Merge branch 'main' into fix-trapezoid-profile

Author: cb144p

.github/actions/pregen/action.yml

@@ -23,10 +23,6 @@ runs:
       run: ./ntcore/generate_topics.py
       shell: bash
 
-    - name: Regenerate mrccomm
-      run: ./hal/generate_nanopb.py
-      shell: bash
-
     - name: Regenerate imgui
       run: |
         ./thirdparty/imgui_suite/generate_fonts.sh

.github/workflows/cmake.yml

@@ -27,7 +27,7 @@ jobs:
           - os: windows-2022
             name: Windows
             container: ""
-            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWPILIB_WITH_EXAMPLES=ON -DWPILIB_USE_SYSTEM_FMTLIB=ON -DWPILIB_USE_SYSTEM_LIBUV=ON -DWPILIB_USE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env:RUNNER_WORKSPACE/vcpkg/scripts/buildsystems/vcpkg.cmake" -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release'
+            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWPILIB_WITH_EXAMPLES=ON -DWPILIB_USE_SYSTEM_LIBUV=ON -DWPILIB_USE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env: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'
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}

.github/workflows/upstream-utils.yml

@@ -61,12 +61,6 @@ jobs:
           ./eigen.py clone
           ./eigen.py copy-src
           ./eigen.py format-patch
-      - name: Run fmt.py
-        run: |
-          cd upstream_utils
-          ./fmt.py clone
-          ./fmt.py copy-src
-          ./fmt.py format-patch
       - name: Run gcem.py
         run: |
           cd upstream_utils

BUILD.bazel

@@ -70,7 +70,6 @@ java_binary(
 write_source_files(
     name = "write_pregenerated_files",
     additional_update_targets = [
-        "//hal:write_hal",
         "//ntcore:write_ntcore",
         "//wpilibc:write_wpilibc",
         "//wpilibcExamples:write_example_project_list",

CMakeLists.txt

@@ -85,7 +85,6 @@ option(WPILIB_WITH_BENCHMARK "Build the benchmark project" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(WPILIB_USE_SYSTEM_EIGEN "Use system Eigen" OFF)
-option(WPILIB_USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
 option(WPILIB_USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(WPILIB_USE_SYSTEM_SLEIPNIR "Use system Sleipnir" OFF)
 option(WPILIB_USE_LINKED_AVAHI "Use directly linked Avahi instead of loading at runtime" OFF)

MODULE.bazel

@@ -60,7 +60,7 @@ maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
 maven.install(
     name = "maven",
     artifacts = [
-        "org.ejml:ejml-simple:0.44.0",
+        "org.ejml:ejml-java9module:0.46.0",
         "io.avaje:avaje-jsonb:3.14",
         "io.avaje:avaje-jsonb-generator:3.14",
         "us.hebi.quickbuf:quickbuf-runtime:1.4",

ThirdPartyNotices.txt

@@ -21,7 +21,6 @@ LLVM                  wpiutil/src/main/native/thirdparty/llvm
                       wpiutil/src/test/native/cpp/llvm/
 JSON for Classic C++  wpiutil/src/main/native/thirdparty/json
 libuv                 wpinet/src/main/native/thirdparty/libuv/
-fmtlib                wpiutil/src/main/native/thirdparty/fmtlib/
 sigslot               wpiutil/src/main/native/thirdparty/sigslot
 tcpsockets            wpinet/src/main/native/thirdparty/tcpsockets
 MPack                 wpiutil/src/main/native/thirdparty/mpack
@@ -922,37 +921,6 @@ and/or modify it under the terms of the Do What the **** You Want
 to Public License, Version 2, as published by the WTFPL Task Force.
 See http://www.wtfpl.net/ for more details.
 
-======
-fmtlib
-======
-Copyright (c) 2012 - present, Victor Zverovich and {fmt} contributors
-
-Permission is hereby granted, free of charge, to any person obtaining
-a copy of this software and associated documentation files (the
-"Software"), to deal in the Software without restriction, including
-without limitation the rights to use, copy, modify, merge, publish,
-distribute, sublicense, and/or sell copies of the Software, and to
-permit persons to whom the Software is furnished to do so, subject to
-the following conditions:
-
-The above copyright notice and this permission notice shall be
-included in all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
-LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
-OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
-WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
---- Optional exception to the license ---
-
-As an exception, if, as a result of your compiling your source code, portions
-of this Software are embedded into a machine-executable object form of such
-source code, you may redistribute such embedded portions in such object form
-without including the above copyright and permission notices.
-
 ==================
 V8 export-template
 ==================

apriltag/robotpy_pybind_build_info.bzl

@@ -4,6 +4,7 @@
 
 #include "wpi/apriltag/AprilTagFieldLayout.hpp"
 
+#include <format>
 #include <system_error>
 #include <utility>
 #include <vector>
@@ -19,7 +20,7 @@ using namespace wpi::apriltag;
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
   auto fileBuffer = wpi::util::MemoryBuffer::GetFile(path);
   if (!fileBuffer) {
-    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
+    throw std::runtime_error(std::format("Cannot open file: {}", path));
   }
 
   auto buf = fileBuffer.value()->GetCharBuffer();
@@ -97,7 +98,7 @@ void AprilTagFieldLayout::Serialize(std::string_view path) {
 
   wpi::util::raw_fd_ostream output{path, error_code};
   if (error_code) {
-    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
+    throw std::runtime_error(std::format("Cannot open file: {}", path));
   }
 
   wpi::util::json json = *this;

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.3.0",
+    "semiwrap~=0.6.0",
     "hatch-meson~=0.1.2",
     "hatch-robotpy~=0.2.1",
     "hatchling",
@@ -58,6 +58,11 @@ scan_headers_ignore = [
   "tag36h11.h",
 ]
 
+[tool.semiwrap.name_transform]
+default = "snake_case"
+enum_value = "CAPS_CASE"
+known_words = ["3V3", "5V", "CAN", "CPU", "DS", "FMS", "FPGA", "HAL", "HTTP", "I2C", "IMU", "JNI", "JSON", "mDNS", "NT", "OpMode", "PCM", "PDH", "PDP", "PID", "POVs", "PWM", "RIO", "SPI", "URI", "URL", "USB", "VIn"]
+
 [tool.semiwrap.extension_modules."robotpy_apriltag._apriltag"]
 name = "apriltag"
 wraps = ["robotpy-native-apriltag"]