Merge branch 'main' into fix-trapezoid-profile

Author: cb144p

.bazelrc

@@ -1,11 +1,10 @@
 try-import %workspace%/user.bazelrc
 
-common --enable_bzlmod --enable_workspace
+common --enable_bzlmod
 # Resolves to --config=linux on Linux, --config=macos on Mac, --windows on windows
 common --enable_platform_specific_config
 
 # Make bazel 8 work for us.
-common --enable_workspace
 build --experimental_cc_static_library
 build --experimental_cc_shared_library
 
@@ -20,16 +19,10 @@ test --test_verbose_timeout_warnings
 import %workspace%/shared/bazel/compiler_flags/sanitizers.rc
 import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
 import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
-import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
 import %workspace%/shared/bazel/compiler_flags/systemcore_flags.rc
 import %workspace%/shared/bazel/compiler_flags/windows_flags.rc
 import %workspace%/shared/bazel/compiler_flags/coverage_flags.rc
 
-# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
-build:athena --config=roborio
-build:linuxarm32 --config=raspibookworm32
-build:linuxarm64 --config=bookworm64
-
 build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
 build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
 build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
@@ -44,6 +37,7 @@ build:build_buddy_bes --bes_backend=grpcs://remote.buildbuddy.io
 build:common_cache --remote_timeout=3600
 build:common_cache --remote_cache_compression
 build:common_cache --experimental_remote_cache_compression_threshold=100
+common:common_cache --experimental_remote_merkle_tree_cache
 
 # Build Buddy Cache Setup
 build:build_buddy --config=common_cache
@@ -62,13 +56,35 @@ build:remote_cache --remote_cache=grpcs://gitlib-bazel.wpi.edu
 
 common:remote_cache_readonly --noremote_upload_local_results
 
+# Stubs for remote execution.
+build:remote --strategy=TsProject=remote,sandboxed
+build --strategy=CopyFile=remote,standalone
+build --strategy=CopyDirectory=remote,standalone
+build --strategy=CopyToDirectory=remote,standalone
+build --strategy=PyWriteBuildData=remote,standalone
+# All tests have a strategy of TestRunner.  Enable standalone for only tests.
+# See the following for more details:
+# https://github.com/bazelbuild/bazel/issues/7480
+build:linux --strategy=TestRunner=remote,sandboxed,standalone
+build:macos --strategy=TestRunner=remote,sandboxed,standalone
+build:linux --strategy=NpmLifecycleHook=remote,sandboxed,standalone
+build:macos --strategy=NpmLifecycleHook=remote,sandboxed,standalone
+
+common:remote --config=common_cache
+build:remote --incompatible_strict_action_env --experimental_inmemory_dotd_files --experimental_inmemory_jdeps_files --experimental_remote_merkle_tree_cache --incompatible_allow_tags_propagation
+# Specify your cluster as follows:
+# build:remote --remote_executor=grpcs://engflow.example.com --bes_backend=grpcs://engflow.example.com --bes_results_url=https://engflow.example.com/invocation/
+build:remote --jobs=100
+build:remote --remote_timeout=1500
+build:remote --spawn_strategy=remote,sandboxed
+build:remote --grpc_keepalive_time=30s
+
 # This config should be used locally. It downloads more than the CI version
 build:remote_user --config=remote_cache
 build:remote_user --config=remote_cache_readonly
 build:remote_user --remote_download_toplevel
 
 common:ci --color=yes
-build:ci --config=remote_cache
 build:ci --remote_download_minimal
 build:ci --progress_report_interval=60 --show_progress_rate_limit=60
 

.github/actions/setup-bazel-cache/action.yml

@@ -0,0 +1,38 @@
+name: 'Setup Bazel Cache'
+description: 'Configures the Bazel remote cache. Prefers WPI bazel-remote (R/W), falls back to BuildBuddy, then readonly WPI cache.'
+
+inputs:
+  bazel_remote_username:
+    description: 'WPI Bazel remote cache username'
+  bazel_remote_password:
+    description: 'WPI Bazel remote cache password'
+  bazel_remote_url:
+    description: 'WPI Bazel remote cache base URL (no credentials or protocol, e.g. gitlib-bazel.wpi.edu)'
+    default: 'gitlib-bazel.wpi.edu'
+  buildbuddy_token:
+    description: 'BuildBuddy API token'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Resolve Bazel cache configuration
+      env:
+        CACHE_USER: ${{ inputs.bazel_remote_username }}
+        CACHE_PASS: ${{ inputs.bazel_remote_password }}
+        REMOTE_URL: ${{ inputs.bazel_remote_url }}
+        BB_TOKEN: ${{ inputs.buildbuddy_token }}
+      shell: bash
+      run: |
+        if [ -n "${CACHE_USER}" ] && [ -n "${CACHE_PASS}" ]; then
+          echo "WPI bazel-remote credentials detected; configuring R/W access"
+          echo "build:remote_cache --remote_cache=grpcs://${CACHE_USER}:${CACHE_PASS}@${REMOTE_URL}" > bazel_auth.rc
+          echo "build:ci --config=remote_cache" >> bazel_auth.rc
+        elif [ -n "${BB_TOKEN}" ]; then
+          echo "BuildBuddy token detected; configuring BuildBuddy cache"
+          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${BB_TOKEN}" > bazel_auth.rc
+          echo "build:ci --config=build_buddy" >> bazel_auth.rc
+        else
+          echo "No cache credentials detected; falling back to readonly WPI cache"
+          echo "build:ci --config=remote_cache" > bazel_auth.rc
+          echo "build:ci --config=remote_cache_readonly" >> bazel_auth.rc
+        fi

.github/actions/setup-bazel-remote/action.yml

@@ -1,6 +1,6 @@
 name: Bazel
 
-on: [pull_request, push]
+on: [merge_group, pull_request, push]
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
@@ -12,28 +12,29 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - { name: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, action: "build" }
-          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, action: "build" }
-          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, action: "build" }
-          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, action: "build" }
-          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, action: "test" }
-          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, action: "test" }
-          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, action: "test" }
-          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, action: "test" }
+          - { name: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
+          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
 
-          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, action: "test" }
+          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, container: "", action: "test" }
 
-          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64static,headers,sources",   os: windows-2022, action: "test" }
-          - { name: "Windows x86-64 Debug", classifier: "windowsx86-64debug,windowsx86-64staticdebug",        os: windows-2022, action: "test" }
+          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64static,headers,sources",   os: windows-2022, container: "", action: "test" }
+          - { name: "Windows x86-64 Debug", classifier: "windowsx86-64debug,windowsx86-64staticdebug",        os: windows-2022, container: "", action: "test" }
 
-          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64static",                    os: windows-2022, action: "build" }
-          - { name: "Windows ARM64 Debug",  classifier: "windowsarm64debug,windowsarm64staticdebug",         os: windows-2022, action: "build" }
+          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64static",                    os: windows-2022, container: "", action: "build" }
+          - { name: "Windows ARM64 Debug",  classifier: "windowsarm64debug,windowsarm64staticdebug",         os: windows-2022, container: "", action: "build" }
 
-          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcorestatic", os: windows-2022, action: "build" }
-          - { name: "Windows System Core Debug", classifier: "linuxsystemcoredebug,linuxsystemcorestaticdebug", os: windows-2022, action: "build" }
+          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcorestatic", os: windows-2022, container: "", action: "build" }
+          - { name: "Windows System Core Debug", classifier: "linuxsystemcoredebug,linuxsystemcorestaticdebug", os: windows-2022, container: "", action: "build" }
 
     name: "${{ matrix.action == 'test' && 'Test' || 'Build' }} ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
     steps:
       - name: Check disk free space pre-cleanup
         run: df -h
@@ -66,16 +67,23 @@ jobs:
       - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_bazel_remote
-        uses: ./.github/actions/setup-bazel-remote
+      - id: Setup_bazel_cache
+        uses: ./.github/actions/setup-bazel-cache
         with:
-          username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: Install apt dependencies
         if: runner.os == 'Linux'
         run: sudo apt-get update && sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev avahi-daemon
 
+      - name: Setup avahi-daemon
+        if: runner.os == 'Linux'
+        run: |
+          sudo service dbus start
+          sudo avahi-daemon -D
+
       - if: runner.os == 'Linux'
         uses: bazel-contrib/setup-bazel@0.15.0
         with:
@@ -106,23 +114,10 @@ jobs:
     name: "buildifier"
     runs-on: ubuntu-24.04
     steps:
-      - name: Set up Go 1.15.x
-        uses: actions/setup-go@v6
-        with:
-          cache: false
-          go-version: 1.15.x
-        id: go
-
-      - name: Install Buildifier
-        run: |
-          cd $(mktemp -d)
-          GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
-
       - uses: actions/checkout@v6
-        with: { fetch-depth: 0 }
 
       - name: Run buildifier
-        run: buildifier -warnings all --lint=fix -r .
+        run: bazel run //:buildifier.fix
 
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
@@ -165,14 +160,15 @@ jobs:
       - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_bazel_remote
-        uses: ./.github/actions/setup-bazel-remote
+      - id: Setup_bazel_cache
+        uses: ./.github/actions/setup-bazel-cache
         with:
-          username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: Run Non-RobotPy pregeneration
-        run: bazel run //:write_pregenerated_files
+        run: bazel run --config=ci //:write_pregenerated_files
 
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
@@ -194,21 +190,23 @@ jobs:
       - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
+      - id: Setup_bazel_cache
+        uses: ./.github/actions/setup-bazel-cache
         with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       # You should ensure the headers are correct before trying to pregen files
       - name: Test Scan Headers
-        run: bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
+        run: bazel test --config=ci //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
         shell: bash
 
       - name: Run yaml file generation
-        run: bazel run //:write_robotpy_update_yaml_files
+        run: bazel run --config=ci //:write_robotpy_update_yaml_files
 
       - name: Run build file generation
-        run: bazel run //:write_robotpy_generated_pybind_files
+        run: bazel run --config=ci //:write_robotpy_generated_pybind_files
 
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
@@ -222,3 +220,44 @@ jobs:
           name: robotpy-pregeneration-fixes
           path: robotpy-pregeneration.patch
         if: ${{ failure() }}
+
+  # RobotPy does not want to run the additional python linting that wpiformat
+  # implements, only the black linter. Here we run black on only the files
+  # that get transferred to the upstream mostrobotpy repository
+  robotpy_format:
+    name: "RobotPy Formatting"
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v6
+        with:
+          python-version: '3.12'
+      - name: Install black
+        run: |
+          python -m venv ${{ runner.temp }}/black
+          # Keep version in sync with .github/workflows/lint-format.yml
+          ${{ runner.temp }}/black/bin/pip3 install black
+      - name: Run black on RobotPy files
+        run: |
+          shopt -s globstar
+          ${{ runner.temp }}/black/bin/black **/src/main/python/**/*.py **/src/test/python/**/*.py robotpyExamples --force-exclude "thirdparty"
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > robotpy-format-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v7
+        with:
+          archive: false
+          path: robotpy-format-fixes.patch
+        if: ${{ failure() }}
+      - name: Write to job summary
+        run: |
+          echo '```diff' >> $GITHUB_STEP_SUMMARY
+          cat robotpy-format-fixes.patch >> $GITHUB_STEP_SUMMARY
+          echo '' >> $GITHUB_STEP_SUMMARY
+          echo '```' >> $GITHUB_STEP_SUMMARY
+        if: ${{ failure() }}