Fork Sync: Update from parent repository

CMakeLists.txt

@@ -54,7 +54,7 @@ set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 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")
+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)
@@ -214,7 +214,6 @@ endif()
 find_package(LIBSSH 0.7.1)
 
 find_package(Protobuf REQUIRED)
-find_program(Quickbuf_EXECUTABLE NAMES protoc-gen-quickbuf DOC "The Quickbuf protoc plugin")
 
 set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
 set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java

@@ -57,8 +57,21 @@ public static class Config {
      */
     public boolean debug;
 
+    /** Default constructor. */
     public Config() {}
 
+    /**
+     * Constructs a detector configuration.
+     *
+     * @param numThreads How many threads should be used for computation.
+     * @param quadDecimate Quad decimation.
+     * @param quadSigma What Gaussian blur should be applied to the segmented image (used for quad
+     *     detection).
+     * @param refineEdges When true, the edges of the each quad are adjusted to "snap to" strong
+     *     gradients nearby.
+     * @param decodeSharpening How much sharpening should be done to decoded images.
+     * @param debug Debug mode.
+     */
     Config(
         int numThreads,
         float quadDecimate,
@@ -139,8 +152,21 @@ public static class QuadThresholdParameters {
      */
     public boolean deglitch;
 
+    /** Default constructor. */
     public QuadThresholdParameters() {}
 
+    /**
+     * Constructs quad threshold parameters.
+     *
+     * @param minClusterPixels Threshold used to reject quads containing too few pixels.
+     * @param maxNumMaxima How many corner candidates to consider when segmenting a group of pixels
+     *     into a quad.
+     * @param criticalAngle Critical angle, in radians.
+     * @param maxLineFitMSE When fitting lines to the contours, the maximum mean squared error
+     *     allowed.
+     * @param minWhiteBlackDiff Minimum brightness offset.
+     * @param deglitch Whether the thresholded image be should be deglitched.
+     */
     QuadThresholdParameters(
         int minClusterPixels,
         int maxNumMaxima,

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -44,8 +44,11 @@
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class AprilTagFieldLayout {
+  /** Common origin positions for the AprilTag coordinate system. */
   public enum OriginPosition {
+    /** Blue alliance wall, right side. */
     kBlueAllianceWallRightSide,
+    /** Red alliance wall, right side. */
     kRedAllianceWallRightSide,
   }
 

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -7,15 +7,20 @@
 import java.io.IOException;
 import java.io.UncheckedIOException;
 
+/** Loadable AprilTag field layouts. */
 public enum AprilTagFields {
+  /** 2022 Rapid React. */
   k2022RapidReact("2022-rapidreact.json"),
+  /** 2023 Charged Up. */
   k2023ChargedUp("2023-chargedup.json");
 
+  /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
   public static final AprilTagFields kDefaultField = k2023ChargedUp;
 
+  /** Resource filename. */
   public final String m_resourceFile;
 
   AprilTagFields(String resourceFile) {

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagPoseEstimator.java

@@ -29,10 +29,19 @@ public Config(double tagSize, double fx, double fy, double cx, double cy) {
       this.cy = cy;
     }
 
+    /** Tag size, in meters. */
     public double tagSize;
+
+    /** Camera horizontal focal length, in pixels. */
     public double fx;
+
+    /** Camera vertical focal length, in pixels. */
     public double fy;
+
+    /** Camera horizontal focal center, in pixels. */
     public double cx;
+
+    /** Camera vertical focal center, in pixels. */
     public double cy;
 
     @Override

apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -206,8 +206,22 @@ public static native Transform3d estimatePose(
       double cx,
       double cy);
 
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
+   *
+   * @param frameObj generated frame (output parameter).
+   * @param frame raw frame handle
+   * @param id id
+   */
   public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
 
+  /**
+   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
+   *
+   * @param frameObj generated frame (output parameter).
+   * @param frame raw frame handle
+   * @param id id
+   */
   public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
 
   /** Utility class. */

apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

@@ -38,8 +38,13 @@ namespace frc {
  * towards the opposing alliance). */
 class WPILIB_DLLEXPORT AprilTagFieldLayout {
  public:
+  /**
+   * Common origin positions for the AprilTag coordinate system.
+   */
   enum class OriginPosition {
+    /// Blue alliance wall, right side.
     kBlueAllianceWallRightSide,
+    /// Red alliance wall, right side.
     kRedAllianceWallRightSide,
   };
 

apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h

@@ -12,8 +12,13 @@
 
 namespace frc {
 
+/**
+ * Loadable AprilTag field layouts.
+ */
 enum class AprilTagField {
+  /// 2022 Rapid React.
   k2022RapidReact,
+  /// 2023 Charged Up.
   k2023ChargedUp,
 
   // This is a placeholder for denoting the last supported field. This should

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java

@@ -39,6 +39,7 @@
  * NetworkTables.
  */
 public final class CameraServer {
+  /** CameraServer base port. */
   public static final int kBasePort = 1181;
 
   private static final String kPublishName = "/CameraPublisher";

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerShared.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+/** CameraServer shared functions. */
 public interface CameraServerShared {
   /**
    * get the main thread id func.

cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServerSharedStore.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.cameraserver;
 
+/** Storage for CameraServerShared instance. */
 public final class CameraServerSharedStore {
   private static CameraServerShared cameraServerShared;
 

cameraserver/src/main/native/include/cameraserver/CameraServer.h

@@ -22,10 +22,8 @@ namespace frc {
  */
 class CameraServer {
  public:
+  /// CameraServer base port.
   static constexpr uint16_t kBasePort = 1181;
-  static constexpr int kSize640x480 = 0;
-  static constexpr int kSize320x240 = 1;
-  static constexpr int kSize160x120 = 2;
 
   /**
    * Start automatically capturing images to send to the dashboard.

cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java

@@ -304,7 +304,9 @@ public static native VideoEvent[] pollListenerTimeout(int poller, double timeout
   // Telemetry Functions
   //
   public enum TelemetryKind {
+    /** kSourceBytesReceived. */
     kSourceBytesReceived(1),
+    /** kSourceFramesReceived. */
     kSourceFramesReceived(2);
 
     private final int value;

cscore/src/main/java/edu/wpi/first/cscore/HttpCamera.java

@@ -7,9 +7,13 @@
 /** A source that represents a MJPEG-over-HTTP (IP) camera. */
 public class HttpCamera extends VideoCamera {
   public enum HttpCameraKind {
+    /** Unknown camera kind. */
     kUnknown(0),
+    /** MJPG Streamer camera. */
     kMJPGStreamer(1),
+    /** CS Core camera. */
     kCSCore(2),
+    /** Axis camera. */
     kAxis(3);
 
     private final int value;

cscore/src/main/java/edu/wpi/first/cscore/VideoCamera.java

@@ -12,6 +12,9 @@ public static class WhiteBalance {
     public static final int kFixedOutdoor2 = 5000;
     public static final int kFixedFluorescent1 = 5100;
     public static final int kFixedFlourescent2 = 5200;
+
+    /** Default constructor. */
+    public WhiteBalance() {}
   }
 
   protected VideoCamera(int handle) {

cscore/src/main/java/edu/wpi/first/cscore/VideoEvent.java

@@ -8,26 +8,47 @@
 @SuppressWarnings("MemberName")
 public class VideoEvent {
   public enum Kind {
+    /** Unknown video event. */
     kUnknown(0x0000),
+    /** Source Created event. */
     kSourceCreated(0x0001),
+    /** Source Destroyed event. */
     kSourceDestroyed(0x0002),
+    /** Source Connected event. */
     kSourceConnected(0x0004),
+    /** Source Disconnected event. */
     kSourceDisconnected(0x0008),
+    /** Source Video Modes Updated event. */
     kSourceVideoModesUpdated(0x0010),
+    /** Source VideoMode Changed event. */
     kSourceVideoModeChanged(0x0020),
+    /** Source Property Created event. */
     kSourcePropertyCreated(0x0040),
+    /** Source Property Value Updated event. */
     kSourcePropertyValueUpdated(0x0080),
+    /** Source Property Choices Updated event. */
     kSourcePropertyChoicesUpdated(0x0100),
+    /** Sink Source Changed event. */
     kSinkSourceChanged(0x0200),
+    /** Sink Created event. */
     kSinkCreated(0x0400),
+    /** Sink Destroyed event. */
     kSinkDestroyed(0x0800),
+    /** Sink Enabled event. */
     kSinkEnabled(0x1000),
+    /** Sink Disabled event. */
     kSinkDisabled(0x2000),
+    /** Network Interfaces Changed event. */
     kNetworkInterfacesChanged(0x4000),
+    /** Telemetry Updated event. */
     kTelemetryUpdated(0x8000),
+    /** Sink Property Created event. */
     kSinkPropertyCreated(0x10000),
+    /** Sink Property Value Updated event. */
     kSinkPropertyValueUpdated(0x20000),
+    /** Sink Property Choices Updated event. */
     kSinkPropertyChoicesUpdated(0x40000),
+    /** Usb Cameras Changed event. */
     kUsbCamerasChanged(0x80000);
 
     private final int value;

cscore/src/main/java/edu/wpi/first/cscore/VideoProperty.java

@@ -6,11 +6,17 @@
 
 /** A source or sink property. */
 public class VideoProperty {
+  /** VideoProperty property types. */
   public enum Kind {
+    /** No specific property. */
     kNone(0),
+    /** Boolean property. */
     kBoolean(1),
+    /** Integer property. */
     kInteger(2),
+    /** String property. */
     kString(4),
+    /** Enum property. */
     kEnum(8);
 
     private final int value;

cscore/src/main/java/edu/wpi/first/cscore/VideoSink.java

@@ -9,10 +9,15 @@
  * (e.g. from a stereo or depth camera); these are called channels.
  */
 public class VideoSink implements AutoCloseable {
+  /** Video sink types. */
   public enum Kind {
+    /** Unknown video sink type. */
     kUnknown(0),
+    /** MJPEG video sink. */
     kMjpeg(2),
+    /** CV video sink. */
     kCv(4),
+    /** Raw video sink. */
     kRaw(8);
 
     private final int value;

cscore/src/main/java/edu/wpi/first/cscore/VideoSource.java

@@ -12,10 +12,15 @@
  */
 public class VideoSource implements AutoCloseable {
   public enum Kind {
+    /** Unknown video source. */
     kUnknown(0),
+    /** USB video source. */
     kUsb(1),
+    /** HTTP video source. */
     kHttp(2),
+    /** CV video source. */
     kCv(4),
+    /** Raw video source. */
     kRaw(8);
 
     private final int value;

cscore/src/main/native/include/cscore_oo.h

@@ -44,10 +44,15 @@ class VideoProperty {
 
  public:
   enum Kind {
+    /// No specific property.
     kNone = CS_PROP_NONE,
+    /// Boolean property.
     kBoolean = CS_PROP_BOOLEAN,
+    /// Integer property.
     kInteger = CS_PROP_INTEGER,
+    /// String property.
     kString = CS_PROP_STRING,
+    /// Enum property.
     kEnum = CS_PROP_ENUM
   };
 
@@ -100,9 +105,13 @@ class VideoSource {
 
  public:
   enum Kind {
+    /// Unknown video source.
     kUnknown = CS_SOURCE_UNKNOWN,
+    /// USB video source.
     kUsb = CS_SOURCE_USB,
+    /// HTTP video source.
     kHttp = CS_SOURCE_HTTP,
+    /// CV video source.
     kCv = CS_SOURCE_CV
   };
 
@@ -471,9 +480,13 @@ class UsbCamera : public VideoCamera {
 class HttpCamera : public VideoCamera {
  public:
   enum HttpCameraKind {
+    /// Unknown camera kind.
     kUnknown = CS_HTTP_UNKNOWN,
+    /// MJPG Streamer camera.
     kMJPGStreamer = CS_HTTP_MJPGSTREAMER,
+    /// CS Core camera.
     kCSCore = CS_HTTP_CSCORE,
+    /// Axis camera.
     kAxis = CS_HTTP_AXIS
   };
 
@@ -716,8 +729,11 @@ class VideoSink {
 
  public:
   enum Kind {
+    /// Unknown sink type.
     kUnknown = CS_SINK_UNKNOWN,
+    /// MJPEG video sink.
     kMjpeg = CS_SINK_MJPEG,
+    /// CV video sink.
     kCv = CS_SINK_CV
   };
 

datalogtool/src/main/generate/WPILibVersion.cpp.in

@@ -1,4 +1,4 @@
-/*
+/**
  * Autogenerated file! Do not manually edit this file. This version is regenerated
  * any time the publish task is run, or when this file is deleted.
  */