/src/main/native/cpp/uv/Check.cpp
index 75ff47c7a47..25c3ed41586 100644
--- a/wpinet/src/main/native/cpp/uv/Check.cpp
+++ b/wpinet/src/main/native/cpp/uv/Check.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Check.h"
 
+#include <memory>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/FsEvent.cpp b/wpinet/src/main/native/cpp/uv/FsEvent.cpp
index d77bf37c4be..65d1af57036 100644
--- a/wpinet/src/main/native/cpp/uv/FsEvent.cpp
+++ b/wpinet/src/main/native/cpp/uv/FsEvent.cpp
@@ -5,6 +5,8 @@
 #include "wpinet/uv/FsEvent.h"
 
 #include <cstdlib>
+#include <memory>
+#include <string>
 
 #include <wpi/SmallString.h>
 
diff --git a/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp b/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
index c3ec00010e4..0b547e6ff52 100644
--- a/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
+++ b/wpinet/src/main/native/cpp/uv/GetAddrInfo.cpp
@@ -4,10 +4,13 @@
 
 #include "wpinet/uv/GetAddrInfo.h"
 
+#include <functional>
+#include <memory>
+#include <utility>
+
 #include <wpi/SmallString.h>
 
 #include "wpinet/uv/Loop.h"
-#include "wpinet/uv/util.h"
 
 namespace wpi::uv {
 
diff --git a/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp b/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
index 9720cc3be7e..0a4b4a4d0e6 100644
--- a/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
+++ b/wpinet/src/main/native/cpp/uv/GetNameInfo.cpp
@@ -4,6 +4,10 @@
 
 #include "wpinet/uv/GetNameInfo.h"
 
+#include <functional>
+#include <memory>
+#include <utility>
+
 #include "wpinet/uv/Loop.h"
 #include "wpinet/uv/util.h"
 
diff --git a/wpinet/src/main/native/cpp/uv/Idle.cpp b/wpinet/src/main/native/cpp/uv/Idle.cpp
index 7b94b3f4a88..665f4f2e2be 100644
--- a/wpinet/src/main/native/cpp/uv/Idle.cpp
+++ b/wpinet/src/main/native/cpp/uv/Idle.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Idle.h"
 
+#include <memory>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Loop.cpp b/wpinet/src/main/native/cpp/uv/Loop.cpp
index d48e230dab9..2aee216ed01 100644
--- a/wpinet/src/main/native/cpp/uv/Loop.cpp
+++ b/wpinet/src/main/native/cpp/uv/Loop.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Loop.h"
 
+#include <memory>
+
 using namespace wpi::uv;
 
 Loop::Loop(const private_init&) noexcept {
diff --git a/wpinet/src/main/native/cpp/uv/NetworkStream.cpp b/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
index 12750b2b769..8dc7e544570 100644
--- a/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
+++ b/wpinet/src/main/native/cpp/uv/NetworkStream.cpp
@@ -4,6 +4,9 @@
 
 #include "wpinet/uv/NetworkStream.h"
 
+#include <functional>
+#include <utility>
+
 namespace wpi::uv {
 
 ConnectReq::ConnectReq() {
diff --git a/wpinet/src/main/native/cpp/uv/Pipe.cpp b/wpinet/src/main/native/cpp/uv/Pipe.cpp
index 799360409e7..ad93687e89e 100644
--- a/wpinet/src/main/native/cpp/uv/Pipe.cpp
+++ b/wpinet/src/main/native/cpp/uv/Pipe.cpp
@@ -5,6 +5,10 @@
 #include "wpinet/uv/Pipe.h"
 
 #include <cstdlib>
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <wpi/SmallString.h>
 
diff --git a/wpinet/src/main/native/cpp/uv/Poll.cpp b/wpinet/src/main/native/cpp/uv/Poll.cpp
index 7d356151182..5967bbd298b 100644
--- a/wpinet/src/main/native/cpp/uv/Poll.cpp
+++ b/wpinet/src/main/native/cpp/uv/Poll.cpp
@@ -4,6 +4,10 @@
 
 #include "wpinet/uv/Poll.h"
 
+#include <functional>
+#include <memory>
+#include <utility>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Prepare.cpp b/wpinet/src/main/native/cpp/uv/Prepare.cpp
index aa1a89d6e13..88e146e7f0a 100644
--- a/wpinet/src/main/native/cpp/uv/Prepare.cpp
+++ b/wpinet/src/main/native/cpp/uv/Prepare.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Prepare.h"
 
+#include <memory>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Process.cpp b/wpinet/src/main/native/cpp/uv/Process.cpp
index c872ff9b85d..7a653078e9d 100644
--- a/wpinet/src/main/native/cpp/uv/Process.cpp
+++ b/wpinet/src/main/native/cpp/uv/Process.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Process.h"
 
+#include <memory>
+
 #include <wpi/SmallString.h>
 
 #include "wpinet/uv/Loop.h"
diff --git a/wpinet/src/main/native/cpp/uv/Signal.cpp b/wpinet/src/main/native/cpp/uv/Signal.cpp
index 8f998e2b486..c8fde756b02 100644
--- a/wpinet/src/main/native/cpp/uv/Signal.cpp
+++ b/wpinet/src/main/native/cpp/uv/Signal.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Signal.h"
 
+#include <memory>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Stream.cpp b/wpinet/src/main/native/cpp/uv/Stream.cpp
index 164b30ac2e1..79c333d5e7e 100644
--- a/wpinet/src/main/native/cpp/uv/Stream.cpp
+++ b/wpinet/src/main/native/cpp/uv/Stream.cpp
@@ -4,6 +4,11 @@
 
 #include "wpinet/uv/Stream.h"
 
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <wpi/Logger.h>
 #include <wpi/SmallVector.h>
 #include <wpi/raw_ostream.h>
diff --git a/wpinet/src/main/native/cpp/uv/Tcp.cpp b/wpinet/src/main/native/cpp/uv/Tcp.cpp
index b163a0efbaa..5b54edd4f16 100644
--- a/wpinet/src/main/native/cpp/uv/Tcp.cpp
+++ b/wpinet/src/main/native/cpp/uv/Tcp.cpp
@@ -5,6 +5,9 @@
 #include "wpinet/uv/Tcp.h"
 
 #include <cstring>
+#include <functional>
+#include <memory>
+#include <utility>
 
 #include "wpinet/uv/util.h"
 
diff --git a/wpinet/src/main/native/cpp/uv/Timer.cpp b/wpinet/src/main/native/cpp/uv/Timer.cpp
index e9b33fc7c7d..fa5e3bce6e8 100644
--- a/wpinet/src/main/native/cpp/uv/Timer.cpp
+++ b/wpinet/src/main/native/cpp/uv/Timer.cpp
@@ -4,6 +4,10 @@
 
 #include "wpinet/uv/Timer.h"
 
+#include <functional>
+#include <memory>
+#include <utility>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Tty.cpp b/wpinet/src/main/native/cpp/uv/Tty.cpp
index 5e5756cacc8..58f3a072c02 100644
--- a/wpinet/src/main/native/cpp/uv/Tty.cpp
+++ b/wpinet/src/main/native/cpp/uv/Tty.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/uv/Tty.h"
 
+#include <memory>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/cpp/uv/Udp.cpp b/wpinet/src/main/native/cpp/uv/Udp.cpp
index 1922c57596f..f9b9896379e 100644
--- a/wpinet/src/main/native/cpp/uv/Udp.cpp
+++ b/wpinet/src/main/native/cpp/uv/Udp.cpp
@@ -5,6 +5,9 @@
 #include "wpinet/uv/Udp.h"
 
 #include <cstring>
+#include <functional>
+#include <memory>
+#include <utility>
 
 #include <wpi/SmallString.h>
 #include <wpi/SmallVector.h>
diff --git a/wpinet/src/main/native/cpp/uv/Work.cpp b/wpinet/src/main/native/cpp/uv/Work.cpp
index d94619fd211..c19f2f4db05 100644
--- a/wpinet/src/main/native/cpp/uv/Work.cpp
+++ b/wpinet/src/main/native/cpp/uv/Work.cpp
@@ -4,6 +4,10 @@
 
 #include "wpinet/uv/Work.h"
 
+#include <functional>
+#include <memory>
+#include <utility>
+
 #include "wpinet/uv/Loop.h"
 
 namespace wpi::uv {
diff --git a/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
index d04711fa57c..d6cbcb83a25 100644
--- a/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/linux/MulticastServiceAnnouncer.cpp
@@ -4,6 +4,9 @@
 
 #include "wpinet/MulticastServiceAnnouncer.h"
 
+#include <memory>
+#include <string>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
diff --git a/wpinet/src/main/native/linux/MulticastServiceResolver.cpp b/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
index a408639138b..e0598a03681 100644
--- a/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/linux/MulticastServiceResolver.cpp
@@ -4,6 +4,10 @@
 
 #include "wpinet/MulticastServiceResolver.h"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
 #include <wpi/mutex.h>
diff --git a/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
index 8c31a3b22fe..3fcb585f8c1 100644
--- a/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/macOS/MulticastServiceAnnouncer.cpp
@@ -6,6 +6,10 @@
 
 #include <arpa/inet.h>
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <wpi/SmallString.h>
 
 #include "dns_sd.h"
diff --git a/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp b/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
index eecf819814f..dc18dab7399 100644
--- a/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/macOS/MulticastServiceResolver.cpp
@@ -10,7 +10,10 @@
 #include <poll.h>
 
 #include <atomic>
+#include <memory>
+#include <string>
 #include <thread>
+#include <utility>
 #include <vector>
 
 #include <wpi/SmallVector.h>
diff --git a/wpinet/src/main/native/macOS/ResolverThread.cpp b/wpinet/src/main/native/macOS/ResolverThread.cpp
index 14526709e1d..b113fd817d9 100644
--- a/wpinet/src/main/native/macOS/ResolverThread.cpp
+++ b/wpinet/src/main/native/macOS/ResolverThread.cpp
@@ -7,6 +7,9 @@
 #include "ResolverThread.h"
 
 #include <algorithm>
+#include <memory>
+#include <utility>
+#include <vector>
 
 #include <wpi/mutex.h>
 
diff --git a/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp b/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
index c1ed58d480a..21a103d712b 100644
--- a/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
+++ b/wpinet/src/main/native/windows/MulticastServiceAnnouncer.cpp
@@ -8,7 +8,9 @@
 
 #include "wpinet/MulticastServiceAnnouncer.h"
 
+#include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include <wpi/ConvertUTF.h>
diff --git a/wpinet/src/main/native/windows/MulticastServiceResolver.cpp b/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
index 79fc7b5ef71..c8a3d793e13 100644
--- a/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
+++ b/wpinet/src/main/native/windows/MulticastServiceResolver.cpp
@@ -8,7 +8,9 @@
 
 #include "wpinet/MulticastServiceResolver.h"
 
+#include <memory>
 #include <string>
+#include <utility>
 
 #include <wpi/ConvertUTF.h>
 #include <wpi/SmallString.h>
diff --git a/wpinet/src/netconsoleServer/native/cpp/main.cpp b/wpinet/src/netconsoleServer/native/cpp/main.cpp
index 4092e7d5f86..f65ada535a0 100644
--- a/wpinet/src/netconsoleServer/native/cpp/main.cpp
+++ b/wpinet/src/netconsoleServer/native/cpp/main.cpp
@@ -9,6 +9,8 @@
 #endif
 
 #include <cstdio>
+#include <memory>
+#include <string>
 
 #include <fmt/format.h>
 #include <wpi/MathExtras.h>
diff --git a/wpinet/src/netconsoleTee/native/cpp/main.cpp b/wpinet/src/netconsoleTee/native/cpp/main.cpp
index da1210d9b2a..bd3da809e9a 100644
--- a/wpinet/src/netconsoleTee/native/cpp/main.cpp
+++ b/wpinet/src/netconsoleTee/native/cpp/main.cpp
@@ -3,6 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <cstdio>
+#include <memory>
+#include <string>
 
 #include <fmt/format.h>
 #include <wpi/MathExtras.h>
diff --git a/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp b/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
index 9c2d8749c9c..d6b10633b1f 100644
--- a/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
+++ b/wpinet/src/test/native/cpp/HttpWebSocketServerConnectionTest.cpp
@@ -4,6 +4,8 @@
 
 #include "wpinet/HttpWebSocketServerConnection.h"  // NOLINT(build/include_order)
 
+#include <memory>
+
 #include <gtest/gtest.h>
 
 namespace wpi {
diff --git a/wpinet/src/test/native/cpp/WebSocketClientTest.cpp b/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
index a603d9c05ab..c5bff34ff24 100644
--- a/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketClientTest.cpp
@@ -4,6 +4,11 @@
 
 #include "wpinet/WebSocket.h"  // NOLINT(build/include_order)
 
+#include <functional>
+#include <memory>
+#include <string>
+#include <vector>
+
 #include <wpi/Base64.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
diff --git a/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp b/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
index 6b74d822d22..1105a23076e 100644
--- a/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketIntegrationTest.cpp
@@ -4,10 +4,11 @@
 
 #include "wpinet/WebSocketServer.h"  // NOLINT(build/include_order)
 
+#include <vector>
+
 #include <wpi/SmallString.h>
 
 #include "WebSocketTest.h"
-#include "wpinet/HttpParser.h"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp b/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
index f1e2629331a..e82f8875511 100644
--- a/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketSerializerTest.cpp
@@ -6,8 +6,12 @@
 
 #include <algorithm>
 #include <array>
+#include <functional>
+#include <memory>
 #include <ostream>
 #include <span>
+#include <utility>
+#include <vector>
 
 #include <gmock/gmock.h>
 #include <wpi/SpanMatcher.h>
diff --git a/wpinet/src/test/native/cpp/WebSocketServerTest.cpp b/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
index a051e553111..51b6f3d0808 100644
--- a/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketServerTest.cpp
@@ -4,13 +4,16 @@
 
 #include "wpinet/WebSocket.h"  // NOLINT(build/include_order)
 
+#include <functional>
+#include <memory>
+#include <vector>
+
 #include <wpi/Base64.h>
 #include <wpi/SmallString.h>
 #include <wpi/sha1.h>
 
 #include "WebSocketTest.h"
 #include "wpinet/HttpParser.h"
-#include "wpinet/raw_uv_ostream.h"
 
 namespace wpi {
 
diff --git a/wpinet/src/test/native/cpp/WebSocketTest.cpp b/wpinet/src/test/native/cpp/WebSocketTest.cpp
index e5f03de2254..fad6b3660b2 100644
--- a/wpinet/src/test/native/cpp/WebSocketTest.cpp
+++ b/wpinet/src/test/native/cpp/WebSocketTest.cpp
@@ -6,6 +6,9 @@
 
 #include "WebSocketTest.h"
 
+#include <utility>
+#include <vector>
+
 #include <wpi/StringExtras.h>
 
 #include "wpinet/HttpParser.h"
diff --git a/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp b/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
index 4369dc0fc0f..0f488f8d046 100644
--- a/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvAsyncFunctionTest.cpp
@@ -4,7 +4,9 @@
 
 #include "wpinet/uv/AsyncFunction.h"  // NOLINT(build/include_order)
 
+#include <memory>
 #include <thread>
+#include <utility>
 
 #include <gtest/gtest.h>
 
diff --git a/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp b/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
index ed4324c0f11..bfecb7594c5 100644
--- a/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
+++ b/wpinet/src/test/native/cpp/uv/UvAsyncTest.cpp
@@ -26,6 +26,7 @@
 #include "wpinet/uv/Async.h"  // NOLINT(build/include_order)
 
 #include <atomic>
+#include <functional>
 #include <thread>
 
 #include <gtest/gtest.h>
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index 7ef5ceae6a6..0362b7880cc 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -121,6 +121,9 @@ file(
     src/main/native/thirdparty/mpack/src/*.cpp
 )
 list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
+if(NOT WITH_PROTOBUF)
+    list(FILTER wpiutil_native_src EXCLUDE REGEX "/protobuf/")
+endif()
 file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
 file(GLOB_RECURSE wpiutil_linux_src src/main/native/linux/*.cpp)
 file(GLOB_RECURSE wpiutil_macos_src src/main/native/macOS/*.cpp)
@@ -143,7 +146,12 @@ if(MSVC)
     target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
 endif()
 wpilib_target_warnings(wpiutil)
-target_link_libraries(wpiutil protobuf::libprotobuf Threads::Threads ${CMAKE_DL_LIBS})
+if(WITH_PROTOBUF)
+    target_link_libraries(wpiutil protobuf::libprotobuf Threads::Threads ${CMAKE_DL_LIBS})
+else()
+    target_link_libraries(wpiutil Threads::Threads ${CMAKE_DL_LIBS})
+    target_compile_definitions(wpiutil PUBLIC NO_PROTOBUF)
+endif()
 
 if(ATOMIC)
     target_link_libraries(wpiutil ${ATOMIC})
@@ -186,6 +194,8 @@ endif()
 install(
     DIRECTORY
         src/main/native/include/
+        src/main/native/thirdparty/argparse/include/
+        src/main/native/thirdparty/concurrentqueue/include/
         src/main/native/thirdparty/expected/include/
         src/main/native/thirdparty/json/include/
         src/main/native/thirdparty/llvm/include/
@@ -198,6 +208,8 @@ target_include_directories(
     wpiutil
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/argparse/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/concurrentqueue/include>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/expected/include>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/json/include>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/llvm/include>
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index 941fe2ead36..a5a1ab8295b 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -32,7 +32,7 @@ ext {
                     include '*.cpp'
                 }
                 exportedHeaders {
-                    srcDirs 'src/main/native/include', 'src/main/native/thirdparty/llvm/include', 'src/main/native/thirdparty/json/include', 'src/main/native/thirdparty/fmtlib/include'
+                    srcDirs 'src/main/native/include', 'src/main/native/thirdparty/fmtlib/include', 'src/main/native/thirdparty/json/include', 'src/main/native/thirdparty/llvm/include'
                 }
             }
             llvmCpp(CppSourceSet) {
@@ -41,7 +41,7 @@ ext {
                     include '**/*.cpp'
                 }
                 exportedHeaders {
-                    srcDirs 'src/main/native/include', 'src/main/native/thirdparty/llvm/include', 'src/main/native/thirdparty/fmtlib/include'
+                    srcDirs 'src/main/native/include', 'src/main/native/thirdparty/expected/include', 'src/main/native/thirdparty/fmtlib/include', 'src/main/native/thirdparty/llvm/include'
                 }
             }
             mpackCpp(CppSourceSet) {
@@ -180,6 +180,12 @@ nativeUtils.exportsConfigs {
 }
 
 cppHeadersZip {
+    from('src/main/native/thirdparty/argparse/include/') {
+        into '/'
+    }
+    from('src/main/native/thirdparty/concurrentqueue/include') {
+        into '/'
+    }
     from('src/main/native/thirdparty/expected/include') {
         into '/'
     }
@@ -235,7 +241,7 @@ model {
         all {
             it.sources.each {
                 it.exportedHeaders {
-                    srcDirs 'src/main/native/include', 'src/main/native/thirdparty/expected/include', 'src/main/native/thirdparty/fmtlib/include', 'src/main/native/thirdparty/llvm/include', 'src/main/native/thirdparty/sigslot/include', 'src/main/native/thirdparty/json/include', 'src/main/native/thirdparty/memory/include', 'src/main/native/thirdparty/mpack/include', 'src/main/native/thirdparty/protobuf/include'
+                    srcDirs 'src/main/native/include', 'src/main/native/thirdparty/argparse/include/', 'src/main/native/thirdparty/concurrentqueue/include', 'src/main/native/thirdparty/expected/include', 'src/main/native/thirdparty/fmtlib/include', 'src/main/native/thirdparty/llvm/include', 'src/main/native/thirdparty/sigslot/include', 'src/main/native/thirdparty/json/include', 'src/main/native/thirdparty/memory/include', 'src/main/native/thirdparty/mpack/include', 'src/main/native/thirdparty/protobuf/include'
                 }
             }
         }
diff --git a/wpiutil/examples/printlog/printlog.cpp b/wpiutil/examples/printlog/printlog.cpp
index f89be5f5482..a17d30b3852 100644
--- a/wpiutil/examples/printlog/printlog.cpp
+++ b/wpiutil/examples/printlog/printlog.cpp
@@ -3,6 +3,8 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <ctime>
+#include <utility>
+#include <vector>
 
 #include <fmt/chrono.h>
 #include <fmt/format.h>
@@ -18,12 +20,13 @@ int main(int argc, const char** argv) {
     wpi::print(stderr, "Usage: printlog <file>\n");
     return EXIT_FAILURE;
   }
-  std::error_code ec;
-  wpi::log::DataLogReader reader{wpi::MemoryBuffer::GetFile(argv[1], ec)};
-  if (ec) {
-    wpi::print(stderr, "could not open file: {}\n", ec.message());
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(argv[1]);
+  if (!fileBuffer) {
+    wpi::print(stderr, "could not open file: {}\n",
+               fileBuffer.error().message());
     return EXIT_FAILURE;
   }
+  wpi::log::DataLogReader reader{std::move(*fileBuffer)};
   if (!reader) {
     wpi::print(stderr, "not a log file\n");
     return EXIT_FAILURE;
diff --git a/wpiutil/examples/writelog/writelog.cpp b/wpiutil/examples/writelog/writelog.cpp
index 0d8283ca121..dd9f8fa33da 100644
--- a/wpiutil/examples/writelog/writelog.cpp
+++ b/wpiutil/examples/writelog/writelog.cpp
@@ -2,10 +2,10 @@
 // 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 <array>
 #include <chrono>
 #include <numeric>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "wpi/DataLogBackgroundWriter.h"
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/FileLogger.java b/wpiutil/src/main/java/edu/wpi/first/util/FileLogger.java
new file mode 100644
index 00000000000..438861b53ee
--- /dev/null
+++ b/wpiutil/src/main/java/edu/wpi/first/util/FileLogger.java
@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+package edu.wpi.first.util;
+
+import edu.wpi.first.util.datalog.DataLog;
+
+/**
+ * A class version of `tail -f`, otherwise known as `tail -f` at home. Watches a file and puts the
+ * data into a data log. Only works on Linux-based platforms.
+ */
+public class FileLogger implements AutoCloseable {
+  private final long m_impl;
+
+  /**
+   * Construct a FileLogger. When the specified file is modified, appended data will be appended to
+   * the specified data log.
+   *
+   * @param file The path to the file.
+   * @param log A data log.
+   * @param key The log key to append data to.
+   */
+  public FileLogger(String file, DataLog log, String key) {
+    m_impl = WPIUtilJNI.createFileLogger(file, log.getImpl(), key);
+  }
+
+  @Override
+  public void close() {
+    WPIUtilJNI.freeFileLogger(m_impl);
+  }
+}
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
index bc04257091a..136e2c041d6 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/WPIUtilJNI.java
@@ -217,6 +217,24 @@ public static native boolean waitForObjectTimeout(int handle, double timeout)
   public static native int[] waitForObjectsTimeout(int[] handles, double timeout)
       throws InterruptedException;
 
+  /**
+   * Create a native FileLogger. When the specified file is modified, appended data will be appended
+   * to the specified data log.
+   *
+   * @param file path to the file
+   * @param log data log implementation handle
+   * @param key log key to append data to
+   * @return The FileLogger handle.
+   */
+  public static native long createFileLogger(String file, long log, String key);
+
+  /**
+   * Free a native FileLogger. This causes the FileLogger to stop appending data to the log.
+   *
+   * @param fileTail The FileLogger handle.
+   */
+  public static native void freeFileLogger(long fileTail);
+
   /** Utility class. */
   protected WPIUtilJNI() {}
 }
diff --git a/wpiutil/src/main/native/cpp/Base64.cpp b/wpiutil/src/main/native/cpp/Base64.cpp
index bc1d3bae696..b70298d12d1 100644
--- a/wpiutil/src/main/native/cpp/Base64.cpp
+++ b/wpiutil/src/main/native/cpp/Base64.cpp
@@ -57,6 +57,9 @@
 
 #include "wpi/Base64.h"
 
+#include <string>
+#include <vector>
+
 #include "wpi/SmallVector.h"
 #include "wpi/raw_ostream.h"
 
diff --git a/wpiutil/src/main/native/cpp/DataLog.cpp b/wpiutil/src/main/native/cpp/DataLog.cpp
index dd717cc6c0a..45c1844b11d 100644
--- a/wpiutil/src/main/native/cpp/DataLog.cpp
+++ b/wpiutil/src/main/native/cpp/DataLog.cpp
@@ -9,6 +9,8 @@
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
+#include <string>
+#include <utility>
 #include <vector>
 
 #include "wpi/Endian.h"
diff --git a/wpiutil/src/main/native/cpp/DataLogBackgroundWriter.cpp b/wpiutil/src/main/native/cpp/DataLogBackgroundWriter.cpp
index ec01346ef03..b20d4b73908 100644
--- a/wpiutil/src/main/native/cpp/DataLogBackgroundWriter.cpp
+++ b/wpiutil/src/main/native/cpp/DataLogBackgroundWriter.cpp
@@ -18,6 +18,9 @@
 #endif
 
 #include <random>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include <fmt/format.h>
 
diff --git a/wpiutil/src/main/native/cpp/DataLogReader.cpp b/wpiutil/src/main/native/cpp/DataLogReader.cpp
index c2e1192e14a..17b2c9fa018 100644
--- a/wpiutil/src/main/native/cpp/DataLogReader.cpp
+++ b/wpiutil/src/main/native/cpp/DataLogReader.cpp
@@ -4,6 +4,8 @@
 
 #include "wpi/DataLogReader.h"
 
+#include <utility>
+
 #include "wpi/DataLog.h"
 #include "wpi/Endian.h"
 #include "wpi/MathExtras.h"
diff --git a/wpiutil/src/main/native/cpp/DataLogWriter.cpp b/wpiutil/src/main/native/cpp/DataLogWriter.cpp
index c4e4a501d4b..371a2bf901b 100644
--- a/wpiutil/src/main/native/cpp/DataLogWriter.cpp
+++ b/wpiutil/src/main/native/cpp/DataLogWriter.cpp
@@ -4,6 +4,10 @@
 
 #include "wpi/DataLogWriter.h"
 
+#include <memory>
+#include <utility>
+#include <vector>
+
 #include "wpi/raw_ostream.h"
 
 using namespace wpi::log;
diff --git a/wpiutil/src/main/native/cpp/FileLogger.cpp b/wpiutil/src/main/native/cpp/FileLogger.cpp
new file mode 100644
index 00000000000..6e1435673b4
--- /dev/null
+++ b/wpiutil/src/main/native/cpp/FileLogger.cpp
@@ -0,0 +1,105 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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 "wpi/FileLogger.h"
+
+#ifdef __linux__
+#include <fcntl.h>
+#include <sys/inotify.h>
+#include <unistd.h>
+#endif
+
+#include <string>
+#include <string_view>
+#include <tuple>
+#include <utility>
+
+#include "wpi/StringExtras.h"
+
+namespace wpi {
+FileLogger::FileLogger(std::string_view file,
+                       std::function<void(std::string_view)> callback)
+#ifdef __linux__
+    : m_fileHandle{open(file.data(), O_RDONLY)},
+      m_inotifyHandle{inotify_init()},
+      m_inotifyWatchHandle{
+          inotify_add_watch(m_inotifyHandle, file.data(), IN_MODIFY)},
+      m_thread{[=, this] {
+        char buf[4000];
+        struct inotify_event ev;
+        int len = 0;
+        lseek(m_fileHandle, 0, SEEK_END);
+        while ((len = read(m_inotifyHandle, &ev, sizeof(ev))) > 0) {
+          int bufLen = 0;
+          if ((bufLen = read(m_fileHandle, buf, sizeof(buf)) > 0)) {
+            callback(std::string_view{buf, static_cast<size_t>(bufLen)});
+          }
+        }
+      }}
+#endif
+{
+}
+FileLogger::FileLogger(std::string_view file, log::DataLog& log,
+                       std::string_view key)
+    : FileLogger(file, LineBuffer([entry = log.Start(key, "string"),
+                                   &log](std::string_view line) {
+                   log.AppendString(entry, line, 0);
+                 })) {}
+FileLogger::FileLogger(FileLogger&& other)
+#ifdef __linux__
+    : m_fileHandle{std::exchange(other.m_fileHandle, -1)},
+      m_inotifyHandle{std::exchange(other.m_inotifyHandle, -1)},
+      m_inotifyWatchHandle{std::exchange(other.m_inotifyWatchHandle, -1)},
+      m_thread{std::move(other.m_thread)}
+#endif
+{
+}
+FileLogger& FileLogger::operator=(FileLogger&& rhs) {
+#ifdef __linux__
+  std::swap(m_fileHandle, rhs.m_fileHandle);
+  std::swap(m_inotifyHandle, rhs.m_inotifyHandle);
+  std::swap(m_inotifyWatchHandle, rhs.m_inotifyWatchHandle);
+  m_thread = std::move(rhs.m_thread);
+#endif
+  return *this;
+}
+FileLogger::~FileLogger() {
+#ifdef __linux__
+  if (m_inotifyWatchHandle != -1) {
+    inotify_rm_watch(m_inotifyHandle, m_inotifyWatchHandle);
+  }
+  if (m_inotifyHandle != -1) {
+    close(m_inotifyHandle);
+  }
+  if (m_fileHandle != -1) {
+    close(m_fileHandle);
+  }
+  if (m_thread.joinable()) {
+    m_thread.join();
+  }
+#endif
+}
+std::function<void(std::string_view)> FileLogger::LineBuffer(
+    std::function<void(std::string_view)> callback) {
+  return [callback,
+          buf = wpi::SmallVector<char, 32>{}](std::string_view data) mutable {
+    if (!wpi::contains(data, "\n")) {
+      buf.append(data.begin(), data.end());
+      return;
+    }
+    std::string_view line;
+    std::string_view remainingData;
+    std::tie(line, remainingData) = wpi::split(data, "\n");
+    buf.append(line.begin(), line.end());
+    callback(std::string_view{buf.data(), buf.size()});
+
+    while (wpi::contains(remainingData, "\n")) {
+      std::tie(line, remainingData) = wpi::split(remainingData, "\n");
+      callback(line);
+    }
+    buf.clear();
+    buf.append(remainingData.begin(), remainingData.end());
+  };
+}
+}  // namespace wpi
diff --git a/wpiutil/src/main/native/cpp/MessagePack.cpp b/wpiutil/src/main/native/cpp/MessagePack.cpp
index 60a2f013ce7..192476bfdc5 100644
--- a/wpiutil/src/main/native/cpp/MessagePack.cpp
+++ b/wpiutil/src/main/native/cpp/MessagePack.cpp
@@ -4,6 +4,8 @@
 
 #include "wpi/MessagePack.h"
 
+#include <string>
+
 using namespace mpack;
 
 mpack_error_t mpack::mpack_expect_str(mpack_reader_t* reader, std::string* out,
diff --git a/wpiutil/src/main/native/cpp/SafeThread.cpp b/wpiutil/src/main/native/cpp/SafeThread.cpp
index ba1eba3131e..aefbd231c29 100644
--- a/wpiutil/src/main/native/cpp/SafeThread.cpp
+++ b/wpiutil/src/main/native/cpp/SafeThread.cpp
@@ -5,6 +5,8 @@
 #include "wpi/SafeThread.h"
 
 #include <atomic>
+#include <memory>
+#include <utility>
 
 using namespace wpi;
 
diff --git a/wpiutil/src/main/native/cpp/StackTraceWrap.cpp b/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
index 37a83f7ef04..4d52a593987 100644
--- a/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
+++ b/wpiutil/src/main/native/cpp/StackTraceWrap.cpp
@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <atomic>
+#include <string>
 
 #include "wpi/StackTrace.h"
 
diff --git a/wpiutil/src/main/native/cpp/future.cpp b/wpiutil/src/main/native/cpp/future.cpp
index 109eeb93ca3..df26872ce1a 100644
--- a/wpiutil/src/main/native/cpp/future.cpp
+++ b/wpiutil/src/main/native/cpp/future.cpp
@@ -4,6 +4,8 @@
 
 #include "wpi/future.h"
 
+#include <utility>
+
 namespace wpi {
 namespace detail {
 
diff --git a/wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp b/wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
index e98c13f8dfa..782266874d0 100644
--- a/wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
+++ b/wpiutil/src/main/native/cpp/jni/DataLogJNI.cpp
@@ -5,6 +5,7 @@
 #include <jni.h>
 
 #include <algorithm>
+#include <string>
 #include <vector>
 
 #include <fmt/format.h>
diff --git a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
index 54b6da26712..15b78958acd 100644
--- a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
+++ b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
@@ -7,6 +7,8 @@
 #include <jni.h>
 
 #include "edu_wpi_first_util_WPIUtilJNI.h"
+#include "wpi/DataLog.h"
+#include "wpi/FileLogger.h"
 #include "wpi/RawFrame.h"
 #include "wpi/Synchronization.h"
 #include "wpi/jni_util.h"
@@ -414,4 +416,41 @@ Java_edu_wpi_first_util_WPIUtilJNI_setRawFrameInfo
   f->pixelFormat = pixelFormat;
 }
 
+/*
+ * Class:     edu_wpi_first_util_WPIUtilJNI
+ * Method:    createFileLogger
+ * Signature: (Ljava/lang/String;JLjava/lang/String;)J
+ */
+JNIEXPORT jlong JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_createFileLogger
+  (JNIEnv* env, jclass, jstring file, jlong log, jstring key)
+{
+  if (!file) {
+    wpi::ThrowNullPointerException(env, "file is null");
+    return 0;
+  }
+  auto* f = reinterpret_cast<wpi::log::DataLog*>(log);
+  if (!f) {
+    wpi::ThrowNullPointerException(env, "log is null");
+    return 0;
+  }
+  if (!key) {
+    wpi::ThrowNullPointerException(env, "key is null");
+    return 0;
+  }
+  return reinterpret_cast<jlong>(
+      new wpi::FileLogger{JStringRef{env, file}, *f, JStringRef{env, key}});
+}
+
+/*
+ * Class:     edu_wpi_first_util_WPIUtilJNI
+ * Method:    freeFileLogger
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_util_WPIUtilJNI_freeFileLogger
+  (JNIEnv* env, jclass, jlong fileTail)
+{
+  delete reinterpret_cast<wpi::FileLogger*>(fileTail);
+}
 }  // extern "C"
diff --git a/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp b/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
index 4dd747098f3..4fc10b26a67 100644
--- a/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
+++ b/wpiutil/src/main/native/cpp/protobuf/Protobuf.cpp
@@ -4,6 +4,9 @@
 
 #include "wpi/protobuf/Protobuf.h"
 
+#include <string>
+#include <vector>
+
 #include <fmt/format.h>
 #include <google/protobuf/descriptor.h>
 #include <google/protobuf/descriptor.pb.h>
diff --git a/wpiutil/src/main/native/cpp/protobuf/ProtobufMessageDatabase.cpp b/wpiutil/src/main/native/cpp/protobuf/ProtobufMessageDatabase.cpp
index 7583f675f6c..17a22db809d 100644
--- a/wpiutil/src/main/native/cpp/protobuf/ProtobufMessageDatabase.cpp
+++ b/wpiutil/src/main/native/cpp/protobuf/ProtobufMessageDatabase.cpp
@@ -4,6 +4,9 @@
 
 #include "wpi/protobuf/ProtobufMessageDatabase.h"
 
+#include <memory>
+#include <string>
+
 #include <google/protobuf/descriptor.h>
 
 #include "wpi/ProtoHelper.h"
diff --git a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
index 7a1e0b0b10a..c2b6b8ede77 100644
--- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -5,6 +5,8 @@
 #include "wpi/sendable/SendableRegistry.h"
 
 #include <memory>
+#include <string>
+#include <utility>
 
 #include <fmt/format.h>
 
diff --git a/wpiutil/src/main/native/cpp/sha1.cpp b/wpiutil/src/main/native/cpp/sha1.cpp
index 98dc5433cb6..82041144922 100644
--- a/wpiutil/src/main/native/cpp/sha1.cpp
+++ b/wpiutil/src/main/native/cpp/sha1.cpp
@@ -19,6 +19,8 @@
 
 #include "wpi/sha1.h"
 
+#include <string>
+
 #include "wpi/SmallVector.h"
 #include "wpi/StringExtras.h"
 #include "wpi/raw_istream.h"
diff --git a/wpiutil/src/main/native/cpp/string.cpp b/wpiutil/src/main/native/cpp/string.cpp
index e7a7ea3597b..3c5d47067f5 100644
--- a/wpiutil/src/main/native/cpp/string.cpp
+++ b/wpiutil/src/main/native/cpp/string.cpp
@@ -2,6 +2,7 @@
 // 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 "string"
 #include "wpi/string.h"
 
 #include <wpi/MemAlloc.h>
diff --git a/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp b/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
index 8d43f537444..b2e667b5ad3 100644
--- a/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
+++ b/wpiutil/src/main/native/cpp/struct/DynamicStruct.cpp
@@ -5,6 +5,9 @@
 #include "wpi/struct/DynamicStruct.h"
 
 #include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
 
 #include <fmt/format.h>
 
diff --git a/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp b/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
index 347019e9d30..ffce8e62e8a 100644
--- a/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
+++ b/wpiutil/src/main/native/cpp/struct/SchemaParser.cpp
@@ -4,6 +4,9 @@
 
 #include "wpi/struct/SchemaParser.h"
 
+#include <string>
+#include <utility>
+
 #include <fmt/format.h>
 
 #include "wpi/StringExtras.h"
diff --git a/wpiutil/src/main/native/cpp/timestamp.cpp b/wpiutil/src/main/native/cpp/timestamp.cpp
index 3f9e1f3e741..64725eb7fa3 100644
--- a/wpiutil/src/main/native/cpp/timestamp.cpp
+++ b/wpiutil/src/main/native/cpp/timestamp.cpp
@@ -6,6 +6,7 @@
 
 #include <atomic>
 #include <optional>
+#include <utility>
 
 #ifdef __FRC_ROBORIO__
 #include <stdint.h>
@@ -21,7 +22,8 @@ using namespace nRoboRIO_FPGANamespace;
 }  // namespace fpga
 #include <memory>
 
-#include "dlfcn.h"
+#include "dlfcn.h"  // NOLINT(build/include_subdir)
+
 #endif
 
 #ifdef _WIN32
diff --git a/wpiutil/src/main/native/include/wpi/DataLog.h b/wpiutil/src/main/native/include/wpi/DataLog.h
index 35f0859ec0f..1253b5bc13d 100644
--- a/wpiutil/src/main/native/include/wpi/DataLog.h
+++ b/wpiutil/src/main/native/include/wpi/DataLog.h
@@ -876,7 +876,7 @@ class StringLogEntry : public DataLogValueEntryImpl<std::string> {
    * @param value Value to record
    * @param timestamp Time stamp (may be 0 to indicate now)
    */
-  void Update(std::string value, int64_t timestamp = 0) {
+  void Update(std::string_view value, int64_t timestamp = 0) {
     std::scoped_lock lock{m_mutex};
     if (m_lastValue != value) {
       m_lastValue = value;
diff --git a/wpiutil/src/main/native/include/wpi/FileLogger.h b/wpiutil/src/main/native/include/wpi/FileLogger.h
new file mode 100644
index 00000000000..72565ebc804
--- /dev/null
+++ b/wpiutil/src/main/native/include/wpi/FileLogger.h
@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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.
+
+#pragma once
+
+#include <functional>
+#include <string_view>
+#include <thread>
+
+#include "wpi/DataLog.h"
+
+namespace wpi {
+/**
+ * A class version of `tail -f`, otherwise known as `tail -f` at home.  Watches
+ * a file and puts the data somewhere else. Only works on Linux-based platforms.
+ */
+class FileLogger {
+ public:
+  FileLogger() = default;
+  /**
+   * Construct a FileLogger. When the specified file is modified, the callback
+   * will be called with the appended changes.
+   *
+   * @param file The path to the file.
+   * @param callback A callback that accepts the appended file data.
+   */
+  FileLogger(std::string_view file,
+             std::function<void(std::string_view)> callback);
+
+  /**
+   * Construct a FileLogger. When the specified file is modified, appended data
+   * will be appended to the specified data log.
+   *
+   * @param file The path to the file.
+   * @param log A data log.
+   * @param key The log key to append data to.
+   */
+  FileLogger(std::string_view file, log::DataLog& log, std::string_view key);
+  FileLogger(FileLogger&& other);
+  FileLogger& operator=(FileLogger&& rhs);
+  ~FileLogger();
+  /**
+   * Creates a function that chunks incoming data into lines before calling the
+   * callback with the individual line.
+   *
+   * @param callback The callback that logs lines.
+   * @return The function.
+   */
+  static std::function<void(std::string_view)> LineBuffer(
+      std::function<void(std::string_view)> callback);
+
+ private:
+#ifdef __linux__
+  int m_fileHandle = -1;
+  int m_inotifyHandle = -1;
+  int m_inotifyWatchHandle = -1;
+  std::thread m_thread;
+#endif
+};
+}  // namespace wpi
diff --git a/wpiutil/src/main/native/include/wpi/RawFrame.h b/wpiutil/src/main/native/include/wpi/RawFrame.h
index 2e925b1e0ba..420f8199792 100644
--- a/wpiutil/src/main/native/include/wpi/RawFrame.h
+++ b/wpiutil/src/main/native/include/wpi/RawFrame.h
@@ -17,7 +17,7 @@
 #endif
 
 #ifdef WPI_RAWFRAME_JNI
-#include "jni_util.h"
+#include "wpi/jni_util.h"
 #endif
 
 // NOLINT
diff --git a/wpiutil/src/main/native/include/wpi/mutex.h b/wpiutil/src/main/native/include/wpi/mutex.h
index c29509a915b..4bb1377b75d 100644
--- a/wpiutil/src/main/native/include/wpi/mutex.h
+++ b/wpiutil/src/main/native/include/wpi/mutex.h
@@ -6,7 +6,7 @@
 
 #include <mutex>
 
-#include "priority_mutex.h"
+#include "wpi/priority_mutex.h"
 
 namespace wpi {
 
diff --git a/wpiutil/src/main/native/include/wpi/print.h b/wpiutil/src/main/native/include/wpi/print.h
index 36bc966f140..422e65dc639 100644
--- a/wpiutil/src/main/native/include/wpi/print.h
+++ b/wpiutil/src/main/native/include/wpi/print.h
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <cstdio>
 #include <system_error>
 #include <utility>
 
diff --git a/wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h b/wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h
new file mode 100644
index 00000000000..7ce9081150d
--- /dev/null
+++ b/wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h
@@ -0,0 +1,2543 @@
+/*
+  __ _ _ __ __ _ _ __   __ _ _ __ ___  ___
+ / _` | '__/ _` | '_ \ / _` | '__/ __|/ _ \ Argument Parser for Modern C++
+| (_| | | | (_| | |_) | (_| | |  \__ \  __/ http://github.com/p-ranav/argparse
+ \__,_|_|  \__, | .__/ \__,_|_|  |___/\___|
+           |___/|_|
+
+Licensed under the MIT License <http://opensource.org/licenses/MIT>.
+SPDX-License-Identifier: MIT
+Copyright (c) 2019-2022 Pranav Srinivas Kumar <pranav.srinivas.kumar@gmail.com>
+and other contributors.
+
+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.
+*/
+#pragma once
+
+#include <cerrno>
+
+#ifndef WPI_MODULE_USE_STD_MODULE
+#include <algorithm>
+#include <any>
+#include <array>
+#include <set>
+#include <charconv>
+#include <cstdlib>
+#include <functional>
+#include <iomanip>
+#include <iostream>
+#include <iterator>
+#include <limits>
+#include <list>
+#include <map>
+#include <numeric>
+#include <optional>
+#include <sstream>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <tuple>
+#include <type_traits>
+#include <utility>
+#include <variant>
+#include <vector>
+#endif
+
+#ifndef WPI_CUSTOM_STRTOF
+#define WPI_CUSTOM_STRTOF strtof
+#endif
+
+#ifndef WPI_CUSTOM_STRTOD
+#define WPI_CUSTOM_STRTOD strtod
+#endif
+
+#ifndef WPI_CUSTOM_STRTOLD
+#define WPI_CUSTOM_STRTOLD strtold
+#endif
+
+namespace wpi {
+
+namespace details { // namespace for helper methods
+
+template <typename T, typename = void>
+struct HasContainerTraits : std::false_type {};
+
+template <> struct HasContainerTraits<std::string> : std::false_type {};
+
+template <> struct HasContainerTraits<std::string_view> : std::false_type {};
+
+template <typename T>
+struct HasContainerTraits<
+    T, std::void_t<typename T::value_type, decltype(std::declval<T>().begin()),
+                   decltype(std::declval<T>().end()),
+                   decltype(std::declval<T>().size())>> : std::true_type {};
+
+template <typename T>
+inline constexpr bool IsContainer = HasContainerTraits<T>::value;
+
+template <typename T, typename = void>
+struct HasStreamableTraits : std::false_type {};
+
+template <typename T>
+struct HasStreamableTraits<
+    T,
+    std::void_t<decltype(std::declval<std::ostream &>() << std::declval<T>())>>
+    : std::true_type {};
+
+template <typename T>
+inline constexpr bool IsStreamable = HasStreamableTraits<T>::value;
+
+constexpr std::size_t repr_max_container_size = 5;
+
+template <typename T> std::string repr(T const &val) {
+  if constexpr (std::is_same_v<T, bool>) {
+    return val ? "true" : "false";
+  } else if constexpr (std::is_convertible_v<T, std::string_view>) {
+    return '"' + std::string{std::string_view{val}} + '"';
+  } else if constexpr (IsContainer<T>) {
+    std::stringstream out;
+    out << "{";
+    const auto size = val.size();
+    if (size > 1) {
+      out << repr(*val.begin());
+      std::for_each(
+          std::next(val.begin()),
+          std::next(
+              val.begin(),
+              static_cast<typename T::iterator::difference_type>(
+                  std::min<std::size_t>(size, repr_max_container_size) - 1)),
+          [&out](const auto &v) { out << " " << repr(v); });
+      if (size <= repr_max_container_size) {
+        out << " ";
+      } else {
+        out << "...";
+      }
+    }
+    if (size > 0) {
+      out << repr(*std::prev(val.end()));
+    }
+    out << "}";
+    return out.str();
+  } else if constexpr (IsStreamable<T>) {
+    std::stringstream out;
+    out << val;
+    return out.str();
+  } else {
+    return "<not representable>";
+  }
+}
+
+namespace {
+
+template <typename T> constexpr bool standard_signed_integer = false;
+template <> constexpr bool standard_signed_integer<signed char> = true;
+template <> constexpr bool standard_signed_integer<short int> = true;
+template <> constexpr bool standard_signed_integer<int> = true;
+template <> constexpr bool standard_signed_integer<long int> = true;
+template <> constexpr bool standard_signed_integer<long long int> = true;
+
+template <typename T> constexpr bool standard_unsigned_integer = false;
+template <> constexpr bool standard_unsigned_integer<unsigned char> = true;
+template <> constexpr bool standard_unsigned_integer<unsigned short int> = true;
+template <> constexpr bool standard_unsigned_integer<unsigned int> = true;
+template <> constexpr bool standard_unsigned_integer<unsigned long int> = true;
+template <>
+constexpr bool standard_unsigned_integer<unsigned long long int> = true;
+
+} // namespace
+
+constexpr int radix_2 = 2;
+constexpr int radix_8 = 8;
+constexpr int radix_10 = 10;
+constexpr int radix_16 = 16;
+
+template <typename T>
+constexpr bool standard_integer =
+    standard_signed_integer<T> || standard_unsigned_integer<T>;
+
+template <class F, class Tuple, class Extra, std::size_t... I>
+constexpr decltype(auto)
+apply_plus_one_impl(F &&f, Tuple &&t, Extra &&x,
+                    std::index_sequence<I...> /*unused*/) {
+  return std::invoke(std::forward<F>(f), std::get<I>(std::forward<Tuple>(t))...,
+                     std::forward<Extra>(x));
+}
+
+template <class F, class Tuple, class Extra>
+constexpr decltype(auto) apply_plus_one(F &&f, Tuple &&t, Extra &&x) {
+  return details::apply_plus_one_impl(
+      std::forward<F>(f), std::forward<Tuple>(t), std::forward<Extra>(x),
+      std::make_index_sequence<
+          std::tuple_size_v<std::remove_reference_t<Tuple>>>{});
+}
+
+constexpr auto pointer_range(std::string_view s) noexcept {
+  return std::tuple(s.data(), s.data() + s.size());
+}
+
+template <class CharT, class Traits>
+constexpr bool starts_with(std::basic_string_view<CharT, Traits> prefix,
+                           std::basic_string_view<CharT, Traits> s) noexcept {
+  return s.substr(0, prefix.size()) == prefix;
+}
+
+enum class chars_format {
+  scientific = 0xf1,
+  fixed = 0xf2,
+  hex = 0xf4,
+  binary = 0xf8,
+  general = fixed | scientific
+};
+
+struct ConsumeBinaryPrefixResult {
+  bool is_binary;
+  std::string_view rest;
+};
+
+constexpr auto consume_binary_prefix(std::string_view s)
+    -> ConsumeBinaryPrefixResult {
+  if (starts_with(std::string_view{"0b"}, s) ||
+      starts_with(std::string_view{"0B"}, s)) {
+    s.remove_prefix(2);
+    return {true, s};
+  }
+  return {false, s};
+}
+
+struct ConsumeHexPrefixResult {
+  bool is_hexadecimal;
+  std::string_view rest;
+};
+
+using namespace std::literals;
+
+constexpr auto consume_hex_prefix(std::string_view s)
+    -> ConsumeHexPrefixResult {
+  if (starts_with("0x"sv, s) || starts_with("0X"sv, s)) {
+    s.remove_prefix(2);
+    return {true, s};
+  }
+  return {false, s};
+}
+
+template <class T, auto Param>
+inline auto do_from_chars(std::string_view s) -> T {
+  T x{0};
+  auto [first, last] = pointer_range(s);
+  auto [ptr, ec] = std::from_chars(first, last, x, Param);
+  if (ec == std::errc()) {
+    if (ptr == last) {
+      return x;
+    }
+    throw std::invalid_argument{"pattern '" + std::string(s) +
+                                "' does not match to the end"};
+  }
+  if (ec == std::errc::invalid_argument) {
+    throw std::invalid_argument{"pattern '" + std::string(s) + "' not found"};
+  }
+  if (ec == std::errc::result_out_of_range) {
+    throw std::range_error{"'" + std::string(s) + "' not representable"};
+  }
+  return x; // unreachable
+}
+
+template <class T, auto Param = 0> struct parse_number {
+  auto operator()(std::string_view s) -> T {
+    return do_from_chars<T, Param>(s);
+  }
+};
+
+template <class T> struct parse_number<T, radix_2> {
+  auto operator()(std::string_view s) -> T {
+    if (auto [ok, rest] = consume_binary_prefix(s); ok) {
+      return do_from_chars<T, radix_2>(rest);
+    }
+    throw std::invalid_argument{"pattern not found"};
+  }
+};
+
+template <class T> struct parse_number<T, radix_16> {
+  auto operator()(std::string_view s) -> T {
+    if (starts_with("0x"sv, s) || starts_with("0X"sv, s)) {
+      if (auto [ok, rest] = consume_hex_prefix(s); ok) {
+        try {
+          return do_from_chars<T, radix_16>(rest);
+        } catch (const std::invalid_argument &err) {
+          throw std::invalid_argument("Failed to parse '" + std::string(s) +
+                                      "' as hexadecimal: " + err.what());
+        } catch (const std::range_error &err) {
+          throw std::range_error("Failed to parse '" + std::string(s) +
+                                 "' as hexadecimal: " + err.what());
+        }
+      }
+    } else {
+      // Allow passing hex numbers without prefix
+      // Shape 'x' already has to be specified
+      try {
+        return do_from_chars<T, radix_16>(s);
+      } catch (const std::invalid_argument &err) {
+        throw std::invalid_argument("Failed to parse '" + std::string(s) +
+                                    "' as hexadecimal: " + err.what());
+      } catch (const std::range_error &err) {
+        throw std::range_error("Failed to parse '" + std::string(s) +
+                               "' as hexadecimal: " + err.what());
+      }
+    }
+
+    throw std::invalid_argument{"pattern '" + std::string(s) +
+                                "' not identified as hexadecimal"};
+  }
+};
+
+template <class T> struct parse_number<T> {
+  auto operator()(std::string_view s) -> T {
+    auto [ok, rest] = consume_hex_prefix(s);
+    if (ok) {
+      try {
+        return do_from_chars<T, radix_16>(rest);
+      } catch (const std::invalid_argument &err) {
+        throw std::invalid_argument("Failed to parse '" + std::string(s) +
+                                    "' as hexadecimal: " + err.what());
+      } catch (const std::range_error &err) {
+        throw std::range_error("Failed to parse '" + std::string(s) +
+                               "' as hexadecimal: " + err.what());
+      }
+    }
+
+    auto [ok_binary, rest_binary] = consume_binary_prefix(s);
+    if (ok_binary) {
+      try {
+        return do_from_chars<T, radix_2>(rest_binary);
+      } catch (const std::invalid_argument &err) {
+        throw std::invalid_argument("Failed to parse '" + std::string(s) +
+                                    "' as binary: " + err.what());
+      } catch (const std::range_error &err) {
+        throw std::range_error("Failed to parse '" + std::string(s) +
+                               "' as binary: " + err.what());
+      }
+    }
+
+    if (starts_with("0"sv, s)) {
+      try {
+        return do_from_chars<T, radix_8>(rest);
+      } catch (const std::invalid_argument &err) {
+        throw std::invalid_argument("Failed to parse '" + std::string(s) +
+                                    "' as octal: " + err.what());
+      } catch (const std::range_error &err) {
+        throw std::range_error("Failed to parse '" + std::string(s) +
+                               "' as octal: " + err.what());
+      }
+    }
+
+    try {
+      return do_from_chars<T, radix_10>(rest);
+    } catch (const std::invalid_argument &err) {
+      throw std::invalid_argument("Failed to parse '" + std::string(s) +
+                                  "' as decimal integer: " + err.what());
+    } catch (const std::range_error &err) {
+      throw std::range_error("Failed to parse '" + std::string(s) +
+                             "' as decimal integer: " + err.what());
+    }
+  }
+};
+
+namespace {
+
+template <class T> inline const auto generic_strtod = nullptr;
+template <> inline const auto generic_strtod<float> = WPI_CUSTOM_STRTOF;
+template <> inline const auto generic_strtod<double> = WPI_CUSTOM_STRTOD;
+template <>
+inline const auto generic_strtod<long double> = WPI_CUSTOM_STRTOLD;
+
+} // namespace
+
+template <class T> inline auto do_strtod(std::string const &s) -> T {
+  if (isspace(static_cast<unsigned char>(s[0])) || s[0] == '+') {
+    throw std::invalid_argument{"pattern '" + s + "' not found"};
+  }
+
+  auto [first, last] = pointer_range(s);
+  char *ptr;
+
+  errno = 0;
+  auto x = generic_strtod<T>(first, &ptr);
+  if (errno == 0) {
+    if (ptr == last) {
+      return x;
+    }
+    throw std::invalid_argument{"pattern '" + s +
+                                "' does not match to the end"};
+  }
+  if (errno == ERANGE) {
+    throw std::range_error{"'" + s + "' not representable"};
+  }
+  return x; // unreachable
+}
+
+template <class T> struct parse_number<T, chars_format::general> {
+  auto operator()(std::string const &s) -> T {
+    if (auto r = consume_hex_prefix(s); r.is_hexadecimal) {
+      throw std::invalid_argument{
+          "chars_format::general does not parse hexfloat"};
+    }
+    if (auto r = consume_binary_prefix(s); r.is_binary) {
+      throw std::invalid_argument{
+          "chars_format::general does not parse binfloat"};
+    }
+
+    try {
+      return do_strtod<T>(s);
+    } catch (const std::invalid_argument &err) {
+      throw std::invalid_argument("Failed to parse '" + s +
+                                  "' as number: " + err.what());
+    } catch (const std::range_error &err) {
+      throw std::range_error("Failed to parse '" + s +
+                             "' as number: " + err.what());
+    }
+  }
+};
+
+template <class T> struct parse_number<T, chars_format::hex> {
+  auto operator()(std::string const &s) -> T {
+    if (auto r = consume_hex_prefix(s); !r.is_hexadecimal) {
+      throw std::invalid_argument{"chars_format::hex parses hexfloat"};
+    }
+    if (auto r = consume_binary_prefix(s); r.is_binary) {
+      throw std::invalid_argument{"chars_format::hex does not parse binfloat"};
+    }
+
+    try {
+      return do_strtod<T>(s);
+    } catch (const std::invalid_argument &err) {
+      throw std::invalid_argument("Failed to parse '" + s +
+                                  "' as hexadecimal: " + err.what());
+    } catch (const std::range_error &err) {
+      throw std::range_error("Failed to parse '" + s +
+                             "' as hexadecimal: " + err.what());
+    }
+  }
+};
+
+template <class T> struct parse_number<T, chars_format::binary> {
+  auto operator()(std::string const &s) -> T {
+    if (auto r = consume_hex_prefix(s); r.is_hexadecimal) {
+      throw std::invalid_argument{
+          "chars_format::binary does not parse hexfloat"};
+    }
+    if (auto r = consume_binary_prefix(s); !r.is_binary) {
+      throw std::invalid_argument{"chars_format::binary parses binfloat"};
+    }
+
+    return do_strtod<T>(s);
+  }
+};
+
+template <class T> struct parse_number<T, chars_format::scientific> {
+  auto operator()(std::string const &s) -> T {
+    if (auto r = consume_hex_prefix(s); r.is_hexadecimal) {
+      throw std::invalid_argument{
+          "chars_format::scientific does not parse hexfloat"};
+    }
+    if (auto r = consume_binary_prefix(s); r.is_binary) {
+      throw std::invalid_argument{
+          "chars_format::scientific does not parse binfloat"};
+    }
+    if (s.find_first_of("eE") == std::string::npos) {
+      throw std::invalid_argument{
+          "chars_format::scientific requires exponent part"};
+    }
+
+    try {
+      return do_strtod<T>(s);
+    } catch (const std::invalid_argument &err) {
+      throw std::invalid_argument("Failed to parse '" + s +
+                                  "' as scientific notation: " + err.what());
+    } catch (const std::range_error &err) {
+      throw std::range_error("Failed to parse '" + s +
+                             "' as scientific notation: " + err.what());
+    }
+  }
+};
+
+template <class T> struct parse_number<T, chars_format::fixed> {
+  auto operator()(std::string const &s) -> T {
+    if (auto r = consume_hex_prefix(s); r.is_hexadecimal) {
+      throw std::invalid_argument{
+          "chars_format::fixed does not parse hexfloat"};
+    }
+    if (auto r = consume_binary_prefix(s); r.is_binary) {
+      throw std::invalid_argument{
+          "chars_format::fixed does not parse binfloat"};
+    }
+    if (s.find_first_of("eE") != std::string::npos) {
+      throw std::invalid_argument{
+          "chars_format::fixed does not parse exponent part"};
+    }
+
+    try {
+      return do_strtod<T>(s);
+    } catch (const std::invalid_argument &err) {
+      throw std::invalid_argument("Failed to parse '" + s +
+                                  "' as fixed notation: " + err.what());
+    } catch (const std::range_error &err) {
+      throw std::range_error("Failed to parse '" + s +
+                             "' as fixed notation: " + err.what());
+    }
+  }
+};
+
+template <typename StrIt>
+std::string join(StrIt first, StrIt last, const std::string &separator) {
+  if (first == last) {
+    return "";
+  }
+  std::stringstream value;
+  value << *first;
+  ++first;
+  while (first != last) {
+    value << separator << *first;
+    ++first;
+  }
+  return value.str();
+}
+
+template <typename T> struct can_invoke_to_string {
+  template <typename U>
+  static auto test(int)
+      -> decltype(std::to_string(std::declval<U>()), std::true_type{});
+
+  template <typename U> static auto test(...) -> std::false_type;
+
+  static constexpr bool value = decltype(test<T>(0))::value;
+};
+
+template <typename T> struct IsChoiceTypeSupported {
+  using CleanType = typename std::decay<T>::type;
+  static const bool value = std::is_integral<CleanType>::value ||
+                            std::is_same<CleanType, std::string>::value ||
+                            std::is_same<CleanType, std::string_view>::value ||
+                            std::is_same<CleanType, const char *>::value;
+};
+
+template <typename StringType>
+std::size_t get_levenshtein_distance(const StringType &s1,
+                                     const StringType &s2) {
+  std::vector<std::vector<std::size_t>> dp(
+      s1.size() + 1, std::vector<std::size_t>(s2.size() + 1, 0));
+
+  for (std::size_t i = 0; i <= s1.size(); ++i) {
+    for (std::size_t j = 0; j <= s2.size(); ++j) {
+      if (i == 0) {
+        dp[i][j] = j;
+      } else if (j == 0) {
+        dp[i][j] = i;
+      } else if (s1[i - 1] == s2[j - 1]) {
+        dp[i][j] = dp[i - 1][j - 1];
+      } else {
+        dp[i][j] = 1 + std::min<std::size_t>({dp[i - 1][j], dp[i][j - 1], dp[i - 1][j - 1]});
+      }
+    }
+  }
+
+  return dp[s1.size()][s2.size()];
+}
+
+template <typename ValueType>
+std::string get_most_similar_string(const std::map<std::string, ValueType> &map,
+                                    const std::string &input) {
+  std::string most_similar{};
+  std::size_t min_distance = (std::numeric_limits<std::size_t>::max)();
+
+  for (const auto &entry : map) {
+    std::size_t distance = get_levenshtein_distance(entry.first, input);
+    if (distance < min_distance) {
+      min_distance = distance;
+      most_similar = entry.first;
+    }
+  }
+
+  return most_similar;
+}
+
+} // namespace details
+
+enum class nargs_pattern { optional, any, at_least_one };
+
+enum class default_arguments : unsigned int {
+  none = 0,
+  help = 1,
+  version = 2,
+  all = help | version,
+};
+
+inline default_arguments operator&(const default_arguments &a,
+                                   const default_arguments &b) {
+  return static_cast<default_arguments>(
+      static_cast<std::underlying_type<default_arguments>::type>(a) &
+      static_cast<std::underlying_type<default_arguments>::type>(b));
+}
+
+class ArgumentParser;
+
+class Argument {
+  friend class ArgumentParser;
+  friend auto operator<<(std::ostream &stream, const ArgumentParser &parser)
+      -> std::ostream &;
+
+  template <std::size_t N, std::size_t... I>
+  explicit Argument(std::string_view prefix_chars,
+                    std::array<std::string_view, N> &&a,
+                    std::index_sequence<I...> /*unused*/)
+      : m_accepts_optional_like_value(false),
+        m_is_optional((is_optional(a[I], prefix_chars) || ...)),
+        m_is_required(false), m_is_repeatable(false), m_is_used(false),
+        m_is_hidden(false), m_prefix_chars(prefix_chars) {
+    ((void)m_names.emplace_back(a[I]), ...);
+    std::sort(
+        m_names.begin(), m_names.end(), [](const auto &lhs, const auto &rhs) {
+          return lhs.size() == rhs.size() ? lhs < rhs : lhs.size() < rhs.size();
+        });
+  }
+
+public:
+  template <std::size_t N>
+  explicit Argument(std::string_view prefix_chars,
+                    std::array<std::string_view, N> &&a)
+      : Argument(prefix_chars, std::move(a), std::make_index_sequence<N>{}) {}
+
+  Argument &help(std::string help_text) {
+    m_help = std::move(help_text);
+    return *this;
+  }
+
+  Argument &metavar(std::string metavar) {
+    m_metavar = std::move(metavar);
+    return *this;
+  }
+
+  template <typename T> Argument &default_value(T &&value) {
+    m_num_args_range = NArgsRange{0, m_num_args_range.get_max()};
+    m_default_value_repr = details::repr(value);
+
+    if constexpr (std::is_convertible_v<T, std::string_view>) {
+      m_default_value_str = std::string{std::string_view{value}};
+    } else if constexpr (details::can_invoke_to_string<T>::value) {
+      m_default_value_str = std::to_string(value);
+    }
+
+    m_default_value = std::forward<T>(value);
+    return *this;
+  }
+
+  Argument &default_value(const char *value) {
+    return default_value(std::string(value));
+  }
+
+  Argument &required() {
+    m_is_required = true;
+    return *this;
+  }
+
+  Argument &implicit_value(std::any value) {
+    m_implicit_value = std::move(value);
+    m_num_args_range = NArgsRange{0, 0};
+    return *this;
+  }
+
+  // This is shorthand for:
+  //   program.add_argument("foo")
+  //     .default_value(false)
+  //     .implicit_value(true)
+  Argument &flag() {
+    default_value(false);
+    implicit_value(true);
+    return *this;
+  }
+
+  template <class F, class... Args>
+  auto action(F &&callable, Args &&... bound_args)
+      -> std::enable_if_t<std::is_invocable_v<F, Args..., std::string const>,
+                          Argument &> {
+    using action_type = std::conditional_t<
+        std::is_void_v<std::invoke_result_t<F, Args..., std::string const>>,
+        void_action, valued_action>;
+    if constexpr (sizeof...(Args) == 0) {
+      m_action.emplace<action_type>(std::forward<F>(callable));
+    } else {
+      m_action.emplace<action_type>(
+          [f = std::forward<F>(callable),
+           tup = std::make_tuple(std::forward<Args>(bound_args)...)](
+              std::string const &opt) mutable {
+            return details::apply_plus_one(f, tup, opt);
+          });
+    }
+    return *this;
+  }
+
+  auto &store_into(bool &var) {
+    flag();
+    if (m_default_value.has_value()) {
+      var = std::any_cast<bool>(m_default_value);
+    }
+    action([&var](const auto & /*unused*/) { var = true; });
+    return *this;
+  }
+
+  template <typename T, typename std::enable_if<std::is_integral<T>::value>::type * = nullptr>
+  auto &store_into(T &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<T>(m_default_value);
+    }
+    action([&var](const auto &s) {
+      var = details::parse_number<T, details::radix_10>()(s);
+    });
+    return *this;
+  }
+
+  auto &store_into(double &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<double>(m_default_value);
+    }
+    action([&var](const auto &s) {
+      var = details::parse_number<double, details::chars_format::general>()(s);
+    });
+    return *this;
+  }
+
+  auto &store_into(std::string &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<std::string>(m_default_value);
+    }
+    action([&var](const std::string &s) { var = s; });
+    return *this;
+  }
+
+  auto &store_into(std::vector<std::string> &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<std::vector<std::string>>(m_default_value);
+    }
+    action([this, &var](const std::string &s) {
+      if (!m_is_used) {
+        var.clear();
+      }
+      m_is_used = true;
+      var.push_back(s);
+    });
+    return *this;
+  }
+
+  auto &store_into(std::vector<int> &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<std::vector<int>>(m_default_value);
+    }
+    action([this, &var](const std::string &s) {
+      if (!m_is_used) {
+        var.clear();
+      }
+      m_is_used = true;
+      var.push_back(details::parse_number<int, details::radix_10>()(s));
+    });
+    return *this;
+  }
+
+  auto &store_into(std::set<std::string> &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<std::set<std::string>>(m_default_value);
+    }
+    action([this, &var](const std::string &s) {
+      if (!m_is_used) {
+        var.clear();
+      }
+      m_is_used = true;
+      var.insert(s);
+    });
+    return *this;
+  }
+
+  auto &store_into(std::set<int> &var) {
+    if (m_default_value.has_value()) {
+      var = std::any_cast<std::set<int>>(m_default_value);
+    }
+    action([this, &var](const std::string &s) {
+      if (!m_is_used) {
+        var.clear();
+      }
+      m_is_used = true;
+      var.insert(details::parse_number<int, details::radix_10>()(s));
+    });
+    return *this;
+  }
+
+  auto &append() {
+    m_is_repeatable = true;
+    return *this;
+  }
+
+  // Cause the argument to be invisible in usage and help
+  auto &hidden() {
+    m_is_hidden = true;
+    return *this;
+  }
+
+  template <char Shape, typename T>
+  auto scan() -> std::enable_if_t<std::is_arithmetic_v<T>, Argument &> {
+    static_assert(!(std::is_const_v<T> || std::is_volatile_v<T>),
+                  "T should not be cv-qualified");
+    auto is_one_of = [](char c, auto... x) constexpr {
+      return ((c == x) || ...);
+    };
+
+    if constexpr (is_one_of(Shape, 'd') && details::standard_integer<T>) {
+      action(details::parse_number<T, details::radix_10>());
+    } else if constexpr (is_one_of(Shape, 'i') &&
+                         details::standard_integer<T>) {
+      action(details::parse_number<T>());
+    } else if constexpr (is_one_of(Shape, 'u') &&
+                         details::standard_unsigned_integer<T>) {
+      action(details::parse_number<T, details::radix_10>());
+    } else if constexpr (is_one_of(Shape, 'b') &&
+                         details::standard_unsigned_integer<T>) {
+      action(details::parse_number<T, details::radix_2>());
+    } else if constexpr (is_one_of(Shape, 'o') &&
+                         details::standard_unsigned_integer<T>) {
+      action(details::parse_number<T, details::radix_8>());
+    } else if constexpr (is_one_of(Shape, 'x', 'X') &&
+                         details::standard_unsigned_integer<T>) {
+      action(details::parse_number<T, details::radix_16>());
+    } else if constexpr (is_one_of(Shape, 'a', 'A') &&
+                         std::is_floating_point_v<T>) {
+      action(details::parse_number<T, details::chars_format::hex>());
+    } else if constexpr (is_one_of(Shape, 'e', 'E') &&
+                         std::is_floating_point_v<T>) {
+      action(details::parse_number<T, details::chars_format::scientific>());
+    } else if constexpr (is_one_of(Shape, 'f', 'F') &&
+                         std::is_floating_point_v<T>) {
+      action(details::parse_number<T, details::chars_format::fixed>());
+    } else if constexpr (is_one_of(Shape, 'g', 'G') &&
+                         std::is_floating_point_v<T>) {
+      action(details::parse_number<T, details::chars_format::general>());
+    } else {
+      static_assert(alignof(T) == 0, "No scan specification for T");
+    }
+
+    return *this;
+  }
+
+  Argument &nargs(std::size_t num_args) {
+    m_num_args_range = NArgsRange{num_args, num_args};
+    return *this;
+  }
+
+  Argument &nargs(std::size_t num_args_min, std::size_t num_args_max) {
+    m_num_args_range = NArgsRange{num_args_min, num_args_max};
+    return *this;
+  }
+
+  Argument &nargs(nargs_pattern pattern) {
+    switch (pattern) {
+    case nargs_pattern::optional:
+      m_num_args_range = NArgsRange{0, 1};
+      break;
+    case nargs_pattern::any:
+      m_num_args_range =
+          NArgsRange{0, (std::numeric_limits<std::size_t>::max)()};
+      break;
+    case nargs_pattern::at_least_one:
+      m_num_args_range =
+          NArgsRange{1, (std::numeric_limits<std::size_t>::max)()};
+      break;
+    }
+    return *this;
+  }
+
+  Argument &remaining() {
+    m_accepts_optional_like_value = true;
+    return nargs(nargs_pattern::any);
+  }
+
+  template <typename T> void add_choice(T &&choice) {
+    static_assert(details::IsChoiceTypeSupported<T>::value,
+                  "Only string or integer type supported for choice");
+    static_assert(std::is_convertible_v<T, std::string_view> ||
+                      details::can_invoke_to_string<T>::value,
+                  "Choice is not convertible to string_type");
+    if (!m_choices.has_value()) {
+      m_choices = std::vector<std::string>{};
+    }
+
+    if constexpr (std::is_convertible_v<T, std::string_view>) {
+      m_choices.value().push_back(
+          std::string{std::string_view{std::forward<T>(choice)}});
+    } else if constexpr (details::can_invoke_to_string<T>::value) {
+      m_choices.value().push_back(std::to_string(std::forward<T>(choice)));
+    }
+  }
+
+  Argument &choices() {
+    if (!m_choices.has_value()) {
+      throw std::runtime_error("Zero choices provided");
+    }
+    return *this;
+  }
+
+  template <typename T, typename... U>
+  Argument &choices(T &&first, U &&... rest) {
+    add_choice(std::forward<T>(first));
+    choices(std::forward<U>(rest)...);
+    return *this;
+  }
+
+  void find_default_value_in_choices_or_throw() const {
+
+    const auto &choices = m_choices.value();
+
+    if (m_default_value.has_value()) {
+      if (std::find(choices.begin(), choices.end(), m_default_value_str) ==
+          choices.end()) {
+        // provided arg not in list of allowed choices
+        // report error
+
+        std::string choices_as_csv =
+            std::accumulate(choices.begin(), choices.end(), std::string(),
+                            [](const std::string &a, const std::string &b) {
+                              return a + (a.empty() ? "" : ", ") + b;
+                            });
+
+        throw std::runtime_error(
+            std::string{"Invalid default value "} + m_default_value_repr +
+            " - allowed options: {" + choices_as_csv + "}");
+      }
+    }
+  }
+
+  template <typename Iterator>
+  void find_value_in_choices_or_throw(Iterator it) const {
+
+    const auto &choices = m_choices.value();
+
+    if (std::find(choices.begin(), choices.end(), *it) == choices.end()) {
+      // provided arg not in list of allowed choices
+      // report error
+
+      std::string choices_as_csv =
+          std::accumulate(choices.begin(), choices.end(), std::string(),
+                          [](const std::string &a, const std::string &b) {
+                            return a + (a.empty() ? "" : ", ") + b;
+                          });
+
+      throw std::runtime_error(std::string{"Invalid argument "} +
+                               details::repr(*it) + " - allowed options: {" +
+                               choices_as_csv + "}");
+    }
+  }
+
+  /* The dry_run parameter can be set to true to avoid running the actions,
+   * and setting m_is_used. This may be used by a pre-processing step to do
+   * a first iteration over arguments.
+   */
+  template <typename Iterator>
+  Iterator consume(Iterator start, Iterator end,
+                   std::string_view used_name = {}, bool dry_run = false) {
+    if (!m_is_repeatable && m_is_used) {
+      throw std::runtime_error(
+          std::string("Duplicate argument ").append(used_name));
+    }
+    m_used_name = used_name;
+
+    if (m_choices.has_value()) {
+      // Check each value in (start, end) and make sure
+      // it is in the list of allowed choices/options
+      std::size_t i = 0;
+      auto max_number_of_args = m_num_args_range.get_max();
+      for (auto it = start; it != end; ++it) {
+        if (i == max_number_of_args) {
+          break;
+        }
+        find_value_in_choices_or_throw(it);
+        i += 1;
+      }
+    }
+
+    const auto num_args_max = m_num_args_range.get_max();
+    const auto num_args_min = m_num_args_range.get_min();
+    std::size_t dist = 0;
+    if (num_args_max == 0) {
+      if (!dry_run) {
+        m_values.emplace_back(m_implicit_value);
+        std::visit([](const auto &f) { f({}); }, m_action);
+        m_is_used = true;
+      }
+      return start;
+    }
+    if ((dist = static_cast<std::size_t>(std::distance(start, end))) >=
+        num_args_min) {
+      if (num_args_max < dist) {
+        end = std::next(start, static_cast<typename Iterator::difference_type>(
+                                   num_args_max));
+      }
+      if (!m_accepts_optional_like_value) {
+        end = std::find_if(
+            start, end,
+            std::bind(is_optional, std::placeholders::_1, m_prefix_chars));
+        dist = static_cast<std::size_t>(std::distance(start, end));
+        if (dist < num_args_min) {
+          throw std::runtime_error("Too few arguments for '" +
+                                   std::string(m_used_name) + "'.");
+        }
+      }
+
+      struct ActionApply {
+        void operator()(valued_action &f) {
+          std::transform(first, last, std::back_inserter(self.m_values), f);
+        }
+
+        void operator()(void_action &f) {
+          std::for_each(first, last, f);
+          if (!self.m_default_value.has_value()) {
+            if (!self.m_accepts_optional_like_value) {
+              self.m_values.resize(
+                  static_cast<std::size_t>(std::distance(first, last)));
+            }
+          }
+        }
+
+        Iterator first, last;
+        Argument &self;
+      };
+      if (!dry_run) {
+        std::visit(ActionApply{start, end, *this}, m_action);
+        m_is_used = true;
+      }
+      return end;
+    }
+    if (m_default_value.has_value()) {
+      if (!dry_run) {
+        m_is_used = true;
+      }
+      return start;
+    }
+    throw std::runtime_error("Too few arguments for '" +
+                             std::string(m_used_name) + "'.");
+  }
+
+  /*
+   * @throws std::runtime_error if argument values are not valid
+   */
+  void validate() const {
+    if (m_is_optional) {
+      // TODO: check if an implicit value was programmed for this argument
+      if (!m_is_used && !m_default_value.has_value() && m_is_required) {
+        throw_required_arg_not_used_error();
+      }
+      if (m_is_used && m_is_required && m_values.empty()) {
+        throw_required_arg_no_value_provided_error();
+      }
+    } else {
+      if (!m_num_args_range.contains(m_values.size()) &&
+          !m_default_value.has_value()) {
+        throw_nargs_range_validation_error();
+      }
+    }
+
+    if (m_choices.has_value()) {
+      // Make sure the default value (if provided)
+      // is in the list of choices
+      find_default_value_in_choices_or_throw();
+    }
+  }
+
+  std::string get_names_csv(char separator = ',') const {
+    return std::accumulate(
+        m_names.begin(), m_names.end(), std::string{""},
+        [&](const std::string &result, const std::string &name) {
+          return result.empty() ? name : result + separator + name;
+        });
+  }
+
+  std::string get_usage_full() const {
+    std::stringstream usage;
+
+    usage << get_names_csv('/');
+    const std::string metavar = !m_metavar.empty() ? m_metavar : "VAR";
+    if (m_num_args_range.get_max() > 0) {
+      usage << " " << metavar;
+      if (m_num_args_range.get_max() > 1) {
+        usage << "...";
+      }
+    }
+    return usage.str();
+  }
+
+  std::string get_inline_usage() const {
+    std::stringstream usage;
+    // Find the longest variant to show in the usage string
+    std::string longest_name = m_names.front();
+    for (const auto &s : m_names) {
+      if (s.size() > longest_name.size()) {
+        longest_name = s;
+      }
+    }
+    if (!m_is_required) {
+      usage << "[";
+    }
+    usage << longest_name;
+    const std::string metavar = !m_metavar.empty() ? m_metavar : "VAR";
+    if (m_num_args_range.get_max() > 0) {
+      usage << " " << metavar;
+      if (m_num_args_range.get_max() > 1 &&
+          m_metavar.find("> <") == std::string::npos) {
+        usage << "...";
+      }
+    }
+    if (!m_is_required) {
+      usage << "]";
+    }
+    if (m_is_repeatable) {
+      usage << "...";
+    }
+    return usage.str();
+  }
+
+  std::size_t get_arguments_length() const {
+
+    std::size_t names_size = std::accumulate(
+        std::begin(m_names), std::end(m_names), std::size_t(0),
+        [](const auto &sum, const auto &s) { return sum + s.size(); });
+
+    if (is_positional(m_names.front(), m_prefix_chars)) {
+      // A set metavar means this replaces the names
+      if (!m_metavar.empty()) {
+        // Indent and metavar
+        return 2 + m_metavar.size();
+      }
+
+      // Indent and space-separated
+      return 2 + names_size + (m_names.size() - 1);
+    }
+    // Is an option - include both names _and_ metavar
+    // size = text + (", " between names)
+    std::size_t size = names_size + 2 * (m_names.size() - 1);
+    if (!m_metavar.empty() && m_num_args_range == NArgsRange{1, 1}) {
+      size += m_metavar.size() + 1;
+    }
+    return size + 2; // indent
+  }
+
+  friend std::ostream &operator<<(std::ostream &stream,
+                                  const Argument &argument) {
+    std::stringstream name_stream;
+    name_stream << "  "; // indent
+    if (argument.is_positional(argument.m_names.front(),
+                               argument.m_prefix_chars)) {
+      if (!argument.m_metavar.empty()) {
+        name_stream << argument.m_metavar;
+      } else {
+        name_stream << details::join(argument.m_names.begin(),
+                                     argument.m_names.end(), " ");
+      }
+    } else {
+      name_stream << details::join(argument.m_names.begin(),
+                                   argument.m_names.end(), ", ");
+      // If we have a metavar, and one narg - print the metavar
+      if (!argument.m_metavar.empty() &&
+          argument.m_num_args_range == NArgsRange{1, 1}) {
+        name_stream << " " << argument.m_metavar;
+      }
+      else if (!argument.m_metavar.empty() &&
+               argument.m_num_args_range.get_min() == argument.m_num_args_range.get_max() &&
+               argument.m_metavar.find("> <") != std::string::npos) {
+        name_stream << " " << argument.m_metavar;
+      }
+    }
+
+    // align multiline help message
+    auto stream_width = stream.width();
+    auto name_padding = std::string(name_stream.str().size(), ' ');
+    auto pos = std::string::size_type{};
+    auto prev = std::string::size_type{};
+    auto first_line = true;
+    auto hspace = "  "; // minimal space between name and help message
+    stream << name_stream.str();
+    std::string_view help_view(argument.m_help);
+    while ((pos = argument.m_help.find('\n', prev)) != std::string::npos) {
+      auto line = help_view.substr(prev, pos - prev + 1);
+      if (first_line) {
+        stream << hspace << line;
+        first_line = false;
+      } else {
+        stream.width(stream_width);
+        stream << name_padding << hspace << line;
+      }
+      prev += pos - prev + 1;
+    }
+    if (first_line) {
+      stream << hspace << argument.m_help;
+    } else {
+      auto leftover = help_view.substr(prev, argument.m_help.size() - prev);
+      if (!leftover.empty()) {
+        stream.width(stream_width);
+        stream << name_padding << hspace << leftover;
+      }
+    }
+
+    // print nargs spec
+    if (!argument.m_help.empty()) {
+      stream << " ";
+    }
+    stream << argument.m_num_args_range;
+
+    bool add_space = false;
+    if (argument.m_default_value.has_value() &&
+        argument.m_num_args_range != NArgsRange{0, 0}) {
+      stream << "[default: " << argument.m_default_value_repr << "]";
+      add_space = true;
+    } else if (argument.m_is_required) {
+      stream << "[required]";
+      add_space = true;
+    }
+    if (argument.m_is_repeatable) {
+      if (add_space) {
+        stream << " ";
+      }
+      stream << "[may be repeated]";
+    }
+    stream << "\n";
+    return stream;
+  }
+
+  template <typename T> bool operator!=(const T &rhs) const {
+    return !(*this == rhs);
+  }
+
+  /*
+   * Compare to an argument value of known type
+   * @throws std::logic_error in case of incompatible types
+   */
+  template <typename T> bool operator==(const T &rhs) const {
+    if constexpr (!details::IsContainer<T>) {
+      return get<T>() == rhs;
+    } else {
+      using ValueType = typename T::value_type;
+      auto lhs = get<T>();
+      return std::equal(std::begin(lhs), std::end(lhs), std::begin(rhs),
+                        std::end(rhs), [](const auto &a, const auto &b) {
+                          return std::any_cast<const ValueType &>(a) == b;
+                        });
+    }
+  }
+
+  /*
+   * positional:
+   *    _empty_
+   *    '-'
+   *    '-' decimal-literal
+   *    !'-' anything
+   */
+  static bool is_positional(std::string_view name,
+                            std::string_view prefix_chars) {
+    auto first = lookahead(name);
+
+    if (first == eof) {
+      return true;
+    }
+    if (prefix_chars.find(static_cast<char>(first)) !=
+                          std::string_view::npos) {
+      name.remove_prefix(1);
+      if (name.empty()) {
+        return true;
+      }
+      return is_decimal_literal(name);
+    }
+    return true;
+  }
+
+private:
+  class NArgsRange {
+    std::size_t m_min;
+    std::size_t m_max;
+
+  public:
+    NArgsRange(std::size_t minimum, std::size_t maximum)
+        : m_min(minimum), m_max(maximum) {
+      if (minimum > maximum) {
+        throw std::logic_error("Range of number of arguments is invalid");
+      }
+    }
+
+    bool contains(std::size_t value) const {
+      return value >= m_min && value <= m_max;
+    }
+
+    bool is_exact() const { return m_min == m_max; }
+
+    bool is_right_bounded() const {
+      return m_max < (std::numeric_limits<std::size_t>::max)();
+    }
+
+    std::size_t get_min() const { return m_min; }
+
+    std::size_t get_max() const { return m_max; }
+
+    // Print help message
+    friend auto operator<<(std::ostream &stream, const NArgsRange &range)
+        -> std::ostream & {
+      if (range.m_min == range.m_max) {
+        if (range.m_min != 0 && range.m_min != 1) {
+          stream << "[nargs: " << range.m_min << "] ";
+        }
+      } else {
+        if (range.m_max == (std::numeric_limits<std::size_t>::max)()) {
+          stream << "[nargs: " << range.m_min << " or more] ";
+        } else {
+          stream << "[nargs=" << range.m_min << ".." << range.m_max << "] ";
+        }
+      }
+      return stream;
+    }
+
+    bool operator==(const NArgsRange &rhs) const {
+      return rhs.m_min == m_min && rhs.m_max == m_max;
+    }
+
+    bool operator!=(const NArgsRange &rhs) const { return !(*this == rhs); }
+  };
+
+  void throw_nargs_range_validation_error() const {
+    std::stringstream stream;
+    if (!m_used_name.empty()) {
+      stream << m_used_name << ": ";
+    } else {
+      stream << m_names.front() << ": ";
+    }
+    if (m_num_args_range.is_exact()) {
+      stream << m_num_args_range.get_min();
+    } else if (m_num_args_range.is_right_bounded()) {
+      stream << m_num_args_range.get_min() << " to "
+             << m_num_args_range.get_max();
+    } else {
+      stream << m_num_args_range.get_min() << " or more";
+    }
+    stream << " argument(s) expected. " << m_values.size() << " provided.";
+    throw std::runtime_error(stream.str());
+  }
+
+  void throw_required_arg_not_used_error() const {
+    std::stringstream stream;
+    stream << m_names.front() << ": required.";
+    throw std::runtime_error(stream.str());
+  }
+
+  void throw_required_arg_no_value_provided_error() const {
+    std::stringstream stream;
+    stream << m_used_name << ": no value provided.";
+    throw std::runtime_error(stream.str());
+  }
+
+  static constexpr int eof = std::char_traits<char>::eof();
+
+  static auto lookahead(std::string_view s) -> int {
+    if (s.empty()) {
+      return eof;
+    }
+    return static_cast<int>(static_cast<unsigned char>(s[0]));
+  }
+
+  /*
+   * decimal-literal:
+   *    '0'
+   *    nonzero-digit digit-sequence_opt
+   *    integer-part fractional-part
+   *    fractional-part
+   *    integer-part '.' exponent-part_opt
+   *    integer-part exponent-part
+   *
+   * integer-part:
+   *    digit-sequence
+   *
+   * fractional-part:
+   *    '.' post-decimal-point
+   *
+   * post-decimal-point:
+   *    digit-sequence exponent-part_opt
+   *
+   * exponent-part:
+   *    'e' post-e
+   *    'E' post-e
+   *
+   * post-e:
+   *    sign_opt digit-sequence
+   *
+   * sign: one of
+   *    '+' '-'
+   */
+  static bool is_decimal_literal(std::string_view s) {
+    auto is_digit = [](auto c) constexpr {
+      switch (c) {
+      case '0':
+      case '1':
+      case '2':
+      case '3':
+      case '4':
+      case '5':
+      case '6':
+      case '7':
+      case '8':
+      case '9':
+        return true;
+      default:
+        return false;
+      }
+    };
+
+    // precondition: we have consumed or will consume at least one digit
+    auto consume_digits = [=](std::string_view sd) {
+      // NOLINTNEXTLINE(readability-qualified-auto)
+      auto it = std::find_if_not(std::begin(sd), std::end(sd), is_digit);
+      return sd.substr(static_cast<std::size_t>(it - std::begin(sd)));
+    };
+
+    switch (lookahead(s)) {
+    case '0': {
+      s.remove_prefix(1);
+      if (s.empty()) {
+        return true;
+      }
+      goto integer_part;
+    }
+    case '1':
+    case '2':
+    case '3':
+    case '4':
+    case '5':
+    case '6':
+    case '7':
+    case '8':
+    case '9': {
+      s = consume_digits(s);
+      if (s.empty()) {
+        return true;
+      }
+      goto integer_part_consumed;
+    }
+    case '.': {
+      s.remove_prefix(1);
+      goto post_decimal_point;
+    }
+    default:
+      return false;
+    }
+
+  integer_part:
+    s = consume_digits(s);
+  integer_part_consumed:
+    switch (lookahead(s)) {
+    case '.': {
+      s.remove_prefix(1);
+      if (is_digit(lookahead(s))) {
+        goto post_decimal_point;
+      } else {
+        goto exponent_part_opt;
+      }
+    }
+    case 'e':
+    case 'E': {
+      s.remove_prefix(1);
+      goto post_e;
+    }
+    default:
+      return false;
+    }
+
+  post_decimal_point:
+    if (is_digit(lookahead(s))) {
+      s = consume_digits(s);
+      goto exponent_part_opt;
+    }
+    return false;
+
+  exponent_part_opt:
+    switch (lookahead(s)) {
+    case eof:
+      return true;
+    case 'e':
+    case 'E': {
+      s.remove_prefix(1);
+      goto post_e;
+    }
+    default:
+      return false;
+    }
+
+  post_e:
+    switch (lookahead(s)) {
+    case '-':
+    case '+':
+      s.remove_prefix(1);
+    }
+    if (is_digit(lookahead(s))) {
+      s = consume_digits(s);
+      return s.empty();
+    }
+    return false;
+  }
+
+  static bool is_optional(std::string_view name,
+                          std::string_view prefix_chars) {
+    return !is_positional(name, prefix_chars);
+  }
+
+  /*
+   * Get argument value given a type
+   * @throws std::logic_error in case of incompatible types
+   */
+  template <typename T> T get() const {
+    if (!m_values.empty()) {
+      if constexpr (details::IsContainer<T>) {
+        return any_cast_container<T>(m_values);
+      } else {
+        return std::any_cast<T>(m_values.front());
+      }
+    }
+    if (m_default_value.has_value()) {
+      return std::any_cast<T>(m_default_value);
+    }
+    if constexpr (details::IsContainer<T>) {
+      if (!m_accepts_optional_like_value) {
+        return any_cast_container<T>(m_values);
+      }
+    }
+
+    throw std::logic_error("No value provided for '" + m_names.back() + "'.");
+  }
+
+  /*
+   * Get argument value given a type.
+   * @pre The object has no default value.
+   * @returns The stored value if any, std::nullopt otherwise.
+   */
+  template <typename T> auto present() const -> std::optional<T> {
+    if (m_default_value.has_value()) {
+      throw std::logic_error("Argument with default value always presents");
+    }
+    if (m_values.empty()) {
+      return std::nullopt;
+    }
+    if constexpr (details::IsContainer<T>) {
+      return any_cast_container<T>(m_values);
+    }
+    return std::any_cast<T>(m_values.front());
+  }
+
+  template <typename T>
+  static auto any_cast_container(const std::vector<std::any> &operand) -> T {
+    using ValueType = typename T::value_type;
+
+    T result;
+    std::transform(
+        std::begin(operand), std::end(operand), std::back_inserter(result),
+        [](const auto &value) { return std::any_cast<ValueType>(value); });
+    return result;
+  }
+
+  void set_usage_newline_counter(int i) { m_usage_newline_counter = i; }
+
+  void set_group_idx(std::size_t i) { m_group_idx = i; }
+
+  std::vector<std::string> m_names;
+  std::string_view m_used_name;
+  std::string m_help;
+  std::string m_metavar;
+  std::any m_default_value;
+  std::string m_default_value_repr;
+  std::optional<std::string>
+      m_default_value_str; // used for checking default_value against choices
+  std::any m_implicit_value;
+  std::optional<std::vector<std::string>> m_choices{std::nullopt};
+  using valued_action = std::function<std::any(const std::string &)>;
+  using void_action = std::function<void(const std::string &)>;
+  std::variant<valued_action, void_action> m_action{
+      std::in_place_type<valued_action>,
+      [](const std::string &value) { return value; }};
+  std::vector<std::any> m_values;
+  NArgsRange m_num_args_range{1, 1};
+  // Bit field of bool values. Set default value in ctor.
+  bool m_accepts_optional_like_value : 1;
+  bool m_is_optional : 1;
+  bool m_is_required : 1;
+  bool m_is_repeatable : 1;
+  bool m_is_used : 1;
+  bool m_is_hidden : 1;            // if set, does not appear in usage or help
+  std::string_view m_prefix_chars; // ArgumentParser has the prefix_chars
+  int m_usage_newline_counter = 0;
+  std::size_t m_group_idx = 0;
+};
+
+class ArgumentParser {
+public:
+  explicit ArgumentParser(std::string program_name = {},
+                          std::string version = "1.0",
+                          default_arguments add_args = default_arguments::all,
+                          bool exit_on_default_arguments = true,
+                          std::ostream &os = std::cout)
+      : m_program_name(std::move(program_name)), m_version(std::move(version)),
+        m_exit_on_default_arguments(exit_on_default_arguments),
+        m_parser_path(m_program_name) {
+    if ((add_args & default_arguments::help) == default_arguments::help) {
+      add_argument("-h", "--help")
+          .action([&](const auto & /*unused*/) {
+            os << help().str();
+            if (m_exit_on_default_arguments) {
+              std::exit(0);
+            }
+          })
+          .default_value(false)
+          .help("shows help message and exits")
+          .implicit_value(true)
+          .nargs(0);
+    }
+    if ((add_args & default_arguments::version) == default_arguments::version) {
+      add_argument("-v", "--version")
+          .action([&](const auto & /*unused*/) {
+            os << m_version << std::endl;
+            if (m_exit_on_default_arguments) {
+              std::exit(0);
+            }
+          })
+          .default_value(false)
+          .help("prints version information and exits")
+          .implicit_value(true)
+          .nargs(0);
+    }
+  }
+
+  ~ArgumentParser() = default;
+
+  // ArgumentParser is meant to be used in a single function.
+  // Setup everything and parse arguments in one place.
+  //
+  // ArgumentParser internally uses std::string_views,
+  // references, iterators, etc.
+  // Many of these elements become invalidated after a copy or move.
+  ArgumentParser(const ArgumentParser &other) = delete;
+  ArgumentParser &operator=(const ArgumentParser &other) = delete;
+  ArgumentParser(ArgumentParser &&) noexcept = delete;
+  ArgumentParser &operator=(ArgumentParser &&) = delete;
+
+  explicit operator bool() const {
+    auto arg_used = std::any_of(m_argument_map.cbegin(), m_argument_map.cend(),
+                                [](auto &it) { return it.second->m_is_used; });
+    auto subparser_used =
+        std::any_of(m_subparser_used.cbegin(), m_subparser_used.cend(),
+                    [](auto &it) { return it.second; });
+
+    return m_is_parsed && (arg_used || subparser_used);
+  }
+
+  // Parameter packing
+  // Call add_argument with variadic number of string arguments
+  template <typename... Targs> Argument &add_argument(Targs... f_args) {
+    using array_of_sv = std::array<std::string_view, sizeof...(Targs)>;
+    auto argument =
+        m_optional_arguments.emplace(std::cend(m_optional_arguments),
+                                     m_prefix_chars, array_of_sv{f_args...});
+
+    if (!argument->m_is_optional) {
+      m_positional_arguments.splice(std::cend(m_positional_arguments),
+                                    m_optional_arguments, argument);
+    }
+    argument->set_usage_newline_counter(m_usage_newline_counter);
+    argument->set_group_idx(m_group_names.size());
+
+    index_argument(argument);
+    return *argument;
+  }
+
+  class MutuallyExclusiveGroup {
+    friend class ArgumentParser;
+
+  public:
+    MutuallyExclusiveGroup() = delete;
+
+    explicit MutuallyExclusiveGroup(ArgumentParser &parent,
+                                    bool required = false)
+        : m_parent(parent), m_required(required), m_elements({}) {}
+
+    MutuallyExclusiveGroup(const MutuallyExclusiveGroup &other) = delete;
+    MutuallyExclusiveGroup &
+    operator=(const MutuallyExclusiveGroup &other) = delete;
+
+    MutuallyExclusiveGroup(MutuallyExclusiveGroup &&other) noexcept
+        : m_parent(other.m_parent), m_required(other.m_required),
+          m_elements(std::move(other.m_elements)) {
+      other.m_elements.clear();
+    }
+
+    template <typename... Targs> Argument &add_argument(Targs... f_args) {
+      auto &argument = m_parent.add_argument(std::forward<Targs>(f_args)...);
+      m_elements.push_back(&argument);
+      argument.set_usage_newline_counter(m_parent.m_usage_newline_counter);
+      argument.set_group_idx(m_parent.m_group_names.size());
+      return argument;
+    }
+
+  private:
+    ArgumentParser &m_parent;
+    bool m_required{false};
+    std::vector<Argument *> m_elements{};
+  };
+
+  MutuallyExclusiveGroup &add_mutually_exclusive_group(bool required = false) {
+    m_mutually_exclusive_groups.emplace_back(*this, required);
+    return m_mutually_exclusive_groups.back();
+  }
+
+  // Parameter packed add_parents method
+  // Accepts a variadic number of ArgumentParser objects
+  template <typename... Targs>
+  ArgumentParser &add_parents(const Targs &... f_args) {
+    for (const ArgumentParser &parent_parser : {std::ref(f_args)...}) {
+      for (const auto &argument : parent_parser.m_positional_arguments) {
+        auto it = m_positional_arguments.insert(
+            std::cend(m_positional_arguments), argument);
+        index_argument(it);
+      }
+      for (const auto &argument : parent_parser.m_optional_arguments) {
+        auto it = m_optional_arguments.insert(std::cend(m_optional_arguments),
+                                              argument);
+        index_argument(it);
+      }
+    }
+    return *this;
+  }
+
+  // Ask for the next optional arguments to be displayed on a separate
+  // line in usage() output. Only effective if set_usage_max_line_width() is
+  // also used.
+  ArgumentParser &add_usage_newline() {
+    ++m_usage_newline_counter;
+    return *this;
+  }
+
+  // Ask for the next optional arguments to be displayed in a separate section
+  // in usage() and help (<< *this) output.
+  // For usage(), this is only effective if set_usage_max_line_width() is
+  // also used.
+  ArgumentParser &add_group(std::string group_name) {
+    m_group_names.emplace_back(std::move(group_name));
+    return *this;
+  }
+
+  ArgumentParser &add_description(std::string description) {
+    m_description = std::move(description);
+    return *this;
+  }
+
+  ArgumentParser &add_epilog(std::string epilog) {
+    m_epilog = std::move(epilog);
+    return *this;
+  }
+
+  // Add a un-documented/hidden alias for an argument.
+  // Ideally we'd want this to be a method of Argument, but Argument
+  // does not own its owing ArgumentParser.
+  ArgumentParser &add_hidden_alias_for(Argument &arg, std::string_view alias) {
+    for (auto it = m_optional_arguments.begin();
+         it != m_optional_arguments.end(); ++it) {
+      if (&(*it) == &arg) {
+        m_argument_map.insert_or_assign(std::string(alias), it);
+        return *this;
+      }
+    }
+    throw std::logic_error(
+        "Argument is not an optional argument of this parser");
+  }
+
+  /* Getter for arguments and subparsers.
+   * @throws std::logic_error in case of an invalid argument or subparser name
+   */
+  template <typename T = Argument> T &at(std::string_view name) {
+    if constexpr (std::is_same_v<T, Argument>) {
+      return (*this)[name];
+    } else {
+      std::string str_name(name);
+      auto subparser_it = m_subparser_map.find(str_name);
+      if (subparser_it != m_subparser_map.end()) {
+        return subparser_it->second->get();
+      }
+      throw std::logic_error("No such subparser: " + str_name);
+    }
+  }
+
+  ArgumentParser &set_prefix_chars(std::string prefix_chars) {
+    m_prefix_chars = std::move(prefix_chars);
+    return *this;
+  }
+
+  ArgumentParser &set_assign_chars(std::string assign_chars) {
+    m_assign_chars = std::move(assign_chars);
+    return *this;
+  }
+
+  /* Call parse_args_internal - which does all the work
+   * Then, validate the parsed arguments
+   * This variant is used mainly for testing
+   * @throws std::runtime_error in case of any invalid argument
+   */
+  void parse_args(const std::vector<std::string> &arguments) {
+    parse_args_internal(arguments);
+    // Check if all arguments are parsed
+    for ([[maybe_unused]] const auto &[unused, argument] : m_argument_map) {
+      argument->validate();
+    }
+
+    // Check each mutually exclusive group and make sure
+    // there are no constraint violations
+    for (const auto &group : m_mutually_exclusive_groups) {
+      auto mutex_argument_used{false};
+      Argument *mutex_argument_it{nullptr};
+      for (Argument *arg : group.m_elements) {
+        if (!mutex_argument_used && arg->m_is_used) {
+          mutex_argument_used = true;
+          mutex_argument_it = arg;
+        } else if (mutex_argument_used && arg->m_is_used) {
+          // Violation
+          throw std::runtime_error("Argument '" + arg->get_usage_full() +
+                                   "' not allowed with '" +
+                                   mutex_argument_it->get_usage_full() + "'");
+        }
+      }
+
+      if (!mutex_argument_used && group.m_required) {
+        // at least one argument from the group is
+        // required
+        std::string argument_names{};
+        std::size_t i = 0;
+        std::size_t size = group.m_elements.size();
+        for (Argument *arg : group.m_elements) {
+          if (i + 1 == size) {
+            // last
+            argument_names += std::string("'") + arg->get_usage_full() + std::string("' ");
+          } else {
+            argument_names += std::string("'") + arg->get_usage_full() + std::string("' or ");
+          }
+          i += 1;
+        }
+        throw std::runtime_error("One of the arguments " + argument_names +
+                                 "is required");
+      }
+    }
+  }
+
+  /* Call parse_known_args_internal - which does all the work
+   * Then, validate the parsed arguments
+   * This variant is used mainly for testing
+   * @throws std::runtime_error in case of any invalid argument
+   */
+  std::vector<std::string>
+  parse_known_args(const std::vector<std::string> &arguments) {
+    auto unknown_arguments = parse_known_args_internal(arguments);
+    // Check if all arguments are parsed
+    for ([[maybe_unused]] const auto &[unused, argument] : m_argument_map) {
+      argument->validate();
+    }
+    return unknown_arguments;
+  }
+
+  /* Main entry point for parsing command-line arguments using this
+   * ArgumentParser
+   * @throws std::runtime_error in case of any invalid argument
+   */
+  // NOLINTNEXTLINE(cppcoreguidelines-avoid-c-arrays)
+  void parse_args(int argc, const char *const argv[]) {
+    parse_args({argv, argv + argc});
+  }
+
+  /* Main entry point for parsing command-line arguments using this
+   * ArgumentParser
+   * @throws std::runtime_error in case of any invalid argument
+   */
+  // NOLINTNEXTLINE(cppcoreguidelines-avoid-c-arrays)
+  auto parse_known_args(int argc, const char *const argv[]) {
+    return parse_known_args({argv, argv + argc});
+  }
+
+  /* Getter for options with default values.
+   * @throws std::logic_error if parse_args() has not been previously called
+   * @throws std::logic_error if there is no such option
+   * @throws std::logic_error if the option has no value
+   * @throws std::bad_any_cast if the option is not of type T
+   */
+  template <typename T = std::string> T get(std::string_view arg_name) const {
+    if (!m_is_parsed) {
+      throw std::logic_error("Nothing parsed, no arguments are available.");
+    }
+    return (*this)[arg_name].get<T>();
+  }
+
+  /* Getter for options without default values.
+   * @pre The option has no default value.
+   * @throws std::logic_error if there is no such option
+   * @throws std::bad_any_cast if the option is not of type T
+   */
+  template <typename T = std::string>
+  auto present(std::string_view arg_name) const -> std::optional<T> {
+    return (*this)[arg_name].present<T>();
+  }
+
+  /* Getter that returns true for user-supplied options. Returns false if not
+   * user-supplied, even with a default value.
+   */
+  auto is_used(std::string_view arg_name) const {
+    return (*this)[arg_name].m_is_used;
+  }
+
+  /* Getter that returns true if a subcommand is used.
+   */
+  auto is_subcommand_used(std::string_view subcommand_name) const {
+    return m_subparser_used.at(std::string(subcommand_name));
+  }
+
+  /* Getter that returns true if a subcommand is used.
+   */
+  auto is_subcommand_used(const ArgumentParser &subparser) const {
+    return is_subcommand_used(subparser.m_program_name);
+  }
+
+  /* Indexing operator. Return a reference to an Argument object
+   * Used in conjunction with Argument.operator== e.g., parser["foo"] == true
+   * @throws std::logic_error in case of an invalid argument name
+   */
+  Argument &operator[](std::string_view arg_name) const {
+    std::string name(arg_name);
+    auto it = m_argument_map.find(name);
+    if (it != m_argument_map.end()) {
+      return *(it->second);
+    }
+    if (!is_valid_prefix_char(arg_name.front())) {
+      const auto legal_prefix_char = get_any_valid_prefix_char();
+      const auto prefix = std::string(1, legal_prefix_char);
+
+      // "-" + arg_name
+      name = prefix + name;
+      it = m_argument_map.find(name);
+      if (it != m_argument_map.end()) {
+        return *(it->second);
+      }
+      // "--" + arg_name
+      name = prefix + name;
+      it = m_argument_map.find(name);
+      if (it != m_argument_map.end()) {
+        return *(it->second);
+      }
+    }
+    throw std::logic_error("No such argument: " + std::string(arg_name));
+  }
+
+  // Print help message
+  friend auto operator<<(std::ostream &stream, const ArgumentParser &parser)
+      -> std::ostream & {
+    stream.setf(std::ios_base::left);
+
+    auto longest_arg_length = parser.get_length_of_longest_argument();
+
+    stream << parser.usage() << "\n\n";
+
+    if (!parser.m_description.empty()) {
+      stream << parser.m_description << "\n\n";
+    }
+
+    const bool has_visible_positional_args = std::find_if(
+      parser.m_positional_arguments.begin(),
+      parser.m_positional_arguments.end(),
+      [](const auto &argument) {
+      return !argument.m_is_hidden; }) !=
+      parser.m_positional_arguments.end();
+    if (has_visible_positional_args) {
+      stream << "Positional arguments:\n";
+    }
+
+    for (const auto &argument : parser.m_positional_arguments) {
+      if (!argument.m_is_hidden) {
+        stream.width(static_cast<std::streamsize>(longest_arg_length));
+        stream << argument;
+      }
+    }
+
+    if (!parser.m_optional_arguments.empty()) {
+      stream << (!has_visible_positional_args ? "" : "\n")
+             << "Optional arguments:\n";
+    }
+
+    for (const auto &argument : parser.m_optional_arguments) {
+      if (argument.m_group_idx == 0 && !argument.m_is_hidden) {
+        stream.width(static_cast<std::streamsize>(longest_arg_length));
+        stream << argument;
+      }
+    }
+
+    for (size_t i_group = 0; i_group < parser.m_group_names.size(); ++i_group) {
+      stream << "\n" << parser.m_group_names[i_group] << " (detailed usage):\n";
+      for (const auto &argument : parser.m_optional_arguments) {
+        if (argument.m_group_idx == i_group + 1 && !argument.m_is_hidden) {
+          stream.width(static_cast<std::streamsize>(longest_arg_length));
+          stream << argument;
+        }
+      }
+    }
+
+    bool has_visible_subcommands = std::any_of(
+        parser.m_subparser_map.begin(), parser.m_subparser_map.end(),
+        [](auto &p) { return !p.second->get().m_suppress; });
+
+    if (has_visible_subcommands) {
+      stream << (parser.m_positional_arguments.empty()
+                     ? (parser.m_optional_arguments.empty() ? "" : "\n")
+                     : "\n")
+             << "Subcommands:\n";
+      for (const auto &[command, subparser] : parser.m_subparser_map) {
+        if (subparser->get().m_suppress) {
+          continue;
+        }
+
+        stream << std::setw(2) << " ";
+        stream << std::setw(static_cast<int>(longest_arg_length - 2))
+               << command;
+        stream << " " << subparser->get().m_description << "\n";
+      }
+    }
+
+    if (!parser.m_epilog.empty()) {
+      stream << '\n';
+      stream << parser.m_epilog << "\n\n";
+    }
+
+    return stream;
+  }
+
+  // Format help message
+  auto help() const -> std::stringstream {
+    std::stringstream out;
+    out << *this;
+    return out;
+  }
+
+  // Sets the maximum width for a line of the Usage message
+  ArgumentParser &set_usage_max_line_width(size_t w) {
+    this->m_usage_max_line_width = w;
+    return *this;
+  }
+
+  // Asks to display arguments of mutually exclusive group on separate lines in
+  // the Usage message
+  ArgumentParser &set_usage_break_on_mutex() {
+    this->m_usage_break_on_mutex = true;
+    return *this;
+  }
+
+  // Format usage part of help only
+  auto usage() const -> std::string {
+    std::stringstream stream;
+
+    std::string curline("Usage: ");
+    curline += this->m_program_name;
+    const bool multiline_usage =
+        this->m_usage_max_line_width < (std::numeric_limits<std::size_t>::max)();
+    const size_t indent_size = curline.size();
+
+    const auto deal_with_options_of_group = [&](std::size_t group_idx) {
+      bool found_options = false;
+      // Add any options inline here
+      const MutuallyExclusiveGroup *cur_mutex = nullptr;
+      int usage_newline_counter = -1;
+      for (const auto &argument : this->m_optional_arguments) {
+        if (argument.m_is_hidden) {
+          continue;
+        }
+        if (multiline_usage) {
+          if (argument.m_group_idx != group_idx) {
+            continue;
+          }
+          if (usage_newline_counter != argument.m_usage_newline_counter) {
+            if (usage_newline_counter >= 0) {
+              if (curline.size() > indent_size) {
+                stream << curline << std::endl;
+                curline = std::string(indent_size, ' ');
+              }
+            }
+            usage_newline_counter = argument.m_usage_newline_counter;
+          }
+        }
+        found_options = true;
+        const std::string arg_inline_usage = argument.get_inline_usage();
+        const MutuallyExclusiveGroup *arg_mutex =
+            get_belonging_mutex(&argument);
+        if ((cur_mutex != nullptr) && (arg_mutex == nullptr)) {
+          curline += ']';
+          if (this->m_usage_break_on_mutex) {
+            stream << curline << std::endl;
+            curline = std::string(indent_size, ' ');
+          }
+        } else if ((cur_mutex == nullptr) && (arg_mutex != nullptr)) {
+          if ((this->m_usage_break_on_mutex && curline.size() > indent_size) ||
+              curline.size() + 3 + arg_inline_usage.size() >
+                  this->m_usage_max_line_width) {
+            stream << curline << std::endl;
+            curline = std::string(indent_size, ' ');
+          }
+          curline += " [";
+        } else if ((cur_mutex != nullptr) && (arg_mutex != nullptr)) {
+          if (cur_mutex != arg_mutex) {
+            curline += ']';
+            if (this->m_usage_break_on_mutex ||
+                curline.size() + 3 + arg_inline_usage.size() >
+                    this->m_usage_max_line_width) {
+              stream << curline << std::endl;
+              curline = std::string(indent_size, ' ');
+            }
+            curline += " [";
+          } else {
+            curline += '|';
+          }
+        }
+        cur_mutex = arg_mutex;
+        if (curline.size() + 1 + arg_inline_usage.size() >
+            this->m_usage_max_line_width) {
+          stream << curline << std::endl;
+          curline = std::string(indent_size, ' ');
+          curline += " ";
+        } else if (cur_mutex == nullptr) {
+          curline += " ";
+        }
+        curline += arg_inline_usage;
+      }
+      if (cur_mutex != nullptr) {
+        curline += ']';
+      }
+      return found_options;
+    };
+
+    const bool found_options = deal_with_options_of_group(0);
+
+    if (found_options && multiline_usage &&
+        !this->m_positional_arguments.empty()) {
+      stream << curline << std::endl;
+      curline = std::string(indent_size, ' ');
+    }
+    // Put positional arguments after the optionals
+    for (const auto &argument : this->m_positional_arguments) {
+      if (argument.m_is_hidden) {
+        continue;
+      }
+      const std::string pos_arg = !argument.m_metavar.empty()
+                                      ? argument.m_metavar
+                                      : argument.m_names.front();
+      if (curline.size() + 1 + pos_arg.size() > this->m_usage_max_line_width) {
+        stream << curline << std::endl;
+        curline = std::string(indent_size, ' ');
+      }
+      curline += " ";
+      if (argument.m_num_args_range.get_min() == 0 &&
+          !argument.m_num_args_range.is_right_bounded()) {
+        curline += "[";
+        curline += pos_arg;
+        curline += "]...";
+      } else if (argument.m_num_args_range.get_min() == 1 &&
+                 !argument.m_num_args_range.is_right_bounded()) {
+        curline += pos_arg;
+        curline += "...";
+      } else {
+        curline += pos_arg;
+      }
+    }
+
+    if (multiline_usage) {
+      // Display options of other groups
+      for (std::size_t i = 0; i < m_group_names.size(); ++i) {
+        stream << curline << std::endl << std::endl;
+        stream << m_group_names[i] << ":" << std::endl;
+        curline = std::string(indent_size, ' ');
+        deal_with_options_of_group(i + 1);
+      }
+    }
+
+    stream << curline;
+
+    // Put subcommands after positional arguments
+    if (!m_subparser_map.empty()) {
+      stream << " {";
+      std::size_t i{0};
+      for (const auto &[command, subparser] : m_subparser_map) {
+        if (subparser->get().m_suppress) {
+          continue;
+        }
+
+        if (i == 0) {
+          stream << command;
+        } else {
+          stream << "," << command;
+        }
+        ++i;
+      }
+      stream << "}";
+    }
+
+    return stream.str();
+  }
+
+  // Printing the one and only help message
+  // I've stuck with a simple message format, nothing fancy.
+  [[deprecated("Use cout << program; instead.  See also help().")]] std::string
+  print_help() const {
+    auto out = help();
+    std::cout << out.rdbuf();
+    return out.str();
+  }
+
+  void add_subparser(ArgumentParser &parser) {
+    parser.m_parser_path = m_program_name + " " + parser.m_program_name;
+    auto it = m_subparsers.emplace(std::cend(m_subparsers), parser);
+    m_subparser_map.insert_or_assign(parser.m_program_name, it);
+    m_subparser_used.insert_or_assign(parser.m_program_name, false);
+  }
+
+  void set_suppress(bool suppress) { m_suppress = suppress; }
+
+protected:
+  const MutuallyExclusiveGroup *get_belonging_mutex(const Argument *arg) const {
+    for (const auto &mutex : m_mutually_exclusive_groups) {
+      if (std::find(mutex.m_elements.begin(), mutex.m_elements.end(), arg) !=
+          mutex.m_elements.end()) {
+        return &mutex;
+      }
+    }
+    return nullptr;
+  }
+
+  bool is_valid_prefix_char(char c) const {
+    return m_prefix_chars.find(c) != std::string::npos;
+  }
+
+  char get_any_valid_prefix_char() const { return m_prefix_chars[0]; }
+
+  /*
+   * Pre-process this argument list. Anything starting with "--", that
+   * contains an =, where the prefix before the = has an entry in the
+   * options table, should be split.
+   */
+  std::vector<std::string>
+  preprocess_arguments(const std::vector<std::string> &raw_arguments) const {
+    std::vector<std::string> arguments{};
+    for (const auto &arg : raw_arguments) {
+
+      const auto argument_starts_with_prefix_chars =
+          [this](const std::string &a) -> bool {
+        if (!a.empty()) {
+
+          const auto legal_prefix = [this](char c) -> bool {
+            return m_prefix_chars.find(c) != std::string::npos;
+          };
+
+          // Windows-style
+          // if '/' is a legal prefix char
+          // then allow single '/' followed by argument name, followed by an
+          // assign char, e.g., ':' e.g., 'test.exe /A:Foo'
+          const auto windows_style = legal_prefix('/');
+
+          if (windows_style) {
+            if (legal_prefix(a[0])) {
+              return true;
+            }
+          } else {
+            // Slash '/' is not a legal prefix char
+            // For all other characters, only support long arguments
+            // i.e., the argument must start with 2 prefix chars, e.g,
+            // '--foo' e,g, './test --foo=Bar -DARG=yes'
+            if (a.size() > 1) {
+              return (legal_prefix(a[0]) && legal_prefix(a[1]));
+            }
+          }
+        }
+        return false;
+      };
+
+      // Check that:
+      // - We don't have an argument named exactly this
+      // - The argument starts with a prefix char, e.g., "--"
+      // - The argument contains an assign char, e.g., "="
+      auto assign_char_pos = arg.find_first_of(m_assign_chars);
+
+      if (m_argument_map.find(arg) == m_argument_map.end() &&
+          argument_starts_with_prefix_chars(arg) &&
+          assign_char_pos != std::string::npos) {
+        // Get the name of the potential option, and check it exists
+        std::string opt_name = arg.substr(0, assign_char_pos);
+        if (m_argument_map.find(opt_name) != m_argument_map.end()) {
+          // This is the name of an option! Split it into two parts
+          arguments.push_back(std::move(opt_name));
+          arguments.push_back(arg.substr(assign_char_pos + 1));
+          continue;
+        }
+      }
+      // If we've fallen through to here, then it's a standard argument
+      arguments.push_back(arg);
+    }
+    return arguments;
+  }
+
+  /*
+   * @throws std::runtime_error in case of any invalid argument
+   */
+  void parse_args_internal(const std::vector<std::string> &raw_arguments) {
+    auto arguments = preprocess_arguments(raw_arguments);
+    if (m_program_name.empty() && !arguments.empty()) {
+      m_program_name = arguments.front();
+    }
+    auto end = std::end(arguments);
+    auto positional_argument_it = std::begin(m_positional_arguments);
+    for (auto it = std::next(std::begin(arguments)); it != end;) {
+      const auto &current_argument = *it;
+      if (Argument::is_positional(current_argument, m_prefix_chars)) {
+        if (positional_argument_it == std::end(m_positional_arguments)) {
+
+          // Check sub-parsers
+          auto subparser_it = m_subparser_map.find(current_argument);
+          if (subparser_it != m_subparser_map.end()) {
+
+            // build list of remaining args
+            const auto unprocessed_arguments =
+                std::vector<std::string>(it, end);
+
+            // invoke subparser
+            m_is_parsed = true;
+            m_subparser_used[current_argument] = true;
+            return subparser_it->second->get().parse_args(
+                unprocessed_arguments);
+          }
+
+          if (m_positional_arguments.empty()) {
+
+            // Ask the user if they argument they provided was a typo
+            // for some sub-parser,
+            // e.g., user provided `git totes` instead of `git notes`
+            if (!m_subparser_map.empty()) {
+              throw std::runtime_error(
+                  "Failed to parse '" + current_argument + "', did you mean '" +
+                  std::string{details::get_most_similar_string(
+                      m_subparser_map, current_argument)} +
+                  "'");
+            }
+
+            // Ask the user if they meant to use a specific optional argument
+            if (!m_optional_arguments.empty()) {
+              for (const auto &opt : m_optional_arguments) {
+                if (!opt.m_implicit_value.has_value()) {
+                  // not a flag, requires a value
+                  if (!opt.m_is_used) {
+                    throw std::runtime_error(
+                        "Zero positional arguments expected, did you mean " +
+                        opt.get_usage_full());
+                  }
+                }
+              }
+
+              throw std::runtime_error("Zero positional arguments expected");
+            } else {
+              throw std::runtime_error("Zero positional arguments expected");
+            }
+          } else {
+            throw std::runtime_error("Maximum number of positional arguments "
+                                     "exceeded, failed to parse '" +
+                                     current_argument + "'");
+          }
+        }
+        auto argument = positional_argument_it++;
+
+        // Deal with the situation of <positional_arg1>... <positional_arg2>
+        if (argument->m_num_args_range.get_min() == 1 &&
+            argument->m_num_args_range.get_max() == (std::numeric_limits<std::size_t>::max)() &&
+            positional_argument_it != std::end(m_positional_arguments) &&
+            std::next(positional_argument_it) == std::end(m_positional_arguments) &&
+            positional_argument_it->m_num_args_range.get_min() == 1 &&
+            positional_argument_it->m_num_args_range.get_max() == 1 ) {
+          if (std::next(it) != end) {
+            positional_argument_it->consume(std::prev(end), end);
+            end = std::prev(end);
+          } else {
+            throw std::runtime_error("Missing " + positional_argument_it->m_names.front());
+          }
+        }
+
+        it = argument->consume(it, end);
+        continue;
+      }
+
+      auto arg_map_it = m_argument_map.find(current_argument);
+      if (arg_map_it != m_argument_map.end()) {
+        auto argument = arg_map_it->second;
+        it = argument->consume(std::next(it), end, arg_map_it->first);
+      } else if (const auto &compound_arg = current_argument;
+                 compound_arg.size() > 1 &&
+                 is_valid_prefix_char(compound_arg[0]) &&
+                 !is_valid_prefix_char(compound_arg[1])) {
+        ++it;
+        for (std::size_t j = 1; j < compound_arg.size(); j++) {
+          auto hypothetical_arg = std::string{'-', compound_arg[j]};
+          auto arg_map_it2 = m_argument_map.find(hypothetical_arg);
+          if (arg_map_it2 != m_argument_map.end()) {
+            auto argument = arg_map_it2->second;
+            it = argument->consume(it, end, arg_map_it2->first);
+          } else {
+            throw std::runtime_error("Unknown argument: " + current_argument);
+          }
+        }
+      } else {
+        throw std::runtime_error("Unknown argument: " + current_argument);
+      }
+    }
+    m_is_parsed = true;
+  }
+
+  /*
+   * Like parse_args_internal but collects unused args into a vector<string>
+   */
+  std::vector<std::string>
+  parse_known_args_internal(const std::vector<std::string> &raw_arguments) {
+    auto arguments = preprocess_arguments(raw_arguments);
+
+    std::vector<std::string> unknown_arguments{};
+
+    if (m_program_name.empty() && !arguments.empty()) {
+      m_program_name = arguments.front();
+    }
+    auto end = std::end(arguments);
+    auto positional_argument_it = std::begin(m_positional_arguments);
+    for (auto it = std::next(std::begin(arguments)); it != end;) {
+      const auto &current_argument = *it;
+      if (Argument::is_positional(current_argument, m_prefix_chars)) {
+        if (positional_argument_it == std::end(m_positional_arguments)) {
+
+          // Check sub-parsers
+          auto subparser_it = m_subparser_map.find(current_argument);
+          if (subparser_it != m_subparser_map.end()) {
+
+            // build list of remaining args
+            const auto unprocessed_arguments =
+                std::vector<std::string>(it, end);
+
+            // invoke subparser
+            m_is_parsed = true;
+            m_subparser_used[current_argument] = true;
+            return subparser_it->second->get().parse_known_args_internal(
+                unprocessed_arguments);
+          }
+
+          // save current argument as unknown and go to next argument
+          unknown_arguments.push_back(current_argument);
+          ++it;
+        } else {
+          // current argument is the value of a positional argument
+          // consume it
+          auto argument = positional_argument_it++;
+          it = argument->consume(it, end);
+        }
+        continue;
+      }
+
+      auto arg_map_it = m_argument_map.find(current_argument);
+      if (arg_map_it != m_argument_map.end()) {
+        auto argument = arg_map_it->second;
+        it = argument->consume(std::next(it), end, arg_map_it->first);
+      } else if (const auto &compound_arg = current_argument;
+                 compound_arg.size() > 1 &&
+                 is_valid_prefix_char(compound_arg[0]) &&
+                 !is_valid_prefix_char(compound_arg[1])) {
+        ++it;
+        for (std::size_t j = 1; j < compound_arg.size(); j++) {
+          auto hypothetical_arg = std::string{'-', compound_arg[j]};
+          auto arg_map_it2 = m_argument_map.find(hypothetical_arg);
+          if (arg_map_it2 != m_argument_map.end()) {
+            auto argument = arg_map_it2->second;
+            it = argument->consume(it, end, arg_map_it2->first);
+          } else {
+            unknown_arguments.push_back(current_argument);
+            break;
+          }
+        }
+      } else {
+        // current argument is an optional-like argument that is unknown
+        // save it and move to next argument
+        unknown_arguments.push_back(current_argument);
+        ++it;
+      }
+    }
+    m_is_parsed = true;
+    return unknown_arguments;
+  }
+
+  // Used by print_help.
+  std::size_t get_length_of_longest_argument() const {
+    if (m_argument_map.empty()) {
+      return 0;
+    }
+    std::size_t max_size = 0;
+    for ([[maybe_unused]] const auto &[unused, argument] : m_argument_map) {
+      max_size =
+          std::max<std::size_t>(max_size, argument->get_arguments_length());
+    }
+    for ([[maybe_unused]] const auto &[command, unused] : m_subparser_map) {
+      max_size = std::max<std::size_t>(max_size, command.size());
+    }
+    return max_size;
+  }
+
+  using argument_it = std::list<Argument>::iterator;
+  using mutex_group_it = std::vector<MutuallyExclusiveGroup>::iterator;
+  using argument_parser_it =
+      std::list<std::reference_wrapper<ArgumentParser>>::iterator;
+
+  void index_argument(argument_it it) {
+    for (const auto &name : std::as_const(it->m_names)) {
+      m_argument_map.insert_or_assign(name, it);
+    }
+  }
+
+  std::string m_program_name;
+  std::string m_version;
+  std::string m_description;
+  std::string m_epilog;
+  bool m_exit_on_default_arguments = true;
+  std::string m_prefix_chars{"-"};
+  std::string m_assign_chars{"="};
+  bool m_is_parsed = false;
+  std::list<Argument> m_positional_arguments;
+  std::list<Argument> m_optional_arguments;
+  std::map<std::string, argument_it> m_argument_map;
+  std::string m_parser_path;
+  std::list<std::reference_wrapper<ArgumentParser>> m_subparsers;
+  std::map<std::string, argument_parser_it> m_subparser_map;
+  std::map<std::string, bool> m_subparser_used;
+  std::vector<MutuallyExclusiveGroup> m_mutually_exclusive_groups;
+  bool m_suppress = false;
+  std::size_t m_usage_max_line_width = (std::numeric_limits<std::size_t>::max)();
+  bool m_usage_break_on_mutex = false;
+  int m_usage_newline_counter = 0;
+  std::vector<std::string> m_group_names;
+};
+
+} // namespace wpi
diff --git a/wpiutil/src/main/native/thirdparty/concurrentqueue/include/wpi/concurrentqueue.h b/wpiutil/src/main/native/thirdparty/concurrentqueue/include/wpi/concurrentqueue.h
new file mode 100644
index 00000000000..214e4f53dd9
--- /dev/null
+++ b/wpiutil/src/main/native/thirdparty/concurrentqueue/include/wpi/concurrentqueue.h
@@ -0,0 +1,3747 @@
+// Provides a C++11 implementation of a multi-producer, multi-consumer lock-free queue.
+// An overview, including benchmark results, is provided here:
+//     http://moodycamel.com/blog/2014/a-fast-general-purpose-lock-free-queue-for-c++
+// The full design is also described in excruciating detail at:
+//    http://moodycamel.com/blog/2014/detailed-design-of-a-lock-free-queue
+
+// Simplified BSD license:
+// Copyright (c) 2013-2020, Cameron Desrochers.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// - Redistributions of source code must retain the above copyright notice, this list of
+// conditions and the following disclaimer.
+// - Redistributions in binary form must reproduce the above copyright notice, this list of
+// conditions and the following disclaimer in the documentation and/or other materials
+// provided with the distribution.
+//
+// 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.
+
+// Also dual-licensed under the Boost Software License (see LICENSE.md)
+
+#pragma once
+
+#if defined(__GNUC__) && !defined(__INTEL_COMPILER)
+// Disable -Wconversion warnings (spuriously triggered when Traits::size_t and
+// Traits::index_t are set to < 32 bits, causing integer promotion, causing warnings
+// upon assigning any computed values)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wconversion"
+
+#ifdef MCDBGQ_USE_RELACY
+#pragma GCC diagnostic ignored "-Wint-to-pointer-cast"
+#endif
+#endif
+
+#if defined(_MSC_VER) && (!defined(_HAS_CXX17) || !_HAS_CXX17)
+// VS2019 with /W4 warns about constant conditional expressions but unless /std=c++17 or higher
+// does not support `if constexpr`, so we have no choice but to simply disable the warning
+#pragma warning(push)
+#pragma warning(disable: 4127)  // conditional expression is constant
+#endif
+
+#if defined(__APPLE__)
+#include "TargetConditionals.h"
+#endif
+
+#ifdef MCDBGQ_USE_RELACY
+#include "relacy/relacy_std.hpp"
+#include "relacy_shims.h"
+// We only use malloc/free anyway, and the delete macro messes up `= delete` method declarations.
+// We'll override the default trait malloc ourselves without a macro.
+#undef new
+#undef delete
+#undef malloc
+#undef free
+#else
+#include <atomic>		// Requires C++11. Sorry VS2010.
+#include <cassert>
+#endif
+#include <cstddef>              // for max_align_t
+#include <cstdint>
+#include <cstdlib>
+#include <type_traits>
+#include <algorithm>
+#include <utility>
+#include <limits>
+#include <climits>		// for CHAR_BIT
+#include <array>
+#include <thread>		// partly for __WINPTHREADS_VERSION if on MinGW-w64 w/ POSIX threading
+#include <mutex>        // used for thread exit synchronization
+
+// Platform-specific definitions of a numeric thread ID type and an invalid value
+namespace wpi { namespace details {
+	template<typename thread_id_t> struct thread_id_converter {
+		typedef thread_id_t thread_id_numeric_size_t;
+		typedef thread_id_t thread_id_hash_t;
+		static thread_id_hash_t prehash(thread_id_t const& x) { return x; }
+	};
+} }
+#if defined(MCDBGQ_USE_RELACY)
+namespace wpi { namespace details {
+	typedef std::uint32_t thread_id_t;
+	static const thread_id_t invalid_thread_id  = 0xFFFFFFFFU;
+	static const thread_id_t invalid_thread_id2 = 0xFFFFFFFEU;
+	static inline thread_id_t thread_id() { return rl::thread_index(); }
+} }
+#elif defined(_WIN32) || defined(__WINDOWS__) || defined(__WIN32__)
+// No sense pulling in windows.h in a header, we'll manually declare the function
+// we use and rely on backwards-compatibility for this not to break
+extern "C" __declspec(dllimport) unsigned long __stdcall GetCurrentThreadId(void);
+namespace wpi { namespace details {
+	static_assert(sizeof(unsigned long) == sizeof(std::uint32_t), "Expected size of unsigned long to be 32 bits on Windows");
+	typedef std::uint32_t thread_id_t;
+	static const thread_id_t invalid_thread_id  = 0;			// See http://blogs.msdn.com/b/oldnewthing/archive/2004/02/23/78395.aspx
+	static const thread_id_t invalid_thread_id2 = 0xFFFFFFFFU;	// Not technically guaranteed to be invalid, but is never used in practice. Note that all Win32 thread IDs are presently multiples of 4.
+	static inline thread_id_t thread_id() { return static_cast<thread_id_t>(::GetCurrentThreadId()); }
+} }
+#elif defined(__arm__) || defined(_M_ARM) || defined(__aarch64__) || (defined(__APPLE__) && TARGET_OS_IPHONE) || defined(__MVS__) || defined(WPI_CQ_NO_THREAD_LOCAL)
+namespace wpi { namespace details {
+	static_assert(sizeof(std::thread::id) == 4 || sizeof(std::thread::id) == 8, "std::thread::id is expected to be either 4 or 8 bytes");
+	
+	typedef std::thread::id thread_id_t;
+	static const thread_id_t invalid_thread_id;         // Default ctor creates invalid ID
+
+	// Note we don't define a invalid_thread_id2 since std::thread::id doesn't have one; it's
+	// only used if WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED is defined anyway, which it won't
+	// be.
+	static inline thread_id_t thread_id() { return std::this_thread::get_id(); }
+
+	template<std::size_t> struct thread_id_size { };
+	template<> struct thread_id_size<4> { typedef std::uint32_t numeric_t; };
+	template<> struct thread_id_size<8> { typedef std::uint64_t numeric_t; };
+
+	template<> struct thread_id_converter<thread_id_t> {
+		typedef thread_id_size<sizeof(thread_id_t)>::numeric_t thread_id_numeric_size_t;
+#ifndef __APPLE__
+		typedef std::size_t thread_id_hash_t;
+#else
+		typedef thread_id_numeric_size_t thread_id_hash_t;
+#endif
+
+		static thread_id_hash_t prehash(thread_id_t const& x)
+		{
+#ifndef __APPLE__
+			return std::hash<std::thread::id>()(x);
+#else
+			return *reinterpret_cast<thread_id_hash_t const*>(&x);
+#endif
+		}
+	};
+} }
+#else
+// Use a nice trick from this answer: http://stackoverflow.com/a/8438730/21475
+// In order to get a numeric thread ID in a platform-independent way, we use a thread-local
+// static variable's address as a thread identifier :-)
+#if defined(__GNUC__) || defined(__INTEL_COMPILER)
+#define WPI_CQ_THREADLOCAL __thread
+#elif defined(_MSC_VER)
+#define WPI_CQ_THREADLOCAL __declspec(thread)
+#else
+// Assume C++11 compliant compiler
+#define WPI_CQ_THREADLOCAL thread_local
+#endif
+namespace wpi { namespace details {
+	typedef std::uintptr_t thread_id_t;
+	static const thread_id_t invalid_thread_id  = 0;		// Address can't be nullptr
+	static const thread_id_t invalid_thread_id2 = 1;		// Member accesses off a null pointer are also generally invalid. Plus it's not aligned.
+	inline thread_id_t thread_id() { static WPI_CQ_THREADLOCAL int x; return reinterpret_cast<thread_id_t>(&x); }
+} }
+#endif
+
+// Constexpr if
+#ifndef WPI_CQ_CONSTEXPR_IF
+#if (defined(_MSC_VER) && defined(_HAS_CXX17) && _HAS_CXX17) || __cplusplus > 201402L
+#define WPI_CQ_CONSTEXPR_IF if constexpr
+#define WPI_CQ_MAYBE_UNUSED [[maybe_unused]]
+#else
+#define WPI_CQ_CONSTEXPR_IF if
+#define WPI_CQ_MAYBE_UNUSED
+#endif
+#endif
+
+// Exceptions
+#ifndef WPI_CQ_EXCEPTIONS_ENABLED
+#if (defined(_MSC_VER) && defined(_CPPUNWIND)) || (defined(__GNUC__) && defined(__EXCEPTIONS)) || (!defined(_MSC_VER) && !defined(__GNUC__))
+#define WPI_CQ_EXCEPTIONS_ENABLED
+#endif
+#endif
+#ifdef WPI_CQ_EXCEPTIONS_ENABLED
+#define WPI_CQ_TRY try
+#define WPI_CQ_CATCH(...) catch(__VA_ARGS__)
+#define WPI_CQ_RETHROW throw
+#define WPI_CQ_THROW(expr) throw (expr)
+#else
+#define WPI_CQ_TRY WPI_CQ_CONSTEXPR_IF (true)
+#define WPI_CQ_CATCH(...) else WPI_CQ_CONSTEXPR_IF (false)
+#define WPI_CQ_RETHROW
+#define WPI_CQ_THROW(expr)
+#endif
+
+#ifndef WPI_CQ_NOEXCEPT
+#if !defined(WPI_CQ_EXCEPTIONS_ENABLED)
+#define WPI_CQ_NOEXCEPT
+#define WPI_CQ_NOEXCEPT_CTOR(type, valueType, expr) true
+#define WPI_CQ_NOEXCEPT_ASSIGN(type, valueType, expr) true
+#elif defined(_MSC_VER) && defined(_NOEXCEPT) && _MSC_VER < 1800
+// VS2012's std::is_nothrow_[move_]constructible is broken and returns true when it shouldn't :-(
+// We have to assume *all* non-trivial constructors may throw on VS2012!
+#define WPI_CQ_NOEXCEPT _NOEXCEPT
+#define WPI_CQ_NOEXCEPT_CTOR(type, valueType, expr) (std::is_rvalue_reference<valueType>::value && std::is_move_constructible<type>::value ? std::is_trivially_move_constructible<type>::value : std::is_trivially_copy_constructible<type>::value)
+#define WPI_CQ_NOEXCEPT_ASSIGN(type, valueType, expr) ((std::is_rvalue_reference<valueType>::value && std::is_move_assignable<type>::value ? std::is_trivially_move_assignable<type>::value || std::is_nothrow_move_assignable<type>::value : std::is_trivially_copy_assignable<type>::value || std::is_nothrow_copy_assignable<type>::value) && WPI_CQ_NOEXCEPT_CTOR(type, valueType, expr))
+#elif defined(_MSC_VER) && defined(_NOEXCEPT) && _MSC_VER < 1900
+#define WPI_CQ_NOEXCEPT _NOEXCEPT
+#define WPI_CQ_NOEXCEPT_CTOR(type, valueType, expr) (std::is_rvalue_reference<valueType>::value && std::is_move_constructible<type>::value ? std::is_trivially_move_constructible<type>::value || std::is_nothrow_move_constructible<type>::value : std::is_trivially_copy_constructible<type>::value || std::is_nothrow_copy_constructible<type>::value)
+#define WPI_CQ_NOEXCEPT_ASSIGN(type, valueType, expr) ((std::is_rvalue_reference<valueType>::value && std::is_move_assignable<type>::value ? std::is_trivially_move_assignable<type>::value || std::is_nothrow_move_assignable<type>::value : std::is_trivially_copy_assignable<type>::value || std::is_nothrow_copy_assignable<type>::value) && WPI_CQ_NOEXCEPT_CTOR(type, valueType, expr))
+#else
+#define WPI_CQ_NOEXCEPT noexcept
+#define WPI_CQ_NOEXCEPT_CTOR(type, valueType, expr) noexcept(expr)
+#define WPI_CQ_NOEXCEPT_ASSIGN(type, valueType, expr) noexcept(expr)
+#endif
+#endif
+
+#ifndef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+#ifdef MCDBGQ_USE_RELACY
+#define WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+#else
+// VS2013 doesn't support `thread_local`, and MinGW-w64 w/ POSIX threading has a crippling bug: http://sourceforge.net/p/mingw-w64/bugs/445
+// g++ <=4.7 doesn't support thread_local either.
+// Finally, iOS/ARM doesn't have support for it either, and g++/ARM allows it to compile but it's unconfirmed to actually work
+#if (!defined(_MSC_VER) || _MSC_VER >= 1900) && (!defined(__MINGW32__) && !defined(__MINGW64__) || !defined(__WINPTHREADS_VERSION)) && (!defined(__GNUC__) || __GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)) && (!defined(__APPLE__) || !TARGET_OS_IPHONE) && !defined(__arm__) && !defined(_M_ARM) && !defined(__aarch64__) && !defined(__MVS__)
+// Assume `thread_local` is fully supported in all other C++11 compilers/platforms
+#define WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED    // tentatively enabled for now; years ago several users report having problems with it on
+#endif
+#endif
+#endif
+
+// VS2012 doesn't support deleted functions. 
+// In this case, we declare the function normally but don't define it. A link error will be generated if the function is called.
+#ifndef WPI_CQ_DELETE_FUNCTION
+#if defined(_MSC_VER) && _MSC_VER < 1800
+#define WPI_CQ_DELETE_FUNCTION
+#else
+#define WPI_CQ_DELETE_FUNCTION = delete
+#endif
+#endif
+
+namespace wpi { namespace details {
+#ifndef WPI_CQ_ALIGNAS
+// VS2013 doesn't support alignas or alignof, and align() requires a constant literal
+#if defined(_MSC_VER) && _MSC_VER <= 1800
+#define WPI_CQ_ALIGNAS(alignment) __declspec(align(alignment))
+#define WPI_CQ_ALIGNOF(obj) __alignof(obj)
+#define WPI_CQ_ALIGNED_TYPE_LIKE(T, obj) typename details::Vs2013Aligned<std::alignment_of<obj>::value, T>::type
+	template<int Align, typename T> struct Vs2013Aligned { };  // default, unsupported alignment
+	template<typename T> struct Vs2013Aligned<1, T> { typedef __declspec(align(1)) T type; };
+	template<typename T> struct Vs2013Aligned<2, T> { typedef __declspec(align(2)) T type; };
+	template<typename T> struct Vs2013Aligned<4, T> { typedef __declspec(align(4)) T type; };
+	template<typename T> struct Vs2013Aligned<8, T> { typedef __declspec(align(8)) T type; };
+	template<typename T> struct Vs2013Aligned<16, T> { typedef __declspec(align(16)) T type; };
+	template<typename T> struct Vs2013Aligned<32, T> { typedef __declspec(align(32)) T type; };
+	template<typename T> struct Vs2013Aligned<64, T> { typedef __declspec(align(64)) T type; };
+	template<typename T> struct Vs2013Aligned<128, T> { typedef __declspec(align(128)) T type; };
+	template<typename T> struct Vs2013Aligned<256, T> { typedef __declspec(align(256)) T type; };
+#else
+	template<typename T> struct identity { typedef T type; };
+#define WPI_CQ_ALIGNAS(alignment) alignas(alignment)
+#define WPI_CQ_ALIGNOF(obj) alignof(obj)
+#define WPI_CQ_ALIGNED_TYPE_LIKE(T, obj) alignas(alignof(obj)) typename details::identity<T>::type
+#endif
+#endif
+} }
+
+
+// TSAN can false report races in lock-free code.  To enable TSAN to be used from projects that use this one,
+// we can apply per-function compile-time suppression.
+// See https://clang.llvm.org/docs/ThreadSanitizer.html#has-feature-thread-sanitizer
+#define WPI_CQ_NO_TSAN
+#if defined(__has_feature)
+ #if __has_feature(thread_sanitizer)
+  #undef WPI_CQ_NO_TSAN
+  #define WPI_CQ_NO_TSAN __attribute__((no_sanitize("thread")))
+ #endif // TSAN
+#endif // TSAN
+
+// Compiler-specific likely/unlikely hints
+namespace wpi { namespace details {
+#if defined(__GNUC__)
+	static inline bool (likely)(bool x) { return __builtin_expect((x), true); }
+	static inline bool (unlikely)(bool x) { return __builtin_expect((x), false); }
+#else
+	static inline bool (likely)(bool x) { return x; }
+	static inline bool (unlikely)(bool x) { return x; }
+#endif
+} }
+
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+#include "internal/concurrentqueue_internal_debug.h"
+#endif
+
+namespace wpi {
+namespace details {
+	template<typename T>
+	struct const_numeric_max {
+		static_assert(std::is_integral<T>::value, "const_numeric_max can only be used with integers");
+		static const T value = std::numeric_limits<T>::is_signed
+			? (static_cast<T>(1) << (sizeof(T) * CHAR_BIT - 1)) - static_cast<T>(1)
+			: static_cast<T>(-1);
+	};
+
+#if defined(__GLIBCXX__)
+	typedef ::max_align_t std_max_align_t;      // libstdc++ forgot to add it to std:: for a while
+#else
+	typedef std::max_align_t std_max_align_t;   // Others (e.g. MSVC) insist it can *only* be accessed via std::
+#endif
+
+	// Some platforms have incorrectly set max_align_t to a type with <8 bytes alignment even while supporting
+	// 8-byte aligned scalar values (*cough* 32-bit iOS). Work around this with our own union. See issue #64.
+	typedef union {
+		std_max_align_t x;
+		long long y;
+		void* z;
+	} max_align_t;
+}
+
+// Default traits for the ConcurrentQueue. To change some of the
+// traits without re-implementing all of them, inherit from this
+// struct and shadow the declarations you wish to be different;
+// since the traits are used as a template type parameter, the
+// shadowed declarations will be used where defined, and the defaults
+// otherwise.
+struct ConcurrentQueueDefaultTraits
+{
+	// General-purpose size type. std::size_t is strongly recommended.
+	typedef std::size_t size_t;
+	
+	// The type used for the enqueue and dequeue indices. Must be at least as
+	// large as size_t. Should be significantly larger than the number of elements
+	// you expect to hold at once, especially if you have a high turnover rate;
+	// for example, on 32-bit x86, if you expect to have over a hundred million
+	// elements or pump several million elements through your queue in a very
+	// short space of time, using a 32-bit type *may* trigger a race condition.
+	// A 64-bit int type is recommended in that case, and in practice will
+	// prevent a race condition no matter the usage of the queue. Note that
+	// whether the queue is lock-free with a 64-int type depends on the whether
+	// std::atomic<std::uint64_t> is lock-free, which is platform-specific.
+	typedef std::size_t index_t;
+	
+	// Internally, all elements are enqueued and dequeued from multi-element
+	// blocks; this is the smallest controllable unit. If you expect few elements
+	// but many producers, a smaller block size should be favoured. For few producers
+	// and/or many elements, a larger block size is preferred. A sane default
+	// is provided. Must be a power of 2.
+	static const size_t BLOCK_SIZE = 32;
+	
+	// For explicit producers (i.e. when using a producer token), the block is
+	// checked for being empty by iterating through a list of flags, one per element.
+	// For large block sizes, this is too inefficient, and switching to an atomic
+	// counter-based approach is faster. The switch is made for block sizes strictly
+	// larger than this threshold.
+	static const size_t EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD = 32;
+	
+	// How many full blocks can be expected for a single explicit producer? This should
+	// reflect that number's maximum for optimal performance. Must be a power of 2.
+	static const size_t EXPLICIT_INITIAL_INDEX_SIZE = 32;
+	
+	// How many full blocks can be expected for a single implicit producer? This should
+	// reflect that number's maximum for optimal performance. Must be a power of 2.
+	static const size_t IMPLICIT_INITIAL_INDEX_SIZE = 32;
+	
+	// The initial size of the hash table mapping thread IDs to implicit producers.
+	// Note that the hash is resized every time it becomes half full.
+	// Must be a power of two, and either 0 or at least 1. If 0, implicit production
+	// (using the enqueue methods without an explicit producer token) is disabled.
+	static const size_t INITIAL_IMPLICIT_PRODUCER_HASH_SIZE = 32;
+	
+	// Controls the number of items that an explicit consumer (i.e. one with a token)
+	// must consume before it causes all consumers to rotate and move on to the next
+	// internal queue.
+	static const std::uint32_t EXPLICIT_CONSUMER_CONSUMPTION_QUOTA_BEFORE_ROTATE = 256;
+	
+	// The maximum number of elements (inclusive) that can be enqueued to a sub-queue.
+	// Enqueue operations that would cause this limit to be surpassed will fail. Note
+	// that this limit is enforced at the block level (for performance reasons), i.e.
+	// it's rounded up to the nearest block size.
+	static const size_t MAX_SUBQUEUE_SIZE = details::const_numeric_max<size_t>::value;
+
+	// The number of times to spin before sleeping when waiting on a semaphore.
+	// Recommended values are on the order of 1000-10000 unless the number of
+	// consumer threads exceeds the number of idle cores (in which case try 0-100).
+	// Only affects instances of the BlockingConcurrentQueue.
+	static const int MAX_SEMA_SPINS = 10000;
+
+	// Whether to recycle dynamically-allocated blocks into an internal free list or
+	// not. If false, only pre-allocated blocks (controlled by the constructor
+	// arguments) will be recycled, and all others will be `free`d back to the heap.
+	// Note that blocks consumed by explicit producers are only freed on destruction
+	// of the queue (not following destruction of the token) regardless of this trait.
+	static const bool RECYCLE_ALLOCATED_BLOCKS = false;
+
+	
+#ifndef MCDBGQ_USE_RELACY
+	// Memory allocation can be customized if needed.
+	// malloc should return nullptr on failure, and handle alignment like std::malloc.
+#if defined(malloc) || defined(free)
+	// Gah, this is 2015, stop defining macros that break standard code already!
+	// Work around malloc/free being special macros:
+	static inline void* WORKAROUND_malloc(size_t size) { return malloc(size); }
+	static inline void WORKAROUND_free(void* ptr) { return free(ptr); }
+	static inline void* (malloc)(size_t size) { return WORKAROUND_malloc(size); }
+	static inline void (free)(void* ptr) { return WORKAROUND_free(ptr); }
+#else
+	static inline void* malloc(size_t size) { return std::malloc(size); }
+	static inline void free(void* ptr) { return std::free(ptr); }
+#endif
+#else
+	// Debug versions when running under the Relacy race detector (ignore
+	// these in user code)
+	static inline void* malloc(size_t size) { return rl::rl_malloc(size, $); }
+	static inline void free(void* ptr) { return rl::rl_free(ptr, $); }
+#endif
+};
+
+
+// When producing or consuming many elements, the most efficient way is to:
+//    1) Use one of the bulk-operation methods of the queue with a token
+//    2) Failing that, use the bulk-operation methods without a token
+//    3) Failing that, create a token and use that with the single-item methods
+//    4) Failing that, use the single-parameter methods of the queue
+// Having said that, don't create tokens willy-nilly -- ideally there should be
+// a maximum of one token per thread (of each kind).
+struct ProducerToken;
+struct ConsumerToken;
+
+template<typename T, typename Traits> class ConcurrentQueue;
+template<typename T, typename Traits> class BlockingConcurrentQueue;
+class ConcurrentQueueTests;
+
+
+namespace details
+{
+	struct ConcurrentQueueProducerTypelessBase
+	{
+		ConcurrentQueueProducerTypelessBase* next;
+		std::atomic<bool> inactive;
+		ProducerToken* token;
+		
+		ConcurrentQueueProducerTypelessBase()
+			: next(nullptr), inactive(false), token(nullptr)
+		{
+		}
+	};
+	
+	template<bool use32> struct _hash_32_or_64 {
+		static inline std::uint32_t hash(std::uint32_t h)
+		{
+			// MurmurHash3 finalizer -- see https://code.google.com/p/smhasher/source/browse/trunk/MurmurHash3.cpp
+			// Since the thread ID is already unique, all we really want to do is propagate that
+			// uniqueness evenly across all the bits, so that we can use a subset of the bits while
+			// reducing collisions significantly
+			h ^= h >> 16;
+			h *= 0x85ebca6b;
+			h ^= h >> 13;
+			h *= 0xc2b2ae35;
+			return h ^ (h >> 16);
+		}
+	};
+	template<> struct _hash_32_or_64<1> {
+		static inline std::uint64_t hash(std::uint64_t h)
+		{
+			h ^= h >> 33;
+			h *= 0xff51afd7ed558ccd;
+			h ^= h >> 33;
+			h *= 0xc4ceb9fe1a85ec53;
+			return h ^ (h >> 33);
+		}
+	};
+	template<std::size_t size> struct hash_32_or_64 : public _hash_32_or_64<(size > 4)> {  };
+	
+	static inline size_t hash_thread_id(thread_id_t id)
+	{
+		static_assert(sizeof(thread_id_t) <= 8, "Expected a platform where thread IDs are at most 64-bit values");
+		return static_cast<size_t>(hash_32_or_64<sizeof(thread_id_converter<thread_id_t>::thread_id_hash_t)>::hash(
+			thread_id_converter<thread_id_t>::prehash(id)));
+	}
+	
+	template<typename T>
+	static inline bool circular_less_than(T a, T b)
+	{
+		static_assert(std::is_integral<T>::value && !std::numeric_limits<T>::is_signed, "circular_less_than is intended to be used only with unsigned integer types");
+		return static_cast<T>(a - b) > static_cast<T>(static_cast<T>(1) << (static_cast<T>(sizeof(T) * CHAR_BIT - 1)));
+		// Note: extra parens around rhs of operator<< is MSVC bug: https://developercommunity2.visualstudio.com/t/C4554-triggers-when-both-lhs-and-rhs-is/10034931
+		//       silencing the bug requires #pragma warning(disable: 4554) around the calling code and has no effect when done here.
+	}
+	
+	template<typename U>
+	static inline char* align_for(char* ptr)
+	{
+		const std::size_t alignment = std::alignment_of<U>::value;
+		return ptr + (alignment - (reinterpret_cast<std::uintptr_t>(ptr) % alignment)) % alignment;
+	}
+
+	template<typename T>
+	static inline T ceil_to_pow_2(T x)
+	{
+		static_assert(std::is_integral<T>::value && !std::numeric_limits<T>::is_signed, "ceil_to_pow_2 is intended to be used only with unsigned integer types");
+
+		// Adapted from http://graphics.stanford.edu/~seander/bithacks.html#RoundUpPowerOf2
+		--x;
+		x |= x >> 1;
+		x |= x >> 2;
+		x |= x >> 4;
+		for (std::size_t i = 1; i < sizeof(T); i <<= 1) {
+			x |= x >> (i << 3);
+		}
+		++x;
+		return x;
+	}
+	
+	template<typename T>
+	static inline void swap_relaxed(std::atomic<T>& left, std::atomic<T>& right)
+	{
+		T temp = std::move(left.load(std::memory_order_relaxed));
+		left.store(std::move(right.load(std::memory_order_relaxed)), std::memory_order_relaxed);
+		right.store(std::move(temp), std::memory_order_relaxed);
+	}
+	
+	template<typename T>
+	static inline T const& nomove(T const& x)
+	{
+		return x;
+	}
+	
+	template<bool Enable>
+	struct nomove_if
+	{
+		template<typename T>
+		static inline T const& eval(T const& x)
+		{
+			return x;
+		}
+	};
+	
+	template<>
+	struct nomove_if<false>
+	{
+		template<typename U>
+		static inline auto eval(U&& x)
+			-> decltype(std::forward<U>(x))
+		{
+			return std::forward<U>(x);
+		}
+	};
+	
+	template<typename It>
+	static inline auto deref_noexcept(It& it) WPI_CQ_NOEXCEPT -> decltype(*it)
+	{
+		return *it;
+	}
+	
+#if defined(__clang__) || !defined(__GNUC__) || __GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8)
+	template<typename T> struct is_trivially_destructible : std::is_trivially_destructible<T> { };
+#else
+	template<typename T> struct is_trivially_destructible : std::has_trivial_destructor<T> { };
+#endif
+	
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+#ifdef MCDBGQ_USE_RELACY
+	typedef RelacyThreadExitListener ThreadExitListener;
+	typedef RelacyThreadExitNotifier ThreadExitNotifier;
+#else
+	class ThreadExitNotifier;
+
+	struct ThreadExitListener
+	{
+		typedef void (*callback_t)(void*);
+		callback_t callback;
+		void* userData;
+		
+		ThreadExitListener* next;		// reserved for use by the ThreadExitNotifier
+		ThreadExitNotifier* chain;		// reserved for use by the ThreadExitNotifier
+	};
+
+	class ThreadExitNotifier
+	{
+	public:
+		static void subscribe(ThreadExitListener* listener)
+		{
+			auto& tlsInst = instance();
+			std::lock_guard<std::mutex> guard(mutex());
+			listener->next = tlsInst.tail;
+			listener->chain = &tlsInst;
+			tlsInst.tail = listener;
+		}
+		
+		static void unsubscribe(ThreadExitListener* listener)
+		{
+			std::lock_guard<std::mutex> guard(mutex());
+			if (!listener->chain) {
+				return;  // race with ~ThreadExitNotifier
+			}
+			auto& tlsInst = *listener->chain;
+			listener->chain = nullptr;
+			ThreadExitListener** prev = &tlsInst.tail;
+			for (auto ptr = tlsInst.tail; ptr != nullptr; ptr = ptr->next) {
+				if (ptr == listener) {
+					*prev = ptr->next;
+					break;
+				}
+				prev = &ptr->next;
+			}
+		}
+		
+	private:
+		ThreadExitNotifier() : tail(nullptr) { }
+		ThreadExitNotifier(ThreadExitNotifier const&) WPI_CQ_DELETE_FUNCTION;
+		ThreadExitNotifier& operator=(ThreadExitNotifier const&) WPI_CQ_DELETE_FUNCTION;
+		
+		~ThreadExitNotifier()
+		{
+			// This thread is about to exit, let everyone know!
+			assert(this == &instance() && "If this assert fails, you likely have a buggy compiler! Change the preprocessor conditions such that WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED is no longer defined.");
+			std::lock_guard<std::mutex> guard(mutex());
+			for (auto ptr = tail; ptr != nullptr; ptr = ptr->next) {
+				ptr->chain = nullptr;
+				ptr->callback(ptr->userData);
+			}
+		}
+		
+		// Thread-local
+		static inline ThreadExitNotifier& instance()
+		{
+			static thread_local ThreadExitNotifier notifier;
+			return notifier;
+		}
+
+		static inline std::mutex& mutex()
+		{
+			// Must be static because the ThreadExitNotifier could be destroyed while unsubscribe is called
+			static std::mutex mutex;
+			return mutex;
+		}
+		
+	private:
+		ThreadExitListener* tail;
+	};
+#endif
+#endif
+	
+	template<typename T> struct static_is_lock_free_num { enum { value = 0 }; };
+	template<> struct static_is_lock_free_num<signed char> { enum { value = ATOMIC_CHAR_LOCK_FREE }; };
+	template<> struct static_is_lock_free_num<short> { enum { value = ATOMIC_SHORT_LOCK_FREE }; };
+	template<> struct static_is_lock_free_num<int> { enum { value = ATOMIC_INT_LOCK_FREE }; };
+	template<> struct static_is_lock_free_num<long> { enum { value = ATOMIC_LONG_LOCK_FREE }; };
+	template<> struct static_is_lock_free_num<long long> { enum { value = ATOMIC_LLONG_LOCK_FREE }; };
+	template<typename T> struct static_is_lock_free : static_is_lock_free_num<typename std::make_signed<T>::type> {  };
+	template<> struct static_is_lock_free<bool> { enum { value = ATOMIC_BOOL_LOCK_FREE }; };
+	template<typename U> struct static_is_lock_free<U*> { enum { value = ATOMIC_POINTER_LOCK_FREE }; };
+}
+
+
+struct ProducerToken
+{
+	template<typename T, typename Traits>
+	explicit ProducerToken(ConcurrentQueue<T, Traits>& queue);
+	
+	template<typename T, typename Traits>
+	explicit ProducerToken(BlockingConcurrentQueue<T, Traits>& queue);
+	
+	ProducerToken(ProducerToken&& other) WPI_CQ_NOEXCEPT
+		: producer(other.producer)
+	{
+		other.producer = nullptr;
+		if (producer != nullptr) {
+			producer->token = this;
+		}
+	}
+	
+	inline ProducerToken& operator=(ProducerToken&& other) WPI_CQ_NOEXCEPT
+	{
+		swap(other);
+		return *this;
+	}
+	
+	void swap(ProducerToken& other) WPI_CQ_NOEXCEPT
+	{
+		std::swap(producer, other.producer);
+		if (producer != nullptr) {
+			producer->token = this;
+		}
+		if (other.producer != nullptr) {
+			other.producer->token = &other;
+		}
+	}
+	
+	// A token is always valid unless:
+	//     1) Memory allocation failed during construction
+	//     2) It was moved via the move constructor
+	//        (Note: assignment does a swap, leaving both potentially valid)
+	//     3) The associated queue was destroyed
+	// Note that if valid() returns true, that only indicates
+	// that the token is valid for use with a specific queue,
+	// but not which one; that's up to the user to track.
+	inline bool valid() const { return producer != nullptr; }
+	
+	~ProducerToken()
+	{
+		if (producer != nullptr) {
+			producer->token = nullptr;
+			producer->inactive.store(true, std::memory_order_release);
+		}
+	}
+	
+	// Disable copying and assignment
+	ProducerToken(ProducerToken const&) WPI_CQ_DELETE_FUNCTION;
+	ProducerToken& operator=(ProducerToken const&) WPI_CQ_DELETE_FUNCTION;
+	
+private:
+	template<typename T, typename Traits> friend class ConcurrentQueue;
+	friend class ConcurrentQueueTests;
+	
+protected:
+	details::ConcurrentQueueProducerTypelessBase* producer;
+};
+
+
+struct ConsumerToken
+{
+	template<typename T, typename Traits>
+	explicit ConsumerToken(ConcurrentQueue<T, Traits>& q);
+	
+	template<typename T, typename Traits>
+	explicit ConsumerToken(BlockingConcurrentQueue<T, Traits>& q);
+	
+	ConsumerToken(ConsumerToken&& other) WPI_CQ_NOEXCEPT
+		: initialOffset(other.initialOffset), lastKnownGlobalOffset(other.lastKnownGlobalOffset), itemsConsumedFromCurrent(other.itemsConsumedFromCurrent), currentProducer(other.currentProducer), desiredProducer(other.desiredProducer)
+	{
+	}
+	
+	inline ConsumerToken& operator=(ConsumerToken&& other) WPI_CQ_NOEXCEPT
+	{
+		swap(other);
+		return *this;
+	}
+	
+	void swap(ConsumerToken& other) WPI_CQ_NOEXCEPT
+	{
+		std::swap(initialOffset, other.initialOffset);
+		std::swap(lastKnownGlobalOffset, other.lastKnownGlobalOffset);
+		std::swap(itemsConsumedFromCurrent, other.itemsConsumedFromCurrent);
+		std::swap(currentProducer, other.currentProducer);
+		std::swap(desiredProducer, other.desiredProducer);
+	}
+	
+	// Disable copying and assignment
+	ConsumerToken(ConsumerToken const&) WPI_CQ_DELETE_FUNCTION;
+	ConsumerToken& operator=(ConsumerToken const&) WPI_CQ_DELETE_FUNCTION;
+
+private:
+	template<typename T, typename Traits> friend class ConcurrentQueue;
+	friend class ConcurrentQueueTests;
+	
+private: // but shared with ConcurrentQueue
+	std::uint32_t initialOffset;
+	std::uint32_t lastKnownGlobalOffset;
+	std::uint32_t itemsConsumedFromCurrent;
+	details::ConcurrentQueueProducerTypelessBase* currentProducer;
+	details::ConcurrentQueueProducerTypelessBase* desiredProducer;
+};
+
+// Need to forward-declare this swap because it's in a namespace.
+// See http://stackoverflow.com/questions/4492062/why-does-a-c-friend-class-need-a-forward-declaration-only-in-other-namespaces
+template<typename T, typename Traits>
+inline void swap(typename ConcurrentQueue<T, Traits>::ImplicitProducerKVP& a, typename ConcurrentQueue<T, Traits>::ImplicitProducerKVP& b) WPI_CQ_NOEXCEPT;
+
+
+template<typename T, typename Traits = ConcurrentQueueDefaultTraits>
+class ConcurrentQueue
+{
+public:
+	typedef ::wpi::ProducerToken producer_token_t;
+	typedef ::wpi::ConsumerToken consumer_token_t;
+	
+	typedef typename Traits::index_t index_t;
+	typedef typename Traits::size_t size_t;
+	
+	static const size_t BLOCK_SIZE = static_cast<size_t>(Traits::BLOCK_SIZE);
+	static const size_t EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD = static_cast<size_t>(Traits::EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD);
+	static const size_t EXPLICIT_INITIAL_INDEX_SIZE = static_cast<size_t>(Traits::EXPLICIT_INITIAL_INDEX_SIZE);
+	static const size_t IMPLICIT_INITIAL_INDEX_SIZE = static_cast<size_t>(Traits::IMPLICIT_INITIAL_INDEX_SIZE);
+	static const size_t INITIAL_IMPLICIT_PRODUCER_HASH_SIZE = static_cast<size_t>(Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE);
+	static const std::uint32_t EXPLICIT_CONSUMER_CONSUMPTION_QUOTA_BEFORE_ROTATE = static_cast<std::uint32_t>(Traits::EXPLICIT_CONSUMER_CONSUMPTION_QUOTA_BEFORE_ROTATE);
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4307)		// + integral constant overflow (that's what the ternary expression is for!)
+#pragma warning(disable: 4309)		// static_cast: Truncation of constant value
+#endif
+	static const size_t MAX_SUBQUEUE_SIZE = (details::const_numeric_max<size_t>::value - static_cast<size_t>(Traits::MAX_SUBQUEUE_SIZE) < BLOCK_SIZE) ? details::const_numeric_max<size_t>::value : ((static_cast<size_t>(Traits::MAX_SUBQUEUE_SIZE) + (BLOCK_SIZE - 1)) / BLOCK_SIZE * BLOCK_SIZE);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+	static_assert(!std::numeric_limits<size_t>::is_signed && std::is_integral<size_t>::value, "Traits::size_t must be an unsigned integral type");
+	static_assert(!std::numeric_limits<index_t>::is_signed && std::is_integral<index_t>::value, "Traits::index_t must be an unsigned integral type");
+	static_assert(sizeof(index_t) >= sizeof(size_t), "Traits::index_t must be at least as wide as Traits::size_t");
+	static_assert((BLOCK_SIZE > 1) && !(BLOCK_SIZE & (BLOCK_SIZE - 1)), "Traits::BLOCK_SIZE must be a power of 2 (and at least 2)");
+	static_assert((EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD > 1) && !(EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD & (EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD - 1)), "Traits::EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD must be a power of 2 (and greater than 1)");
+	static_assert((EXPLICIT_INITIAL_INDEX_SIZE > 1) && !(EXPLICIT_INITIAL_INDEX_SIZE & (EXPLICIT_INITIAL_INDEX_SIZE - 1)), "Traits::EXPLICIT_INITIAL_INDEX_SIZE must be a power of 2 (and greater than 1)");
+	static_assert((IMPLICIT_INITIAL_INDEX_SIZE > 1) && !(IMPLICIT_INITIAL_INDEX_SIZE & (IMPLICIT_INITIAL_INDEX_SIZE - 1)), "Traits::IMPLICIT_INITIAL_INDEX_SIZE must be a power of 2 (and greater than 1)");
+	static_assert((INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) || !(INITIAL_IMPLICIT_PRODUCER_HASH_SIZE & (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE - 1)), "Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE must be a power of 2");
+	static_assert(INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0 || INITIAL_IMPLICIT_PRODUCER_HASH_SIZE >= 1, "Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE must be at least 1 (or 0 to disable implicit enqueueing)");
+
+public:
+	// Creates a queue with at least `capacity` element slots; note that the
+	// actual number of elements that can be inserted without additional memory
+	// allocation depends on the number of producers and the block size (e.g. if
+	// the block size is equal to `capacity`, only a single block will be allocated
+	// up-front, which means only a single producer will be able to enqueue elements
+	// without an extra allocation -- blocks aren't shared between producers).
+	// This method is not thread safe -- it is up to the user to ensure that the
+	// queue is fully constructed before it starts being used by other threads (this
+	// includes making the memory effects of construction visible, possibly with a
+	// memory barrier).
+	explicit ConcurrentQueue(size_t capacity = 32 * BLOCK_SIZE)
+		: producerListTail(nullptr),
+		producerCount(0),
+		initialBlockPoolIndex(0),
+		nextExplicitConsumerId(0),
+		globalExplicitConsumerOffset(0)
+	{
+		implicitProducerHashResizeInProgress.clear(std::memory_order_relaxed);
+		populate_initial_implicit_producer_hash();
+		populate_initial_block_list(capacity / BLOCK_SIZE + ((capacity & (BLOCK_SIZE - 1)) == 0 ? 0 : 1));
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+		// Track all the producers using a fully-resolved typed list for
+		// each kind; this makes it possible to debug them starting from
+		// the root queue object (otherwise wacky casts are needed that
+		// don't compile in the debugger's expression evaluator).
+		explicitProducers.store(nullptr, std::memory_order_relaxed);
+		implicitProducers.store(nullptr, std::memory_order_relaxed);
+#endif
+	}
+	
+	// Computes the correct amount of pre-allocated blocks for you based
+	// on the minimum number of elements you want available at any given
+	// time, and the maximum concurrent number of each type of producer.
+	ConcurrentQueue(size_t minCapacity, size_t maxExplicitProducers, size_t maxImplicitProducers)
+		: producerListTail(nullptr),
+		producerCount(0),
+		initialBlockPoolIndex(0),
+		nextExplicitConsumerId(0),
+		globalExplicitConsumerOffset(0)
+	{
+		implicitProducerHashResizeInProgress.clear(std::memory_order_relaxed);
+		populate_initial_implicit_producer_hash();
+		size_t blocks = (((minCapacity + BLOCK_SIZE - 1) / BLOCK_SIZE) - 1) * (maxExplicitProducers + 1) + 2 * (maxExplicitProducers + maxImplicitProducers);
+		populate_initial_block_list(blocks);
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+		explicitProducers.store(nullptr, std::memory_order_relaxed);
+		implicitProducers.store(nullptr, std::memory_order_relaxed);
+#endif
+	}
+	
+	// Note: The queue should not be accessed concurrently while it's
+	// being deleted. It's up to the user to synchronize this.
+	// This method is not thread safe.
+	~ConcurrentQueue()
+	{
+		// Destroy producers
+		auto ptr = producerListTail.load(std::memory_order_relaxed);
+		while (ptr != nullptr) {
+			auto next = ptr->next_prod();
+			if (ptr->token != nullptr) {
+				ptr->token->producer = nullptr;
+			}
+			destroy(ptr);
+			ptr = next;
+		}
+		
+		// Destroy implicit producer hash tables
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE != 0) {
+			auto hash = implicitProducerHash.load(std::memory_order_relaxed);
+			while (hash != nullptr) {
+				auto prev = hash->prev;
+				if (prev != nullptr) {		// The last hash is part of this object and was not allocated dynamically
+					for (size_t i = 0; i != hash->capacity; ++i) {
+						hash->entries[i].~ImplicitProducerKVP();
+					}
+					hash->~ImplicitProducerHash();
+					(Traits::free)(hash);
+				}
+				hash = prev;
+			}
+		}
+		
+		// Destroy global free list
+		auto block = freeList.head_unsafe();
+		while (block != nullptr) {
+			auto next = block->freeListNext.load(std::memory_order_relaxed);
+			if (block->dynamicallyAllocated) {
+				destroy(block);
+			}
+			block = next;
+		}
+		
+		// Destroy initial free list
+		destroy_array(initialBlockPool, initialBlockPoolSize);
+	}
+
+	// Disable copying and copy assignment
+	ConcurrentQueue(ConcurrentQueue const&) WPI_CQ_DELETE_FUNCTION;
+	ConcurrentQueue& operator=(ConcurrentQueue const&) WPI_CQ_DELETE_FUNCTION;
+	
+	// Moving is supported, but note that it is *not* a thread-safe operation.
+	// Nobody can use the queue while it's being moved, and the memory effects
+	// of that move must be propagated to other threads before they can use it.
+	// Note: When a queue is moved, its tokens are still valid but can only be
+	// used with the destination queue (i.e. semantically they are moved along
+	// with the queue itself).
+	ConcurrentQueue(ConcurrentQueue&& other) WPI_CQ_NOEXCEPT
+		: producerListTail(other.producerListTail.load(std::memory_order_relaxed)),
+		producerCount(other.producerCount.load(std::memory_order_relaxed)),
+		initialBlockPoolIndex(other.initialBlockPoolIndex.load(std::memory_order_relaxed)),
+		initialBlockPool(other.initialBlockPool),
+		initialBlockPoolSize(other.initialBlockPoolSize),
+		freeList(std::move(other.freeList)),
+		nextExplicitConsumerId(other.nextExplicitConsumerId.load(std::memory_order_relaxed)),
+		globalExplicitConsumerOffset(other.globalExplicitConsumerOffset.load(std::memory_order_relaxed))
+	{
+		// Move the other one into this, and leave the other one as an empty queue
+		implicitProducerHashResizeInProgress.clear(std::memory_order_relaxed);
+		populate_initial_implicit_producer_hash();
+		swap_implicit_producer_hashes(other);
+		
+		other.producerListTail.store(nullptr, std::memory_order_relaxed);
+		other.producerCount.store(0, std::memory_order_relaxed);
+		other.nextExplicitConsumerId.store(0, std::memory_order_relaxed);
+		other.globalExplicitConsumerOffset.store(0, std::memory_order_relaxed);
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+		explicitProducers.store(other.explicitProducers.load(std::memory_order_relaxed), std::memory_order_relaxed);
+		other.explicitProducers.store(nullptr, std::memory_order_relaxed);
+		implicitProducers.store(other.implicitProducers.load(std::memory_order_relaxed), std::memory_order_relaxed);
+		other.implicitProducers.store(nullptr, std::memory_order_relaxed);
+#endif
+		
+		other.initialBlockPoolIndex.store(0, std::memory_order_relaxed);
+		other.initialBlockPoolSize = 0;
+		other.initialBlockPool = nullptr;
+		
+		reown_producers();
+	}
+	
+	inline ConcurrentQueue& operator=(ConcurrentQueue&& other) WPI_CQ_NOEXCEPT
+	{
+		return swap_internal(other);
+	}
+	
+	// Swaps this queue's state with the other's. Not thread-safe.
+	// Swapping two queues does not invalidate their tokens, however
+	// the tokens that were created for one queue must be used with
+	// only the swapped queue (i.e. the tokens are tied to the
+	// queue's movable state, not the object itself).
+	inline void swap(ConcurrentQueue& other) WPI_CQ_NOEXCEPT
+	{
+		swap_internal(other);
+	}
+	
+private:
+	ConcurrentQueue& swap_internal(ConcurrentQueue& other)
+	{
+		if (this == &other) {
+			return *this;
+		}
+		
+		details::swap_relaxed(producerListTail, other.producerListTail);
+		details::swap_relaxed(producerCount, other.producerCount);
+		details::swap_relaxed(initialBlockPoolIndex, other.initialBlockPoolIndex);
+		std::swap(initialBlockPool, other.initialBlockPool);
+		std::swap(initialBlockPoolSize, other.initialBlockPoolSize);
+		freeList.swap(other.freeList);
+		details::swap_relaxed(nextExplicitConsumerId, other.nextExplicitConsumerId);
+		details::swap_relaxed(globalExplicitConsumerOffset, other.globalExplicitConsumerOffset);
+		
+		swap_implicit_producer_hashes(other);
+		
+		reown_producers();
+		other.reown_producers();
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+		details::swap_relaxed(explicitProducers, other.explicitProducers);
+		details::swap_relaxed(implicitProducers, other.implicitProducers);
+#endif
+		
+		return *this;
+	}
+	
+public:
+	// Enqueues a single item (by copying it).
+	// Allocates memory if required. Only fails if memory allocation fails (or implicit
+	// production is disabled because Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE is 0,
+	// or Traits::MAX_SUBQUEUE_SIZE has been defined and would be surpassed).
+	// Thread-safe.
+	inline bool enqueue(T const& item)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) return false;
+		else return inner_enqueue<CanAlloc>(item);
+	}
+	
+	// Enqueues a single item (by moving it, if possible).
+	// Allocates memory if required. Only fails if memory allocation fails (or implicit
+	// production is disabled because Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE is 0,
+	// or Traits::MAX_SUBQUEUE_SIZE has been defined and would be surpassed).
+	// Thread-safe.
+	inline bool enqueue(T&& item)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) return false;
+		else return inner_enqueue<CanAlloc>(std::move(item));
+	}
+	
+	// Enqueues a single item (by copying it) using an explicit producer token.
+	// Allocates memory if required. Only fails if memory allocation fails (or
+	// Traits::MAX_SUBQUEUE_SIZE has been defined and would be surpassed).
+	// Thread-safe.
+	inline bool enqueue(producer_token_t const& token, T const& item)
+	{
+		return inner_enqueue<CanAlloc>(token, item);
+	}
+	
+	// Enqueues a single item (by moving it, if possible) using an explicit producer token.
+	// Allocates memory if required. Only fails if memory allocation fails (or
+	// Traits::MAX_SUBQUEUE_SIZE has been defined and would be surpassed).
+	// Thread-safe.
+	inline bool enqueue(producer_token_t const& token, T&& item)
+	{
+		return inner_enqueue<CanAlloc>(token, std::move(item));
+	}
+	
+	// Enqueues several items.
+	// Allocates memory if required. Only fails if memory allocation fails (or
+	// implicit production is disabled because Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE
+	// is 0, or Traits::MAX_SUBQUEUE_SIZE has been defined and would be surpassed).
+	// Note: Use std::make_move_iterator if the elements should be moved instead of copied.
+	// Thread-safe.
+	template<typename It>
+	bool enqueue_bulk(It itemFirst, size_t count)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) return false;
+		else return inner_enqueue_bulk<CanAlloc>(itemFirst, count);
+	}
+	
+	// Enqueues several items using an explicit producer token.
+	// Allocates memory if required. Only fails if memory allocation fails
+	// (or Traits::MAX_SUBQUEUE_SIZE has been defined and would be surpassed).
+	// Note: Use std::make_move_iterator if the elements should be moved
+	// instead of copied.
+	// Thread-safe.
+	template<typename It>
+	bool enqueue_bulk(producer_token_t const& token, It itemFirst, size_t count)
+	{
+		return inner_enqueue_bulk<CanAlloc>(token, itemFirst, count);
+	}
+	
+	// Enqueues a single item (by copying it).
+	// Does not allocate memory. Fails if not enough room to enqueue (or implicit
+	// production is disabled because Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE
+	// is 0).
+	// Thread-safe.
+	inline bool try_enqueue(T const& item)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) return false;
+		else return inner_enqueue<CannotAlloc>(item);
+	}
+	
+	// Enqueues a single item (by moving it, if possible).
+	// Does not allocate memory (except for one-time implicit producer).
+	// Fails if not enough room to enqueue (or implicit production is
+	// disabled because Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE is 0).
+	// Thread-safe.
+	inline bool try_enqueue(T&& item)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) return false;
+		else return inner_enqueue<CannotAlloc>(std::move(item));
+	}
+	
+	// Enqueues a single item (by copying it) using an explicit producer token.
+	// Does not allocate memory. Fails if not enough room to enqueue.
+	// Thread-safe.
+	inline bool try_enqueue(producer_token_t const& token, T const& item)
+	{
+		return inner_enqueue<CannotAlloc>(token, item);
+	}
+	
+	// Enqueues a single item (by moving it, if possible) using an explicit producer token.
+	// Does not allocate memory. Fails if not enough room to enqueue.
+	// Thread-safe.
+	inline bool try_enqueue(producer_token_t const& token, T&& item)
+	{
+		return inner_enqueue<CannotAlloc>(token, std::move(item));
+	}
+	
+	// Enqueues several items.
+	// Does not allocate memory (except for one-time implicit producer).
+	// Fails if not enough room to enqueue (or implicit production is
+	// disabled because Traits::INITIAL_IMPLICIT_PRODUCER_HASH_SIZE is 0).
+	// Note: Use std::make_move_iterator if the elements should be moved
+	// instead of copied.
+	// Thread-safe.
+	template<typename It>
+	bool try_enqueue_bulk(It itemFirst, size_t count)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) return false;
+		else return inner_enqueue_bulk<CannotAlloc>(itemFirst, count);
+	}
+	
+	// Enqueues several items using an explicit producer token.
+	// Does not allocate memory. Fails if not enough room to enqueue.
+	// Note: Use std::make_move_iterator if the elements should be moved
+	// instead of copied.
+	// Thread-safe.
+	template<typename It>
+	bool try_enqueue_bulk(producer_token_t const& token, It itemFirst, size_t count)
+	{
+		return inner_enqueue_bulk<CannotAlloc>(token, itemFirst, count);
+	}
+	
+	
+	
+	// Attempts to dequeue from the queue.
+	// Returns false if all producer streams appeared empty at the time they
+	// were checked (so, the queue is likely but not guaranteed to be empty).
+	// Never allocates. Thread-safe.
+	template<typename U>
+	bool try_dequeue(U& item)
+	{
+		// Instead of simply trying each producer in turn (which could cause needless contention on the first
+		// producer), we score them heuristically.
+		size_t nonEmptyCount = 0;
+		ProducerBase* best = nullptr;
+		size_t bestSize = 0;
+		for (auto ptr = producerListTail.load(std::memory_order_acquire); nonEmptyCount < 3 && ptr != nullptr; ptr = ptr->next_prod()) {
+			auto size = ptr->size_approx();
+			if (size > 0) {
+				if (size > bestSize) {
+					bestSize = size;
+					best = ptr;
+				}
+				++nonEmptyCount;
+			}
+		}
+		
+		// If there was at least one non-empty queue but it appears empty at the time
+		// we try to dequeue from it, we need to make sure every queue's been tried
+		if (nonEmptyCount > 0) {
+			if ((details::likely)(best->dequeue(item))) {
+				return true;
+			}
+			for (auto ptr = producerListTail.load(std::memory_order_acquire); ptr != nullptr; ptr = ptr->next_prod()) {
+				if (ptr != best && ptr->dequeue(item)) {
+					return true;
+				}
+			}
+		}
+		return false;
+	}
+	
+	// Attempts to dequeue from the queue.
+	// Returns false if all producer streams appeared empty at the time they
+	// were checked (so, the queue is likely but not guaranteed to be empty).
+	// This differs from the try_dequeue(item) method in that this one does
+	// not attempt to reduce contention by interleaving the order that producer
+	// streams are dequeued from. So, using this method can reduce overall throughput
+	// under contention, but will give more predictable results in single-threaded
+	// consumer scenarios. This is mostly only useful for internal unit tests.
+	// Never allocates. Thread-safe.
+	template<typename U>
+	bool try_dequeue_non_interleaved(U& item)
+	{
+		for (auto ptr = producerListTail.load(std::memory_order_acquire); ptr != nullptr; ptr = ptr->next_prod()) {
+			if (ptr->dequeue(item)) {
+				return true;
+			}
+		}
+		return false;
+	}
+	
+	// Attempts to dequeue from the queue using an explicit consumer token.
+	// Returns false if all producer streams appeared empty at the time they
+	// were checked (so, the queue is likely but not guaranteed to be empty).
+	// Never allocates. Thread-safe.
+	template<typename U>
+	bool try_dequeue(consumer_token_t& token, U& item)
+	{
+		// The idea is roughly as follows:
+		// Every 256 items from one producer, make everyone rotate (increase the global offset) -> this means the highest efficiency consumer dictates the rotation speed of everyone else, more or less
+		// If you see that the global offset has changed, you must reset your consumption counter and move to your designated place
+		// If there's no items where you're supposed to be, keep moving until you find a producer with some items
+		// If the global offset has not changed but you've run out of items to consume, move over from your current position until you find an producer with something in it
+		
+		if (token.desiredProducer == nullptr || token.lastKnownGlobalOffset != globalExplicitConsumerOffset.load(std::memory_order_relaxed)) {
+			if (!update_current_producer_after_rotation(token)) {
+				return false;
+			}
+		}
+		
+		// If there was at least one non-empty queue but it appears empty at the time
+		// we try to dequeue from it, we need to make sure every queue's been tried
+		if (static_cast<ProducerBase*>(token.currentProducer)->dequeue(item)) {
+			if (++token.itemsConsumedFromCurrent == EXPLICIT_CONSUMER_CONSUMPTION_QUOTA_BEFORE_ROTATE) {
+				globalExplicitConsumerOffset.fetch_add(1, std::memory_order_relaxed);
+			}
+			return true;
+		}
+		
+		auto tail = producerListTail.load(std::memory_order_acquire);
+		auto ptr = static_cast<ProducerBase*>(token.currentProducer)->next_prod();
+		if (ptr == nullptr) {
+			ptr = tail;
+		}
+		while (ptr != static_cast<ProducerBase*>(token.currentProducer)) {
+			if (ptr->dequeue(item)) {
+				token.currentProducer = ptr;
+				token.itemsConsumedFromCurrent = 1;
+				return true;
+			}
+			ptr = ptr->next_prod();
+			if (ptr == nullptr) {
+				ptr = tail;
+			}
+		}
+		return false;
+	}
+	
+	// Attempts to dequeue several elements from the queue.
+	// Returns the number of items actually dequeued.
+	// Returns 0 if all producer streams appeared empty at the time they
+	// were checked (so, the queue is likely but not guaranteed to be empty).
+	// Never allocates. Thread-safe.
+	template<typename It>
+	size_t try_dequeue_bulk(It itemFirst, size_t max)
+	{
+		size_t count = 0;
+		for (auto ptr = producerListTail.load(std::memory_order_acquire); ptr != nullptr; ptr = ptr->next_prod()) {
+			count += ptr->dequeue_bulk(itemFirst, max - count);
+			if (count == max) {
+				break;
+			}
+		}
+		return count;
+	}
+	
+	// Attempts to dequeue several elements from the queue using an explicit consumer token.
+	// Returns the number of items actually dequeued.
+	// Returns 0 if all producer streams appeared empty at the time they
+	// were checked (so, the queue is likely but not guaranteed to be empty).
+	// Never allocates. Thread-safe.
+	template<typename It>
+	size_t try_dequeue_bulk(consumer_token_t& token, It itemFirst, size_t max)
+	{
+		if (token.desiredProducer == nullptr || token.lastKnownGlobalOffset != globalExplicitConsumerOffset.load(std::memory_order_relaxed)) {
+			if (!update_current_producer_after_rotation(token)) {
+				return 0;
+			}
+		}
+		
+		size_t count = static_cast<ProducerBase*>(token.currentProducer)->dequeue_bulk(itemFirst, max);
+		if (count == max) {
+			if ((token.itemsConsumedFromCurrent += static_cast<std::uint32_t>(max)) >= EXPLICIT_CONSUMER_CONSUMPTION_QUOTA_BEFORE_ROTATE) {
+				globalExplicitConsumerOffset.fetch_add(1, std::memory_order_relaxed);
+			}
+			return max;
+		}
+		token.itemsConsumedFromCurrent += static_cast<std::uint32_t>(count);
+		max -= count;
+		
+		auto tail = producerListTail.load(std::memory_order_acquire);
+		auto ptr = static_cast<ProducerBase*>(token.currentProducer)->next_prod();
+		if (ptr == nullptr) {
+			ptr = tail;
+		}
+		while (ptr != static_cast<ProducerBase*>(token.currentProducer)) {
+			auto dequeued = ptr->dequeue_bulk(itemFirst, max);
+			count += dequeued;
+			if (dequeued != 0) {
+				token.currentProducer = ptr;
+				token.itemsConsumedFromCurrent = static_cast<std::uint32_t>(dequeued);
+			}
+			if (dequeued == max) {
+				break;
+			}
+			max -= dequeued;
+			ptr = ptr->next_prod();
+			if (ptr == nullptr) {
+				ptr = tail;
+			}
+		}
+		return count;
+	}
+	
+	
+	
+	// Attempts to dequeue from a specific producer's inner queue.
+	// If you happen to know which producer you want to dequeue from, this
+	// is significantly faster than using the general-case try_dequeue methods.
+	// Returns false if the producer's queue appeared empty at the time it
+	// was checked (so, the queue is likely but not guaranteed to be empty).
+	// Never allocates. Thread-safe.
+	template<typename U>
+	inline bool try_dequeue_from_producer(producer_token_t const& producer, U& item)
+	{
+		return static_cast<ExplicitProducer*>(producer.producer)->dequeue(item);
+	}
+	
+	// Attempts to dequeue several elements from a specific producer's inner queue.
+	// Returns the number of items actually dequeued.
+	// If you happen to know which producer you want to dequeue from, this
+	// is significantly faster than using the general-case try_dequeue methods.
+	// Returns 0 if the producer's queue appeared empty at the time it
+	// was checked (so, the queue is likely but not guaranteed to be empty).
+	// Never allocates. Thread-safe.
+	template<typename It>
+	inline size_t try_dequeue_bulk_from_producer(producer_token_t const& producer, It itemFirst, size_t max)
+	{
+		return static_cast<ExplicitProducer*>(producer.producer)->dequeue_bulk(itemFirst, max);
+	}
+	
+	
+	// Returns an estimate of the total number of elements currently in the queue. This
+	// estimate is only accurate if the queue has completely stabilized before it is called
+	// (i.e. all enqueue and dequeue operations have completed and their memory effects are
+	// visible on the calling thread, and no further operations start while this method is
+	// being called).
+	// Thread-safe.
+	size_t size_approx() const
+	{
+		size_t size = 0;
+		for (auto ptr = producerListTail.load(std::memory_order_acquire); ptr != nullptr; ptr = ptr->next_prod()) {
+			size += ptr->size_approx();
+		}
+		return size;
+	}
+	
+	
+	// Returns true if the underlying atomic variables used by
+	// the queue are lock-free (they should be on most platforms).
+	// Thread-safe.
+	static constexpr bool is_lock_free()
+	{
+		return
+			details::static_is_lock_free<bool>::value == 2 &&
+			details::static_is_lock_free<size_t>::value == 2 &&
+			details::static_is_lock_free<std::uint32_t>::value == 2 &&
+			details::static_is_lock_free<index_t>::value == 2 &&
+			details::static_is_lock_free<void*>::value == 2 &&
+			details::static_is_lock_free<typename details::thread_id_converter<details::thread_id_t>::thread_id_numeric_size_t>::value == 2;
+	}
+
+
+private:
+	friend struct ProducerToken;
+	friend struct ConsumerToken;
+	struct ExplicitProducer;
+	friend struct ExplicitProducer;
+	struct ImplicitProducer;
+	friend struct ImplicitProducer;
+	friend class ConcurrentQueueTests;
+		
+	enum AllocationMode { CanAlloc, CannotAlloc };
+	
+	
+	///////////////////////////////
+	// Queue methods
+	///////////////////////////////
+	
+	template<AllocationMode canAlloc, typename U>
+	inline bool inner_enqueue(producer_token_t const& token, U&& element)
+	{
+		return static_cast<ExplicitProducer*>(token.producer)->ConcurrentQueue::ExplicitProducer::template enqueue<canAlloc>(std::forward<U>(element));
+	}
+	
+	template<AllocationMode canAlloc, typename U>
+	inline bool inner_enqueue(U&& element)
+	{
+		auto producer = get_or_add_implicit_producer();
+		return producer == nullptr ? false : producer->ConcurrentQueue::ImplicitProducer::template enqueue<canAlloc>(std::forward<U>(element));
+	}
+	
+	template<AllocationMode canAlloc, typename It>
+	inline bool inner_enqueue_bulk(producer_token_t const& token, It itemFirst, size_t count)
+	{
+		return static_cast<ExplicitProducer*>(token.producer)->ConcurrentQueue::ExplicitProducer::template enqueue_bulk<canAlloc>(itemFirst, count);
+	}
+	
+	template<AllocationMode canAlloc, typename It>
+	inline bool inner_enqueue_bulk(It itemFirst, size_t count)
+	{
+		auto producer = get_or_add_implicit_producer();
+		return producer == nullptr ? false : producer->ConcurrentQueue::ImplicitProducer::template enqueue_bulk<canAlloc>(itemFirst, count);
+	}
+	
+	inline bool update_current_producer_after_rotation(consumer_token_t& token)
+	{
+		// Ah, there's been a rotation, figure out where we should be!
+		auto tail = producerListTail.load(std::memory_order_acquire);
+		if (token.desiredProducer == nullptr && tail == nullptr) {
+			return false;
+		}
+		auto prodCount = producerCount.load(std::memory_order_relaxed);
+		auto globalOffset = globalExplicitConsumerOffset.load(std::memory_order_relaxed);
+		if ((details::unlikely)(token.desiredProducer == nullptr)) {
+			// Aha, first time we're dequeueing anything.
+			// Figure out our local position
+			// Note: offset is from start, not end, but we're traversing from end -- subtract from count first
+			std::uint32_t offset = prodCount - 1 - (token.initialOffset % prodCount);
+			token.desiredProducer = tail;
+			for (std::uint32_t i = 0; i != offset; ++i) {
+				token.desiredProducer = static_cast<ProducerBase*>(token.desiredProducer)->next_prod();
+				if (token.desiredProducer == nullptr) {
+					token.desiredProducer = tail;
+				}
+			}
+		}
+		
+		std::uint32_t delta = globalOffset - token.lastKnownGlobalOffset;
+		if (delta >= prodCount) {
+			delta = delta % prodCount;
+		}
+		for (std::uint32_t i = 0; i != delta; ++i) {
+			token.desiredProducer = static_cast<ProducerBase*>(token.desiredProducer)->next_prod();
+			if (token.desiredProducer == nullptr) {
+				token.desiredProducer = tail;
+			}
+		}
+		
+		token.lastKnownGlobalOffset = globalOffset;
+		token.currentProducer = token.desiredProducer;
+		token.itemsConsumedFromCurrent = 0;
+		return true;
+	}
+	
+	
+	///////////////////////////
+	// Free list
+	///////////////////////////
+	
+	template <typename N>
+	struct FreeListNode
+	{
+		FreeListNode() : freeListRefs(0), freeListNext(nullptr) { }
+		
+		std::atomic<std::uint32_t> freeListRefs;
+		std::atomic<N*> freeListNext;
+	};
+	
+	// A simple CAS-based lock-free free list. Not the fastest thing in the world under heavy contention, but
+	// simple and correct (assuming nodes are never freed until after the free list is destroyed), and fairly
+	// speedy under low contention.
+	template<typename N>		// N must inherit FreeListNode or have the same fields (and initialization of them)
+	struct FreeList
+	{
+		FreeList() : freeListHead(nullptr) { }
+		FreeList(FreeList&& other) : freeListHead(other.freeListHead.load(std::memory_order_relaxed)) { other.freeListHead.store(nullptr, std::memory_order_relaxed); }
+		void swap(FreeList& other) { details::swap_relaxed(freeListHead, other.freeListHead); }
+		
+		FreeList(FreeList const&) WPI_CQ_DELETE_FUNCTION;
+		FreeList& operator=(FreeList const&) WPI_CQ_DELETE_FUNCTION;
+		
+		inline void add(N* node)
+		{
+#ifdef MCDBGQ_NOLOCKFREE_FREELIST
+			debug::DebugLock lock(mutex);
+#endif		
+			// We know that the should-be-on-freelist bit is 0 at this point, so it's safe to
+			// set it using a fetch_add
+			if (node->freeListRefs.fetch_add(SHOULD_BE_ON_FREELIST, std::memory_order_acq_rel) == 0) {
+				// Oh look! We were the last ones referencing this node, and we know
+				// we want to add it to the free list, so let's do it!
+		 		add_knowing_refcount_is_zero(node);
+			}
+		}
+		
+		inline N* try_get()
+		{
+#ifdef MCDBGQ_NOLOCKFREE_FREELIST
+			debug::DebugLock lock(mutex);
+#endif		
+			auto head = freeListHead.load(std::memory_order_acquire);
+			while (head != nullptr) {
+				auto prevHead = head;
+				auto refs = head->freeListRefs.load(std::memory_order_relaxed);
+				if ((refs & REFS_MASK) == 0 || !head->freeListRefs.compare_exchange_strong(refs, refs + 1, std::memory_order_acquire, std::memory_order_relaxed)) {
+					head = freeListHead.load(std::memory_order_acquire);
+					continue;
+				}
+				
+				// Good, reference count has been incremented (it wasn't at zero), which means we can read the
+				// next and not worry about it changing between now and the time we do the CAS
+				auto next = head->freeListNext.load(std::memory_order_relaxed);
+				if (freeListHead.compare_exchange_strong(head, next, std::memory_order_acquire, std::memory_order_relaxed)) {
+					// Yay, got the node. This means it was on the list, which means shouldBeOnFreeList must be false no
+					// matter the refcount (because nobody else knows it's been taken off yet, it can't have been put back on).
+					assert((head->freeListRefs.load(std::memory_order_relaxed) & SHOULD_BE_ON_FREELIST) == 0);
+					
+					// Decrease refcount twice, once for our ref, and once for the list's ref
+					head->freeListRefs.fetch_sub(2, std::memory_order_release);
+					return head;
+				}
+				
+				// OK, the head must have changed on us, but we still need to decrease the refcount we increased.
+				// Note that we don't need to release any memory effects, but we do need to ensure that the reference
+				// count decrement happens-after the CAS on the head.
+				refs = prevHead->freeListRefs.fetch_sub(1, std::memory_order_acq_rel);
+				if (refs == SHOULD_BE_ON_FREELIST + 1) {
+					add_knowing_refcount_is_zero(prevHead);
+				}
+			}
+			
+			return nullptr;
+		}
+		
+		// Useful for traversing the list when there's no contention (e.g. to destroy remaining nodes)
+		N* head_unsafe() const { return freeListHead.load(std::memory_order_relaxed); }
+		
+	private:
+		inline void add_knowing_refcount_is_zero(N* node)
+		{
+			// Since the refcount is zero, and nobody can increase it once it's zero (except us, and we run
+			// only one copy of this method per node at a time, i.e. the single thread case), then we know
+			// we can safely change the next pointer of the node; however, once the refcount is back above
+			// zero, then other threads could increase it (happens under heavy contention, when the refcount
+			// goes to zero in between a load and a refcount increment of a node in try_get, then back up to
+			// something non-zero, then the refcount increment is done by the other thread) -- so, if the CAS
+			// to add the node to the actual list fails, decrease the refcount and leave the add operation to
+			// the next thread who puts the refcount back at zero (which could be us, hence the loop).
+			auto head = freeListHead.load(std::memory_order_relaxed);
+			while (true) {
+				node->freeListNext.store(head, std::memory_order_relaxed);
+				node->freeListRefs.store(1, std::memory_order_release);
+				if (!freeListHead.compare_exchange_strong(head, node, std::memory_order_release, std::memory_order_relaxed)) {
+					// Hmm, the add failed, but we can only try again when the refcount goes back to zero
+					if (node->freeListRefs.fetch_add(SHOULD_BE_ON_FREELIST - 1, std::memory_order_release) == 1) {
+						continue;
+					}
+				}
+				return;
+			}
+		}
+		
+	private:
+		// Implemented like a stack, but where node order doesn't matter (nodes are inserted out of order under contention)
+		std::atomic<N*> freeListHead;
+	
+	static const std::uint32_t REFS_MASK = 0x7FFFFFFF;
+	static const std::uint32_t SHOULD_BE_ON_FREELIST = 0x80000000;
+		
+#ifdef MCDBGQ_NOLOCKFREE_FREELIST
+		debug::DebugMutex mutex;
+#endif
+	};
+	
+	
+	///////////////////////////
+	// Block
+	///////////////////////////
+	
+	enum InnerQueueContext { implicit_context = 0, explicit_context = 1 };
+	
+	struct Block
+	{
+		Block()
+			: next(nullptr), elementsCompletelyDequeued(0), freeListRefs(0), freeListNext(nullptr), dynamicallyAllocated(true)
+		{
+#ifdef MCDBGQ_TRACKMEM
+			owner = nullptr;
+#endif
+		}
+		
+		template<InnerQueueContext context>
+		inline bool is_empty() const
+		{
+			WPI_CQ_CONSTEXPR_IF (context == explicit_context && BLOCK_SIZE <= EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD) {
+				// Check flags
+				for (size_t i = 0; i < BLOCK_SIZE; ++i) {
+					if (!emptyFlags[i].load(std::memory_order_relaxed)) {
+						return false;
+					}
+				}
+				
+				// Aha, empty; make sure we have all other memory effects that happened before the empty flags were set
+				std::atomic_thread_fence(std::memory_order_acquire);
+				return true;
+			}
+			else {
+				// Check counter
+				if (elementsCompletelyDequeued.load(std::memory_order_relaxed) == BLOCK_SIZE) {
+					std::atomic_thread_fence(std::memory_order_acquire);
+					return true;
+				}
+				assert(elementsCompletelyDequeued.load(std::memory_order_relaxed) <= BLOCK_SIZE);
+				return false;
+			}
+		}
+		
+		// Returns true if the block is now empty (does not apply in explicit context)
+		template<InnerQueueContext context>
+		inline bool set_empty(WPI_CQ_MAYBE_UNUSED index_t i)
+		{
+			WPI_CQ_CONSTEXPR_IF (context == explicit_context && BLOCK_SIZE <= EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD) {
+				// Set flag
+				assert(!emptyFlags[BLOCK_SIZE - 1 - static_cast<size_t>(i & static_cast<index_t>(BLOCK_SIZE - 1))].load(std::memory_order_relaxed));
+				emptyFlags[BLOCK_SIZE - 1 - static_cast<size_t>(i & static_cast<index_t>(BLOCK_SIZE - 1))].store(true, std::memory_order_release);
+				return false;
+			}
+			else {
+				// Increment counter
+				auto prevVal = elementsCompletelyDequeued.fetch_add(1, std::memory_order_release);
+				assert(prevVal < BLOCK_SIZE);
+				return prevVal == BLOCK_SIZE - 1;
+			}
+		}
+		
+		// Sets multiple contiguous item statuses to 'empty' (assumes no wrapping and count > 0).
+		// Returns true if the block is now empty (does not apply in explicit context).
+		template<InnerQueueContext context>
+		inline bool set_many_empty(WPI_CQ_MAYBE_UNUSED index_t i, size_t count)
+		{
+			WPI_CQ_CONSTEXPR_IF (context == explicit_context && BLOCK_SIZE <= EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD) {
+				// Set flags
+				std::atomic_thread_fence(std::memory_order_release);
+				i = BLOCK_SIZE - 1 - static_cast<size_t>(i & static_cast<index_t>(BLOCK_SIZE - 1)) - count + 1;
+				for (size_t j = 0; j != count; ++j) {
+					assert(!emptyFlags[i + j].load(std::memory_order_relaxed));
+					emptyFlags[i + j].store(true, std::memory_order_relaxed);
+				}
+				return false;
+			}
+			else {
+				// Increment counter
+				auto prevVal = elementsCompletelyDequeued.fetch_add(count, std::memory_order_release);
+				assert(prevVal + count <= BLOCK_SIZE);
+				return prevVal + count == BLOCK_SIZE;
+			}
+		}
+		
+		template<InnerQueueContext context>
+		inline void set_all_empty()
+		{
+			WPI_CQ_CONSTEXPR_IF (context == explicit_context && BLOCK_SIZE <= EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD) {
+				// Set all flags
+				for (size_t i = 0; i != BLOCK_SIZE; ++i) {
+					emptyFlags[i].store(true, std::memory_order_relaxed);
+				}
+			}
+			else {
+				// Reset counter
+				elementsCompletelyDequeued.store(BLOCK_SIZE, std::memory_order_relaxed);
+			}
+		}
+		
+		template<InnerQueueContext context>
+		inline void reset_empty()
+		{
+			WPI_CQ_CONSTEXPR_IF (context == explicit_context && BLOCK_SIZE <= EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD) {
+				// Reset flags
+				for (size_t i = 0; i != BLOCK_SIZE; ++i) {
+					emptyFlags[i].store(false, std::memory_order_relaxed);
+				}
+			}
+			else {
+				// Reset counter
+				elementsCompletelyDequeued.store(0, std::memory_order_relaxed);
+			}
+		}
+		
+		inline T* operator[](index_t idx) WPI_CQ_NOEXCEPT { return static_cast<T*>(static_cast<void*>(elements)) + static_cast<size_t>(idx & static_cast<index_t>(BLOCK_SIZE - 1)); }
+		inline T const* operator[](index_t idx) const WPI_CQ_NOEXCEPT { return static_cast<T const*>(static_cast<void const*>(elements)) + static_cast<size_t>(idx & static_cast<index_t>(BLOCK_SIZE - 1)); }
+		
+	private:
+		static_assert(std::alignment_of<T>::value <= sizeof(T), "The queue does not support types with an alignment greater than their size at this time");
+		WPI_CQ_ALIGNED_TYPE_LIKE(char[sizeof(T) * BLOCK_SIZE], T) elements;
+	public:
+		Block* next;
+		std::atomic<size_t> elementsCompletelyDequeued;
+		std::atomic<bool> emptyFlags[BLOCK_SIZE <= EXPLICIT_BLOCK_EMPTY_COUNTER_THRESHOLD ? BLOCK_SIZE : 1];
+	public:
+		std::atomic<std::uint32_t> freeListRefs;
+		std::atomic<Block*> freeListNext;
+		bool dynamicallyAllocated;		// Perhaps a better name for this would be 'isNotPartOfInitialBlockPool'
+		
+#ifdef MCDBGQ_TRACKMEM
+		void* owner;
+#endif
+	};
+	static_assert(std::alignment_of<Block>::value >= std::alignment_of<T>::value, "Internal error: Blocks must be at least as aligned as the type they are wrapping");
+
+
+#ifdef MCDBGQ_TRACKMEM
+public:
+	struct MemStats;
+private:
+#endif
+	
+	///////////////////////////
+	// Producer base
+	///////////////////////////
+	
+	struct ProducerBase : public details::ConcurrentQueueProducerTypelessBase
+	{
+		ProducerBase(ConcurrentQueue* parent_, bool isExplicit_) :
+			tailIndex(0),
+			headIndex(0),
+			dequeueOptimisticCount(0),
+			dequeueOvercommit(0),
+			tailBlock(nullptr),
+			isExplicit(isExplicit_),
+			parent(parent_)
+		{
+		}
+		
+		virtual ~ProducerBase() { }
+		
+		template<typename U>
+		inline bool dequeue(U& element)
+		{
+			if (isExplicit) {
+				return static_cast<ExplicitProducer*>(this)->dequeue(element);
+			}
+			else {
+				return static_cast<ImplicitProducer*>(this)->dequeue(element);
+			}
+		}
+		
+		template<typename It>
+		inline size_t dequeue_bulk(It& itemFirst, size_t max)
+		{
+			if (isExplicit) {
+				return static_cast<ExplicitProducer*>(this)->dequeue_bulk(itemFirst, max);
+			}
+			else {
+				return static_cast<ImplicitProducer*>(this)->dequeue_bulk(itemFirst, max);
+			}
+		}
+		
+		inline ProducerBase* next_prod() const { return static_cast<ProducerBase*>(next); }
+		
+		inline size_t size_approx() const
+		{
+			auto tail = tailIndex.load(std::memory_order_relaxed);
+			auto head = headIndex.load(std::memory_order_relaxed);
+			return details::circular_less_than(head, tail) ? static_cast<size_t>(tail - head) : 0;
+		}
+		
+		inline index_t getTail() const { return tailIndex.load(std::memory_order_relaxed); }
+	protected:
+		std::atomic<index_t> tailIndex;		// Where to enqueue to next
+		std::atomic<index_t> headIndex;		// Where to dequeue from next
+		
+		std::atomic<index_t> dequeueOptimisticCount;
+		std::atomic<index_t> dequeueOvercommit;
+		
+		Block* tailBlock;
+		
+	public:
+		bool isExplicit;
+		ConcurrentQueue* parent;
+		
+	protected:
+#ifdef MCDBGQ_TRACKMEM
+		friend struct MemStats;
+#endif
+	};
+	
+	
+	///////////////////////////
+	// Explicit queue
+	///////////////////////////
+		
+	struct ExplicitProducer : public ProducerBase
+	{
+		explicit ExplicitProducer(ConcurrentQueue* parent_) :
+			ProducerBase(parent_, true),
+			blockIndex(nullptr),
+			pr_blockIndexSlotsUsed(0),
+			pr_blockIndexSize(EXPLICIT_INITIAL_INDEX_SIZE >> 1),
+			pr_blockIndexFront(0),
+			pr_blockIndexEntries(nullptr),
+			pr_blockIndexRaw(nullptr)
+		{
+			size_t poolBasedIndexSize = details::ceil_to_pow_2(parent_->initialBlockPoolSize) >> 1;
+			if (poolBasedIndexSize > pr_blockIndexSize) {
+				pr_blockIndexSize = poolBasedIndexSize;
+			}
+			
+			new_block_index(0);		// This creates an index with double the number of current entries, i.e. EXPLICIT_INITIAL_INDEX_SIZE
+		}
+		
+		~ExplicitProducer()
+		{
+			// Destruct any elements not yet dequeued.
+			// Since we're in the destructor, we can assume all elements
+			// are either completely dequeued or completely not (no halfways).
+			if (this->tailBlock != nullptr) {		// Note this means there must be a block index too
+				// First find the block that's partially dequeued, if any
+				Block* halfDequeuedBlock = nullptr;
+				if ((this->headIndex.load(std::memory_order_relaxed) & static_cast<index_t>(BLOCK_SIZE - 1)) != 0) {
+					// The head's not on a block boundary, meaning a block somewhere is partially dequeued
+					// (or the head block is the tail block and was fully dequeued, but the head/tail are still not on a boundary)
+					size_t i = (pr_blockIndexFront - pr_blockIndexSlotsUsed) & (pr_blockIndexSize - 1);
+					while (details::circular_less_than<index_t>(pr_blockIndexEntries[i].base + BLOCK_SIZE, this->headIndex.load(std::memory_order_relaxed))) {
+						i = (i + 1) & (pr_blockIndexSize - 1);
+					}
+					assert(details::circular_less_than<index_t>(pr_blockIndexEntries[i].base, this->headIndex.load(std::memory_order_relaxed)));
+					halfDequeuedBlock = pr_blockIndexEntries[i].block;
+				}
+				
+				// Start at the head block (note the first line in the loop gives us the head from the tail on the first iteration)
+				auto block = this->tailBlock;
+				do {
+					block = block->next;
+					if (block->ConcurrentQueue::Block::template is_empty<explicit_context>()) {
+						continue;
+					}
+					
+					size_t i = 0;	// Offset into block
+					if (block == halfDequeuedBlock) {
+						i = static_cast<size_t>(this->headIndex.load(std::memory_order_relaxed) & static_cast<index_t>(BLOCK_SIZE - 1));
+					}
+					
+					// Walk through all the items in the block; if this is the tail block, we need to stop when we reach the tail index
+					auto lastValidIndex = (this->tailIndex.load(std::memory_order_relaxed) & static_cast<index_t>(BLOCK_SIZE - 1)) == 0 ? BLOCK_SIZE : static_cast<size_t>(this->tailIndex.load(std::memory_order_relaxed) & static_cast<index_t>(BLOCK_SIZE - 1));
+					while (i != BLOCK_SIZE && (block != this->tailBlock || i != lastValidIndex)) {
+						(*block)[i++]->~T();
+					}
+				} while (block != this->tailBlock);
+			}
+			
+			// Destroy all blocks that we own
+			if (this->tailBlock != nullptr) {
+				auto block = this->tailBlock;
+				do {
+					auto nextBlock = block->next;
+					this->parent->add_block_to_free_list(block);
+					block = nextBlock;
+				} while (block != this->tailBlock);
+			}
+			
+			// Destroy the block indices
+			auto header = static_cast<BlockIndexHeader*>(pr_blockIndexRaw);
+			while (header != nullptr) {
+				auto prev = static_cast<BlockIndexHeader*>(header->prev);
+				header->~BlockIndexHeader();
+				(Traits::free)(header);
+				header = prev;
+			}
+		}
+		
+		template<AllocationMode allocMode, typename U>
+		inline bool enqueue(U&& element)
+		{
+			index_t currentTailIndex = this->tailIndex.load(std::memory_order_relaxed);
+			index_t newTailIndex = 1 + currentTailIndex;
+			if ((currentTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) == 0) {
+				// We reached the end of a block, start a new one
+				auto startBlock = this->tailBlock;
+				auto originalBlockIndexSlotsUsed = pr_blockIndexSlotsUsed;
+				if (this->tailBlock != nullptr && this->tailBlock->next->ConcurrentQueue::Block::template is_empty<explicit_context>()) {
+					// We can re-use the block ahead of us, it's empty!					
+					this->tailBlock = this->tailBlock->next;
+					this->tailBlock->ConcurrentQueue::Block::template reset_empty<explicit_context>();
+					
+					// We'll put the block on the block index (guaranteed to be room since we're conceptually removing the
+					// last block from it first -- except instead of removing then adding, we can just overwrite).
+					// Note that there must be a valid block index here, since even if allocation failed in the ctor,
+					// it would have been re-attempted when adding the first block to the queue; since there is such
+					// a block, a block index must have been successfully allocated.
+				}
+				else {
+					// Whatever head value we see here is >= the last value we saw here (relatively),
+					// and <= its current value. Since we have the most recent tail, the head must be
+					// <= to it.
+					auto head = this->headIndex.load(std::memory_order_relaxed);
+					assert(!details::circular_less_than<index_t>(currentTailIndex, head));
+					if (!details::circular_less_than<index_t>(head, currentTailIndex + BLOCK_SIZE)
+						|| (MAX_SUBQUEUE_SIZE != details::const_numeric_max<size_t>::value && (MAX_SUBQUEUE_SIZE == 0 || MAX_SUBQUEUE_SIZE - BLOCK_SIZE < currentTailIndex - head))) {
+						// We can't enqueue in another block because there's not enough leeway -- the
+						// tail could surpass the head by the time the block fills up! (Or we'll exceed
+						// the size limit, if the second part of the condition was true.)
+						return false;
+					}
+					// We're going to need a new block; check that the block index has room
+					if (pr_blockIndexRaw == nullptr || pr_blockIndexSlotsUsed == pr_blockIndexSize) {
+						// Hmm, the circular block index is already full -- we'll need
+						// to allocate a new index. Note pr_blockIndexRaw can only be nullptr if
+						// the initial allocation failed in the constructor.
+						
+						WPI_CQ_CONSTEXPR_IF (allocMode == CannotAlloc) {
+							return false;
+						}
+						else if (!new_block_index(pr_blockIndexSlotsUsed)) {
+							return false;
+						}
+					}
+					
+					// Insert a new block in the circular linked list
+					auto newBlock = this->parent->ConcurrentQueue::template requisition_block<allocMode>();
+					if (newBlock == nullptr) {
+						return false;
+					}
+#ifdef MCDBGQ_TRACKMEM
+					newBlock->owner = this;
+#endif
+					newBlock->ConcurrentQueue::Block::template reset_empty<explicit_context>();
+					if (this->tailBlock == nullptr) {
+						newBlock->next = newBlock;
+					}
+					else {
+						newBlock->next = this->tailBlock->next;
+						this->tailBlock->next = newBlock;
+					}
+					this->tailBlock = newBlock;
+					++pr_blockIndexSlotsUsed;
+				}
+
+				WPI_CQ_CONSTEXPR_IF (!WPI_CQ_NOEXCEPT_CTOR(T, U, new (static_cast<T*>(nullptr)) T(std::forward<U>(element)))) {
+					// The constructor may throw. We want the element not to appear in the queue in
+					// that case (without corrupting the queue):
+					WPI_CQ_TRY {
+						new ((*this->tailBlock)[currentTailIndex]) T(std::forward<U>(element));
+					}
+					WPI_CQ_CATCH (...) {
+						// Revert change to the current block, but leave the new block available
+						// for next time
+						pr_blockIndexSlotsUsed = originalBlockIndexSlotsUsed;
+						this->tailBlock = startBlock == nullptr ? this->tailBlock : startBlock;
+						WPI_CQ_RETHROW;
+					}
+				}
+				else {
+					(void)startBlock;
+					(void)originalBlockIndexSlotsUsed;
+				}
+				
+				// Add block to block index
+				auto& entry = blockIndex.load(std::memory_order_relaxed)->entries[pr_blockIndexFront];
+				entry.base = currentTailIndex;
+				entry.block = this->tailBlock;
+				blockIndex.load(std::memory_order_relaxed)->front.store(pr_blockIndexFront, std::memory_order_release);
+				pr_blockIndexFront = (pr_blockIndexFront + 1) & (pr_blockIndexSize - 1);
+				
+				WPI_CQ_CONSTEXPR_IF (!WPI_CQ_NOEXCEPT_CTOR(T, U, new (static_cast<T*>(nullptr)) T(std::forward<U>(element)))) {
+					this->tailIndex.store(newTailIndex, std::memory_order_release);
+					return true;
+				}
+			}
+			
+			// Enqueue
+			new ((*this->tailBlock)[currentTailIndex]) T(std::forward<U>(element));
+			
+			this->tailIndex.store(newTailIndex, std::memory_order_release);
+			return true;
+		}
+		
+		template<typename U>
+		bool dequeue(U& element)
+		{
+			auto tail = this->tailIndex.load(std::memory_order_relaxed);
+			auto overcommit = this->dequeueOvercommit.load(std::memory_order_relaxed);
+			if (details::circular_less_than<index_t>(this->dequeueOptimisticCount.load(std::memory_order_relaxed) - overcommit, tail)) {
+				// Might be something to dequeue, let's give it a try
+				
+				// Note that this if is purely for performance purposes in the common case when the queue is
+				// empty and the values are eventually consistent -- we may enter here spuriously.
+				
+				// Note that whatever the values of overcommit and tail are, they are not going to change (unless we
+				// change them) and must be the same value at this point (inside the if) as when the if condition was
+				// evaluated.
+
+				// We insert an acquire fence here to synchronize-with the release upon incrementing dequeueOvercommit below.
+				// This ensures that whatever the value we got loaded into overcommit, the load of dequeueOptisticCount in
+				// the fetch_add below will result in a value at least as recent as that (and therefore at least as large).
+				// Note that I believe a compiler (signal) fence here would be sufficient due to the nature of fetch_add (all
+				// read-modify-write operations are guaranteed to work on the latest value in the modification order), but
+				// unfortunately that can't be shown to be correct using only the C++11 standard.
+				// See http://stackoverflow.com/questions/18223161/what-are-the-c11-memory-ordering-guarantees-in-this-corner-case
+				std::atomic_thread_fence(std::memory_order_acquire);
+				
+				// Increment optimistic counter, then check if it went over the boundary
+				auto myDequeueCount = this->dequeueOptimisticCount.fetch_add(1, std::memory_order_relaxed);
+				
+				// Note that since dequeueOvercommit must be <= dequeueOptimisticCount (because dequeueOvercommit is only ever
+				// incremented after dequeueOptimisticCount -- this is enforced in the `else` block below), and since we now
+				// have a version of dequeueOptimisticCount that is at least as recent as overcommit (due to the release upon
+				// incrementing dequeueOvercommit and the acquire above that synchronizes with it), overcommit <= myDequeueCount.
+				// However, we can't assert this since both dequeueOptimisticCount and dequeueOvercommit may (independently)
+				// overflow; in such a case, though, the logic still holds since the difference between the two is maintained.
+				
+				// Note that we reload tail here in case it changed; it will be the same value as before or greater, since
+				// this load is sequenced after (happens after) the earlier load above. This is supported by read-read
+				// coherency (as defined in the standard), explained here: http://en.cppreference.com/w/cpp/atomic/memory_order
+				tail = this->tailIndex.load(std::memory_order_acquire);
+				if ((details::likely)(details::circular_less_than<index_t>(myDequeueCount - overcommit, tail))) {
+					// Guaranteed to be at least one element to dequeue!
+					
+					// Get the index. Note that since there's guaranteed to be at least one element, this
+					// will never exceed tail. We need to do an acquire-release fence here since it's possible
+					// that whatever condition got us to this point was for an earlier enqueued element (that
+					// we already see the memory effects for), but that by the time we increment somebody else
+					// has incremented it, and we need to see the memory effects for *that* element, which is
+					// in such a case is necessarily visible on the thread that incremented it in the first
+					// place with the more current condition (they must have acquired a tail that is at least
+					// as recent).
+					auto index = this->headIndex.fetch_add(1, std::memory_order_acq_rel);
+					
+					
+					// Determine which block the element is in
+					
+					auto localBlockIndex = blockIndex.load(std::memory_order_acquire);
+					auto localBlockIndexHead = localBlockIndex->front.load(std::memory_order_acquire);
+					
+					// We need to be careful here about subtracting and dividing because of index wrap-around.
+					// When an index wraps, we need to preserve the sign of the offset when dividing it by the
+					// block size (in order to get a correct signed block count offset in all cases):
+					auto headBase = localBlockIndex->entries[localBlockIndexHead].base;
+					auto blockBaseIndex = index & ~static_cast<index_t>(BLOCK_SIZE - 1);
+					auto offset = static_cast<size_t>(static_cast<typename std::make_signed<index_t>::type>(blockBaseIndex - headBase) / static_cast<typename std::make_signed<index_t>::type>(BLOCK_SIZE));
+					auto block = localBlockIndex->entries[(localBlockIndexHead + offset) & (localBlockIndex->size - 1)].block;
+					
+					// Dequeue
+					auto& el = *((*block)[index]);
+					if (!WPI_CQ_NOEXCEPT_ASSIGN(T, T&&, element = std::move(el))) {
+						// Make sure the element is still fully dequeued and destroyed even if the assignment
+						// throws
+						struct Guard {
+							Block* block;
+							index_t index;
+							
+							~Guard()
+							{
+								(*block)[index]->~T();
+								block->ConcurrentQueue::Block::template set_empty<explicit_context>(index);
+							}
+						} guard = { block, index };
+
+						element = std::move(el); // NOLINT
+					}
+					else {
+						element = std::move(el); // NOLINT
+						el.~T(); // NOLINT
+						block->ConcurrentQueue::Block::template set_empty<explicit_context>(index);
+					}
+					
+					return true;
+				}
+				else {
+					// Wasn't anything to dequeue after all; make the effective dequeue count eventually consistent
+					this->dequeueOvercommit.fetch_add(1, std::memory_order_release);		// Release so that the fetch_add on dequeueOptimisticCount is guaranteed to happen before this write
+				}
+			}
+		
+			return false;
+		}
+		
+		template<AllocationMode allocMode, typename It>
+		bool WPI_CQ_NO_TSAN enqueue_bulk(It itemFirst, size_t count)
+		{
+			// First, we need to make sure we have enough room to enqueue all of the elements;
+			// this means pre-allocating blocks and putting them in the block index (but only if
+			// all the allocations succeeded).
+			index_t startTailIndex = this->tailIndex.load(std::memory_order_relaxed);
+			auto startBlock = this->tailBlock;
+			auto originalBlockIndexFront = pr_blockIndexFront;
+			auto originalBlockIndexSlotsUsed = pr_blockIndexSlotsUsed;
+			
+			Block* firstAllocatedBlock = nullptr;
+			
+			// Figure out how many blocks we'll need to allocate, and do so
+			size_t blockBaseDiff = ((startTailIndex + count - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1)) - ((startTailIndex - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1));
+			index_t currentTailIndex = (startTailIndex - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1);
+			if (blockBaseDiff > 0) {
+				// Allocate as many blocks as possible from ahead
+				while (blockBaseDiff > 0 && this->tailBlock != nullptr && this->tailBlock->next != firstAllocatedBlock && this->tailBlock->next->ConcurrentQueue::Block::template is_empty<explicit_context>()) {
+					blockBaseDiff -= static_cast<index_t>(BLOCK_SIZE);
+					currentTailIndex += static_cast<index_t>(BLOCK_SIZE);
+					
+					this->tailBlock = this->tailBlock->next;
+					firstAllocatedBlock = firstAllocatedBlock == nullptr ? this->tailBlock : firstAllocatedBlock;
+					
+					auto& entry = blockIndex.load(std::memory_order_relaxed)->entries[pr_blockIndexFront];
+					entry.base = currentTailIndex;
+					entry.block = this->tailBlock;
+					pr_blockIndexFront = (pr_blockIndexFront + 1) & (pr_blockIndexSize - 1);
+				}
+				
+				// Now allocate as many blocks as necessary from the block pool
+				while (blockBaseDiff > 0) {
+					blockBaseDiff -= static_cast<index_t>(BLOCK_SIZE);
+					currentTailIndex += static_cast<index_t>(BLOCK_SIZE);
+					
+					auto head = this->headIndex.load(std::memory_order_relaxed);
+					assert(!details::circular_less_than<index_t>(currentTailIndex, head));
+					bool full = !details::circular_less_than<index_t>(head, currentTailIndex + BLOCK_SIZE) || (MAX_SUBQUEUE_SIZE != details::const_numeric_max<size_t>::value && (MAX_SUBQUEUE_SIZE == 0 || MAX_SUBQUEUE_SIZE - BLOCK_SIZE < currentTailIndex - head));
+					if (pr_blockIndexRaw == nullptr || pr_blockIndexSlotsUsed == pr_blockIndexSize || full) {
+						WPI_CQ_CONSTEXPR_IF (allocMode == CannotAlloc) {
+							// Failed to allocate, undo changes (but keep injected blocks)
+							pr_blockIndexFront = originalBlockIndexFront;
+							pr_blockIndexSlotsUsed = originalBlockIndexSlotsUsed;
+							this->tailBlock = startBlock == nullptr ? firstAllocatedBlock : startBlock;
+							return false;
+						}
+						else if (full || !new_block_index(originalBlockIndexSlotsUsed)) {
+							// Failed to allocate, undo changes (but keep injected blocks)
+							pr_blockIndexFront = originalBlockIndexFront;
+							pr_blockIndexSlotsUsed = originalBlockIndexSlotsUsed;
+							this->tailBlock = startBlock == nullptr ? firstAllocatedBlock : startBlock;
+							return false;
+						}
+						
+						// pr_blockIndexFront is updated inside new_block_index, so we need to
+						// update our fallback value too (since we keep the new index even if we
+						// later fail)
+						originalBlockIndexFront = originalBlockIndexSlotsUsed;
+					}
+					
+					// Insert a new block in the circular linked list
+					auto newBlock = this->parent->ConcurrentQueue::template requisition_block<allocMode>();
+					if (newBlock == nullptr) {
+						pr_blockIndexFront = originalBlockIndexFront;
+						pr_blockIndexSlotsUsed = originalBlockIndexSlotsUsed;
+						this->tailBlock = startBlock == nullptr ? firstAllocatedBlock : startBlock;
+						return false;
+					}
+					
+#ifdef MCDBGQ_TRACKMEM
+					newBlock->owner = this;
+#endif
+					newBlock->ConcurrentQueue::Block::template set_all_empty<explicit_context>();
+					if (this->tailBlock == nullptr) {
+						newBlock->next = newBlock;
+					}
+					else {
+						newBlock->next = this->tailBlock->next;
+						this->tailBlock->next = newBlock;
+					}
+					this->tailBlock = newBlock;
+					firstAllocatedBlock = firstAllocatedBlock == nullptr ? this->tailBlock : firstAllocatedBlock;
+					
+					++pr_blockIndexSlotsUsed;
+					
+					auto& entry = blockIndex.load(std::memory_order_relaxed)->entries[pr_blockIndexFront];
+					entry.base = currentTailIndex;
+					entry.block = this->tailBlock;
+					pr_blockIndexFront = (pr_blockIndexFront + 1) & (pr_blockIndexSize - 1);
+				}
+				
+				// Excellent, all allocations succeeded. Reset each block's emptiness before we fill them up, and
+				// publish the new block index front
+				auto block = firstAllocatedBlock;
+				while (true) {
+					block->ConcurrentQueue::Block::template reset_empty<explicit_context>();
+					if (block == this->tailBlock) {
+						break;
+					}
+					block = block->next;
+				}
+				
+				WPI_CQ_CONSTEXPR_IF (WPI_CQ_NOEXCEPT_CTOR(T, decltype(*itemFirst), new (static_cast<T*>(nullptr)) T(details::deref_noexcept(itemFirst)))) {
+					blockIndex.load(std::memory_order_relaxed)->front.store((pr_blockIndexFront - 1) & (pr_blockIndexSize - 1), std::memory_order_release);
+				}
+			}
+			
+			// Enqueue, one block at a time
+			index_t newTailIndex = startTailIndex + static_cast<index_t>(count);
+			currentTailIndex = startTailIndex;
+			auto endBlock = this->tailBlock;
+			this->tailBlock = startBlock;
+			assert((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) != 0 || firstAllocatedBlock != nullptr || count == 0);
+			if ((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) == 0 && firstAllocatedBlock != nullptr) {
+				this->tailBlock = firstAllocatedBlock;
+			}
+			while (true) {
+				index_t stopIndex = (currentTailIndex & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+				if (details::circular_less_than<index_t>(newTailIndex, stopIndex)) {
+					stopIndex = newTailIndex;
+				}
+				WPI_CQ_CONSTEXPR_IF (WPI_CQ_NOEXCEPT_CTOR(T, decltype(*itemFirst), new (static_cast<T*>(nullptr)) T(details::deref_noexcept(itemFirst)))) {
+					while (currentTailIndex != stopIndex) {
+						new ((*this->tailBlock)[currentTailIndex++]) T(*itemFirst++);
+					}
+				}
+				else {
+					WPI_CQ_TRY {
+						while (currentTailIndex != stopIndex) {
+							// Must use copy constructor even if move constructor is available
+							// because we may have to revert if there's an exception.
+							// Sorry about the horrible templated next line, but it was the only way
+							// to disable moving *at compile time*, which is important because a type
+							// may only define a (noexcept) move constructor, and so calls to the
+							// cctor will not compile, even if they are in an if branch that will never
+							// be executed
+							new ((*this->tailBlock)[currentTailIndex]) T(details::nomove_if<!WPI_CQ_NOEXCEPT_CTOR(T, decltype(*itemFirst), new (static_cast<T*>(nullptr)) T(details::deref_noexcept(itemFirst)))>::eval(*itemFirst));
+							++currentTailIndex;
+							++itemFirst;
+						}
+					}
+					WPI_CQ_CATCH (...) {
+						// Oh dear, an exception's been thrown -- destroy the elements that
+						// were enqueued so far and revert the entire bulk operation (we'll keep
+						// any allocated blocks in our linked list for later, though).
+						auto constructedStopIndex = currentTailIndex;
+						auto lastBlockEnqueued = this->tailBlock;
+						
+						pr_blockIndexFront = originalBlockIndexFront;
+						pr_blockIndexSlotsUsed = originalBlockIndexSlotsUsed;
+						this->tailBlock = startBlock == nullptr ? firstAllocatedBlock : startBlock;
+						
+						if (!details::is_trivially_destructible<T>::value) {
+							auto block = startBlock;
+							if ((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) == 0) {
+								block = firstAllocatedBlock;
+							}
+							currentTailIndex = startTailIndex;
+							while (true) {
+								stopIndex = (currentTailIndex & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+								if (details::circular_less_than<index_t>(constructedStopIndex, stopIndex)) {
+									stopIndex = constructedStopIndex;
+								}
+								while (currentTailIndex != stopIndex) {
+									(*block)[currentTailIndex++]->~T();
+								}
+								if (block == lastBlockEnqueued) {
+									break;
+								}
+								block = block->next;
+							}
+						}
+						WPI_CQ_RETHROW;
+					}
+				}
+				
+				if (this->tailBlock == endBlock) {
+					assert(currentTailIndex == newTailIndex);
+					break;
+				}
+				this->tailBlock = this->tailBlock->next;
+			}
+			
+			WPI_CQ_CONSTEXPR_IF (!WPI_CQ_NOEXCEPT_CTOR(T, decltype(*itemFirst), new (static_cast<T*>(nullptr)) T(details::deref_noexcept(itemFirst)))) {
+				if (firstAllocatedBlock != nullptr)
+					blockIndex.load(std::memory_order_relaxed)->front.store((pr_blockIndexFront - 1) & (pr_blockIndexSize - 1), std::memory_order_release);
+			}
+			
+			this->tailIndex.store(newTailIndex, std::memory_order_release);
+			return true;
+		}
+		
+		template<typename It>
+		size_t dequeue_bulk(It& itemFirst, size_t max)
+		{
+			auto tail = this->tailIndex.load(std::memory_order_relaxed);
+			auto overcommit = this->dequeueOvercommit.load(std::memory_order_relaxed);
+			auto desiredCount = static_cast<size_t>(tail - (this->dequeueOptimisticCount.load(std::memory_order_relaxed) - overcommit));
+			if (details::circular_less_than<size_t>(0, desiredCount)) {
+				desiredCount = desiredCount < max ? desiredCount : max;
+				std::atomic_thread_fence(std::memory_order_acquire);
+				
+				auto myDequeueCount = this->dequeueOptimisticCount.fetch_add(desiredCount, std::memory_order_relaxed);
+				
+				tail = this->tailIndex.load(std::memory_order_acquire);
+				auto actualCount = static_cast<size_t>(tail - (myDequeueCount - overcommit));
+				if (details::circular_less_than<size_t>(0, actualCount)) {
+					actualCount = desiredCount < actualCount ? desiredCount : actualCount;
+					if (actualCount < desiredCount) {
+						this->dequeueOvercommit.fetch_add(desiredCount - actualCount, std::memory_order_release);
+					}
+					
+					// Get the first index. Note that since there's guaranteed to be at least actualCount elements, this
+					// will never exceed tail.
+					auto firstIndex = this->headIndex.fetch_add(actualCount, std::memory_order_acq_rel);
+					
+					// Determine which block the first element is in
+					auto localBlockIndex = blockIndex.load(std::memory_order_acquire);
+					auto localBlockIndexHead = localBlockIndex->front.load(std::memory_order_acquire);
+					
+					auto headBase = localBlockIndex->entries[localBlockIndexHead].base;
+					auto firstBlockBaseIndex = firstIndex & ~static_cast<index_t>(BLOCK_SIZE - 1);
+					auto offset = static_cast<size_t>(static_cast<typename std::make_signed<index_t>::type>(firstBlockBaseIndex - headBase) / static_cast<typename std::make_signed<index_t>::type>(BLOCK_SIZE));
+					auto indexIndex = (localBlockIndexHead + offset) & (localBlockIndex->size - 1);
+					
+					// Iterate the blocks and dequeue
+					auto index = firstIndex;
+					do {
+						auto firstIndexInBlock = index;
+						index_t endIndex = (index & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+						endIndex = details::circular_less_than<index_t>(firstIndex + static_cast<index_t>(actualCount), endIndex) ? firstIndex + static_cast<index_t>(actualCount) : endIndex;
+						auto block = localBlockIndex->entries[indexIndex].block;
+						if (WPI_CQ_NOEXCEPT_ASSIGN(T, T&&, details::deref_noexcept(itemFirst) = std::move((*(*block)[index])))) {
+							while (index != endIndex) {
+								auto& el = *((*block)[index]);
+								*itemFirst++ = std::move(el);
+								el.~T();
+								++index;
+							}
+						}
+						else {
+							WPI_CQ_TRY {
+								while (index != endIndex) {
+									auto& el = *((*block)[index]);
+									*itemFirst = std::move(el);
+									++itemFirst;
+									el.~T();
+									++index;
+								}
+							}
+							WPI_CQ_CATCH (...) {
+								// It's too late to revert the dequeue, but we can make sure that all
+								// the dequeued objects are properly destroyed and the block index
+								// (and empty count) are properly updated before we propagate the exception
+								do {
+									block = localBlockIndex->entries[indexIndex].block;
+									while (index != endIndex) {
+										(*block)[index++]->~T();
+									}
+									block->ConcurrentQueue::Block::template set_many_empty<explicit_context>(firstIndexInBlock, static_cast<size_t>(endIndex - firstIndexInBlock));
+									indexIndex = (indexIndex + 1) & (localBlockIndex->size - 1);
+									
+									firstIndexInBlock = index;
+									endIndex = (index & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+									endIndex = details::circular_less_than<index_t>(firstIndex + static_cast<index_t>(actualCount), endIndex) ? firstIndex + static_cast<index_t>(actualCount) : endIndex;
+								} while (index != firstIndex + actualCount);
+								
+								WPI_CQ_RETHROW;
+							}
+						}
+						block->ConcurrentQueue::Block::template set_many_empty<explicit_context>(firstIndexInBlock, static_cast<size_t>(endIndex - firstIndexInBlock));
+						indexIndex = (indexIndex + 1) & (localBlockIndex->size - 1);
+					} while (index != firstIndex + actualCount);
+					
+					return actualCount;
+				}
+				else {
+					// Wasn't anything to dequeue after all; make the effective dequeue count eventually consistent
+					this->dequeueOvercommit.fetch_add(desiredCount, std::memory_order_release);
+				}
+			}
+			
+			return 0;
+		}
+		
+	private:
+		struct BlockIndexEntry
+		{
+			index_t base;
+			Block* block;
+		};
+		
+		struct BlockIndexHeader
+		{
+			size_t size;
+			std::atomic<size_t> front;		// Current slot (not next, like pr_blockIndexFront)
+			BlockIndexEntry* entries;
+			void* prev;
+		};
+		
+		
+		bool new_block_index(size_t numberOfFilledSlotsToExpose)
+		{
+			auto prevBlockSizeMask = pr_blockIndexSize - 1;
+			
+			// Create the new block
+			pr_blockIndexSize <<= 1;
+			auto newRawPtr = static_cast<char*>((Traits::malloc)(sizeof(BlockIndexHeader) + std::alignment_of<BlockIndexEntry>::value - 1 + sizeof(BlockIndexEntry) * pr_blockIndexSize));
+			if (newRawPtr == nullptr) {
+				pr_blockIndexSize >>= 1;		// Reset to allow graceful retry
+				return false;
+			}
+			
+			auto newBlockIndexEntries = reinterpret_cast<BlockIndexEntry*>(details::align_for<BlockIndexEntry>(newRawPtr + sizeof(BlockIndexHeader)));
+			
+			// Copy in all the old indices, if any
+			size_t j = 0;
+			if (pr_blockIndexSlotsUsed != 0) {
+				auto i = (pr_blockIndexFront - pr_blockIndexSlotsUsed) & prevBlockSizeMask;
+				do {
+					newBlockIndexEntries[j++] = pr_blockIndexEntries[i];
+					i = (i + 1) & prevBlockSizeMask;
+				} while (i != pr_blockIndexFront);
+			}
+			
+			// Update everything
+			auto header = new (newRawPtr) BlockIndexHeader;
+			header->size = pr_blockIndexSize;
+			header->front.store(numberOfFilledSlotsToExpose - 1, std::memory_order_relaxed);
+			header->entries = newBlockIndexEntries;
+			header->prev = pr_blockIndexRaw;		// we link the new block to the old one so we can free it later
+			
+			pr_blockIndexFront = j;
+			pr_blockIndexEntries = newBlockIndexEntries;
+			pr_blockIndexRaw = newRawPtr;
+			blockIndex.store(header, std::memory_order_release);
+			
+			return true;
+		}
+		
+	private:
+		std::atomic<BlockIndexHeader*> blockIndex;
+		
+		// To be used by producer only -- consumer must use the ones in referenced by blockIndex
+		size_t pr_blockIndexSlotsUsed;
+		size_t pr_blockIndexSize;
+		size_t pr_blockIndexFront;		// Next slot (not current)
+		BlockIndexEntry* pr_blockIndexEntries;
+		void* pr_blockIndexRaw;
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+	public:
+		ExplicitProducer* nextExplicitProducer;
+	private:
+#endif
+		
+#ifdef MCDBGQ_TRACKMEM
+		friend struct MemStats;
+#endif
+	};
+	
+	
+	//////////////////////////////////
+	// Implicit queue
+	//////////////////////////////////
+	
+	struct ImplicitProducer : public ProducerBase
+	{			
+		ImplicitProducer(ConcurrentQueue* parent_) :
+			ProducerBase(parent_, false),
+			nextBlockIndexCapacity(IMPLICIT_INITIAL_INDEX_SIZE),
+			blockIndex(nullptr)
+		{
+			new_block_index();
+		}
+		
+		~ImplicitProducer()
+		{
+			// Note that since we're in the destructor we can assume that all enqueue/dequeue operations
+			// completed already; this means that all undequeued elements are placed contiguously across
+			// contiguous blocks, and that only the first and last remaining blocks can be only partially
+			// empty (all other remaining blocks must be completely full).
+			
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+			// Unregister ourselves for thread termination notification
+			if (!this->inactive.load(std::memory_order_relaxed)) {
+				details::ThreadExitNotifier::unsubscribe(&threadExitListener);
+			}
+#endif
+			
+			// Destroy all remaining elements!
+			auto tail = this->tailIndex.load(std::memory_order_relaxed);
+			auto index = this->headIndex.load(std::memory_order_relaxed);
+			Block* block = nullptr;
+			assert(index == tail || details::circular_less_than(index, tail));
+			bool forceFreeLastBlock = index != tail;		// If we enter the loop, then the last (tail) block will not be freed
+			while (index != tail) {
+				if ((index & static_cast<index_t>(BLOCK_SIZE - 1)) == 0 || block == nullptr) {
+					if (block != nullptr) {
+						// Free the old block
+						this->parent->add_block_to_free_list(block);
+					}
+					
+					block = get_block_index_entry_for_index(index)->value.load(std::memory_order_relaxed);
+				}
+				
+				((*block)[index])->~T();
+				++index;
+			}
+			// Even if the queue is empty, there's still one block that's not on the free list
+			// (unless the head index reached the end of it, in which case the tail will be poised
+			// to create a new block).
+			if (this->tailBlock != nullptr && (forceFreeLastBlock || (tail & static_cast<index_t>(BLOCK_SIZE - 1)) != 0)) {
+				this->parent->add_block_to_free_list(this->tailBlock);
+			}
+			
+			// Destroy block index
+			auto localBlockIndex = blockIndex.load(std::memory_order_relaxed);
+			if (localBlockIndex != nullptr) {
+				for (size_t i = 0; i != localBlockIndex->capacity; ++i) {
+					localBlockIndex->index[i]->~BlockIndexEntry();
+				}
+				do {
+					auto prev = localBlockIndex->prev;
+					localBlockIndex->~BlockIndexHeader();
+					(Traits::free)(localBlockIndex);
+					localBlockIndex = prev;
+				} while (localBlockIndex != nullptr);
+			}
+		}
+		
+		template<AllocationMode allocMode, typename U>
+		inline bool enqueue(U&& element)
+		{
+			index_t currentTailIndex = this->tailIndex.load(std::memory_order_relaxed);
+			index_t newTailIndex = 1 + currentTailIndex;
+			if ((currentTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) == 0) {
+				// We reached the end of a block, start a new one
+				auto head = this->headIndex.load(std::memory_order_relaxed);
+				assert(!details::circular_less_than<index_t>(currentTailIndex, head));
+				if (!details::circular_less_than<index_t>(head, currentTailIndex + BLOCK_SIZE) || (MAX_SUBQUEUE_SIZE != details::const_numeric_max<size_t>::value && (MAX_SUBQUEUE_SIZE == 0 || MAX_SUBQUEUE_SIZE - BLOCK_SIZE < currentTailIndex - head))) {
+					return false;
+				}
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+				debug::DebugLock lock(mutex);
+#endif
+				// Find out where we'll be inserting this block in the block index
+				BlockIndexEntry* idxEntry;
+				if (!insert_block_index_entry<allocMode>(idxEntry, currentTailIndex)) {
+					return false;
+				}
+				
+				// Get ahold of a new block
+				auto newBlock = this->parent->ConcurrentQueue::template requisition_block<allocMode>();
+				if (newBlock == nullptr) {
+					rewind_block_index_tail();
+					idxEntry->value.store(nullptr, std::memory_order_relaxed);
+					return false;
+				}
+#ifdef MCDBGQ_TRACKMEM
+				newBlock->owner = this;
+#endif
+				newBlock->ConcurrentQueue::Block::template reset_empty<implicit_context>();
+
+				WPI_CQ_CONSTEXPR_IF (!WPI_CQ_NOEXCEPT_CTOR(T, U, new (static_cast<T*>(nullptr)) T(std::forward<U>(element)))) {
+					// May throw, try to insert now before we publish the fact that we have this new block
+					WPI_CQ_TRY {
+						new ((*newBlock)[currentTailIndex]) T(std::forward<U>(element));
+					}
+					WPI_CQ_CATCH (...) {
+						rewind_block_index_tail();
+						idxEntry->value.store(nullptr, std::memory_order_relaxed);
+						this->parent->add_block_to_free_list(newBlock);
+						WPI_CQ_RETHROW;
+					}
+				}
+				
+				// Insert the new block into the index
+				idxEntry->value.store(newBlock, std::memory_order_relaxed);
+				
+				this->tailBlock = newBlock;
+				
+				WPI_CQ_CONSTEXPR_IF (!WPI_CQ_NOEXCEPT_CTOR(T, U, new (static_cast<T*>(nullptr)) T(std::forward<U>(element)))) {
+					this->tailIndex.store(newTailIndex, std::memory_order_release);
+					return true;
+				}
+			}
+			
+			// Enqueue
+			new ((*this->tailBlock)[currentTailIndex]) T(std::forward<U>(element));
+			
+			this->tailIndex.store(newTailIndex, std::memory_order_release);
+			return true;
+		}
+		
+		template<typename U>
+		bool dequeue(U& element)
+		{
+			// See ExplicitProducer::dequeue for rationale and explanation
+			index_t tail = this->tailIndex.load(std::memory_order_relaxed);
+			index_t overcommit = this->dequeueOvercommit.load(std::memory_order_relaxed);
+			if (details::circular_less_than<index_t>(this->dequeueOptimisticCount.load(std::memory_order_relaxed) - overcommit, tail)) {
+				std::atomic_thread_fence(std::memory_order_acquire);
+				
+				index_t myDequeueCount = this->dequeueOptimisticCount.fetch_add(1, std::memory_order_relaxed);
+				tail = this->tailIndex.load(std::memory_order_acquire);
+				if ((details::likely)(details::circular_less_than<index_t>(myDequeueCount - overcommit, tail))) {
+					index_t index = this->headIndex.fetch_add(1, std::memory_order_acq_rel);
+					
+					// Determine which block the element is in
+					auto entry = get_block_index_entry_for_index(index);
+					
+					// Dequeue
+					auto block = entry->value.load(std::memory_order_relaxed);
+					auto& el = *((*block)[index]);
+					
+					if (!WPI_CQ_NOEXCEPT_ASSIGN(T, T&&, element = std::move(el))) {
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+						// Note: Acquiring the mutex with every dequeue instead of only when a block
+						// is released is very sub-optimal, but it is, after all, purely debug code.
+						debug::DebugLock lock(producer->mutex);
+#endif
+						struct Guard {
+							Block* block;
+							index_t index;
+							BlockIndexEntry* entry;
+							ConcurrentQueue* parent;
+							
+							~Guard()
+							{
+								(*block)[index]->~T();
+								if (block->ConcurrentQueue::Block::template set_empty<implicit_context>(index)) {
+									entry->value.store(nullptr, std::memory_order_relaxed);
+									parent->add_block_to_free_list(block);
+								}
+							}
+						} guard = { block, index, entry, this->parent };
+
+						element = std::move(el); // NOLINT
+					}
+					else {
+						element = std::move(el); // NOLINT
+						el.~T(); // NOLINT
+
+						if (block->ConcurrentQueue::Block::template set_empty<implicit_context>(index)) {
+							{
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+								debug::DebugLock lock(mutex);
+#endif
+								// Add the block back into the global free pool (and remove from block index)
+								entry->value.store(nullptr, std::memory_order_relaxed);
+							}
+							this->parent->add_block_to_free_list(block);		// releases the above store
+						}
+					}
+					
+					return true;
+				}
+				else {
+					this->dequeueOvercommit.fetch_add(1, std::memory_order_release);
+				}
+			}
+		
+			return false;
+		}
+		
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable: 4706)  // assignment within conditional expression
+#endif
+		template<AllocationMode allocMode, typename It>
+		bool enqueue_bulk(It itemFirst, size_t count)
+		{
+			// First, we need to make sure we have enough room to enqueue all of the elements;
+			// this means pre-allocating blocks and putting them in the block index (but only if
+			// all the allocations succeeded).
+			
+			// Note that the tailBlock we start off with may not be owned by us any more;
+			// this happens if it was filled up exactly to the top (setting tailIndex to
+			// the first index of the next block which is not yet allocated), then dequeued
+			// completely (putting it on the free list) before we enqueue again.
+			
+			index_t startTailIndex = this->tailIndex.load(std::memory_order_relaxed);
+			auto startBlock = this->tailBlock;
+			Block* firstAllocatedBlock = nullptr;
+			auto endBlock = this->tailBlock;
+			
+			// Figure out how many blocks we'll need to allocate, and do so
+			size_t blockBaseDiff = ((startTailIndex + count - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1)) - ((startTailIndex - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1));
+			index_t currentTailIndex = (startTailIndex - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1);
+			if (blockBaseDiff > 0) {
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+				debug::DebugLock lock(mutex);
+#endif
+				do {
+					blockBaseDiff -= static_cast<index_t>(BLOCK_SIZE);
+					currentTailIndex += static_cast<index_t>(BLOCK_SIZE);
+					
+					// Find out where we'll be inserting this block in the block index
+					BlockIndexEntry* idxEntry = nullptr;  // initialization here unnecessary but compiler can't always tell
+					Block* newBlock;
+					bool indexInserted = false;
+					auto head = this->headIndex.load(std::memory_order_relaxed);
+					assert(!details::circular_less_than<index_t>(currentTailIndex, head));
+					bool full = !details::circular_less_than<index_t>(head, currentTailIndex + BLOCK_SIZE) || (MAX_SUBQUEUE_SIZE != details::const_numeric_max<size_t>::value && (MAX_SUBQUEUE_SIZE == 0 || MAX_SUBQUEUE_SIZE - BLOCK_SIZE < currentTailIndex - head));
+
+					if (full || !(indexInserted = insert_block_index_entry<allocMode>(idxEntry, currentTailIndex)) || (newBlock = this->parent->ConcurrentQueue::template requisition_block<allocMode>()) == nullptr) {
+						// Index allocation or block allocation failed; revert any other allocations
+						// and index insertions done so far for this operation
+						if (indexInserted) {
+							rewind_block_index_tail();
+							idxEntry->value.store(nullptr, std::memory_order_relaxed);
+						}
+						currentTailIndex = (startTailIndex - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1);
+						for (auto block = firstAllocatedBlock; block != nullptr; block = block->next) {
+							currentTailIndex += static_cast<index_t>(BLOCK_SIZE);
+							idxEntry = get_block_index_entry_for_index(currentTailIndex);
+							idxEntry->value.store(nullptr, std::memory_order_relaxed);
+							rewind_block_index_tail();
+						}
+						this->parent->add_blocks_to_free_list(firstAllocatedBlock);
+						this->tailBlock = startBlock;
+						
+						return false;
+					}
+					
+#ifdef MCDBGQ_TRACKMEM
+					newBlock->owner = this;
+#endif
+					newBlock->ConcurrentQueue::Block::template reset_empty<implicit_context>();
+					newBlock->next = nullptr;
+					
+					// Insert the new block into the index
+					idxEntry->value.store(newBlock, std::memory_order_relaxed);
+					
+					// Store the chain of blocks so that we can undo if later allocations fail,
+					// and so that we can find the blocks when we do the actual enqueueing
+					if ((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) != 0 || firstAllocatedBlock != nullptr) {
+						assert(this->tailBlock != nullptr);
+						this->tailBlock->next = newBlock;
+					}
+					this->tailBlock = newBlock;
+					endBlock = newBlock;
+					firstAllocatedBlock = firstAllocatedBlock == nullptr ? newBlock : firstAllocatedBlock;
+				} while (blockBaseDiff > 0);
+			}
+			
+			// Enqueue, one block at a time
+			index_t newTailIndex = startTailIndex + static_cast<index_t>(count);
+			currentTailIndex = startTailIndex;
+			this->tailBlock = startBlock;
+			assert((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) != 0 || firstAllocatedBlock != nullptr || count == 0);
+			if ((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) == 0 && firstAllocatedBlock != nullptr) {
+				this->tailBlock = firstAllocatedBlock;
+			}
+			while (true) {
+				index_t stopIndex = (currentTailIndex & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+				if (details::circular_less_than<index_t>(newTailIndex, stopIndex)) {
+					stopIndex = newTailIndex;
+				}
+				WPI_CQ_CONSTEXPR_IF (WPI_CQ_NOEXCEPT_CTOR(T, decltype(*itemFirst), new (static_cast<T*>(nullptr)) T(details::deref_noexcept(itemFirst)))) {
+					while (currentTailIndex != stopIndex) {
+						new ((*this->tailBlock)[currentTailIndex++]) T(*itemFirst++);
+					}
+				}
+				else {
+					WPI_CQ_TRY {
+						while (currentTailIndex != stopIndex) {
+							new ((*this->tailBlock)[currentTailIndex]) T(details::nomove_if<!WPI_CQ_NOEXCEPT_CTOR(T, decltype(*itemFirst), new (static_cast<T*>(nullptr)) T(details::deref_noexcept(itemFirst)))>::eval(*itemFirst));
+							++currentTailIndex;
+							++itemFirst;
+						}
+					}
+					WPI_CQ_CATCH (...) {
+						auto constructedStopIndex = currentTailIndex;
+						auto lastBlockEnqueued = this->tailBlock;
+						
+						if (!details::is_trivially_destructible<T>::value) {
+							auto block = startBlock;
+							if ((startTailIndex & static_cast<index_t>(BLOCK_SIZE - 1)) == 0) {
+								block = firstAllocatedBlock;
+							}
+							currentTailIndex = startTailIndex;
+							while (true) {
+								stopIndex = (currentTailIndex & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+								if (details::circular_less_than<index_t>(constructedStopIndex, stopIndex)) {
+									stopIndex = constructedStopIndex;
+								}
+								while (currentTailIndex != stopIndex) {
+									(*block)[currentTailIndex++]->~T();
+								}
+								if (block == lastBlockEnqueued) {
+									break;
+								}
+								block = block->next;
+							}
+						}
+						
+						currentTailIndex = (startTailIndex - 1) & ~static_cast<index_t>(BLOCK_SIZE - 1);
+						for (auto block = firstAllocatedBlock; block != nullptr; block = block->next) {
+							currentTailIndex += static_cast<index_t>(BLOCK_SIZE);
+							auto idxEntry = get_block_index_entry_for_index(currentTailIndex);
+							idxEntry->value.store(nullptr, std::memory_order_relaxed);
+							rewind_block_index_tail();
+						}
+						this->parent->add_blocks_to_free_list(firstAllocatedBlock);
+						this->tailBlock = startBlock;
+						WPI_CQ_RETHROW;
+					}
+				}
+				
+				if (this->tailBlock == endBlock) {
+					assert(currentTailIndex == newTailIndex);
+					break;
+				}
+				this->tailBlock = this->tailBlock->next;
+			}
+			this->tailIndex.store(newTailIndex, std::memory_order_release);
+			return true;
+		}
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+		
+		template<typename It>
+		size_t dequeue_bulk(It& itemFirst, size_t max)
+		{
+			auto tail = this->tailIndex.load(std::memory_order_relaxed);
+			auto overcommit = this->dequeueOvercommit.load(std::memory_order_relaxed);
+			auto desiredCount = static_cast<size_t>(tail - (this->dequeueOptimisticCount.load(std::memory_order_relaxed) - overcommit));
+			if (details::circular_less_than<size_t>(0, desiredCount)) {
+				desiredCount = desiredCount < max ? desiredCount : max;
+				std::atomic_thread_fence(std::memory_order_acquire);
+				
+				auto myDequeueCount = this->dequeueOptimisticCount.fetch_add(desiredCount, std::memory_order_relaxed);
+				
+				tail = this->tailIndex.load(std::memory_order_acquire);
+				auto actualCount = static_cast<size_t>(tail - (myDequeueCount - overcommit));
+				if (details::circular_less_than<size_t>(0, actualCount)) {
+					actualCount = desiredCount < actualCount ? desiredCount : actualCount;
+					if (actualCount < desiredCount) {
+						this->dequeueOvercommit.fetch_add(desiredCount - actualCount, std::memory_order_release);
+					}
+					
+					// Get the first index. Note that since there's guaranteed to be at least actualCount elements, this
+					// will never exceed tail.
+					auto firstIndex = this->headIndex.fetch_add(actualCount, std::memory_order_acq_rel);
+					
+					// Iterate the blocks and dequeue
+					auto index = firstIndex;
+					BlockIndexHeader* localBlockIndex;
+					auto indexIndex = get_block_index_index_for_index(index, localBlockIndex);
+					do {
+						auto blockStartIndex = index;
+						index_t endIndex = (index & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+						endIndex = details::circular_less_than<index_t>(firstIndex + static_cast<index_t>(actualCount), endIndex) ? firstIndex + static_cast<index_t>(actualCount) : endIndex;
+						
+						auto entry = localBlockIndex->index[indexIndex];
+						auto block = entry->value.load(std::memory_order_relaxed);
+						if (WPI_CQ_NOEXCEPT_ASSIGN(T, T&&, details::deref_noexcept(itemFirst) = std::move((*(*block)[index])))) {
+							while (index != endIndex) {
+								auto& el = *((*block)[index]);
+								*itemFirst++ = std::move(el);
+								el.~T();
+								++index;
+							}
+						}
+						else {
+							WPI_CQ_TRY {
+								while (index != endIndex) {
+									auto& el = *((*block)[index]);
+									*itemFirst = std::move(el);
+									++itemFirst;
+									el.~T();
+									++index;
+								}
+							}
+							WPI_CQ_CATCH (...) {
+								do {
+									entry = localBlockIndex->index[indexIndex];
+									block = entry->value.load(std::memory_order_relaxed);
+									while (index != endIndex) {
+										(*block)[index++]->~T();
+									}
+									
+									if (block->ConcurrentQueue::Block::template set_many_empty<implicit_context>(blockStartIndex, static_cast<size_t>(endIndex - blockStartIndex))) {
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+										debug::DebugLock lock(mutex);
+#endif
+										entry->value.store(nullptr, std::memory_order_relaxed);
+										this->parent->add_block_to_free_list(block);
+									}
+									indexIndex = (indexIndex + 1) & (localBlockIndex->capacity - 1);
+									
+									blockStartIndex = index;
+									endIndex = (index & ~static_cast<index_t>(BLOCK_SIZE - 1)) + static_cast<index_t>(BLOCK_SIZE);
+									endIndex = details::circular_less_than<index_t>(firstIndex + static_cast<index_t>(actualCount), endIndex) ? firstIndex + static_cast<index_t>(actualCount) : endIndex;
+								} while (index != firstIndex + actualCount);
+								
+								WPI_CQ_RETHROW;
+							}
+						}
+						if (block->ConcurrentQueue::Block::template set_many_empty<implicit_context>(blockStartIndex, static_cast<size_t>(endIndex - blockStartIndex))) {
+							{
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+								debug::DebugLock lock(mutex);
+#endif
+								// Note that the set_many_empty above did a release, meaning that anybody who acquires the block
+								// we're about to free can use it safely since our writes (and reads!) will have happened-before then.
+								entry->value.store(nullptr, std::memory_order_relaxed);
+							}
+							this->parent->add_block_to_free_list(block);		// releases the above store
+						}
+						indexIndex = (indexIndex + 1) & (localBlockIndex->capacity - 1);
+					} while (index != firstIndex + actualCount);
+					
+					return actualCount;
+				}
+				else {
+					this->dequeueOvercommit.fetch_add(desiredCount, std::memory_order_release);
+				}
+			}
+			
+			return 0;
+		}
+		
+	private:
+		// The block size must be > 1, so any number with the low bit set is an invalid block base index
+		static const index_t INVALID_BLOCK_BASE = 1;
+		
+		struct BlockIndexEntry
+		{
+			std::atomic<index_t> key;
+			std::atomic<Block*> value;
+		};
+		
+		struct BlockIndexHeader
+		{
+			size_t capacity;
+			std::atomic<size_t> tail;
+			BlockIndexEntry* entries;
+			BlockIndexEntry** index;
+			BlockIndexHeader* prev;
+		};
+		
+		template<AllocationMode allocMode>
+		inline bool insert_block_index_entry(BlockIndexEntry*& idxEntry, index_t blockStartIndex)
+		{
+			auto localBlockIndex = blockIndex.load(std::memory_order_relaxed);		// We're the only writer thread, relaxed is OK
+			if (localBlockIndex == nullptr) {
+				return false;  // this can happen if new_block_index failed in the constructor
+			}
+			size_t newTail = (localBlockIndex->tail.load(std::memory_order_relaxed) + 1) & (localBlockIndex->capacity - 1);
+			idxEntry = localBlockIndex->index[newTail];
+			if (idxEntry->key.load(std::memory_order_relaxed) == INVALID_BLOCK_BASE ||
+				idxEntry->value.load(std::memory_order_relaxed) == nullptr) {
+				
+				idxEntry->key.store(blockStartIndex, std::memory_order_relaxed);
+				localBlockIndex->tail.store(newTail, std::memory_order_release);
+				return true;
+			}
+			
+			// No room in the old block index, try to allocate another one!
+			WPI_CQ_CONSTEXPR_IF (allocMode == CannotAlloc) {
+				return false;
+			}
+			else if (!new_block_index()) {
+				return false;
+			}
+			else {
+				localBlockIndex = blockIndex.load(std::memory_order_relaxed);
+				newTail = (localBlockIndex->tail.load(std::memory_order_relaxed) + 1) & (localBlockIndex->capacity - 1);
+				idxEntry = localBlockIndex->index[newTail];
+				assert(idxEntry->key.load(std::memory_order_relaxed) == INVALID_BLOCK_BASE);
+				idxEntry->key.store(blockStartIndex, std::memory_order_relaxed);
+				localBlockIndex->tail.store(newTail, std::memory_order_release);
+				return true;
+			}
+		}
+		
+		inline void rewind_block_index_tail()
+		{
+			auto localBlockIndex = blockIndex.load(std::memory_order_relaxed);
+			localBlockIndex->tail.store((localBlockIndex->tail.load(std::memory_order_relaxed) - 1) & (localBlockIndex->capacity - 1), std::memory_order_relaxed);
+		}
+		
+		inline BlockIndexEntry* get_block_index_entry_for_index(index_t index) const
+		{
+			BlockIndexHeader* localBlockIndex;
+			auto idx = get_block_index_index_for_index(index, localBlockIndex);
+			return localBlockIndex->index[idx];
+		}
+		
+		inline size_t get_block_index_index_for_index(index_t index, BlockIndexHeader*& localBlockIndex) const
+		{
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+			debug::DebugLock lock(mutex);
+#endif
+			index &= ~static_cast<index_t>(BLOCK_SIZE - 1);
+			localBlockIndex = blockIndex.load(std::memory_order_acquire);
+			auto tail = localBlockIndex->tail.load(std::memory_order_acquire);
+			auto tailBase = localBlockIndex->index[tail]->key.load(std::memory_order_relaxed);
+			assert(tailBase != INVALID_BLOCK_BASE);
+			// Note: Must use division instead of shift because the index may wrap around, causing a negative
+			// offset, whose negativity we want to preserve
+			auto offset = static_cast<size_t>(static_cast<typename std::make_signed<index_t>::type>(index - tailBase) / static_cast<typename std::make_signed<index_t>::type>(BLOCK_SIZE));
+			size_t idx = (tail + offset) & (localBlockIndex->capacity - 1);
+			assert(localBlockIndex->index[idx]->key.load(std::memory_order_relaxed) == index && localBlockIndex->index[idx]->value.load(std::memory_order_relaxed) != nullptr);
+			return idx;
+		}
+		
+		bool new_block_index()
+		{
+			auto prev = blockIndex.load(std::memory_order_relaxed);
+			size_t prevCapacity = prev == nullptr ? 0 : prev->capacity;
+			auto entryCount = prev == nullptr ? nextBlockIndexCapacity : prevCapacity;
+			auto raw = static_cast<char*>((Traits::malloc)(
+				sizeof(BlockIndexHeader) +
+				std::alignment_of<BlockIndexEntry>::value - 1 + sizeof(BlockIndexEntry) * entryCount +
+				std::alignment_of<BlockIndexEntry*>::value - 1 + sizeof(BlockIndexEntry*) * nextBlockIndexCapacity));
+			if (raw == nullptr) {
+				return false;
+			}
+			
+			auto header = new (raw) BlockIndexHeader;
+			auto entries = reinterpret_cast<BlockIndexEntry*>(details::align_for<BlockIndexEntry>(raw + sizeof(BlockIndexHeader)));
+			auto index = reinterpret_cast<BlockIndexEntry**>(details::align_for<BlockIndexEntry*>(reinterpret_cast<char*>(entries) + sizeof(BlockIndexEntry) * entryCount));
+			if (prev != nullptr) {
+				auto prevTail = prev->tail.load(std::memory_order_relaxed);
+				auto prevPos = prevTail;
+				size_t i = 0;
+				do {
+					prevPos = (prevPos + 1) & (prev->capacity - 1);
+					index[i++] = prev->index[prevPos];
+				} while (prevPos != prevTail);
+				assert(i == prevCapacity);
+			}
+			for (size_t i = 0; i != entryCount; ++i) {
+				new (entries + i) BlockIndexEntry;
+				entries[i].key.store(INVALID_BLOCK_BASE, std::memory_order_relaxed);
+				index[prevCapacity + i] = entries + i;
+			}
+			header->prev = prev;
+			header->entries = entries;
+			header->index = index;
+			header->capacity = nextBlockIndexCapacity;
+			header->tail.store((prevCapacity - 1) & (nextBlockIndexCapacity - 1), std::memory_order_relaxed);
+			
+			blockIndex.store(header, std::memory_order_release);
+			
+			nextBlockIndexCapacity <<= 1;
+			
+			return true;
+		}
+		
+	private:
+		size_t nextBlockIndexCapacity;
+		std::atomic<BlockIndexHeader*> blockIndex;
+
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+	public:
+		details::ThreadExitListener threadExitListener;
+	private:
+#endif
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+	public:
+		ImplicitProducer* nextImplicitProducer;
+	private:
+#endif
+
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODBLOCKINDEX
+		mutable debug::DebugMutex mutex;
+#endif
+#ifdef MCDBGQ_TRACKMEM
+		friend struct MemStats;
+#endif
+	};
+	
+	
+	//////////////////////////////////
+	// Block pool manipulation
+	//////////////////////////////////
+	
+	void populate_initial_block_list(size_t blockCount)
+	{
+		initialBlockPoolSize = blockCount;
+		if (initialBlockPoolSize == 0) {
+			initialBlockPool = nullptr;
+			return;
+		}
+		
+		initialBlockPool = create_array<Block>(blockCount);
+		if (initialBlockPool == nullptr) {
+			initialBlockPoolSize = 0;
+		}
+		for (size_t i = 0; i < initialBlockPoolSize; ++i) {
+			initialBlockPool[i].dynamicallyAllocated = false;
+		}
+	}
+	
+	inline Block* try_get_block_from_initial_pool()
+	{
+		if (initialBlockPoolIndex.load(std::memory_order_relaxed) >= initialBlockPoolSize) {
+			return nullptr;
+		}
+		
+		auto index = initialBlockPoolIndex.fetch_add(1, std::memory_order_relaxed);
+		
+		return index < initialBlockPoolSize ? (initialBlockPool + index) : nullptr;
+	}
+	
+	inline void add_block_to_free_list(Block* block)
+	{
+#ifdef MCDBGQ_TRACKMEM
+		block->owner = nullptr;
+#endif
+		if (!Traits::RECYCLE_ALLOCATED_BLOCKS && block->dynamicallyAllocated) {
+			destroy(block);
+		}
+		else {
+			freeList.add(block);
+		}
+	}
+	
+	inline void add_blocks_to_free_list(Block* block)
+	{
+		while (block != nullptr) {
+			auto next = block->next;
+			add_block_to_free_list(block);
+			block = next;
+		}
+	}
+	
+	inline Block* try_get_block_from_free_list()
+	{
+		return freeList.try_get();
+	}
+	
+	// Gets a free block from one of the memory pools, or allocates a new one (if applicable)
+	template<AllocationMode canAlloc>
+	Block* requisition_block()
+	{
+		auto block = try_get_block_from_initial_pool();
+		if (block != nullptr) {
+			return block;
+		}
+		
+		block = try_get_block_from_free_list();
+		if (block != nullptr) {
+			return block;
+		}
+		
+		WPI_CQ_CONSTEXPR_IF (canAlloc == CanAlloc) {
+			return create<Block>();
+		}
+		else {
+			return nullptr;
+		}
+	}
+	
+
+#ifdef MCDBGQ_TRACKMEM
+	public:
+		struct MemStats {
+			size_t allocatedBlocks;
+			size_t usedBlocks;
+			size_t freeBlocks;
+			size_t ownedBlocksExplicit;
+			size_t ownedBlocksImplicit;
+			size_t implicitProducers;
+			size_t explicitProducers;
+			size_t elementsEnqueued;
+			size_t blockClassBytes;
+			size_t queueClassBytes;
+			size_t implicitBlockIndexBytes;
+			size_t explicitBlockIndexBytes;
+			
+			friend class ConcurrentQueue;
+			
+		private:
+			static MemStats getFor(ConcurrentQueue* q)
+			{
+				MemStats stats = { 0 };
+				
+				stats.elementsEnqueued = q->size_approx();
+			
+				auto block = q->freeList.head_unsafe();
+				while (block != nullptr) {
+					++stats.allocatedBlocks;
+					++stats.freeBlocks;
+					block = block->freeListNext.load(std::memory_order_relaxed);
+				}
+				
+				for (auto ptr = q->producerListTail.load(std::memory_order_acquire); ptr != nullptr; ptr = ptr->next_prod()) {
+					bool implicit = dynamic_cast<ImplicitProducer*>(ptr) != nullptr;
+					stats.implicitProducers += implicit ? 1 : 0;
+					stats.explicitProducers += implicit ? 0 : 1;
+					
+					if (implicit) {
+						auto prod = static_cast<ImplicitProducer*>(ptr);
+						stats.queueClassBytes += sizeof(ImplicitProducer);
+						auto head = prod->headIndex.load(std::memory_order_relaxed);
+						auto tail = prod->tailIndex.load(std::memory_order_relaxed);
+						auto hash = prod->blockIndex.load(std::memory_order_relaxed);
+						if (hash != nullptr) {
+							for (size_t i = 0; i != hash->capacity; ++i) {
+								if (hash->index[i]->key.load(std::memory_order_relaxed) != ImplicitProducer::INVALID_BLOCK_BASE && hash->index[i]->value.load(std::memory_order_relaxed) != nullptr) {
+									++stats.allocatedBlocks;
+									++stats.ownedBlocksImplicit;
+								}
+							}
+							stats.implicitBlockIndexBytes += hash->capacity * sizeof(typename ImplicitProducer::BlockIndexEntry);
+							for (; hash != nullptr; hash = hash->prev) {
+								stats.implicitBlockIndexBytes += sizeof(typename ImplicitProducer::BlockIndexHeader) + hash->capacity * sizeof(typename ImplicitProducer::BlockIndexEntry*);
+							}
+						}
+						for (; details::circular_less_than<index_t>(head, tail); head += BLOCK_SIZE) {
+							//auto block = prod->get_block_index_entry_for_index(head);
+							++stats.usedBlocks;
+						}
+					}
+					else {
+						auto prod = static_cast<ExplicitProducer*>(ptr);
+						stats.queueClassBytes += sizeof(ExplicitProducer);
+						auto tailBlock = prod->tailBlock;
+						bool wasNonEmpty = false;
+						if (tailBlock != nullptr) {
+							auto block = tailBlock;
+							do {
+								++stats.allocatedBlocks;
+								if (!block->ConcurrentQueue::Block::template is_empty<explicit_context>() || wasNonEmpty) {
+									++stats.usedBlocks;
+									wasNonEmpty = wasNonEmpty || block != tailBlock;
+								}
+								++stats.ownedBlocksExplicit;
+								block = block->next;
+							} while (block != tailBlock);
+						}
+						auto index = prod->blockIndex.load(std::memory_order_relaxed);
+						while (index != nullptr) {
+							stats.explicitBlockIndexBytes += sizeof(typename ExplicitProducer::BlockIndexHeader) + index->size * sizeof(typename ExplicitProducer::BlockIndexEntry);
+							index = static_cast<typename ExplicitProducer::BlockIndexHeader*>(index->prev);
+						}
+					}
+				}
+				
+				auto freeOnInitialPool = q->initialBlockPoolIndex.load(std::memory_order_relaxed) >= q->initialBlockPoolSize ? 0 : q->initialBlockPoolSize - q->initialBlockPoolIndex.load(std::memory_order_relaxed);
+				stats.allocatedBlocks += freeOnInitialPool;
+				stats.freeBlocks += freeOnInitialPool;
+				
+				stats.blockClassBytes = sizeof(Block) * stats.allocatedBlocks;
+				stats.queueClassBytes += sizeof(ConcurrentQueue);
+				
+				return stats;
+			}
+		};
+		
+		// For debugging only. Not thread-safe.
+		MemStats getMemStats()
+		{
+			return MemStats::getFor(this);
+		}
+	private:
+		friend struct MemStats;
+#endif
+	
+	
+	//////////////////////////////////
+	// Producer list manipulation
+	//////////////////////////////////	
+	
+	ProducerBase* recycle_or_create_producer(bool isExplicit)
+	{
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODHASH
+		debug::DebugLock lock(implicitProdMutex);
+#endif
+		// Try to re-use one first
+		for (auto ptr = producerListTail.load(std::memory_order_acquire); ptr != nullptr; ptr = ptr->next_prod()) {
+			if (ptr->inactive.load(std::memory_order_relaxed) && ptr->isExplicit == isExplicit) {
+				bool expected = true;
+				if (ptr->inactive.compare_exchange_strong(expected, /* desired */ false, std::memory_order_acquire, std::memory_order_relaxed)) {
+					// We caught one! It's been marked as activated, the caller can have it
+					return ptr;
+				}
+			}
+		}
+
+		return add_producer(isExplicit ? static_cast<ProducerBase*>(create<ExplicitProducer>(this)) : create<ImplicitProducer>(this));
+	}
+	
+	ProducerBase* add_producer(ProducerBase* producer)
+	{
+		// Handle failed memory allocation
+		if (producer == nullptr) {
+			return nullptr;
+		}
+		
+		producerCount.fetch_add(1, std::memory_order_relaxed);
+		
+		// Add it to the lock-free list
+		auto prevTail = producerListTail.load(std::memory_order_relaxed);
+		do {
+			producer->next = prevTail;
+		} while (!producerListTail.compare_exchange_weak(prevTail, producer, std::memory_order_release, std::memory_order_relaxed));
+		
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+		if (producer->isExplicit) {
+			auto prevTailExplicit = explicitProducers.load(std::memory_order_relaxed);
+			do {
+				static_cast<ExplicitProducer*>(producer)->nextExplicitProducer = prevTailExplicit;
+			} while (!explicitProducers.compare_exchange_weak(prevTailExplicit, static_cast<ExplicitProducer*>(producer), std::memory_order_release, std::memory_order_relaxed));
+		}
+		else {
+			auto prevTailImplicit = implicitProducers.load(std::memory_order_relaxed);
+			do {
+				static_cast<ImplicitProducer*>(producer)->nextImplicitProducer = prevTailImplicit;
+			} while (!implicitProducers.compare_exchange_weak(prevTailImplicit, static_cast<ImplicitProducer*>(producer), std::memory_order_release, std::memory_order_relaxed));
+		}
+#endif
+		
+		return producer;
+	}
+	
+	void reown_producers()
+	{
+		// After another instance is moved-into/swapped-with this one, all the
+		// producers we stole still think their parents are the other queue.
+		// So fix them up!
+		for (auto ptr = producerListTail.load(std::memory_order_relaxed); ptr != nullptr; ptr = ptr->next_prod()) {
+			ptr->parent = this;
+		}
+	}
+	
+	
+	//////////////////////////////////
+	// Implicit producer hash
+	//////////////////////////////////
+	
+	struct ImplicitProducerKVP
+	{
+		std::atomic<details::thread_id_t> key;
+		ImplicitProducer* value;		// No need for atomicity since it's only read by the thread that sets it in the first place
+		
+		ImplicitProducerKVP() : value(nullptr) { }
+		
+		ImplicitProducerKVP(ImplicitProducerKVP&& other) WPI_CQ_NOEXCEPT
+		{
+			key.store(other.key.load(std::memory_order_relaxed), std::memory_order_relaxed);
+			value = other.value;
+		}
+		
+		inline ImplicitProducerKVP& operator=(ImplicitProducerKVP&& other) WPI_CQ_NOEXCEPT
+		{
+			swap(other);
+			return *this;
+		}
+		
+		inline void swap(ImplicitProducerKVP& other) WPI_CQ_NOEXCEPT
+		{
+			if (this != &other) {
+				details::swap_relaxed(key, other.key);
+				std::swap(value, other.value);
+			}
+		}
+	};
+	
+	template<typename XT, typename XTraits>
+	friend void wpi::swap(typename ConcurrentQueue<XT, XTraits>::ImplicitProducerKVP&, typename ConcurrentQueue<XT, XTraits>::ImplicitProducerKVP&) WPI_CQ_NOEXCEPT;
+	
+	struct ImplicitProducerHash
+	{
+		size_t capacity;
+		ImplicitProducerKVP* entries;
+		ImplicitProducerHash* prev;
+	};
+	
+	inline void populate_initial_implicit_producer_hash()
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) {
+			return;
+		}
+		else {
+			implicitProducerHashCount.store(0, std::memory_order_relaxed);
+			auto hash = &initialImplicitProducerHash;
+			hash->capacity = INITIAL_IMPLICIT_PRODUCER_HASH_SIZE;
+			hash->entries = &initialImplicitProducerHashEntries[0];
+			for (size_t i = 0; i != INITIAL_IMPLICIT_PRODUCER_HASH_SIZE; ++i) {
+				initialImplicitProducerHashEntries[i].key.store(details::invalid_thread_id, std::memory_order_relaxed);
+			}
+			hash->prev = nullptr;
+			implicitProducerHash.store(hash, std::memory_order_relaxed);
+		}
+	}
+	
+	void swap_implicit_producer_hashes(ConcurrentQueue& other)
+	{
+		WPI_CQ_CONSTEXPR_IF (INITIAL_IMPLICIT_PRODUCER_HASH_SIZE == 0) {
+			return;
+		}
+		else {
+			// Swap (assumes our implicit producer hash is initialized)
+			initialImplicitProducerHashEntries.swap(other.initialImplicitProducerHashEntries);
+			initialImplicitProducerHash.entries = &initialImplicitProducerHashEntries[0];
+			other.initialImplicitProducerHash.entries = &other.initialImplicitProducerHashEntries[0];
+			
+			details::swap_relaxed(implicitProducerHashCount, other.implicitProducerHashCount);
+			
+			details::swap_relaxed(implicitProducerHash, other.implicitProducerHash);
+			if (implicitProducerHash.load(std::memory_order_relaxed) == &other.initialImplicitProducerHash) {
+				implicitProducerHash.store(&initialImplicitProducerHash, std::memory_order_relaxed);
+			}
+			else {
+				ImplicitProducerHash* hash;
+				for (hash = implicitProducerHash.load(std::memory_order_relaxed); hash->prev != &other.initialImplicitProducerHash; hash = hash->prev) {
+					continue;
+				}
+				hash->prev = &initialImplicitProducerHash;
+			}
+			if (other.implicitProducerHash.load(std::memory_order_relaxed) == &initialImplicitProducerHash) {
+				other.implicitProducerHash.store(&other.initialImplicitProducerHash, std::memory_order_relaxed);
+			}
+			else {
+				ImplicitProducerHash* hash;
+				for (hash = other.implicitProducerHash.load(std::memory_order_relaxed); hash->prev != &initialImplicitProducerHash; hash = hash->prev) {
+					continue;
+				}
+				hash->prev = &other.initialImplicitProducerHash;
+			}
+		}
+	}
+	
+	// Only fails (returns nullptr) if memory allocation fails
+	ImplicitProducer* get_or_add_implicit_producer()
+	{
+		// Note that since the data is essentially thread-local (key is thread ID),
+		// there's a reduced need for fences (memory ordering is already consistent
+		// for any individual thread), except for the current table itself.
+		
+		// Start by looking for the thread ID in the current and all previous hash tables.
+		// If it's not found, it must not be in there yet, since this same thread would
+		// have added it previously to one of the tables that we traversed.
+		
+		// Code and algorithm adapted from http://preshing.com/20130605/the-worlds-simplest-lock-free-hash-table
+		
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODHASH
+		debug::DebugLock lock(implicitProdMutex);
+#endif
+		
+		auto id = details::thread_id();
+		auto hashedId = details::hash_thread_id(id);
+		
+		auto mainHash = implicitProducerHash.load(std::memory_order_acquire);
+		assert(mainHash != nullptr);  // silence clang-tidy and MSVC warnings (hash cannot be null)
+		for (auto hash = mainHash; hash != nullptr; hash = hash->prev) {
+			// Look for the id in this hash
+			auto index = hashedId;
+			while (true) {		// Not an infinite loop because at least one slot is free in the hash table
+				index &= hash->capacity - 1u;
+				
+				auto probedKey = hash->entries[index].key.load(std::memory_order_relaxed);
+				if (probedKey == id) {
+					// Found it! If we had to search several hashes deep, though, we should lazily add it
+					// to the current main hash table to avoid the extended search next time.
+					// Note there's guaranteed to be room in the current hash table since every subsequent
+					// table implicitly reserves space for all previous tables (there's only one
+					// implicitProducerHashCount).
+					auto value = hash->entries[index].value;
+					if (hash != mainHash) {
+						index = hashedId;
+						while (true) {
+							index &= mainHash->capacity - 1u;
+							auto empty = details::invalid_thread_id;
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+							auto reusable = details::invalid_thread_id2;
+							if (mainHash->entries[index].key.compare_exchange_strong(empty,    id, std::memory_order_seq_cst, std::memory_order_relaxed) ||
+								mainHash->entries[index].key.compare_exchange_strong(reusable, id, std::memory_order_seq_cst, std::memory_order_relaxed)) {
+#else
+							if (mainHash->entries[index].key.compare_exchange_strong(empty,    id, std::memory_order_seq_cst, std::memory_order_relaxed)) {
+#endif
+								mainHash->entries[index].value = value;
+								break;
+							}
+							++index;
+						}
+					}
+					
+					return value;
+				}
+				if (probedKey == details::invalid_thread_id) {
+					break;		// Not in this hash table
+				}
+				++index;
+			}
+		}
+		
+		// Insert!
+		auto newCount = 1 + implicitProducerHashCount.fetch_add(1, std::memory_order_relaxed);
+		while (true) {
+			// NOLINTNEXTLINE(clang-analyzer-core.NullDereference)
+			if (newCount >= (mainHash->capacity >> 1) && !implicitProducerHashResizeInProgress.test_and_set(std::memory_order_acquire)) {
+				// We've acquired the resize lock, try to allocate a bigger hash table.
+				// Note the acquire fence synchronizes with the release fence at the end of this block, and hence when
+				// we reload implicitProducerHash it must be the most recent version (it only gets changed within this
+				// locked block).
+				mainHash = implicitProducerHash.load(std::memory_order_acquire);
+				if (newCount >= (mainHash->capacity >> 1)) {
+					size_t newCapacity = mainHash->capacity << 1;
+					while (newCount >= (newCapacity >> 1)) {
+						newCapacity <<= 1;
+					}
+					auto raw = static_cast<char*>((Traits::malloc)(sizeof(ImplicitProducerHash) + std::alignment_of<ImplicitProducerKVP>::value - 1 + sizeof(ImplicitProducerKVP) * newCapacity));
+					if (raw == nullptr) {
+						// Allocation failed
+						implicitProducerHashCount.fetch_sub(1, std::memory_order_relaxed);
+						implicitProducerHashResizeInProgress.clear(std::memory_order_relaxed);
+						return nullptr;
+					}
+					
+					auto newHash = new (raw) ImplicitProducerHash;
+					newHash->capacity = static_cast<size_t>(newCapacity);
+					newHash->entries = reinterpret_cast<ImplicitProducerKVP*>(details::align_for<ImplicitProducerKVP>(raw + sizeof(ImplicitProducerHash)));
+					for (size_t i = 0; i != newCapacity; ++i) {
+						new (newHash->entries + i) ImplicitProducerKVP;
+						newHash->entries[i].key.store(details::invalid_thread_id, std::memory_order_relaxed);
+					}
+					newHash->prev = mainHash;
+					implicitProducerHash.store(newHash, std::memory_order_release);
+					implicitProducerHashResizeInProgress.clear(std::memory_order_release);
+					mainHash = newHash;
+				}
+				else {
+					implicitProducerHashResizeInProgress.clear(std::memory_order_release);
+				}
+			}
+			
+			// If it's < three-quarters full, add to the old one anyway so that we don't have to wait for the next table
+			// to finish being allocated by another thread (and if we just finished allocating above, the condition will
+			// always be true)
+			if (newCount < (mainHash->capacity >> 1) + (mainHash->capacity >> 2)) {
+				auto producer = static_cast<ImplicitProducer*>(recycle_or_create_producer(false));
+				if (producer == nullptr) {
+					implicitProducerHashCount.fetch_sub(1, std::memory_order_relaxed);
+					return nullptr;
+				}
+				
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+				producer->threadExitListener.callback = &ConcurrentQueue::implicit_producer_thread_exited_callback;
+				producer->threadExitListener.userData = producer;
+				details::ThreadExitNotifier::subscribe(&producer->threadExitListener);
+#endif
+				
+				auto index = hashedId;
+				while (true) {
+					index &= mainHash->capacity - 1u;
+					auto empty = details::invalid_thread_id;
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+					auto reusable = details::invalid_thread_id2;
+					if (mainHash->entries[index].key.compare_exchange_strong(reusable, id, std::memory_order_seq_cst, std::memory_order_relaxed)) {
+						implicitProducerHashCount.fetch_sub(1, std::memory_order_relaxed);  // already counted as a used slot
+						mainHash->entries[index].value = producer;
+						break;
+					}
+#endif
+					if (mainHash->entries[index].key.compare_exchange_strong(empty,    id, std::memory_order_seq_cst, std::memory_order_relaxed)) {
+						mainHash->entries[index].value = producer;
+						break;
+					}
+					++index;
+				}
+				return producer;
+			}
+			
+			// Hmm, the old hash is quite full and somebody else is busy allocating a new one.
+			// We need to wait for the allocating thread to finish (if it succeeds, we add, if not,
+			// we try to allocate ourselves).
+			mainHash = implicitProducerHash.load(std::memory_order_acquire);
+		}
+	}
+	
+#ifdef WPI_CQ_CPP11_THREAD_LOCAL_SUPPORTED
+	void implicit_producer_thread_exited(ImplicitProducer* producer)
+	{
+		// Remove from hash
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODHASH
+		debug::DebugLock lock(implicitProdMutex);
+#endif
+		auto hash = implicitProducerHash.load(std::memory_order_acquire);
+		assert(hash != nullptr);		// The thread exit listener is only registered if we were added to a hash in the first place
+		auto id = details::thread_id();
+		auto hashedId = details::hash_thread_id(id);
+		details::thread_id_t probedKey;
+		
+		// We need to traverse all the hashes just in case other threads aren't on the current one yet and are
+		// trying to add an entry thinking there's a free slot (because they reused a producer)
+		for (; hash != nullptr; hash = hash->prev) {
+			auto index = hashedId;
+			do {
+				index &= hash->capacity - 1u;
+				probedKey = id;
+				if (hash->entries[index].key.compare_exchange_strong(probedKey, details::invalid_thread_id2, std::memory_order_seq_cst, std::memory_order_relaxed)) {
+					break;
+				}
+				++index;
+			} while (probedKey != details::invalid_thread_id);		// Can happen if the hash has changed but we weren't put back in it yet, or if we weren't added to this hash in the first place
+		}
+		
+		// Mark the queue as being recyclable
+		producer->inactive.store(true, std::memory_order_release);
+	}
+	
+	static void implicit_producer_thread_exited_callback(void* userData)
+	{
+		auto producer = static_cast<ImplicitProducer*>(userData);
+		auto queue = producer->parent;
+		queue->implicit_producer_thread_exited(producer);
+	}
+#endif
+	
+	//////////////////////////////////
+	// Utility functions
+	//////////////////////////////////
+
+	template<typename TAlign>
+	static inline void* aligned_malloc(size_t size)
+	{
+		WPI_CQ_CONSTEXPR_IF (std::alignment_of<TAlign>::value <= std::alignment_of<details::max_align_t>::value)
+			return (Traits::malloc)(size);
+		else {
+			size_t alignment = std::alignment_of<TAlign>::value;
+			void* raw = (Traits::malloc)(size + alignment - 1 + sizeof(void*));
+			if (!raw)
+				return nullptr;
+			char* ptr = details::align_for<TAlign>(reinterpret_cast<char*>(raw) + sizeof(void*));
+			*(reinterpret_cast<void**>(ptr) - 1) = raw;
+			return ptr;
+		}
+	}
+
+	template<typename TAlign>
+	static inline void aligned_free(void* ptr)
+	{
+		WPI_CQ_CONSTEXPR_IF (std::alignment_of<TAlign>::value <= std::alignment_of<details::max_align_t>::value)
+			return (Traits::free)(ptr);
+		else
+			(Traits::free)(ptr ? *(reinterpret_cast<void**>(ptr) - 1) : nullptr);
+	}
+
+	template<typename U>
+	static inline U* create_array(size_t count)
+	{
+		assert(count > 0);
+		U* p = static_cast<U*>(aligned_malloc<U>(sizeof(U) * count));
+		if (p == nullptr)
+			return nullptr;
+
+		for (size_t i = 0; i != count; ++i)
+			new (p + i) U();
+		return p;
+	}
+
+	template<typename U>
+	static inline void destroy_array(U* p, size_t count)
+	{
+		if (p != nullptr) {
+			assert(count > 0);
+			for (size_t i = count; i != 0; )
+				(p + --i)->~U();
+		}
+		aligned_free<U>(p);
+	}
+
+	template<typename U>
+	static inline U* create()
+	{
+		void* p = aligned_malloc<U>(sizeof(U));
+		return p != nullptr ? new (p) U : nullptr;
+	}
+
+	template<typename U, typename A1>
+	static inline U* create(A1&& a1)
+	{
+		void* p = aligned_malloc<U>(sizeof(U));
+		return p != nullptr ? new (p) U(std::forward<A1>(a1)) : nullptr;
+	}
+
+	template<typename U>
+	static inline void destroy(U* p)
+	{
+		if (p != nullptr)
+			p->~U();
+		aligned_free<U>(p);
+	}
+
+private:
+	std::atomic<ProducerBase*> producerListTail;
+	std::atomic<std::uint32_t> producerCount;
+	
+	std::atomic<size_t> initialBlockPoolIndex;
+	Block* initialBlockPool;
+	size_t initialBlockPoolSize;
+	
+#ifndef MCDBGQ_USEDEBUGFREELIST
+	FreeList<Block> freeList;
+#else
+	debug::DebugFreeList<Block> freeList;
+#endif
+	
+	std::atomic<ImplicitProducerHash*> implicitProducerHash;
+	std::atomic<size_t> implicitProducerHashCount;		// Number of slots logically used
+	ImplicitProducerHash initialImplicitProducerHash;
+	std::array<ImplicitProducerKVP, INITIAL_IMPLICIT_PRODUCER_HASH_SIZE> initialImplicitProducerHashEntries;
+	std::atomic_flag implicitProducerHashResizeInProgress;
+	
+	std::atomic<std::uint32_t> nextExplicitConsumerId;
+	std::atomic<std::uint32_t> globalExplicitConsumerOffset;
+	
+#ifdef MCDBGQ_NOLOCKFREE_IMPLICITPRODHASH
+	debug::DebugMutex implicitProdMutex;
+#endif
+	
+#ifdef WPI_CQ_QUEUE_INTERNAL_DEBUG
+	std::atomic<ExplicitProducer*> explicitProducers;
+	std::atomic<ImplicitProducer*> implicitProducers;
+#endif
+};
+
+
+template<typename T, typename Traits>
+ProducerToken::ProducerToken(ConcurrentQueue<T, Traits>& queue)
+	: producer(queue.recycle_or_create_producer(true))
+{
+	if (producer != nullptr) {
+		producer->token = this;
+	}
+}
+
+template<typename T, typename Traits>
+ProducerToken::ProducerToken(BlockingConcurrentQueue<T, Traits>& queue)
+	: producer(reinterpret_cast<ConcurrentQueue<T, Traits>*>(&queue)->recycle_or_create_producer(true))
+{
+	if (producer != nullptr) {
+		producer->token = this;
+	}
+}
+
+template<typename T, typename Traits>
+ConsumerToken::ConsumerToken(ConcurrentQueue<T, Traits>& queue)
+	: itemsConsumedFromCurrent(0), currentProducer(nullptr), desiredProducer(nullptr)
+{
+	initialOffset = queue.nextExplicitConsumerId.fetch_add(1, std::memory_order_release);
+	lastKnownGlobalOffset = static_cast<std::uint32_t>(-1);
+}
+
+template<typename T, typename Traits>
+ConsumerToken::ConsumerToken(BlockingConcurrentQueue<T, Traits>& queue)
+	: itemsConsumedFromCurrent(0), currentProducer(nullptr), desiredProducer(nullptr)
+{
+	initialOffset = reinterpret_cast<ConcurrentQueue<T, Traits>*>(&queue)->nextExplicitConsumerId.fetch_add(1, std::memory_order_release);
+	lastKnownGlobalOffset = static_cast<std::uint32_t>(-1);
+}
+
+template<typename T, typename Traits>
+inline void swap(ConcurrentQueue<T, Traits>& a, ConcurrentQueue<T, Traits>& b) WPI_CQ_NOEXCEPT
+{
+	a.swap(b);
+}
+
+inline void swap(ProducerToken& a, ProducerToken& b) WPI_CQ_NOEXCEPT
+{
+	a.swap(b);
+}
+
+inline void swap(ConsumerToken& a, ConsumerToken& b) WPI_CQ_NOEXCEPT
+{
+	a.swap(b);
+}
+
+template<typename T, typename Traits>
+inline void swap(typename ConcurrentQueue<T, Traits>::ImplicitProducerKVP& a, typename ConcurrentQueue<T, Traits>::ImplicitProducerKVP& b) WPI_CQ_NOEXCEPT
+{
+	a.swap(b);
+}
+
+}
+
+#if defined(_MSC_VER) && (!defined(_HAS_CXX17) || !_HAS_CXX17)
+#pragma warning(pop)
+#endif
+
+#if defined(__GNUC__) && !defined(__INTEL_COMPILER)
+#pragma GCC diagnostic pop
+#endif
diff --git a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
index 3ee53a2d832..158a256855e 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
+++ b/wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp
@@ -259,10 +259,14 @@ static std::unique_ptr<WritableMemoryBuffer> GetMemoryBufferForStream(
   return GetMemBufferCopyImpl(buffer, bufferName, ec);
 }
 
-std::unique_ptr<MemoryBuffer> MemoryBuffer::GetFile(std::string_view filename,
-                                                    std::error_code& ec,
-                                                    int64_t fileSize) {
-  return GetFileAux<MemoryBuffer>(filename, ec, fileSize, fileSize, 0);
+wpi::expected<std::unique_ptr<MemoryBuffer>, std::error_code>
+MemoryBuffer::GetFile(std::string_view filename, int64_t fileSize) {
+  std::error_code ec;
+  auto ret = GetFileAux<MemoryBuffer>(filename, ec, fileSize, fileSize, 0);
+  if (ec) {
+    return wpi::unexpected{ec};
+  }
+  return ret;
 }
 
 template <typename MB>
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/MemoryBuffer.h b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/MemoryBuffer.h
index b5eaea406f2..b3b62809603 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/MemoryBuffer.h
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/MemoryBuffer.h
@@ -24,6 +24,7 @@
 #include <span>
 #include <string_view>
 #include <system_error>
+#include <wpi/expected>
 
 // Duplicated from fs.h to avoid a dependency
 namespace fs {
@@ -77,9 +78,8 @@ class MemoryBuffer {
   /// if successful, otherwise returning null. If FileSize is specified, this
   /// means that the client knows that the file exists and that it has the
   /// specified size.
-  static std::unique_ptr<MemoryBuffer> GetFile(std::string_view filename,
-                                               std::error_code& ec,
-                                               int64_t fileSize = -1);
+  static wpi::expected<std::unique_ptr<MemoryBuffer>, std::error_code>
+  GetFile(std::string_view filename, int64_t fileSize = -1);
 
   /// Read all of the specified file into a MemoryBuffer as a stream
   /// (i.e. until EOF reached). This is useful for special files that
diff --git a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/StringExtras.h b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/StringExtras.h
index 0edee8532b1..23df3271387 100644
--- a/wpiutil/src/main/native/thirdparty/llvm/include/wpi/StringExtras.h
+++ b/wpiutil/src/main/native/thirdparty/llvm/include/wpi/StringExtras.h
@@ -680,7 +680,7 @@ inline std::optional<T> parse_integer(std::string_view str,
       static_cast<Int>(static_cast<T>(val)) != val) {
     return std::nullopt;
   }
-  return val;
+  return static_cast<T>(val);
 }
 
 /**
diff --git a/wpiutil/src/main/native/unix/Demangle.cpp b/wpiutil/src/main/native/unix/Demangle.cpp
index 69404ed792b..d376879b4c3 100644
--- a/wpiutil/src/main/native/unix/Demangle.cpp
+++ b/wpiutil/src/main/native/unix/Demangle.cpp
@@ -7,6 +7,7 @@
 #include <cxxabi.h>
 
 #include <cstdio>
+#include <string>
 
 #include "wpi/SmallString.h"
 
diff --git a/wpiutil/src/main/native/unix/StackTrace.cpp b/wpiutil/src/main/native/unix/StackTrace.cpp
index 3b6606533b7..c0d9e546581 100644
--- a/wpiutil/src/main/native/unix/StackTrace.cpp
+++ b/wpiutil/src/main/native/unix/StackTrace.cpp
@@ -6,6 +6,8 @@
 
 #include <execinfo.h>
 
+#include <string>
+
 #include "wpi/Demangle.h"
 #include "wpi/SmallString.h"
 #include "wpi/StringExtras.h"
diff --git a/wpiutil/src/main/native/windows/Demangle.cpp b/wpiutil/src/main/native/windows/Demangle.cpp
index 18be3711f5b..f5a51bb3bd2 100644
--- a/wpiutil/src/main/native/windows/Demangle.cpp
+++ b/wpiutil/src/main/native/windows/Demangle.cpp
@@ -8,6 +8,8 @@
 
 #include <dbghelp.h>
 
+#include <string>
+
 #include "wpi/SmallString.h"
 #include "wpi/mutex.h"
 
diff --git a/wpiutil/src/main/native/windows/StackTrace.cpp b/wpiutil/src/main/native/windows/StackTrace.cpp
index 5df8a6af7ac..db17bf8e83c 100644
--- a/wpiutil/src/main/native/windows/StackTrace.cpp
+++ b/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -4,6 +4,8 @@
 
 #include "wpi/StackTrace.h"
 
+#include <string>
+
 #include "StackWalker.h"
 #include "wpi/ConvertUTF.h"
 #include "wpi/SmallString.h"
diff --git a/wpiutil/src/test/native/cpp/Base64Test.cpp b/wpiutil/src/test/native/cpp/Base64Test.cpp
index 9db43495033..b7ce945c58e 100644
--- a/wpiutil/src/test/native/cpp/Base64Test.cpp
+++ b/wpiutil/src/test/native/cpp/Base64Test.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 <string>
+
 #include <gtest/gtest.h>
 
 #include "wpi/Base64.h"
diff --git a/wpiutil/src/test/native/cpp/DataLogTest.cpp b/wpiutil/src/test/native/cpp/DataLogTest.cpp
index cc94adf88fa..149d3a36b78 100644
--- a/wpiutil/src/test/native/cpp/DataLogTest.cpp
+++ b/wpiutil/src/test/native/cpp/DataLogTest.cpp
@@ -4,6 +4,8 @@
 
 #include <array>
 #include <memory>
+#include <string>
+#include <vector>
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/cpp/FileLoggerTest.cpp b/wpiutil/src/test/native/cpp/FileLoggerTest.cpp
new file mode 100644
index 00000000000..0fbb54f160e
--- /dev/null
+++ b/wpiutil/src/test/native/cpp/FileLoggerTest.cpp
@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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 <string>
+#include <string_view>
+#include <vector>
+
+#include <gtest/gtest.h>
+
+#include "wpi/FileLogger.h"
+
+TEST(FileLoggerTest, LineBufferSingleLine) {
+  std::vector<std::string> buf;
+  auto func = wpi::FileLogger::LineBuffer(
+      [&buf](std::string_view line) { buf.emplace_back(line); });
+  func("qwertyuiop\n");
+  EXPECT_EQ(buf.front(), "qwertyuiop");
+  buf.clear();
+}
+
+TEST(FileLoggerTest, LineBufferMultiLine) {
+  std::vector<std::string> buf;
+  auto func = wpi::FileLogger::LineBuffer(
+      [&buf](std::string_view line) { buf.emplace_back(line); });
+  func("line 1\nline 2\nline 3\n");
+  EXPECT_EQ("line 1", buf[0]);
+  EXPECT_EQ("line 2", buf[1]);
+  EXPECT_EQ("line 3", buf[2]);
+}
+
+TEST(FileLoggerTest, LineBufferPartials) {
+  std::vector<std::string> buf;
+  auto func = wpi::FileLogger::LineBuffer(
+      [&buf](std::string_view line) { buf.emplace_back(line); });
+  func("part 1");
+  func("part 2\npart 3");
+  EXPECT_EQ("part 1part 2", buf.front());
+  buf.clear();
+  func("\n");
+  EXPECT_EQ("part 3", buf.front());
+}
+
+TEST(FileLoggerTest, LineBufferMultiplePartials) {
+  std::vector<std::string> buf;
+  auto func = wpi::FileLogger::LineBuffer(
+      [&buf](std::string_view line) { buf.emplace_back(line); });
+  func("part 1");
+  func("part 2");
+  func("part 3");
+  func("part 4\n");
+  EXPECT_EQ("part 1part 2part 3part 4", buf.front());
+}
diff --git a/wpiutil/src/test/native/cpp/ScopeExitTest.cpp b/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
index d6f99cabbab..14cad45b8ca 100644
--- a/wpiutil/src/test/native/cpp/ScopeExitTest.cpp
+++ b/wpiutil/src/test/native/cpp/ScopeExitTest.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 <utility>
+
 #include <gtest/gtest.h>
 
 #include "wpi/scope"
diff --git a/wpiutil/src/test/native/cpp/UidVectorTest.cpp b/wpiutil/src/test/native/cpp/UidVectorTest.cpp
index dda7d79c3f7..724afced522 100644
--- a/wpiutil/src/test/native/cpp/UidVectorTest.cpp
+++ b/wpiutil/src/test/native/cpp/UidVectorTest.cpp
@@ -4,6 +4,8 @@
 
 #include "wpi/UidVector.h"  // NOLINT(build/include_order)
 
+#include <vector>
+
 #include <gtest/gtest.h>
 
 namespace wpi {
diff --git a/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp b/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
new file mode 100644
index 00000000000..a0388a84397
--- /dev/null
+++ b/wpiutil/src/test/native/cpp/argparse/ArgumentParserTest.cpp
@@ -0,0 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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 <gtest/gtest.h>
+
+#include "wpi/argparse.h"
+
+TEST(ArgparseTest, Basic) {
+  wpi::ArgumentParser program("ArgparseTest");
+
+  program.add_argument("test").help("Test argument").scan<'i', int>();
+
+  constexpr const char* args[] = {"foo", "42"};
+  EXPECT_NO_THROW(program.parse_args(2, args));
+  auto result = program.get<int>("test");
+  EXPECT_EQ(42, result);
+}
diff --git a/wpiutil/src/test/native/cpp/concurrentqueue/ConcurrentQueueTest.cpp b/wpiutil/src/test/native/cpp/concurrentqueue/ConcurrentQueueTest.cpp
new file mode 100644
index 00000000000..b6f294a2fcb
--- /dev/null
+++ b/wpiutil/src/test/native/cpp/concurrentqueue/ConcurrentQueueTest.cpp
@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// 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 <gtest/gtest.h>
+
+#include "wpi/concurrentqueue.h"
+
+TEST(ConcurrentQueueTest, Basic) {
+  wpi::ConcurrentQueue<int> q;
+  q.enqueue(25);
+
+  int item;
+  bool found = q.try_dequeue(item);
+  EXPECT_TRUE(found);
+  EXPECT_EQ(item, 25);
+}
diff --git a/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp b/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
index f3c9150586d..8d7bc583b5d 100644
--- a/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
+++ b/wpiutil/src/test/native/cpp/expected/ExpectedTest.cpp
@@ -4,6 +4,7 @@
 
 #include <initializer_list>
 #include <tuple>
+#include <utility>
 #include <vector>
 
 #include <gtest/gtest.h>
diff --git a/wpiutil/src/test/native/cpp/future_test.cpp b/wpiutil/src/test/native/cpp/future_test.cpp
index 97e5e608cd9..aad45ea4901 100644
--- a/wpiutil/src/test/native/cpp/future_test.cpp
+++ b/wpiutil/src/test/native/cpp/future_test.cpp
@@ -4,7 +4,7 @@
 
 #include "wpi/future.h"  // NOLINT(build/include_order)
 
-#include <thread>
+#include <utility>
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp b/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
index b77f5a47492..956f4660e5f 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal-tracking.cpp
@@ -34,6 +34,7 @@ SOFTWARE.
 #include "wpi/Signal.h"  // NOLINT(build/include_order)
 
 #include <cmath>
+#include <memory>
 #include <sstream>
 #include <string>
 
diff --git a/wpiutil/src/test/native/cpp/sigslot/signal.cpp b/wpiutil/src/test/native/cpp/sigslot/signal.cpp
index 34d149e7621..5886ae931a7 100644
--- a/wpiutil/src/test/native/cpp/sigslot/signal.cpp
+++ b/wpiutil/src/test/native/cpp/sigslot/signal.cpp
@@ -36,6 +36,7 @@ SOFTWARE.
 #include <cmath>
 #include <sstream>
 #include <string>
+#include <utility>
 
 #include <gtest/gtest.h>
 
diff --git a/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp b/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
index b0d43ffd069..9741667be06 100644
--- a/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
+++ b/wpiutil/src/test/native/cpp/struct/DynamicStructTest.cpp
@@ -6,6 +6,8 @@
 
 #include <stdint.h>
 
+#include <string>
+
 #include <gtest/gtest.h>
 
 using namespace wpi;
diff --git a/xrpVendordep/XRPVendordep.json b/xrpVendordep/XRPVendordep.json
index 3c7f1a1b7b7..28401fb933c 100644
--- a/xrpVendordep/XRPVendordep.json
+++ b/xrpVendordep/XRPVendordep.json
@@ -3,7 +3,7 @@
   "name": "XRP-Vendordep",
   "version": "1.0.0",
   "uuid": "1571a1a5-ed3f-4f07-b7eb-b2beb17394e0",
-  "frcYear": "2024",
+  "frcYear": "2025",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
diff --git a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java
index b1b8199e62e..1c6403edfed 100644
--- a/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java
+++ b/xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPGyro.java
@@ -7,6 +7,7 @@
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;
 import edu.wpi.first.hal.SimDouble;
+import edu.wpi.first.math.geometry.Rotation2d;
 
 /**
  * Use a rate gyro to return the robots heading relative to a starting position.
@@ -154,6 +155,15 @@ public double getAngle() {
     return getAngleZ();
   }
 
+  /**
+   * Gets the angle the robot is facing.
+   *
+   * @return A Rotation2d with the current heading.
+   */
+  public Rotation2d getRotation2d() {
+    return Rotation2d.fromDegrees(getAngle());
+  }
+
   /**
    * Return the rate of rotation of the gyro
    *
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
index 46bf6180f53..50127e55514 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPGyro.cpp
@@ -4,6 +4,8 @@
 
 #include "frc/xrp/XRPGyro.h"
 
+#include <units/angle.h>
+
 using namespace frc;
 
 XRPGyro::XRPGyro() : m_simDevice("Gyro:XRPGyro") {
@@ -28,6 +30,10 @@ double XRPGyro::GetAngle() const {
   return GetAngleZ();
 }
 
+frc::Rotation2d XRPGyro::GetRotation2d() const {
+  return frc::Rotation2d{units::degree_t{GetAngle()}};
+}
+
 double XRPGyro::GetRate() const {
   return GetRateZ();
 }
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
index 91740798ae1..4e63f496102 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPMotor.cpp
@@ -6,6 +6,10 @@
 
 #include <frc/Errors.h>
 
+#include <map>
+#include <set>
+#include <string>
+
 using namespace frc;
 
 std::map<int, std::string> XRPMotor::s_simDeviceMap = {
diff --git a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
index 01635cdcc65..f7233de22a7 100644
--- a/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
+++ b/xrpVendordep/src/main/native/cpp/xrp/XRPServo.cpp
@@ -6,6 +6,10 @@
 
 #include <frc/Errors.h>
 
+#include <map>
+#include <set>
+#include <string>
+
 using namespace frc;
 
 std::map<int, std::string> XRPServo::s_simDeviceMap = {{4, "servo1"},
diff --git a/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h b/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h
index 1cf49a77105..e32bd753fda 100644
--- a/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h
+++ b/xrpVendordep/src/main/native/include/frc/xrp/XRPGyro.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <frc/geometry/Rotation2d.h>
+
 #include <hal/SimDevice.h>
 
 namespace frc {
@@ -40,6 +42,13 @@ class XRPGyro {
    */
   double GetAngle() const;
 
+  /**
+   * Gets the angle the robot is facing.
+   *
+   * @return A Rotation2d with the current heading.
+   */
+  frc::Rotation2d GetRotation2d() const;
+
   /**
    * Return the rate of rotation of the gyro
    *