Merge branch 'main' into better-async-commands

.github/workflows/cmake.yml

@@ -6,6 +6,9 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
+env:
+  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake"
+
 jobs:
   build:
     strategy:
@@ -34,20 +37,22 @@ jobs:
         run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
-      - name: Run sccache-cache
+      - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.5
 
       - uses: actions/checkout@v4
 
       - name: configure
         run: cmake ${{ matrix.flags }}
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build-cmake
@@ -76,12 +81,14 @@ jobs:
       - name: configure
         run: cmake --preset sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build-cmake

.github/workflows/command-robotpy-pr.yml

@@ -15,6 +15,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Comment on PR
+        if: github.repository == 'wpilibsuite/allwpilib'
         uses: actions/github-script@v7
         with:
           script: |

.github/workflows/documentation.yml

@@ -13,7 +13,7 @@ jobs:
   publish:
     name: "Documentation - Publish"
     runs-on: ubuntu-22.04
-    if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
       - uses: actions/checkout@v4

.github/workflows/gradle.yml

@@ -61,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 13
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:
@@ -118,12 +118,12 @@ jobs:
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
           keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Set Keychain Lock Timeout
         run: security set-keychain-settings -lut 3600
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
@@ -158,7 +158,7 @@ jobs:
       - name: Sign Libraries with Developer ID
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
@@ -202,7 +202,7 @@ jobs:
     steps:
       - name: Free Disk Space
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         uses: jlumbroso/free-disk-space@main
         with:
@@ -215,38 +215,38 @@ jobs:
           swap-storage: false
       - uses: actions/checkout@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
       - uses: actions/setup-java@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           distribution: 'temurin'
           java-version: 17
       - name: Combine (Main)
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           github.ref == 'refs/heads/main'
         run: cd combiner && ./gradlew publish -Pallwpilib
         env:
@@ -255,7 +255,7 @@ jobs:
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Combine (Release)
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           startsWith(github.ref, 'refs/tags/v')
         run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
         env:
@@ -264,7 +264,7 @@ jobs:
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           name: Maven
@@ -280,7 +280,7 @@ jobs:
     steps:
       - uses: peter-evans/repository-dispatch@v3
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           startsWith(github.ref, 'refs/tags/v')
         with:
           token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}

.github/workflows/pregenerate.yml

@@ -32,6 +32,8 @@ jobs:
         run: ./ntcore/generate_topics.py
       - name: Run wpimath
         run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Run wpiunits
+        run: ./wpiunits/generate_units.py
       - name: Run HIDs
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Run PWM Controllers

.github/workflows/sanitizers.yml

@@ -6,6 +6,9 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
+env:
+  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake"
+
 jobs:
   build:
     strategy:
@@ -31,21 +34,23 @@ jobs:
       - name: Install Dependencies
         run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java clang-14 libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Run sccache-cache
+      - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.5
 
       - uses: actions/checkout@v4
 
       - name: configure
         run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build

apriltag/src/main/native/thirdparty/apriltag/include/apriltag.h

@@ -269,7 +269,7 @@ void apriltag_detections_destroy(zarray_t *detections);
 
 // Renders the apriltag.
 // Caller is responsible for calling image_u8_destroy on the image
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx);
+image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx);
 
 #ifdef __cplusplus
 }

apriltag/src/main/native/thirdparty/apriltag/include/apriltag_pose.h

@@ -63,7 +63,7 @@ void estimate_tag_pose_orthogonal_iteration(
         apriltag_pose_t* pose1,
         double* err2,
         apriltag_pose_t* pose2,
-        int nIters, 
+        int nIters,
         double min_improvement_per_iteration);
 
 /**

apriltag/src/main/native/thirdparty/apriltag/include/common/homography.h

@@ -176,7 +176,7 @@ matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, dou
 // [ 0  0  C  D ]
 // [ 0  0 -1  0 ]
 
-matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B, double C, double D);
+matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B);
 
 #ifdef __cplusplus
 }

apriltag/src/main/native/thirdparty/apriltag/include/common/image_u8x3.h

@@ -57,7 +57,7 @@ void image_u8x3_destroy(image_u8x3_t *im);
 int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path);
 
 // only width 1 supported
-void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3], int width);
+void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3]);
 
 #ifdef __cplusplus
 }

apriltag/src/main/native/thirdparty/apriltag/include/common/matd.h

@@ -113,13 +113,13 @@ matd_t *matd_create_scalar(double v);
  * Retrieves the cell value for matrix 'm' at the given zero-based row and column index.
  * Performs more thorough validation checking than MATD_EL().
  */
-double matd_get(const matd_t *m, int row, int col);
+double matd_get(const matd_t *m, unsigned int row, unsigned int col);
 
 /**
  * Assigns the given value to the matrix cell at the given zero-based row and
  * column index. Performs more thorough validation checking than MATD_EL().
  */
-void matd_put(matd_t *m, int row, int col, double value);
+void matd_put(matd_t *m, unsigned int row, unsigned int col, double value);
 
 /**
  * Retrieves the scalar value of the given element ('m' must be a scalar).
@@ -147,7 +147,7 @@ matd_t *matd_copy(const matd_t *m);
  * beyond the number of rows/columns of 'a'. It is the caller's  responsibility to
  * call matd_destroy() on the returned matrix.
  */
-matd_t *matd_select(const matd_t *a, int r0, int r1, int c0, int c1);
+matd_t *matd_select(const matd_t *a, unsigned int r0, int r1, unsigned int c0, int c1);
 
 /**
  * Prints the supplied matrix 'm' to standard output by applying the supplied

apriltag/src/main/native/thirdparty/apriltag/include/common/math_util.h

@@ -27,31 +27,19 @@ either expressed or implied, of the Regents of The University of Michigan.
 
 #pragma once
 
+#define _USE_MATH_DEFINES
 #include <math.h>
-#include <float.h>
 #include <stdlib.h>
 #include <stdint.h>
 #include <assert.h>
-#include <string.h> // memcpy
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#ifndef M_TWOPI
-# define M_TWOPI       6.2831853071795862319959  /* 2*pi */
-#endif
-
-#ifndef M_PI
-# define M_PI 3.141592653589793238462643383279502884196
-#endif
-
 #define to_radians(x) ( (x) * (M_PI / 180.0 ))
 #define to_degrees(x) ( (x) * (180.0 / M_PI ))
 
-#define max(A, B) (A < B ? B : A)
-#define min(A, B) (A < B ? A : B)
-
   /* DEPRECATE, threshold meaningless without context.
 static inline int dequals(double a, double b)
 {
@@ -111,7 +99,7 @@ static inline int irand(int bound)
 /** Map vin to [0, 2*PI) **/
 static inline double mod2pi_positive(double vin)
 {
-    return vin - M_TWOPI * floor(vin / M_TWOPI);
+    return vin - M_2_PI * floor(vin / M_2_PI);
 }
 
 /** Map vin to [-PI, PI) **/
@@ -145,7 +133,7 @@ static inline int mod_positive(int vin, int mod) {
 static inline int theta_to_int(double theta, int max)
 {
     theta = mod2pi_ref(M_PI, theta);
-    int v = (int) (theta / M_TWOPI * max);
+    int v = (int) (theta / M_2_PI * max);
 
     if (v == max)
         v = 0;

apriltag/src/main/native/thirdparty/apriltag/include/common/pam.h

@@ -40,7 +40,7 @@ struct pam
     int depth; // bytes per pixel
     int maxval; // maximum value per channel, e.g. 255 for 8bpp
 
-    int datalen; // in bytes
+    size_t datalen; // in bytes
     uint8_t *data;
 };
 

apriltag/src/main/native/thirdparty/apriltag/include/common/pthreads_cross.h

@@ -30,6 +30,7 @@ SOFTWARE.
 #include <pthread.h>
 #include <sched.h>
 #endif
+#include <time.h>
 
 #ifdef _WIN32
 

apriltag/src/main/native/thirdparty/apriltag/include/common/string_util.h

@@ -202,7 +202,7 @@ bool str_matches_any(const char *haystack, const char **needles, int num_needles
  *
  * Note: startidx must be >= endidx
  */
-char *str_substring(const char *str, size_t startidx, long endidx);
+char *str_substring(const char *str, size_t startidx, size_t endidx);
 
 /**
  * Retrieves the zero-based index of the beginning of the supplied substring

apriltag/src/main/native/thirdparty/apriltag/include/common/time_util.h

@@ -40,6 +40,8 @@ typedef long long suseconds_t;
 
 inline int gettimeofday(struct timeval* tp, void* tzp)
 {
+  (void)tzp;
+
   unsigned long t;
   t = time(NULL);
   tp->tv_sec = t / 1000;

apriltag/src/main/native/thirdparty/apriltag/include/common/zarray.h

@@ -355,7 +355,7 @@ static inline void zarray_map(zarray_t *za, void (*f)(void*))
  *
  * void map_function(element_type *element)
  */
-    void zarray_vmap(zarray_t *za, void (*f)(void*));
+    void zarray_vmap(zarray_t *za, void (*f)(void *));
 
 /**
  * Removes all elements from the array and sets its size to zero. Pointers to

apriltag/src/main/native/thirdparty/apriltag/include/common/zmaxheap.h

@@ -39,7 +39,7 @@ struct zmaxheap_iterator {
 
 zmaxheap_t *zmaxheap_create(size_t el_sz);
 
-void zmaxheap_vmap(zmaxheap_t *heap, void (*f)(void*));
+void zmaxheap_vmap(zmaxheap_t *heap, void (*f)(void *));
 
 void zmaxheap_destroy(zmaxheap_t *heap);