Merge branch 'main' into more-serialization

.github/workflows/comment-command.yml

@@ -73,9 +73,14 @@ jobs:
               content: "rocket",
             });
       - uses: actions/checkout@v4
+      - name: Checkout PR
         with:
-          fetch-depth: 0
           token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
+        run: |
+          gh pr checkout $NUMBER
+        env:
+          GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
+          NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.9
         uses: actions/setup-python@v5
         with:
@@ -94,6 +99,10 @@ jobs:
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Run PWM Controllers
         run: ./wpilibj/generate_pwm_motor_controllers.py && ./wpilibc/generate_pwm_motor_controllers.py
+      - name: Run imgui gl3w
+        run: ./thirdparty/imgui_suite/generate_gl3w.py
+      - name: Run imgui fonts
+        run: ./thirdparty/imgui_suite/generate_fonts.sh
       - name: Commit
         run: |
           # Set credentials

.github/workflows/pregenerate.yml

@@ -36,6 +36,10 @@ jobs:
         run: ./wpilibj/generate_hids.py && ./wpilibc/generate_hids.py && ./wpilibNewCommands/generate_hids.py
       - name: Run PWM Controllers
         run: ./wpilibj/generate_pwm_motor_controllers.py && ./wpilibc/generate_pwm_motor_controllers.py
+      - name: Run imgui gl3w
+        run: ./thirdparty/imgui_suite/generate_gl3w.py
+      - name: Run imgui fonts
+        run: ./thirdparty/imgui_suite/generate_fonts.sh
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.github/workflows/upstream-utils.yml

@@ -30,6 +30,11 @@ jobs:
         run: |
           git config --global user.email "[email protected]"
           git config --global user.name "Your Name"
+      - name: Run apriltag.py
+        run: |
+          cd upstream_utils
+          ./apriltag.py clone
+          ./apriltag.py copy-upstream-to-thirdparty
       - name: Run eigen.py
         run: |
           cd upstream_utils
@@ -45,11 +50,31 @@ jobs:
           cd upstream_utils
           ./gcem.py clone
           ./gcem.py copy-upstream-to-thirdparty
+      - name: Run gl3w.py
+        run: |
+          cd upstream_utils
+          ./gl3w.py clone
+          ./gl3w.py copy-upstream-to-thirdparty
+      - name: Run glfw.py
+        run: |
+          cd upstream_utils
+          ./glfw.py clone
+          ./glfw.py copy-upstream-to-thirdparty
       - name: Run googletest.py
         run: |
           cd upstream_utils
           ./googletest.py clone
           ./googletest.py copy-upstream-to-thirdparty
+      - name: Run imgui.py
+        run: |
+          cd upstream_utils
+          ./imgui.py clone
+          ./imgui.py copy-upstream-to-thirdparty
+      - name: Run implot.py
+        run: |
+          cd upstream_utils
+          ./implot.py clone
+          ./implot.py copy-upstream-to-thirdparty
       - name: Run json.py
         run: |
           cd upstream_utils
@@ -90,6 +115,11 @@ jobs:
           cd upstream_utils
           ./sleipnir.py clone
           ./sleipnir.py copy-upstream-to-thirdparty
+      - name: Run stb.py
+        run: |
+          cd upstream_utils
+          ./stb.py clone
+          ./stb.py copy-upstream-to-thirdparty
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.gitignore

@@ -11,6 +11,9 @@ simgui.json
 
 networktables.json
 
+ntcore/connectionlistenertest.json
+ntcore/timesynctest.json
+
 # Created by the jenkins test script
 test-reports
 
@@ -133,6 +136,7 @@ CMakeCache.txt
 CMakeFiles
 cmake_install.cmake
 install_manifest.txt
+CMakeUserPresets.json
 
 
 ### Gradle ###

CMakeLists.txt

@@ -287,7 +287,7 @@ endif()
 
 if(WITH_GUI)
     add_subdirectory(fieldImages)
-    add_subdirectory(imgui)
+    add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)

README-CMAKE.md

@@ -6,6 +6,7 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * apriltag
 * cameraserver
 * cscore
+* fieldImages
 * hal (simulation HAL only)
 * ntcore
 * romiVendordep

README.md

@@ -143,6 +143,10 @@ The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./grad
 
 If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
 
+### Generated files
+
+Several files within WPILib are generated using Jinja. If a PR is opened that modifies these templates then the files can be generated through CI by commenting `/pregen` on the PR. A new commit will be pushed with the regenerated files.
+
 ### CMake
 
 CMake is also supported for building. See [README-CMAKE.md](README-CMAKE.md).

apriltag/CMakeLists.txt

@@ -2,28 +2,35 @@ project(apriltag)
 
 include(CompileWarnings)
 include(GenResources)
-include(FetchContent)
 
-fetchcontent_declare(
-    apriltaglib
-    GIT_REPOSITORY https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG da208cc38c1b78fe89861616d44c0692e76b6b8b
+file(
+    GLOB_RECURSE apriltaglib_src
+    src/main/native/thirdparty/apriltag/src/*.c
+    src/main/native/thirdparty/apriltag/src/*.cpp
 )
 
-# Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI
-fetchcontent_getproperties(apriltaglib)
-if(NOT apriltaglib_POPULATED)
-    fetchcontent_populate(apriltaglib)
+# Disable apriltag C library warnings
+if(MSVC)
+    set_source_files_properties(
+        ${apriltaglib_src}
+        PROPERTIES COMPILE_FLAGS "/wd2220 /wd4005 /wd4018 /wd4244 /wd4267 /wd4996"
+    )
+elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    set_source_files_properties(
+        ${apriltaglib_src}
+        PROPERTIES
+            COMPILE_FLAGS
+                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-uninitialized -Wno-sign-compare -Wno-type-limits"
+    )
+else()
+    set_source_files_properties(
+        ${apriltaglib_src}
+        PROPERTIES
+            COMPILE_FLAGS
+                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-maybe-uninitialized -Wno-sign-compare -Wno-type-limits"
+    )
 endif()
 
-aux_source_directory(${apriltaglib_SOURCE_DIR}/common APRILTAGLIB_COMMON_SRC)
-file(GLOB TAG_FILES ${apriltaglib_SOURCE_DIR}/tag*.c)
-set(APRILTAGLIB_SRCS
-    ${apriltaglib_SOURCE_DIR}/apriltag.c
-    ${apriltaglib_SOURCE_DIR}/apriltag_pose.c
-    ${apriltaglib_SOURCE_DIR}/apriltag_quad_thresh.c
-)
-
 file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
 
 if(WITH_JAVA)
@@ -72,7 +79,7 @@ if(WITH_JAVA)
     install_jar(apriltag_jar DESTINATION ${java_lib_dest})
     install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
 
-    add_library(apriltagjni ${apriltag_jni_src})
+    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
     wpilib_target_warnings(apriltagjni)
     target_link_libraries(apriltagjni PUBLIC apriltag)
 
@@ -109,32 +116,12 @@ generate_resources(
 
 file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
 
-add_library(
-    apriltag
-    ${apriltag_native_src}
-    ${apriltag_resources_src}
-    ${APRILTAGLIB_SRCS}
-    ${APRILTAGLIB_COMMON_SRC}
-    ${TAG_FILES}
-)
+add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltaglib_src})
 set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET apriltag PROPERTY FOLDER "libraries")
 target_compile_features(apriltag PUBLIC cxx_std_20)
 wpilib_target_warnings(apriltag)
-# disable warnings that apriltaglib can't handle
-if(MSVC)
-    target_compile_options(apriltag PRIVATE /wd4018 /wd4005 /wd4996)
-else()
-    target_compile_options(
-        apriltag
-        PRIVATE
-            -Wno-sign-compare
-            -Wno-gnu-zero-variadic-macro-arguments
-            -Wno-type-limits
-            -Wno-format-nonliteral
-    )
-endif()
 
 target_link_libraries(apriltag wpimath)
 
@@ -146,6 +133,19 @@ target_include_directories(
         $<INSTALL_INTERFACE:${include_dest}/apriltag>
 )
 
+install(
+    DIRECTORY src/main/native/thirdparty/apriltag/include/
+    DESTINATION "${include_dest}/apriltag"
+)
+target_include_directories(
+    apriltag
+    SYSTEM
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include/common>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/src>
+)
+
 install(TARGETS apriltag EXPORT apriltag)
 export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/apriltag")

apriltag/build.gradle

@@ -1,5 +1,7 @@
 apply from: "${rootDir}/shared/resources.gradle"
 
+apply plugin: 'c'
+
 ext {
     nativeName = 'apriltag'
     devMain = 'edu.wpi.first.apriltag.DevMain'
@@ -23,14 +25,24 @@ ext {
                     include '*.cpp'
                 }
             }
+            apriltagC(CSourceSet) {
+                source {
+                    srcDirs 'src/main/native/thirdparty/apriltag/src'
+                    include '**/*.c', '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/main/native/thirdparty/apriltag/include',
+                            'src/main/native/thirdparty/apriltag/include/common',
+                            'src/main/native/thirdparty/apriltag/src'
+                }
+            }
         }
     }
 }
 
 evaluationDependsOn(':wpimath')
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-apply from: "${rootDir}/shared/apriltaglib.gradle"
 apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
@@ -45,8 +57,48 @@ sourceSets {
     }
 }
 
+cppHeadersZip {
+    from('src/main/native/thirdparty/apriltag/include') {
+        into '/'
+    }
+}
+
+// Suppress sign-compare warnings
+nativeUtils.platformConfigs.each {
+    if (it.name.contains('windows')) {
+        it.cCompiler.args.add("/wd2220")
+        it.cCompiler.args.add("/wd4005")
+        it.cCompiler.args.add("/wd4018")
+        it.cCompiler.args.add("/wd4244")
+        it.cCompiler.args.add("/wd4267")
+        it.cCompiler.args.add("/wd4996")
+    } else if (it.name.contains('osx')) {
+        it.cCompiler.args.add("-Wno-format-nonliteral")
+        it.cCompiler.args.add("-Wno-gnu-zero-variadic-macro-arguments")
+        it.cCompiler.args.add("-Wno-uninitialized")
+        it.cCompiler.args.add("-Wno-sign-compare")
+        it.cCompiler.args.add("-Wno-type-limits")
+    } else {
+        it.cCompiler.args.add("-Wno-format-nonliteral")
+        it.cCompiler.args.add("-Wno-gnu-zero-variadic-macro-arguments")
+        it.cCompiler.args.add("-Wno-maybe-uninitialized")
+        it.cCompiler.args.add("-Wno-sign-compare")
+        it.cCompiler.args.add("-Wno-type-limits")
+    }
+}
+
 model {
-    components {}
+    components {
+        all {
+            it.sources.each {
+                it.exportedHeaders {
+                    srcDirs 'src/main/native/include',
+                            'src/main/native/thirdparty/apriltag/include',
+                            'src/main/native/thirdparty/apriltag/include/common'
+                }
+            }
+        }
+    }
     binaries {
         all {
             if (!it.buildable || !(it instanceof NativeBinarySpec)) {
@@ -61,8 +113,6 @@ model {
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             }
-
-            nativeUtils.useRequiredLibrary(it, 'apriltaglib')
         }
     }
     tasks {