Merge branch 'main' into 5884

wpilibsuite · Dec 7, 2023 · 5a3572f · 5a3572f
2 parents 21ab356 + f5fc101
commit 5a3572f
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diff --git a/.gitattributes b/.gitattributes
@@ -3,3 +3,8 @@
 *.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
diff --git a/.github/workflows/pregenerate.yml b/.github/workflows/pregenerate.yml
@@ -1,47 +1,49 @@
-name: Check Pregenerated Files
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  update:
-    name: "Update"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v3
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.9
-        uses: actions/setup-python@v4
-        with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
-      - name: Run hal
-        run: ./hal/generate_usage_reporting.py
-      - name: Run ntcore
-        run: ./ntcore/generate_topics.py
-      - name: Run wpimath
-        run: ./wpimath/generate_numbers.py
-      - name: Add untracked files to index so they count as changes
-        run: git add -A
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > pregenerated-files-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v3
-        with:
-          name: pregenerated-files-fixes
-          path: pregenerated-files-fixes.patch
-        if: ${{ failure() }}
+name: Check Pregenerated Files
+
+on:
+  pull_request:
+  push:
+    branches-ignore:
+      - main
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  update:
+    name: "Update"
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.9
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.9
+      - name: Install jinja
+        run: python -m pip install jinja2
+      - name: Install protobuf dependencies
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf-1.3.2-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.2-linux-x86_64.exe
+      - name: Run hal
+        run: ./hal/generate_usage_reporting.py
+      - name: Run ntcore
+        run: ./ntcore/generate_topics.py
+      - name: Run wpimath
+        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.2-linux-x86_64.exe
+      - name: Add untracked files to index so they count as changes
+        run: git add -A
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > pregenerated-files-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v3
+        with:
+          name: pregenerated-files-fixes
+          path: pregenerated-files-fixes.patch
+        if: ${{ failure() }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -213,16 +213,18 @@ find_package(LIBSSH 0.7.1)
 find_package(Protobuf REQUIRED)
 find_program(Quickbuf_EXECUTABLE NAMES protoc-gen-quickbuf DOC "The Quickbuf protoc plugin")
 
-set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
-set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
-set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
+set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
+set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
 set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
-set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
-set(WPIUNITS_DEP_REPLACE "find_dependency(wpiunits)")
+set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
 set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
+set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
 set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
+set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
+set(WPIUNITS_DEP_REPLACE "find_dependency(wpiunits)")
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")

diff --git a/apriltag/CMakeLists.txt b/apriltag/CMakeLists.txt
@@ -64,10 +64,8 @@ if(WITH_JAVA)
         GENERATE_NATIVE_HEADERS apriltag_jni_headers
     )
 
-    get_property(APRILTAG_JAR_FILE TARGET apriltag_jar PROPERTY JAR_FILE)
-    install(FILES ${APRILTAG_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET apriltag_jar PROPERTY FOLDER "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})
     wpilib_target_warnings(apriltagjni)

diff --git a/apriltag/apriltag-config.cmake.in b/apriltag/apriltag-config.cmake.in
@@ -5,3 +5,6 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/apriltag.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/apriltag_jar.cmake)
+endif()
diff --git a/build.gradle b/build.gradle
@@ -171,5 +171,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '8.4'
+    gradleVersion = '8.5'
 }
diff --git a/cameraserver/CMakeLists.txt b/cameraserver/CMakeLists.txt
@@ -31,10 +31,12 @@ if(WITH_JAVA)
         OUTPUT_NAME cameraserver
     )
 
-    get_property(CAMERASERVER_JAR_FILE TARGET cameraserver_jar PROPERTY JAR_FILE)
-    install(FILES ${CAMERASERVER_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET cameraserver_jar PROPERTY FOLDER "java")
+    install_jar(cameraserver_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(
+        TARGETS cameraserver_jar
+        FILE cameraserver_jar.cmake
+        DESTINATION share/cameraserver
+    )
 endif()
 
 if(WITH_JAVA_SOURCE)

diff --git a/cameraserver/cameraserver-config.cmake.in b/cameraserver/cameraserver-config.cmake.in
@@ -7,3 +7,6 @@ find_dependency(OpenCV)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/cameraserver.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/cameraserver_jar.cmake)
+endif()
diff --git a/cscore/CMakeLists.txt b/cscore/CMakeLists.txt
@@ -129,8 +129,8 @@ if(WITH_JAVA)
         GENERATE_NATIVE_HEADERS cscore_jni_headers
     )
 
-    get_property(CSCORE_JAR_FILE TARGET cscore_jar PROPERTY JAR_FILE)
-    install(FILES ${CSCORE_JAR_FILE} DESTINATION "${java_lib_dest}")
+    install_jar(cscore_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS cscore_jar FILE cscore_jar.cmake DESTINATION share/cscore)
     install(FILES ${OPENCV_JAR_FILE} DESTINATION "${java_lib_dest}")
 
     if(MSVC)
@@ -153,8 +153,6 @@ if(WITH_JAVA)
         endforeach()
     endif()
 
-    set_property(TARGET cscore_jar PROPERTY FOLDER "java")
-
     add_library(cscorejni ${cscore_jni_src})
     wpilib_target_warnings(cscorejni)
     target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})

diff --git a/cscore/cscore-config.cmake.in b/cscore/cscore-config.cmake.in
@@ -5,3 +5,6 @@ find_dependency(OpenCV)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/cscore.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/cscore_jar.cmake)
+endif()
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
@@ -74,10 +74,8 @@ if(WITH_JAVA)
         GENERATE_NATIVE_HEADERS hal_jni_headers
     )
 
-    get_property(HAL_JAR_FILE TARGET hal_jar PROPERTY JAR_FILE)
-    install(FILES ${HAL_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET hal_jar PROPERTY FOLDER "java")
+    install_jar(hal_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS hal_jar FILE hal_jar.cmake DESTINATION share/hal)
 
     add_library(haljni ${hal_shared_jni_src})
 

diff --git a/hal/hal-config.cmake.in b/hal/hal-config.cmake.in
@@ -4,3 +4,6 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/hal.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/hal_jar.cmake)
+endif()
diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp
@@ -367,12 +367,12 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
 #ifdef _WIN32
   TIMECAPS tc;
   if (timeGetDevCaps(&tc, sizeof(tc)) == TIMERR_NOERROR) {
-    UINT target = min(1, tc.wPeriodMin);
+    UINT target = (std::min)(static_cast<UINT>(1), tc.wPeriodMin);
     timeBeginPeriod(target);
     std::atexit([]() {
       TIMECAPS tc;
       if (timeGetDevCaps(&tc, sizeof(tc)) == TIMERR_NOERROR) {
-        UINT target = min(1, tc.wPeriodMin);
+        UINT target = (std::min)(static_cast<UINT>(1), tc.wPeriodMin);
         timeEndPeriod(target);
       }
     });

diff --git a/ntcore/CMakeLists.txt b/ntcore/CMakeLists.txt
@@ -60,10 +60,8 @@ if(WITH_JAVA)
         GENERATE_NATIVE_HEADERS ntcore_jni_headers
     )
 
-    get_property(NTCORE_JAR_FILE TARGET ntcore_jar PROPERTY JAR_FILE)
-    install(FILES ${NTCORE_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET ntcore_jar PROPERTY FOLDER "java")
+    install_jar(ntcore_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS ntcore_jar FILE ntcore_jar.cmake DESTINATION share/ntcore)
 
     add_library(ntcorejni ${ntcore_jni_src})
     wpilib_target_warnings(ntcorejni)

diff --git a/ntcore/ntcore-config.cmake.in b/ntcore/ntcore-config.cmake.in
@@ -5,3 +5,6 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/ntcore.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/ntcore_jar.cmake)
+endif()
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.cpp b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
@@ -20,7 +20,6 @@
 #include "NetworkInterface.h"
 #include "WireConnection.h"
 #include "WireEncoder.h"
-#include "net/NetworkOutgoingQueue.h"
 #include "networktables/NetworkTableValue.h"
 
 using namespace nt;

diff --git a/romiVendordep/CMakeLists.txt b/romiVendordep/CMakeLists.txt
@@ -25,10 +25,12 @@ if(WITH_JAVA)
         OUTPUT_NAME romiVendordep
     )
 
-    get_property(ROMIVENDORDEP_JAR_FILE TARGET romiVendordep_jar PROPERTY JAR_FILE)
-    install(FILES ${ROMIVENDORDEP_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET romiVendordep_jar PROPERTY FOLDER "java")
+    install_jar(romiVendordep_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(
+        TARGETS romiVendordep_jar
+        FILE romiVendordep_jar.cmake
+        DESTINATION share/romiVendordep
+    )
 endif()
 
 if(WITH_JAVA_SOURCE)

diff --git a/romiVendordep/romiVendordep-config.cmake.in b/romiVendordep/romiVendordep-config.cmake.in
@@ -9,3 +9,6 @@ include(CMakeFindDependencyMacro)
 
  @FILENAME_DEP_REPLACE@
  include(${SELF_DIR}/romiVendordep.cmake)
+ if(@WITH_JAVA@)
+     include(${SELF_DIR}/romiVendordep_jar.cmake)
+ endif()
diff --git a/shared/java/javacommon.gradle b/shared/java/javacommon.gradle
@@ -146,22 +146,12 @@ protobuf {
     protoc {
         artifact = 'com.google.protobuf:protoc:3.21.12'
     }
-    plugins {
-        quickbuf {
-            artifact = 'us.hebi.quickbuf:protoc-gen-quickbuf:1.3.2'
-        }
-    }
     generateProtoTasks {
         all().configureEach { task ->
             task.builtins {
                 cpp {}
                 remove java
             }
-            task.plugins {
-                quickbuf {
-                    option "gen_descriptors=true"
-                }
-            }
         }
     }
 }
diff --git a/styleguide/checkstyle-suppressions.xml b/styleguide/checkstyle-suppressions.xml
@@ -10,6 +10,6 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
     checks="(LocalVariableName|MemberName|MethodName|MethodTypeParameterName|ParameterName)" />
   <suppress files=".*JNI.*"
     checks="(EmptyLineSeparator|LineLength|MissingJavadocMethod|ParameterName)" />
-  <suppress files=".*quickbuf.*"
+  <suppress files=".*math[/\\]proto.*"
     checks="(CustomImportOrder|EmptyLineSeparator|LineLength|JavadocParagraph|MissingJavadocMethod|OverloadMethodsDeclarationOrder|SummaryJavadoc|UnnecessaryParentheses|OperatorWrap|JavadocMethod|JavadocTagContinuationIndentation)" />
 </suppressions>
diff --git a/styleguide/pmd-ruleset.xml b/styleguide/pmd-ruleset.xml
@@ -8,7 +8,7 @@
 
   <exclude-pattern>.*/*JNI.*</exclude-pattern>
   <exclude-pattern>.*/*IntegrationTests.*</exclude-pattern>
-  <exclude-pattern>.*/quickbuf/.*</exclude-pattern>
+  <exclude-pattern>.*/math/proto.*</exclude-pattern>
 
   <rule ref="category/java/bestpractices.xml">
     <exclude name="AccessorClassGeneration" />

diff --git a/wpilib-config.cmake.in b/wpilib-config.cmake.in
@@ -4,11 +4,18 @@ set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_dependency(Threads)
 @LIBUV_SYSTEM_REPLACE@
 @EIGEN_SYSTEM_REPLACE@
-@WPIUTIL_DEP_REPLACE@
-@WPINET_DEP_REPLACE@
-@NTCORE_DEP_REPLACE@
-@CSCORE_DEP_REPLACE@
+
+@APRILTAG_DEP_REPLACE@
 @CAMERASERVER_DEP_REPLACE@
+@CSCORE_DEP_REPLACE@
 @HAL_DEP_REPLACE@
+@NTCORE_DEP_REPLACE@
 @WPILIBC_DEP_REPLACE@
 @WPILIBNEWCOMMANDS_DEP_REPLACE@
+@WPIMATH_DEP_REPLACE@
+@WPINET_DEP_REPLACE@
+@WPIUTIL_DEP_REPLACE@
+if(@WITH_JAVA@)
+    @WPILIBJ_DEP_REPLACE@
+    @WPIUNITS_DEP_REPLACE@
+endif()
diff --git a/wpilibNewCommands/CMakeLists.txt b/wpilibNewCommands/CMakeLists.txt
@@ -25,10 +25,12 @@ if(WITH_JAVA)
         OUTPUT_NAME wpilibNewCommands
     )
 
-    get_property(WPILIBNEWCOMMANDS_JAR_FILE TARGET wpilibNewCommands_jar PROPERTY JAR_FILE)
-    install(FILES ${WPILIBNEWCOMMANDS_JAR_FILE} DESTINATION "${java_lib_dest}")
-
-    set_property(TARGET wpilibNewCommands_jar PROPERTY FOLDER "java")
+    install_jar(wpilibNewCommands_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(
+        TARGETS wpilibNewCommands_jar
+        FILE wpilibNewCommands_jar.cmake
+        DESTINATION share/wpilibNewCommands
+    )
 endif()
 
 if(WITH_JAVA_SOURCE)

diff --git a/wpilibNewCommands/wpilibNewCommands-config.cmake.in b/wpilibNewCommands/wpilibNewCommands-config.cmake.in
@@ -9,3 +9,6 @@ include(CMakeFindDependencyMacro)
 
  @FILENAME_DEP_REPLACE@
  include(${SELF_DIR}/wpilibNewCommands.cmake)
+ if(@WITH_JAVA@)
+    include(${SELF_DIR}/wpilibNewCommands_jar.cmake)
+ endif()