Merge branch 'main' into wpilib-add-class-to-calculate-robot-resistance

wpilibsuite · Nov 21, 2023 · cd024f8 · cd024f8
2 parents 121df22 + 25b7dca
commit cd024f8
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diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -14,25 +14,28 @@ jobs:
         include:
           - os: ubuntu-22.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2023-22.04
+            container: wpilib/roborio-cross-ubuntu:2024-22.04
             flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: macOS-12
             name: macOS
             container: ""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON"
+            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"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v3
-
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 libprotobuf-dev protobuf-compiler ninja-build
+
+      - 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
 
       - name: Install opencv (macOS)
-        run: brew install opencv ninja
+        run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
       - name: Set up Python 3.8 (macOS)
@@ -41,15 +44,24 @@ jobs:
         with:
           python-version: 3.8
 
+      - 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
+
       - name: configure
-        run: cmake -S . -B build -G "Ninja" ${{ matrix.flags }}
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: test
         working-directory: build
@@ -59,39 +71,52 @@ jobs:
     name: "Build - Windows"
     runs-on: windows-2022
     steps:
-      - uses: actions/checkout@v3
       - uses: ilammy/msvc-dev-cmd@v1
 
       - name: Install CMake
-        uses: lukka/get-cmake@v3.23.0
+        uses: lukka/get-cmake@v3.27.6
+
+      - 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
 
       - name: Run vcpkg
         uses: lukka/run-vcpkg@v11.1
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
           vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
 
-      - name: Install jinja
-        run: python -m pip install jinja2
-
       - name: configure
-        run: cmake -S . -B build -G "Ninja" -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=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
+        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ 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
+        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)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: test
         working-directory: build
-        run: ctest --output-on-failure
+        # UnitTest_test segfaults on exit occasionally
+        run: ctest --output-on-failure -E 'UnitTest'
diff --git a/.github/workflows/comment-command.yml b/.github/workflows/comment-command.yml
@@ -9,11 +9,11 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v4
+        uses: actions/github-script@v6
         with:
           script: |
             const {owner, repo} = context.issue
-            github.reactions.createForIssueComment({
+            github.rest.reactions.createForIssueComment({
               owner,
               repo,
               comment_id: context.payload.comment.id,
@@ -34,7 +34,7 @@ jobs:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Setup Java

diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
@@ -12,7 +12,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2023-22.04
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
@@ -47,8 +47,11 @@ jobs:
         uses: addnab/docker-run-action@v3
         with:
           image: ${{ matrix.container }}
-          options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME=${{ secrets.ARTIFACTORY_USERNAME }} -e ARTIFACTORY_PUBLISH_PASSWORD=${{ secrets.ARTIFACTORY_PASSWORD }}
-          run: df . && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        env:
+          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Check free disk space
         run: df .
       - uses: actions/upload-artifact@v3
@@ -58,7 +61,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 11
+      MACOSX_DEPLOYMENT_TARGET: 12
     strategy:
       fail-fast: false
       matrix:
@@ -77,18 +80,20 @@ jobs:
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
             build-dir: "c:\\work"
-          # - os: windows-2022
-          #   artifact-name: WinArm64Debug
-          #   architecture: x64
-          #   task: "build"
-          #   build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
-          #   outputs: "build/allOutputs"
-          # - os: windows-2022
-          #   artifact-name: WinArm64Release
-          #   architecture: x64
-          #   build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
-          #   task: "copyAllOutputs"
-          #   outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+            outputs: "build/allOutputs"
+            build-dir: "c:\\work"
+          - os: windows-2022
+            artifact-name: WinArm64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64 --max-workers 1"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+            build-dir: "c:\\work"
           - os: macOS-12
             artifact-name: macOS
             architecture: x64
@@ -188,28 +193,51 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-22.04
     steps:
+      - name: Free Disk Space
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
       - uses: actions/checkout@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (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.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.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@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           distribution: 'zulu'
-          java-version: 11
-      - name: Combine
-        if: |
-          !startsWith(github.ref, 'refs/tags/v') &&
-          github.ref != 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
-      - name: Combine (Master)
+          java-version: 17
+      - name: Combine (Main)
         if: |
           github.repository_owner == 'wpilibsuite' &&
           github.ref == 'refs/heads/main'
@@ -228,6 +256,9 @@ jobs:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v3
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           name: Maven
           path: ~/releases
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -26,22 +26,33 @@ jobs:
             ctest-flags: ""
     name: "${{ matrix.name }}"
     runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
-      - uses: actions/checkout@v3
-
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers
+        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
+
+      - 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
+
       - name: configure
-        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
+        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"
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
+        env:
+          SCCACHE_GHA_ENABLED: "true"
 
       - name: test
         working-directory: build

diff --git a/.github/workflows/upstream-utils.yml b/.github/workflows/upstream-utils.yml
@@ -41,6 +41,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_gcem.py
+      - name: Run update_json.py
+        run: |
+          cd upstream_utils
+          ./update_json.py
       - name: Run update_libuv.py
         run: |
           cd upstream_utils
@@ -61,6 +65,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_memory.py
+      - name: Run update_protobuf.py
+        run: |
+          cd upstream_utils
+          ./update_protobuf.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

diff --git a/.styleguide b/.styleguide
@@ -31,6 +31,7 @@ includeOtherLibs {
   ^cscore
   ^fmt/
   ^gtest/
+  ^google/
   ^hal/
   ^imgui
   ^implot