Merge branch 'main' into command-templates

.clang-format

@@ -28,6 +28,11 @@ AlignConsecutiveMacros:
   AcrossComments:  false
   AlignCompound:   false
   PadOperators:    false
+AlignConsecutiveShortCaseStatements:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCaseColons: false
 AlignEscapedNewlines: Left
 AlignOperands:   Align
 AlignTrailingComments:
@@ -141,10 +146,13 @@ IntegerLiteralSeparator:
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+KeepEmptyLinesAtEOF: false
 LambdaBodyIndentation: Signature
 LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
+Macros:
+  - 'HAL_ENUM(name)=enum name'
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never
@@ -199,6 +207,7 @@ RawStringFormats:
 ReferenceAlignment: Pointer
 ReflowComments:  true
 RemoveBracesLLVM: false
+RemoveParentheses: Leave
 RemoveSemicolon: false
 RequiresClausePosition: OwnLine
 RequiresExpressionIndentation: OuterScope
@@ -216,6 +225,7 @@ SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
+SpaceBeforeJsonColon: false
 SpaceBeforeParens: ControlStatements
 SpaceBeforeParensOptions:
   AfterControlStatements: true
@@ -230,23 +240,28 @@ SpaceBeforeParensOptions:
 SpaceBeforeRangeBasedForLoopColon: true
 SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
-SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
 SpacesInAngles:  Never
-SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
-SpacesInCStyleCastParentheses: false
 SpacesInLineCommentPrefix:
   Minimum:         1
   Maximum:         -1
-SpacesInParentheses: false
+SpacesInParens:  Never
+SpacesInParensOptions:
+  InCStyleCasts:   false
+  InConditionalStatements: false
+  InEmptyParentheses: false
+  Other:           false
 SpacesInSquareBrackets: false
 Standard:        c++20
+StatementAttributeLikeMacros:
+  - Q_EMIT
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
+VerilogBreakBetweenInstancePorts: true
 WhitespaceSensitiveMacros:
   - BOOST_PP_STRINGIZE
   - CF_SWIFT_NAME

.clang-tidy

@@ -49,7 +49,6 @@ Checks:
   google-build-namespaces,
   google-explicit-constructor,
   google-global-names-in-headers,
-  google-readability-avoid-underscore-in-googletest-name,
   google-readability-casting,
   google-runtime-operator,
   misc-definitions-in-headers,

.gersemirc

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

.gitattributes

@@ -1,5 +1,13 @@
+*.cpp text eol=lf
 *.gradle text eol=lf
+*.h text eol=lf
+*.inc text eol=lf
 *.java text eol=lf
 *.json text eol=lf
 *.md text eol=lf
 *.xml text eol=lf
+
+# Generated files
+hal/src/generated/** linguist-generated
+ntcore/src/generated/** linguist-generated
+wpimath/src/generated/** linguist-generated

.github/workflows/cmake.yml

@@ -16,11 +16,11 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2024-22.04
             flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-12
+          - os: macOS-14
             name: macOS
             container: ""
-            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
+            env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -32,25 +32,25 @@ jobs:
 
       - name: Install QuickBuffers (Linux)
         if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb
 
-      - name: Install opencv (macOS)
+      - name: Install dependencies (macOS)
         run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
-      - name: Set up Python 3.8 (macOS)
+      - name: Set up Python 3.10 (macOS)
         if: runner.os == 'macOS'
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
 
       - name: Run sccache-cache
         uses: mozilla-actions/sccache-action@v0.0.3
 
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: configure
         run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
@@ -82,34 +82,19 @@ jobs:
       - name: Install jinja
         run: python -m pip install jinja2
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Run vcpkg
         uses: lukka/run-vcpkg@v11.1
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
+          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
 
       - name: configure
-        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ 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"
 
-      # Build wpiutil at full speed, wpimath depends on wpiutil
-      - name: build wpiutil
-        working-directory: build
-        run: cmake --build . --parallel $(nproc) --target wpiutil/all
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      # Build wpimath slow to prevent OOM
-      - name: build wpimath
-        working-directory: build
-        run: cmake --build . --parallel 1 --target wpimath/all
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      # Build everything else fast
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)

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

@@ -0,0 +1,23 @@
+name: Comment on PR for robotpy
+
+on:
+  pull_request:
+    types:
+      - opened
+    paths:
+      - 'wpilibNewCommands/**'
+
+jobs:
+  comment:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Comment on PR
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.createComment({
+                issue_number: context.issue.number,
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                body: 'This PR modifies commands. Please open a corresponding PR in [Python Commands](https://github.com/robotpy/robotpy-commands-v2/) and include a link to this PR.'
+            })

.github/workflows/comment-command.yml

@@ -9,7 +9,7 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v6
+        uses: actions/github-script@v7
         with:
           script: |
             const {owner, repo} = context.issue
@@ -19,12 +19,12 @@ jobs:
               comment_id: context.payload.comment.id,
               content: "rocket",
             });
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
+          fetch-depth: 0
           token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
       - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Checkout PR
@@ -33,17 +33,17 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Setup Java
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 11
+          distribution: 'temurin'
+          java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2024.34
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply

.github/workflows/documentation.yml

@@ -16,14 +16,14 @@ jobs:
     if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           persist-credentials: false
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 17
       - name: Set environment variables (Development)
         run: |
           echo "BRANCH=development" >> $GITHUB_ENV

.github/workflows/fix_compile_commands.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import argparse
+import json
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Fix compile_commands.json generated by Gradle"
+    )
+    parser.add_argument("filename", help="compile_commands.json location")
+    cmd_args = parser.parse_args()
+
+    # Read JSON
+    with open(cmd_args.filename) as f:
+        data = json.load(f)
+
+    for obj in data:
+        out_args = []
+
+        # Filter out -isystem flags that cause false positives
+        iter_args = iter(obj["arguments"])
+        for arg in iter_args:
+            if arg == "-isystem":
+                next_arg = next(iter_args)
+
+                # /usr/lib/gcc/x86_64-pc-linux-gnu/13.2.1/include/xmmintrin.h:54:1:
+                # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
+                if not next_arg.startswith("/usr/lib/gcc/"):
+                    out_args += ["-isystem", next_arg]
+            else:
+                out_args.append(arg)
+
+        obj["arguments"] = out_args
+
+    # Write JSON
+    with open(cmd_args.filename, "w") as f:
+        json.dump(data, f, indent=2)
+
+
+if __name__ == "__main__":
+    main()

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

@@ -10,5 +10,5 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      - uses: gradle/wrapper-validation-action@v1
+      - uses: actions/checkout@v4
+      - uses: gradle/wrapper-validation-action@v2