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wpilibsuite · Dec 13, 2024 · f56e8f1 · f56e8f1
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,166 @@
+---
+Language:        Cpp
+BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveMacros: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Left
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllArgumentsOnNextLine: true
+AllowAllConstructorInitializersOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: Never
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortLambdasOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: Yes
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:
+  AfterCaseLabel:  false
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  AfterExternBlock: false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Attach
+BreakBeforeInheritanceComma: false
+BreakInheritanceList: BeforeColon
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakConstructorInitializers: BeforeColon
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+ColumnLimit:     80
+CommentPragmas:  '^ IWYU pragma:'
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DeriveLineEnding: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros:
+  - foreach
+  - Q_FOREACH
+  - BOOST_FOREACH
+IncludeBlocks:   Regroup
+IncludeCategories:
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+IncludeIsMainRegex: '([-_](test|unittest))?$'
+IncludeIsMainSourceRegex: ''
+IndentCaseLabels: true
+IndentGotoLabels: true
+IndentPPDirectives: None
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Never
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyBreakTemplateDeclaration: 10
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+RawStringFormats:
+  - Language:        Cpp
+    Delimiters:
+      - cc
+      - CC
+      - cpp
+      - Cpp
+      - CPP
+      - 'c++'
+      - 'C++'
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+  - Language:        TextProto
+    Delimiters:
+      - pb
+      - PB
+      - proto
+      - PROTO
+    EnclosingFunctions:
+      - EqualsProto
+      - EquivToProto
+      - PARSE_PARTIAL_TEXT_PROTO
+      - PARSE_TEST_PROTO
+      - PARSE_TEXT_PROTO
+      - ParseTextOrDie
+      - ParseTextProtoOrDie
+    CanonicalDelimiter: ''
+    BasedOnStyle:    google
+ReflowComments:  true
+SortIncludes:    false
+SortUsingDeclarations: true
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyBlock: false
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInConditionalStatement: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+SpaceBeforeSquareBrackets: false
+Standard:        c++17
+StatementMacros:
+  - Q_UNUSED
+  - QT_REQUIRE_VERSION
+TabWidth:        8
+UseTab:          Never
+...
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -0,0 +1,73 @@
+name: Build
+
+on: [pull_request, push, workflow_dispatch]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+# env:
+#   SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+#   SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+            name: Linux
+            runtests: true
+            container: wpilib/ubuntu-base:24.04
+            preset: default
+            builddir: build
+            flags: ""
+          - os: ubuntu-24.04
+            name: Linux MRC
+            runtests: false
+            container: wpilib/systemcore-cross-ubuntu:2025-24.04
+            builddir: buildmrc
+            flags: "-DCMAKE_TOOLCHAIN_FILE=/usr/local/toolchain-config.cmake"
+            preset: mrc
+
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
+    steps:
+      - name: Install dependencies (Linux)
+        if: runner.os == 'Linux'
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - run: git config --global --add safe.directory "$PWD"
+
+      # - name: Install sccache
+      #   uses: mozilla-actions/[email protected]
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: configure
+        run: cmake --preset ${{ matrix.preset }} -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
+        # env:
+        #   SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+        #   SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+
+      - name: build
+        run: cmake --build --preset ${{ matrix.preset }} --parallel $(nproc)
+        # env:
+        #   SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+        #   SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+
+      - name: install
+        run: cmake --install ${{ matrix.builddir }} --prefix install/${{ matrix.builddir }}
+        # env:
+        #   SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+        #   SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+
+      - name: test
+        if: matrix.runtests == true
+        working-directory: build
+        run: ctest --output-on-failure
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -0,0 +1,59 @@
+name: Sanitizers
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+# env:
+#   SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+#   SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - name: asan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
+            ctest-env: ""
+          - name: tsan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
+            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
+          - name: ubsan
+            cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
+            ctest-env: ""
+            ctest-flags: ""
+    name: "${{ matrix.name }}"
+    runs-on: ubuntu-24.04
+    container: wpilib/ubuntu-base:24.04
+    steps:
+      - name: Install Dependencies
+        run: sudo apt-get update && sudo apt-get install -y clang-18 ninja-build
+
+      # - name: Install sccache
+      #   uses: mozilla-actions/[email protected]
+
+      - run: git config --global --add safe.directory "$PWD"
+
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: configure
+        run: cmake --preset default -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 ${{ matrix.cmake-flags }}
+        # env:
+        #   SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+        #   SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+
+      - name: build
+        run: cmake --build --preset default --parallel $(nproc)
+        # env:
+        #   SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+        #   SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+
+      - name: test
+        working-directory: build
+        run: ${{ matrix.ctest-env }} ctest --output-on-failure
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,9 @@
+build/
+buildmrc/
+buildninja/
+vcpkg_installed/
+*.wpilog
+networktables.json
+builddroidarm/
+builddroidx64/
+install/
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "allwpilib"]
+	path = allwpilib
+	url = https://github.com/wpilibsuite/allwpilib
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -0,0 +1,22 @@
+{
+    "configurations": [
+        {
+            "name": "Win32",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE"
+            ],
+            "windowsSdkVersion": "10.0.26100.0",
+            "compilerPath": "cl.exe",
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "windows-msvc-x64",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json"
+        }
+    ],
+    "version": 4
+}