Merge branch 'wpilibsuite:main' into main

.github/workflows/comment-command.yml

@@ -43,7 +43,7 @@ jobs:
           distribution: 'temurin'
           java-version: 17
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.41
+        run: pip3 install wpiformat==2024.42
       - name: Run wpiformat
         run: wpiformat
       - name: Run spotlessApply

.github/workflows/lint-format.yml

@@ -27,7 +27,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.41
+        run: pip3 install wpiformat==2024.42
       - name: Run
         run: wpiformat
       - name: Check output
@@ -66,7 +66,7 @@ jobs:
         with:
           python-version: '3.10'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.41
+        run: pip3 install wpiformat==2024.42
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio

.github/workflows/sentinel-build.yml

@@ -0,0 +1,161 @@
+name: Sentinel Build (No Cache)
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "15 3 * * Sat" # 11:15PM EST every Friday
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-docker:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:22.04
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Free Disk Space
+        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@v4
+        with:
+          fetch-depth: 0
+      - name: Build with Gradle
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+      - name: Check free disk space
+        run: df .
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-host:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+          - os: macOS-14
+            artifact-name: macOS
+            architecture: aarch64
+            task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32
+            architecture: x86
+            task: ":ntcoreffi:build"
+            outputs: "ntcoreffi/build/outputs"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+          architecture: ${{ matrix.architecture }}
+      - name: Import Developer ID Certificate
+        uses: wpilibsuite/import-signing-certificate@v2
+        with:
+          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
+          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
+          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Keychain Lock Timeout
+        run: security set-keychain-settings -lut 3600
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space pre-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - name: Cleanup disk space
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: matrix.os == 'macOS-14'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - name: Build with Gradle
+        run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+      - name: Sign Libraries with Developer ID
+        run: ./gradlew copyAllOutputs -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: ${{ matrix.outputs }}

wpilibc/src/main/native/include/frc/Alert.h

@@ -89,9 +89,8 @@ class Alert {
   Alert(std::string_view group, std::string_view text, AlertType type);
 
   /**
-   * Sets whether the alert should currently be displayed. When activated, the
-   * alert text will also be sent to the console. This method can be safely
-   * called periodically.
+   * Sets whether the alert should currently be displayed. This method can be
+   * safely called periodically.
    *
    * @param active Whether to display the alert.
    */

wpilibc/src/main/native/include/frc/RobotController.h

@@ -21,7 +21,13 @@ struct CANStatus {
   int transmitErrorCount;
 };
 
-enum RadioLEDState { kOff = 0, kGreen = 1, kRed = 2, kOrange = 3 };
+/** State for the radio led. */
+enum RadioLEDState {
+  kOff = 0,    ///< Off.
+  kGreen = 1,  ///< Green.
+  kRed = 2,    ///< Red.
+  kOrange = 3  ///< Orange.
+};
 
 class RobotController {
  public:

wpilibj/src/main/java/edu/wpi/first/wpilibj/Alert.java

@@ -83,8 +83,8 @@ public Alert(String group, String text, AlertType type) {
   }
 
   /**
-   * Sets whether the alert should currently be displayed. When activated, the alert text will also
-   * be sent to the console. This method can be safely called periodically.
+   * Sets whether the alert should currently be displayed. This method can be safely called
+   * periodically.
    *
    * @param active Whether to display the alert.
    */

wpiunits/generate_units.py

@@ -258,7 +258,18 @@ def output(outPath, outfn, contents):
     "Velocity": {
         "base_unit": "unit()",
         "generics": {"D": {"extends": "Unit"}},
-        "multiply": {},
+        "multiply": {
+            "Time": {
+                "implementation": inspect.cleandoc(
+                    """
+                  @Override
+                  default Measure<D> times(Time multiplier) {
+                    return (Measure<D>) unit().numerator().ofBaseUnits(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
+                  }
+                """
+                )
+            }
+        },
         "divide": {},
     },
     "Voltage": {"base_unit": "Volts", "multiply": {"Current": "Power"}, "divide": {}},
@@ -310,6 +321,15 @@ def mtou(measure_name):
         return re.sub(regex, "\\1Unit\\2", measure_name)
 
 
+def indent(multiline_string, indentation):
+    """
+    Indents a multiline string by `indentation` number of spaces
+    """
+    return "\n".join(
+        list(map(lambda line: " " * indentation + line, multiline_string.split("\n")))
+    )
+
+
 def main():
 
     dirname, _ = os.path.split(os.path.abspath(__file__))
@@ -331,6 +351,7 @@ def main():
         "generics_list": generics_list,
         "generics_usage": generics_usage,
         "mtou": mtou,
+        "indent": indent,
     }
 
     for unit_name in UNIT_CONFIGURATIONS:

wpiunits/src/generate/main/java/Measure-interface.java.jinja

@@ -80,10 +80,14 @@ public interface {{ helpers['type_decl'](name) }} extends Measure<{{ helpers['mt
   }
 {% else %}
 {% if unit in config[name]['multiply'] %}
+{%- if 'implementation' in config[name]['multiply'][unit] -%}
+{{ helpers['indent'](config[name]['multiply'][unit]['implementation'], 2) }}
+{%- else %}
   @Override
   default {{ config[name]['multiply'][unit] }} times({{ unit }} multiplier) {
     return {{ config[config[name]['multiply'][unit]]['base_unit'] }}.of(baseUnitMagnitude() * multiplier.baseUnitMagnitude());
   }
+{%- endif %}
 {% else %}
   @Override
   default Mult<{{ helpers['mtou'](name) }}, {{ helpers['mtou'](unit) }}> times({{ unit }} multiplier) {

wpiunits/src/test/java/edu/wpi/first/units/measure/VelocityTest.java

@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.units.measure;
+
+import static edu.wpi.first.units.Units.Milliseconds;
+import static edu.wpi.first.units.Units.Seconds;
+import static edu.wpi.first.units.Units.Volts;
+import static org.junit.jupiter.api.Assertions.assertInstanceOf;
+
+import edu.wpi.first.units.Measure;
+import edu.wpi.first.units.VelocityUnit;
+import edu.wpi.first.units.VoltageUnit;
+import org.junit.jupiter.api.Test;
+
+class VelocityTest {
+  @Test
+  void velocityTimesTimeReturnsDivisor() {
+    var velocity = VelocityUnit.combine(Volts, Seconds).of(123);
+    var time = Milliseconds.of(100);
+    Measure<VoltageUnit> result = velocity.times(time);
+    // Compile-time test - would fail to compile if the return type was Mult or Measure<?>
+
+    assertInstanceOf(Voltage.class, result);
+  }
+}