[ci] Upgrade to new macOS runner

.github/workflows/cmake.yml

@@ -16,11 +16,11 @@ jobs:
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2024-22.04
             flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-12
+          - os: macOS-14
             name: macOS
             container: ""
-            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
+            env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -34,15 +34,15 @@ jobs:
         if: runner.os == 'Linux'
         run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb
 
-      - name: Install opencv (macOS)
+      - name: Install dependencies (macOS)
         run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
-      - name: Set up Python 3.8 (macOS)
+      - name: Set up Python 3.10 (macOS)
         if: runner.os == 'macOS'
         uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
 
       - name: Run sccache-cache
         uses: mozilla-actions/[email protected]

.github/workflows/comment-command.yml

@@ -33,10 +33,10 @@ jobs:
         env:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.8
+      - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Setup Java
         uses: actions/setup-java@v4
         with:

.github/workflows/gradle.yml

@@ -94,9 +94,9 @@ jobs:
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
             build-dir: "c:\\work"
-          - os: macOS-12
+          - os: macOS-14
             artifact-name: macOS
-            architecture: x64
+            architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
             build-dir: "."

.github/workflows/lint-format.yml

@@ -22,10 +22,10 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
+      - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Install wpiformat
         run: pip3 install wpiformat==2023.36
       - name: Run
@@ -61,10 +61,10 @@ jobs:
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
+      - name: Set up Python 3.10
         uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.10'
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json

cscore/src/main/native/objcpp/UsbCameraImpl.mm

@@ -135,7 +135,11 @@ CS_Source CreateUsbCameraPath(std::string_view name, std::string_view path,
     std::vector<UsbCameraInfo> retval;
     NSArray<AVCaptureDeviceType>* deviceTypes = @[
       AVCaptureDeviceTypeBuiltInWideAngleCamera,
+#if MAC_OS_X_VERSION_MIN_REQUIRED >= 140000
+      AVCaptureDeviceTypeExternal
+#else
       AVCaptureDeviceTypeExternalUnknown
+#endif
     ];
     AVCaptureDeviceDiscoverySession* session = [AVCaptureDeviceDiscoverySession
         discoverySessionWithDeviceTypes:deviceTypes

cscore/src/main/native/objcpp/UsbCameraListener.mm

@@ -76,7 +76,11 @@ - (void)camerasChanged:(NSNotification*)notification {
       if ([device.deviceType
               isEqualToString:AVCaptureDeviceTypeBuiltInWideAngleCamera] ||
           [device.deviceType
+#if MAC_OS_X_VERSION_MIN_REQUIRED >= 140000
+              isEqualToString:AVCaptureDeviceTypeExternal]) {
+#else
               isEqualToString:AVCaptureDeviceTypeExternalUnknown]) {
+#endif
         self.notifier->NotifyUsbCamerasChanged();
       }
     });

sysid/src/test/native/cpp/analysis/OLSTest.cpp

@@ -14,8 +14,8 @@ TEST(OLSTest, TwoVariablesTwoPoints) {
   auto [coeffs, rSquared, rmse] = sysid::OLS(X, y);
   EXPECT_EQ(coeffs.size(), 2u);
 
-  EXPECT_DOUBLE_EQ(coeffs[0], 1.0);
-  EXPECT_DOUBLE_EQ(coeffs[1], 2.0);
+  EXPECT_NEAR(coeffs[0], 1.0, 1e-12);
+  EXPECT_NEAR(coeffs[1], 2.0, 1e-12);
   EXPECT_DOUBLE_EQ(rSquared, 1.0);
 }
 
@@ -28,8 +28,8 @@ TEST(OLSTest, TwoVariablesFivePoints) {
   auto [coeffs, rSquared, rmse] = sysid::OLS(X, y);
   EXPECT_EQ(coeffs.size(), 2u);
 
-  EXPECT_DOUBLE_EQ(coeffs[0], 0.30487804878048774);
-  EXPECT_DOUBLE_EQ(coeffs[1], 1.5182926829268293);
+  EXPECT_NEAR(coeffs[0], 0.30487804878048774, 1e-12);
+  EXPECT_NEAR(coeffs[1], 1.5182926829268293, 1e-12);
   EXPECT_DOUBLE_EQ(rSquared, 0.91906029466386019);
 }