Merge branch '2027' into removeanalogaccum

.bazelrc

@@ -16,9 +16,15 @@ import shared/bazel/compiler_flags/base_linux_flags.rc
 import shared/bazel/compiler_flags/linux_flags.rc
 import shared/bazel/compiler_flags/osx_flags.rc
 import shared/bazel/compiler_flags/roborio_flags.rc
+import shared/bazel/compiler_flags/systemcore_flags.rc
 import shared/bazel/compiler_flags/windows_flags.rc
 import shared/bazel/compiler_flags/coverage_flags.rc
 
+# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
+build:athena --config=roborio
+build:linuxarm32 --config=raspibookworm32
+build:linuxarm64 --config=bookworm64
+
 build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
 build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
 build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example

.github/workflows/fix_compile_commands.py

@@ -18,16 +18,19 @@ def main():
     for obj in data:
         out_args = []
 
-        # Filter out -isystem flags that cause false positives
         iter_args = iter(obj["arguments"])
         for arg in iter_args:
+            # Filter out -isystem flags that cause false positives
             if arg == "-isystem":
                 next_arg = next(iter_args)
 
                 # /usr/lib/gcc/x86_64-pc-linux-gnu/13.2.1/include/xmmintrin.h:54:1:
                 # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
                 if not next_arg.startswith("/usr/lib/gcc/"):
                     out_args += ["-isystem", next_arg]
+            # Replace GCC warning argument with one Clang recognizes
+            elif arg == "-Wno-maybe-uninitialized":
+                out_args.append("-Wno-uninitialized")
             else:
                 out_args.append(arg)
 

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2025 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

WORKSPACE

@@ -35,8 +35,8 @@ maven_install(
 # Download toolchains
 http_archive(
     name = "rules_bzlmodrio_toolchains",
-    sha256 = "fe267e2af53c1def1e962700a9aeda9e8fdfa9fb46b72167c615ec0e25447dd6",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1/rules_bzlmodRio_toolchains-2025-1.tar.gz",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.tar.gz",
 )
 
 load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
@@ -50,8 +50,8 @@ load_toolchains()
 #
 http_archive(
     name = "rules_bzlmodrio_jdk",
-    sha256 = "a00d5fa971fbcad8a17b1968cdc5350688397035e90b0cb94e040d375ecd97b4",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.8.1-1/rules_bzlmodRio_jdk-17.0.8.1-1.tar.gz",
+    sha256 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.tar.gz",
 )
 
 load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
@@ -62,9 +62,15 @@ register_toolchains(
     "@local_roborio//:macos",
     "@local_roborio//:linux",
     "@local_roborio//:windows",
-    "@local_raspi_32//:macos",
-    "@local_raspi_32//:linux",
-    "@local_raspi_32//:windows",
+    "@local_systemcore//:macos",
+    "@local_systemcore//:linux",
+    "@local_systemcore//:windows",
+    "@local_raspi_bullseye_32//:macos",
+    "@local_raspi_bullseye_32//:linux",
+    "@local_raspi_bullseye_32//:windows",
+    "@local_raspi_bookworm_32//:macos",
+    "@local_raspi_bookworm_32//:linux",
+    "@local_raspi_bookworm_32//:windows",
     "@local_bullseye_32//:macos",
     "@local_bullseye_32//:linux",
     "@local_bullseye_32//:windows",
@@ -83,8 +89,8 @@ setup_legacy_setup_jdk_dependencies()
 
 http_archive(
     name = "bzlmodrio-ni",
-    sha256 = "197fceac88bf44fb8427d5e000b0083118d3346172dd2ad31eccf83a5e61b3ce",
-    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.0.0/bzlmodRio-ni-2025.0.0.tar.gz",
+    sha256 = "fff62c3cb3e83f9a0d0a01f1739477c9ca5e9a6fac05be1ad59dafcd385801f7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.2.0/bzlmodRio-ni-2025.2.0.tar.gz",
 )
 
 load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
@@ -93,8 +99,8 @@ setup_legacy_bzlmodrio_ni_cpp_dependencies()
 
 http_archive(
     name = "bzlmodrio-opencv",
-    sha256 = "4f4a607956ca8555618736c3058dd96e09d02df19e95088c1e352d2319fd70c7",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-2/bzlmodRio-opencv-2025.4.10.0-2.tar.gz",
+    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.bcr1.tar.gz",
 )
 
 load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")

apriltag/convert_apriltag_layouts.py

@@ -7,10 +7,11 @@
 
 The input CSV has the following format:
 
-* Columns: ID, X, Y, Z, Rotation
+* Columns: ID, X, Y, Z, Z Rotation, Y Rotation
 * ID is a positive integer
 * X, Y, and Z are decimal inches
-* Rotation is yaw in degrees
+* Z Rotation is yaw in degrees
+* Y Rotation is pitch in degrees
 
 The values come from a table in the layout marking diagram (e.g.,
 https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf).
@@ -48,13 +49,14 @@ def main():
                 x = float(row[1])
                 y = float(row[2])
                 z = float(row[3])
-                rotation = float(row[4])
+                zRotation = float(row[4])
+                yRotation = float(row[5])
 
                 # Turn yaw into quaternion
                 q = geometry.Rotation3d(
-                    units.radians(0.0),
-                    units.radians(0.0),
-                    units.degreesToRadians(rotation),
+                    units.radians(0),
+                    units.degreesToRadians(yRotation),
+                    units.degreesToRadians(zRotation),
                 ).getQuaternion()
 
                 json_data["tags"].append(

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

@@ -13,13 +13,15 @@ public enum AprilTagFields {
   /** 2023 Charged Up. */
   k2023ChargedUp("2023-chargedup.json"),
   /** 2024 Crescendo. */
-  k2024Crescendo("2024-crescendo.json");
+  k2024Crescendo("2024-crescendo.json"),
+  /** 2025 Reefscape. */
+  k2025Reefscape("2025-reefscape.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2024Crescendo;
+  public static final AprilTagFields kDefaultField = k2025Reefscape;
 
   /** Resource filename. */
   public final String m_resourceFile;

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

@@ -133,6 +133,7 @@ namespace frc {
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
+std::string_view GetResource_2025_reefscape_json();
 
 }  // namespace frc
 
@@ -148,6 +149,9 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2024Crescendo:
       fieldString = GetResource_2024_crescendo_json();
       break;
+    case AprilTagField::k2025Reefscape:
+      fieldString = GetResource_2025_reefscape_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

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

@@ -20,6 +20,10 @@ enum class AprilTagField {
   k2023ChargedUp,
   /// 2024 Crescendo.
   k2024Crescendo,
+  /// 2025 Reefscape.
+  k2025Reefscape,
+  /// Alias to the current game.
+  kDefaultField = k2025Reefscape,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape.csv

@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,657.37,25.8,58.5,126,0
+2,657.37,291.2,58.5,234,0
+3,455.15,317.15,51.25,270,0
+4,365.2,241.64,73.54,0,30
+5,365.2,75.39,73.54,0,30
+6,530.49,130.17,12.13,300,0
+7,546.87,158.5,12.13,0,0
+8,530.49,186.83,12.13,60,0
+9,497.77,186.83,12.13,120,0
+10,481.39,158.5,12.13,180,0
+11,497.77,130.17,12.13,240,0
+12,33.51,25.8,58.5,54,0
+13,33.51,291.2,58.5,306,0
+14,325.68,241.64,73.54,180,30
+15,325.68,75.39,73.54,180,30
+16,235.73,-0.15,51.25,90,0
+17,160.39,130.17,12.13,240,0
+18,144,158.5,12.13,180,0
+19,160.39,186.83,12.13,120,0
+20,193.1,186.83,12.13,60,0
+21,209.49,158.5,12.13,0,0
+22,193.1,130.17,12.13,300,0