Squashed 'third_party/allwpilib/' changes from f1a82828fe..ce550705d7
ce550705d7 [ntcore] Fix client "received unknown id -1" (#6186)
3989617bde [ntcore] NetworkTable::GetStruct: Add I template param (#6183)
f1836e1321 [fieldImages] Fix 2024 field json (#6179)
d05f179a9a [build] Fix running apriltagsvision Java example (#6173)
b1b03bed85 [wpilib] Update MotorControllerGroup deprecation message (#6171)
fa63fbf446 LICENSE.md: Bump year to 2024 (#6169)
4809f3d0fc [apriltag] Add 2024 AprilTag locations (#6168)
dd90965362 [wpiutil] Fix RawFrame.setInfo() NPE (#6167)
8659372d08 [fieldImages] Add 2024 field image (#6166)
a2e4d0b15d [docs] Fix docs for SysID routine (#6164)
0a46a3a618 [wpilib] Make ADXL345 default I2C address public (#6163)
7c26bc70ab [sysid] Load DataLog files directly for analysis (#6103)
f94e3d81b9 [docs] Fix SysId routine JavaDoc warnings (#6159)
6bed82a18e [wpilibc] Clean up C++ SysId routine (#6160)
4595f84719 [wpilib] Report LiveWindow-enabled-in-test (#6158)
707cb06105 [wpilib] Add SysIdRoutine logging utility and command factory (#6033)
3e40b9e5da [wpilib] Correct SmartDashboard usage reporting (#6157)
106518c3f8 [docs] Fix wpilibj JavaDoc warnings (#6154)
19cb2a8eb4 [wpilibj] Make class variables private to match C++ (#6153)
13f4460e00 [docs] Add missing docs to enum fields (NFC) (#6150)
4210f5635d [docs] Fix warnings about undocumented default constructors (#6151)
0f060afb55 [ntcore] Disable WebSocket fragmentation (#6149)
f29a7d2e50 [docs] Add missing JavaDocs (#6146)
6e58db398d [commands] Make Java fields private (#6148)
4ac0720385 [build] Clean up CMake files (#6141)
44db3e0ac0 [sysid] Make constexpr variables outside class scope inline (#6145)
73c7d87db7 [glass] NTStringChooser: Properly set retained (#6144)
25636b712f [build] Remove unnecessary native dependencies in wpilibjExamples (#6143)
01fb98baaa [docs] Add Missing JNI docs from C++ (NFC) (#6139)
5c424248c4 [wpilibj] Remove unused AnalogTriggerException (#6142)
c486972c55 [wpimath] Make ExponentialProfile.State mutable (#6138)
783acb9b72 [wpilibj] Store long preferences as integers (#6136)
99ab836894 [wpiutil] Add missing JavaDocs (NFC) (#6132)
ad0859a8c9 [docs] Add missing JavaDocs (#6125)
5579219716 [docs] Exclude quickbuf files and proto/struct packages from doclint (#6128)
98f06911c7 [sysid] Use eigenvector component instead of eigenvalue for fit quality check (#6131)
e1d49b975c [wpimath] Add LinearFilter reset() overload to initialize input and output buffers (#6133)
8a0bf2b7a4 [hal] Add CANAPITypes to java (#6121)
91d8837c11 [wpilib] Make protected fields in accelerometers/gyros private (#6134)
e7c9f27683 [wpilib] Add functional interface equivalents to MotorController (#6053)
8aca706217 [glass] Add type information to SmartDashboard menu (#6117)
7d3e4ddba9 [docs] Add warning about using user button to docs (NFC) (#6129)
ec3cb3dcba [build] Disable clang-tidy warning about test case names (#6127)
495585b25d [examples] Update april tag family to 36h11 (#6126)
f9aabc5ab2 [wpilib] Throw early when EventLoop is modified while running (#6115)
c16946c0ec [hal] Add CANJNI docs (NFC) (#6120)
b7f4eb2811 [doc] Update maven artifacts for units and apriltags (NFC) (#6123)
f419a62b38 [doc] Update maintainers.md (NFC) (#6124)
938bf45fd9 [wpiutil] Remove type param from ProtobufSerializable and StructSerializable (#6122)
c34debe012 [docs] Link to external OpenCV docs (#6119)
07183765de [hal] Fix formatting of HAL_ENUM enums (NFC) (#6114)
af46034b7f [wpilib] Document only first party controllers are guaranteed to have correct mapping (#6112)
636ef58d94 [hal] Properly error check readCANStreamSession (#6108)
cc631d2a69 [build] Fix generated source set location in the HAL (#6113)
09f76b32c2 [wpimath] Compile with UTF-8 encoding (#6111)
47c5fd8620 [sysid] Check data quality before OLS (#6110)
24a76be694 [hal] Add method to detect if the CAN Stream has overflowed (#6105)
9333951736 [hal] Allocate CANStreamMessage in JNI if null (#6107)
6a2d3c30a6 [wpiutil] Struct: Add info template parameter pack (#6086)
e07de37e64 [commands] Mark ParallelDeadlineGroup.setDeadline() final (#6102)
141241d2d6 [wpilib] Fix usage reporting for static classes (#6090)
f2c2bab7dc [sysid] Fix adjusted R² calculation (#6101)
5659038443 [wpiutil,cscore,apriltag] Fix RawFrame (#6098)
8aeee03626 [commands] Improve error message when composing commands twice in same composition (#6091)
55508706ff [wpiutil,cscore] Move VideoMode.PixelFormat to wpiutil (#6097)
ab78b930e9 [wpilib] ADIS16470: Add access to all 3 axes (#6074)
795d4be9fd [wpilib] Fix precision issue in Color round-and-clamp (#6100)
7aa9ad44b8 [commands] Deprecate C++ TransferOwnership() (#6095)
92c81d0791 [ci] Update pregenerate workflow to actions/checkout@v4 (#6094)
1ce617be07 [ci] Update artifact actions to v4 (#6092)
2441b57156 [wpilib] Add PWMSparkFlex MotorController (#6089)
21d1972d7a [wpiutil] DataLog: Ensure file is written on shutdown (#6087)
c29e8c66cf [wpiutil] DataLog: Fix UB in AppendImpl (#6088)
ab309e34ef [glass] Fix order of loading window settings (#6056)
22a322c9f3 [wpimath] Report error on negative PID gains (#6055)
1dba26c937 [wpilib] Add method to get breaker fault at a specific channel in PowerDistribution[Sticky]Faults (#5521)
ef1cb3f41e [commands] Fix compose-while-scheduled issue and test all compositions (#5581)
aeb1a4aa33 [wpiutil] Add serializable marker interfaces (#6060)
c1178d5add [wpilib] Add StadiaController and command wrapper (#6083)
4e4a468d4d [wpimath] Make feedforward classes throw exceptions for negative Kv or Ka (#6084)
d1793f077d [build] cmake: Add NO_WERROR option to disable -Werror (#6071)
43fb6e9f87 [glass] Add Profiled PID controller support & IZone Support (#5959)
bcef6c5398 [apriltag] Fix Java generation functions (#6063)
4059e0cd9f [hal,wpilib] Add function to control "Radio" LED (#6073)
0b2cfb3abc [dlt] Change datalogtool default folder to logs folder (#6079)
df5e439b0c [wpilib] PS4Controller: enable usage reporting (#6081)
0ff7478968 [cscore] Fix RawFrame class not being loaded in JNI (#6077)
6f23d32fe1 [wpilib] AddressableLED: Update warning about single driver (NFC) (#6069)
35a1c52788 [build] Upgrade quickbuf to 1.3.3 (#6072)
e4e2bafdb1 [sysid] Document timestamp units (#6065)
3d201c71f7 [ntcore] Fix overlapping subscriber handling (#6067)
f02984159f [glass] Check for null entries when updating struct/proto (#6059)
a004c9e05f [commands] SubsystemBase: allow setting name in constructor (#6052)
0b4c6a1546 [wpimath] Add more docs to SimulatedAnnealing (NFC) (#6054)
ab15dae887 [wpilib] ArcadeDrive: Fix max output handling (#6051)
9599c1f56f [hal] Add usage reporting ids from 2024v2 image (#6041)
f87c64af8a [wpimath] MecanumDriveWheelSpeeds: Fix desaturate() (#6040)
8798700cec [wpilibcExamples] Add inline specifier to constexpr constants (#6049)
85c9ae6eff [wpilib] Fix PS5 Controller mappings (#6050)
7c8b7a97ad [wpiutil] Zero out roborio system timestamp (#6042)
d9b504bc84 [wpilib] DataLogManager: Change sim location to logs subdir (#6039)
906b810136 [build] cmake: Fix ntcore generated header install (#6038)
56e5b404d1 Update to final 2024 V2 image (#6034)
8723ee5c39 [ntcore] Add cached topic property (#5494)
192a28af47 Fix JDK 21 warnings (#6028)
d40bdd70ba [build] Upgrade to spotbugs Gradle plugin 6.0.2 (#6027)
7bfadf32e5 [wpilibj] Joystick: make remainder of get axis methods final (#6024)
a770110438 [commands] CommandCompositionError: Include stacktrace of original composition (#5984)
54a55b8b53 [wpiutil,hal] Update image; init Rio Now() HMB with a FPGA session (#6016)
7d4e515a6b [wpimath] Simplify calculation of C for DARE precondition (#6022)
5200316c14 [ntcore] Update transmit period on topic add/remove (#6021)
ddf79a25d4 [wpiunits] Overload Measure.per(Time) to return Measure<Velocity> (#6018)
a71adef316 [wpiutil] Clean up circular_buffer iterator syntax (#6020)
39a0bf4b98 [examples] Call resetOdometry() when controller command is executed (#5905)
f5fc101fda [build] cmake: Export jars and clean up jar installs (#6014)
38bf024c96 [build] Update to Gradle 8.5 (#6007)
9d11544c18 [wpimath] Rotate traveling salesman solution so input and solution have same initial pose (#6015)
28deba20f5 [wpimath] Commit generated quickbuf Java files (#5994)
c2971c0bb3 [build] cmake: Export apriltag and wpimath (#6012)
41cfc961e4 gitattributes: Add linguist-generated locations (#6004)
14c3ade155 [wpimath] Struct cleanup (#6011)
90757b9e90 [wpilib] Make Color::HexString() constexpr (#5985)
2676b77873 Fix compilation issues that occur when building with bazel (#6008)
d32c10487c [examples] Update C++ examples to use CommandPtr (#5988)
9bc5fcf886 [build] cmake: Default WITH_JAVA_SOURCE to WITH_JAVA (#6005)
d431abba3b [upstream_utils] Fix GCEM namespace usage and add hypot(x, y, z) (#6002)
2bb1409b82 Clean up Java style (#5990)
66172ab288 Remove submodule (#6003)
e8f8c0ceb0 [upstream_utils] Update to latest Eigen HEAD (#5996)
890992a849 [hal] Commit generated usage reporting files (#5993)
a583ca01e1 [wpiutil] Change Struct to allow non-constexpr implementation (#5992)
ca272de400 [build] Fix Gradle compile_commands.json and clang-tidy warnings (#5977)
76ae090570 [wpiutil] type_traits: Add is_constexpr() (#5997)
5172ab8fd0 [commands] C++ CommandPtr: Prevent null initialization (#5991)
96914143ba [build] Bump native-utils to fix compile_commands.json (#5989)
464e6121ef [ci] Report failed status to Azure on failed tests (#2654)
5dad46cd45 [wpimath] Commit generated files (#5986)
54ab65a63a [ntcore] Commit generated files (#5962)
7ed900ae3a [wpilib] Add hex string constructor to Color and Color8Bit (#5063)
74b85b76a9 [wpimath] Make gcem call std functions if not constant-evaluated (#5983)
30816111db [wpimath] Fix TimeInterpolatableBuffer crash (#5972)
5cc923de33 [wpilib] DataLogManager: Use logs subdirectory on USB drives (#5975)
1144115da0 [commands] Add GetName to Subsystem, use in Scheduler tracer epochs (#5836)
ac7d726ac3 [wpimath] Add simulated annealing (#5961)
e09be72ee0 [wpimath] Remove unused SimpleMatrixUtils class (#5979)
0f9ebe92d9 [wpimath] Add generic circular buffer class to Java (#5969)
9fa28eb07a [ci] Bump actions/checkout to v4 (#5736)
ca684ac207 [hal] Add capability to read power distribution data as a stream (#4983)
51eecef2bd [wpimath] Optimize 2nd derivative of quintic splines (#3292)
4fcf0b25a1 [build] Apply a formatter for CMake files (#5973)
9b8011aa67 [build] Pin wpiformat version (#5982)
e00a0e84c1 [build] cmake: fix protobuf dependency finding for certain distributions (#5981)
23dd591394 [upstream_utils] Remove libuv patch that adjusts whitespace (#5976)
b0719942f0 [wpiutil] Timestamp: Report errors on Rio HMB init failure (#5974)
7bc89c4322 [wpilib] Update getAlliance() docs (NFC) (#5971)
841ea682d1 [upstream_utils] Upgrade to LLVM 17.0.5 (#5970)
a74db52dae [cameraserver] Add getVideo() pixelFormat overload (#5966)
a7eb422662 [build] Update native utils for new compile commands files (#5968)
544b231d4d [sysid] Add missing cassert include (#5967)
31cd015970 [wpimath] Add SysId doc links to LinearSystemId in C++ (NFC) (#5960)
9280054eab Revert "[build] Export wpimath protobuf symbols (#5952)"
2aba97c610 Export pb files from wpimath
c80b2d2017 [build] Export wpimath protobuf symbols (#5952)
3c0652c18a [cscore] Replace CS_PixelFormat with WPI_PixelFormat (#5954)
95716eb0cb [wpiunits] Documentation improvements (#5932)
423fd75fa8 [wpilib] Default LiveWindowEnabledInTest to false (#5950)
dfdea9c992 [wpimath] Make KalmanFilter variant for asymmetric updates (#5951)
ca81ced409 [wpiutil] Move RawFrame to wpiutil; add generation of RawFrame for AprilTags (#5923)
437cc91af5 [cscore] CvSink: Allow specifying output PixelFormat (#5943)
25b7dca46b [build] Remove CMake flat install option (#5944)
bb05e20247 [wpimath] Add protobuf/struct for trivial types (#5935)
35744a036e [wpimath] Move struct/proto classes to separate files (#5918)
80d7ad58ea [build] Declare platform launcher dependency explicitly (#5909)
f8d983b154 [ntcore] Protobuf/Struct: Use atomic_bool instead of atomic_flag (#5946)
4a44210ee3 [ntcore] NetworkTableInstance: Suppress unused lambda capture warning (#5947)
bdc8620d55 [upstream_utils] Fix fmt compilation errors on Windows (#5948)
0ca1e9b5f9 [wpimath] Add basic wpiunits support (#5821)
cc30824409 [ntcore] Increase client meta-topic decoding limit (#5934)
b1fad062f7 [wpilib] Use RKDP in DifferentialDrivetrainSim (#5931)
ead9ae5a69 [build] Add generateProto dependency to test and dev (#5933)
cfbff32185 [wpiutil] timestamp: Fix startup race on Rio (#5930)
7d90d0bcc3 [wpimath] Clean up StateSpaceUtil (#5891)
7755e45aac [build] Add generated protobuf headers to C++ test include path (#5926)
3985c031da [ntcore] ProtobufSubscriber: Fix typos (#5928)
7a87fe4b60 [ntcore] ProtobufSubscriber: Make mutex and msg mutable (#5927)
09f3ed6a5f [commands] Add static Trigger factories for robot mode changes (#5902)
79dd795bc0 [wpimath] Clean up VecBuilder and MatBuilder (#5906)
e117274a67 [wpilib] Change default Rio log dir from /home/lvuser to /home/lvuser/logs (#5899)
a8b80ca256 [upstream_utils] Update to libuv 1.47.0 (#5889)
b3a9c3e96b [build] Bump macOS deployment target to 12 (#5890)
0f8129677b [build] Distribute wpimath protobuf headers (#5925)
d105f9e3e9 [wpiutil] ProtobufBuffer: Fix buffer reallocation (#5924)
c5f2f6a0fb [fieldImages] Fix typo in field images artifact name (#5922)
c1a57e422a [commands] Clean up make_vector.h (#5917)
78ebc6e9ec [wpimath] change G to gearing in LinearSystemId factories (#5834)
9ada181866 [hal] DriverStation.h: Add stddef.h include (#5897)
95fa5ec72f [wpilibc,ntcoreffi] DataLogManager: join on Stop() call (#5910)
b6f2d3cc14 [build] Remove usage of Version.parse (#5911)
cc2cbeb04c [examples] Replace gyro rotation with poseEstimator rotation (#5900)
fa6b171e1c [wpiutil] Suppress protobuf warning false positives on GCC 13 (#5907)
d504639bbe [apriltag] Improve AprilTag docs (#5895)
3a1194be40 Replace static_cast<void>() with [[maybe_unused]] attribute (#5892)
70392cbbcb [build] cmake: Add protobuf dependency to wpiutil-config (#5886)
17c1bd5a83 [ntcore] Use json_fwd (#5881)
e69a9efeba [wpilibcExamples] Match array parameter bounds (#5880)
14dcd0d26f Use char instead of uint8_t for json::parse (#5877)
ec1d261984 [hal] Fix garbage data for match info before DS connection (#5879)
63dbf5c614 [wpiutil] MemoryBuffer: Fix normal read and file type check (#5875)
b2e7be9250 [ntcore] Only datalog meta-topics if specifically requested (#5873)
201a42a3cd [wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874)
04a781b4d7 [apriltag] Add GetTags to C++ version of AprilTagFieldLayout (#5872)
87a8a1ced4 [docs] Exclude eigen and protobuf from doxygen (#5871)
git-subtree-dir: third_party/allwpilib
git-subtree-split: ce550705d7cdab117c0153a202973fc026a81274
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ic8645d0551d62b411b0a816c493f0f33291896a1
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f994bf1..79df359 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,15 @@
# Disable in-source builds to prevent source tree corruption.
if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
- message(FATAL_ERROR "
+ message(
+ FATAL_ERROR
+ "
FATAL: In-source builds are not allowed.
You should create a separate directory for build files.
-")
+"
+ )
endif()
-if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
+if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
endif()
@@ -16,7 +19,7 @@
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
# Make timestamps of extracted files from FetchContent the time of extraction
-if (POLICY CMP0135)
+if(POLICY CMP0135)
cmake_policy(SET CMP0135 NEW)
endif()
@@ -24,7 +27,7 @@
set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
-INCLUDE(CPack)
+include(CPack)
set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
@@ -35,31 +38,32 @@
set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${WPILIB_BINARY_DIR}/jar)
# use, i.e. don't skip the full RPATH for the build tree
-SET(CMAKE_SKIP_BUILD_RPATH FALSE)
+set(CMAKE_SKIP_BUILD_RPATH FALSE)
# when building, don't use the install RPATH already
# (but later on when installing)
-SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
# add the automatically determined parts of the RPATH
# which point to directories outside the build tree to the install RPATH
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
# the RPATH to be used when installing, but only if it's not a system directory
-LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
-IF("${isSystemDir}" STREQUAL "-1")
- SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-ENDIF("${isSystemDir}" STREQUAL "-1")
+list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
+if("${isSystemDir}" STREQUAL "-1")
+ set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+endif()
# Options for building certain parts of the repo. Everything is built by default.
option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
option(WITH_JAVA "Include Java and JNI in the build" ON)
-option(WITH_JAVA_SOURCE "Build Java source jars" ON)
+option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
option(WITH_NTCORE "Build ntcore" ON)
option(WITH_WPIMATH "Build wpimath" ON)
+option(WITH_WPIUNITS "Build wpiunits" ON)
option(WITH_WPILIB "Build hal, wpilibc/j, and myRobot (needs OpenCV)" ON)
option(WITH_EXAMPLES "Build examples" OFF)
option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
@@ -75,135 +79,154 @@
option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
-# Options for installation.
-option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
-
# Options for location of OpenCV Java.
set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
+# Options for compilation flags.
+option(NO_WERROR "Disable -Werror flag during compilation" OFF)
+
# Set default build type to release with debug info (i.e. release mode optimizations
# are performed, but debug info still exists).
-if (NOT CMAKE_BUILD_TYPE)
- set (CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
+if(NOT CMAKE_BUILD_TYPE)
+ set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
endif()
-if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
- message(FATAL_ERROR "
+if(WITH_JAVA AND NOT BUILD_SHARED_LIBS)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build static libs with Java enabled.
Static libs requires both BUILD_SHARED_LIBS=OFF and
WITH_JAVA=OFF
-")
+"
+ )
endif()
-if (WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
- message(FATAL_ERROR "
+if(WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build static libs with simulation modules enabled.
Static libs requires both BUILD_SHARED_LIBS=OFF and
WITH_SIMULATION_MODULES=OFF
-")
+"
+ )
endif()
-if (NOT WITH_JAVA OR NOT WITH_CSCORE)
+if(NOT WITH_JAVA OR NOT WITH_CSCORE)
if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
- message(WARNING "
+ message(
+ WARNING
+ "
WARNING: OpenCV Java dir set but java is not enabled!
It will be ignored.
-")
+"
+ )
endif()
endif()
-if (NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
- message(FATAL_ERROR "
+if(NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build simulation modules with wpilib disabled.
Enable wpilib by setting WITH_WPILIB=ON
-")
+"
+ )
endif()
-if (NOT WITH_NTCORE AND WITH_CSCORE)
- message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_CSCORE)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build cameraserver without ntcore.
Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+ )
endif()
-if (NOT WITH_NTCORE AND WITH_GUI)
- message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_GUI)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build GUI modules without ntcore.
Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+ )
endif()
-if (NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
- message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build simulation modules without ntcore.
Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+ )
endif()
-if (NOT WITH_NTCORE AND WITH_WPILIB)
- message(FATAL_ERROR "
+if(NOT WITH_NTCORE AND WITH_WPILIB)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build wpilib without ntcore.
Enable ntcore by setting WITH_NTCORE=ON
-")
+"
+ )
endif()
-if (NOT WITH_WPIMATH AND WITH_WPILIB)
- message(FATAL_ERROR "
+if(NOT WITH_WPIMATH AND WITH_WPILIB)
+ message(
+ FATAL_ERROR
+ "
FATAL: Cannot build wpilib without wpimath.
Enable wpimath by setting WITH_WPIMATH=ON
-")
+"
+ )
endif()
-set( wpilib_dest "")
-set( include_dest include )
-set( java_lib_dest java )
-set( jni_lib_dest jni )
-
-if (WITH_FLAT_INSTALL)
- set (wpilib_config_dir ${wpilib_dest})
-else()
- set (wpilib_config_dir share/wpilib)
+if(NOT WITH_WPIUNITS AND WITH_WPIMATH AND WITH_JAVA)
+ message(
+ FATAL_ERROR
+ "
+FATAL: Cannot build Java wpimath without wpiunits.
+ Enable wpiunits by setting WITH_WPIUNITS=ON or disable the Java build by setting WITH_JAVA=OFF
+"
+ )
endif()
-if (USE_SYSTEM_LIBUV)
-set (LIBUV_SYSTEM_REPLACE "
+set(include_dest include)
+set(java_lib_dest java)
+set(jni_lib_dest jni)
+
+if(USE_SYSTEM_LIBUV)
+ set(LIBUV_SYSTEM_REPLACE
+ "
find_dependency(libuv CONFIG)
-")
+"
+ )
endif()
-if (USE_SYSTEM_EIGEN)
-set (EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
+if(USE_SYSTEM_EIGEN)
+ set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
endif()
find_package(LIBSSH 0.7.1)
find_package(Protobuf REQUIRED)
-find_program(Quickbuf_EXECUTABLE
- NAMES protoc-gen-quickbuf
- DOC "The Quickbuf protoc plugin"
-)
-if (WITH_FLAT_INSTALL)
-set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
-set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
-set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
-set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
-set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
-set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
-set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
-set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
-else()
-set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
-set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
-set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
+set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
+set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
-set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
+set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-endif()
+set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
+set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
+set(WPIUNITS_DEP_REPLACE "find_dependency(wpiunits)")
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
set(SELF_DIR "$\{SELF_DIR\}")
@@ -221,7 +244,15 @@
list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
endif()
else()
- set(allowedBuildTypes Asan Tsan Ubsan Debug Release RelWithDebInfo MinSizeRel)
+ set(allowedBuildTypes
+ Asan
+ Tsan
+ Ubsan
+ Debug
+ Release
+ RelWithDebInfo
+ MinSizeRel
+ )
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
@@ -230,54 +261,90 @@
endif()
set(CMAKE_C_FLAGS_ASAN
- "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
- "Flags used by the C compiler for Asan build type or configuration." FORCE)
+ "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
+ CACHE STRING
+ "Flags used by the C compiler for Asan build type or configuration."
+ FORCE
+)
set(CMAKE_CXX_FLAGS_ASAN
- "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
- "Flags used by the C++ compiler for Asan build type or configuration." FORCE)
+ "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
+ CACHE STRING
+ "Flags used by the C++ compiler for Asan build type or configuration."
+ FORCE
+)
set(CMAKE_EXE_LINKER_FLAGS_ASAN
- "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
- "Linker flags to be used to create executables for Asan build type." FORCE)
+ "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
+ CACHE STRING
+ "Linker flags to be used to create executables for Asan build type."
+ FORCE
+)
set(CMAKE_SHARED_LINKER_FLAGS_ASAN
- "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
- "Linker lags to be used to create shared libraries for Asan build type." FORCE)
+ "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
+ CACHE STRING
+ "Linker lags to be used to create shared libraries for Asan build type."
+ FORCE
+)
set(CMAKE_C_FLAGS_TSAN
- "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
- "Flags used by the C compiler for Tsan build type or configuration." FORCE)
+ "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
+ CACHE STRING
+ "Flags used by the C compiler for Tsan build type or configuration."
+ FORCE
+)
set(CMAKE_CXX_FLAGS_TSAN
- "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
- "Flags used by the C++ compiler for Tsan build type or configuration." FORCE)
+ "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
+ CACHE STRING
+ "Flags used by the C++ compiler for Tsan build type or configuration."
+ FORCE
+)
set(CMAKE_EXE_LINKER_FLAGS_TSAN
- "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
- "Linker flags to be used to create executables for Tsan build type." FORCE)
+ "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
+ CACHE STRING
+ "Linker flags to be used to create executables for Tsan build type."
+ FORCE
+)
set(CMAKE_SHARED_LINKER_FLAGS_TSAN
- "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
- "Linker lags to be used to create shared libraries for Tsan build type." FORCE)
+ "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
+ CACHE STRING
+ "Linker lags to be used to create shared libraries for Tsan build type."
+ FORCE
+)
set(CMAKE_C_FLAGS_UBSAN
- "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
- "Flags used by the C compiler for Ubsan build type or configuration." FORCE)
+ "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
+ CACHE STRING
+ "Flags used by the C compiler for Ubsan build type or configuration."
+ FORCE
+)
set(CMAKE_CXX_FLAGS_UBSAN
- "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
- "Flags used by the C++ compiler for Ubsan build type or configuration." FORCE)
+ "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
+ CACHE STRING
+ "Flags used by the C++ compiler for Ubsan build type or configuration."
+ FORCE
+)
set(CMAKE_EXE_LINKER_FLAGS_UBSAN
- "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all" CACHE STRING
- "Linker flags to be used to create executables for Ubsan build type." FORCE)
+ "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all"
+ CACHE STRING
+ "Linker flags to be used to create executables for Ubsan build type."
+ FORCE
+)
set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
- "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined" CACHE STRING
- "Linker lags to be used to create shared libraries for Ubsan build type." FORCE)
+ "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined"
+ CACHE STRING
+ "Linker lags to be used to create shared libraries for Ubsan build type."
+ FORCE
+)
-if (WITH_TESTS)
+if(WITH_TESTS)
enable_testing()
add_subdirectory(googletest)
include(GoogleTest)
@@ -285,41 +352,49 @@
add_subdirectory(wpiutil)
-if (WITH_NTCORE)
+if(WITH_NTCORE)
add_subdirectory(wpinet)
add_subdirectory(ntcore)
endif()
-if (WITH_WPIMATH)
+if(WITH_WPIMATH)
+ if(WITH_JAVA)
+ add_subdirectory(wpiunits)
+ endif()
add_subdirectory(wpimath)
endif()
-if (WITH_GUI)
+if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
+ # In case of building wpiunits standalone
+ add_subdirectory(wpiunits)
+endif()
+
+if(WITH_GUI)
add_subdirectory(fieldImages)
add_subdirectory(imgui)
add_subdirectory(wpigui)
add_subdirectory(glass)
add_subdirectory(outlineviewer)
add_subdirectory(sysid)
- if (LIBSSH_FOUND)
+ if(LIBSSH_FOUND)
add_subdirectory(roborioteamnumbersetter)
add_subdirectory(datalogtool)
endif()
endif()
-if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
+if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
add_subdirectory(hal)
endif()
-if (WITH_CSCORE)
+if(WITH_CSCORE)
set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
add_subdirectory(cscore)
add_subdirectory(cameraserver)
endif()
-if (WITH_WPILIB)
+if(WITH_WPILIB)
set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
add_subdirectory(apriltag)
add_subdirectory(wpilibj)
@@ -327,15 +402,15 @@
add_subdirectory(wpilibNewCommands)
add_subdirectory(romiVendordep)
add_subdirectory(xrpVendordep)
- if (WITH_EXAMPLES)
+ if(WITH_EXAMPLES)
add_subdirectory(wpilibcExamples)
endif()
add_subdirectory(myRobot)
endif()
-if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
+if(WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
add_subdirectory(simulation)
endif()
-configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION ${wpilib_config_dir})
+configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)