Add AdvantageKit for C++

.gitmodules

@@ -0,0 +1,12 @@
+[submodule "akit/magic_enum"]
+	path = akit/magic_enum
+	url = https://github.com/Neargye/magic_enum.git
+[submodule "akit/httplib"]
+	path = akit/httplib
+	url = https://github.com/yhirose/cpp-httplib
+[submodule "akit/concurrentqueue"]
+	path = akit/concurrentqueue
+	url = https://github.com/cameron314/concurrentqueue
+[submodule "akit/readerwriterqueue"]
+	path = akit/readerwriterqueue
+	url = https://github.com/cameron314/readerwriterqueue

.vscode/settings.json

@@ -1,3 +1,105 @@
 {
-    "java.configuration.updateBuildConfiguration": "interactive"
+    "java.configuration.updateBuildConfiguration": "interactive",
+    "files.associations": {
+        "cstddef": "cpp",
+        "algorithm": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "cctype": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "exception": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "iterator": "cpp",
+        "limits": "cpp",
+        "memory": "cpp",
+        "new": "cpp",
+        "optional": "cpp",
+        "set": "cpp",
+        "span": "cpp",
+        "string": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeinfo": "cpp",
+        "utility": "cpp",
+        "vector": "cpp",
+        "xmemory": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xtree": "cpp",
+        "xutility": "cpp",
+        "any": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "codecvt": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdarg": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "functional": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "fstream": "cpp",
+        "iomanip": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "mutex": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "ranges": "cpp",
+        "semaphore": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp",
+        "charconv": "cpp",
+        "format": "cpp",
+        "ios": "cpp",
+        "locale": "cpp",
+        "xfacet": "cpp",
+        "xhash": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocbuf": "cpp",
+        "xlocinfo": "cpp",
+        "xlocmes": "cpp",
+        "xlocmon": "cpp",
+        "xlocnum": "cpp",
+        "xloctime": "cpp",
+        "bitset": "cpp",
+        "expected": "cpp",
+        "regex": "cpp",
+        "source_location": "cpp",
+        "future": "cpp",
+        "cinttypes": "cpp",
+        "*.mac": "cpp",
+        "filesystem": "cpp",
+        "csignal": "cpp",
+        "matrixfunctions": "cpp",
+        "queue": "cpp",
+        "strstream": "cpp",
+        "cfenv": "cpp"
+    }
 }

akit/AdvantageKit.json

@@ -31,5 +31,23 @@
       ]
     }
   ],
-  "cppDependencies": []
+  "cppDependencies": [
+    {
+      "groupId": "${groupId}",
+      "artifactId": "${akitCppArtifactId}",
+      "version": "${version}",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "libName": "akit",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": false,
+      "binaryPlatforms": [
+        "linuxathena",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal",
+        "windowsx86-64"
+      ]
+    }
+  ]
 }

akit/build.gradle.kts

@@ -77,7 +77,7 @@ spotless {
         licenseHeader("// Copyright (c) 2021-2026 Littleton Robotics\n// http://github.com/Mechanical-Advantage\n//\n// Use of this source code is governed by a BSD\n// license that can be found in the LICENSE file\n// at the root directory of this project.\n\n")
     }
     cpp {
-        target("src/main/native/**/*.cc", "src/main/native/**/*.h", "src/test/native/**/*.cc", "src/test/native/**/*.h")
+        target("src/main/native/**/*.cc", "src/main/native/**/*.cpp", "src/main/native/**/*.h", "src/test/native/**/*.cc", "src/test/native/**/*.cpp", "src/test/native/**/*.h")
         toggleOffOn()
         eclipseCdt()
         trimTrailingWhitespace()

akit/native.gradle

@@ -182,6 +182,10 @@ nativeUtils {
             exportsFile = project.file("src/main/native/symbols.txt")
         }
     }
+
+    exportsConfigs {
+        akit {}
+    }
 }
 
 model {
@@ -207,6 +211,32 @@ model {
 
             nativeUtils.useRequiredLibrary(it, "driver_shared")
         }
+
+        akit(JniNativeLibrarySpec) {
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+            // Leave these for future proofing
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+            jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/native/cpp'
+                        include '**/*.cpp'
+                    }
+
+                    exportedHeaders {
+                        srcDirs 'src/main/native/include', 'src/main/generated/include', 'src/main/thirdparty/include', 'magic_enum/include', 'httplib', 'concurrentqueue', 'readerwriterqueue'
+                    }
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+
+            binaries.all {
+                lib project: ':', library: 'wpilibio', linkage: 'static'
+                cppCompiler.args << '-DWPILIB_EXPORTS'
+            }
+        }
     }
     testSuites {
         wpilibioTest {
@@ -219,5 +249,20 @@ model {
 
             nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
         }
+        akitTest {
+            sources.cpp {
+                source {
+                    srcDir 'src/test/native/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
+
+            binaries.all {
+                lib project: ':', library: 'wpilibio', linkage: 'static'
+                cppCompiler.args << '-DWPILIB_EXPORTS'
+            }
+        }
     }
 }

akit/publish.gradle

@@ -24,6 +24,53 @@ def artifactGroupId = 'org.littletonrobotics.akit'
 def javaArtifactId = 'akit-java'
 def wpilibioArtifactId = 'akit-wpilibio'
 def wpilibioZipBaseName = "_GROUP_${artifactGroupId.replace('.', '_')}_ID_${wpilibioArtifactId}_CLS"
+def akitCppArtifactId = 'akit-cpp'
+def akitCppZipBaseName = "_GROUP_${artifactGroupId.replace('.', '_')}_ID_${akitCppArtifactId}_CLS"
+
+task akitCppHeadersZip(type: Zip) {
+    archiveBaseName = akitCppZipBaseName
+    archiveClassifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/include') {
+        into '/'
+    }
+
+    from('readerwriterqueue') {
+        into '/'
+        include '*.h'
+    }
+
+    from('concurrentqueue') {
+        into '/'
+        include '*.h'
+    }
+
+    from('magic_enum/include') {
+        into '/'
+    }
+
+    from('httplib') {
+        into '/'
+        include '*.h'
+    }
+}
+
+task akitCppSourceZip(type: Zip) {
+    archiveBaseName = akitCppZipBaseName
+    archiveClassifier = "sources"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+}
 
 artifacts {
     archives sourcesJar
@@ -66,6 +113,7 @@ task vendordep(type: Copy) {
             "groupId": artifactGroupId,
             "javaArtifactId": javaArtifactId,
             "jniArtifactId": wpilibioArtifactId,
+            "akitCppArtifactId": akitCppArtifactId,
             "frcYear": frcYear)
 }
 
@@ -76,6 +124,7 @@ publish.dependsOn build
 model {
     publishing {
         def wpilibioTaskList = createComponentZipTasks($.components, ['wpilibio'], wpilibioZipBaseName, Zip, project, includeStandardZipFormat)
+        def akitCppTaskList = createComponentZipTasks($.components, ['akit'], akitCppZipBaseName, Zip, project, includeStandardZipFormat)
         def skipJava = project.hasProperty("skipJava")
         publications {
             wpilibio(MavenPublication) {
@@ -88,6 +137,18 @@ model {
                 version pubVersion
             }
 
+            akitCpp(MavenPublication) {
+                akitCppTaskList.each {
+                    artifact it
+                }
+                artifact akitCppHeadersZip
+                artifact akitCppSourceZip
+
+                artifactId = akitCppArtifactId
+                groupId artifactGroupId
+                version pubVersion
+            }
+
             if (!skipJava) {
                 java(MavenPublication) {
                     artifact jar

akit/src/main/native/cpp/AlertLogger.cpp

@@ -0,0 +1,17 @@
+// Copyright (c) 2021-2026 Littleton Robotics
+// http://github.com/Mechanical-Advantage
+//
+// Use of this source code is governed by a BSD
+// license that can be found in the LICENSE file
+// at the root directory of this project.
+
+#include "akit/AlertLogger.h"
+
+using namespace akit;
+
+std::unordered_map<std::string, nt::StringArraySubscriber> AlertLogger::errorSubscribers;
+std::unordered_map<std::string, nt::StringArraySubscriber> AlertLogger::warningSubscribers;
+std::unordered_map<std::string, nt::StringArraySubscriber> AlertLogger::infoSubscribers;
+
+void AlertLogger::periodic() {
+}