[upstream_utils] Upgrade to Sleipnir 0.3.2

[calcmogul]

Also includes a C++ benchmark, which has a Java counterpart in #8236.

[calcmogul]

Blocked on:

• macOS 15 upgrade for Apple Clang bugfix
• Doxygen upgrade for bugfix
• wpiformat upgrade (need to merge main into 2027)

[KangarooKoala]

Is the -Xmx8g change intended to be part of this PR?

[calcmogul]

Yes, though I could try a build without it. 🤷

[calcmogul]

Turns out Doxygen 1.15.0 has way more bugs than 1.12.0 (e.g., warnings in source code it thought was comments), which I was able to reproduce locally.

> Task :docs:doxygenDox
/home/tav/frc/wpilib/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h:89: error: end of comment block while expecting command </u> (Probable start '/home/tav/frc/wpilib/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h' at line 88)
/home/tav/frc/wpilib/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h:89: error: end of comment block while expecting command </u> (Probable start '/home/tav/frc/wpilib/allwpilib/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h' at line 87)
/home/tav/frc/wpilib/allwpilib/wpiutil/src/main/native/thirdparty/json/include/wpi/json.h:1860: error: unable to resolve reference to 'get() const' for \ref command
/home/tav/frc/wpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/interior_point.hpp:84: error: argument 'iteration_callbacks' of command @param is not found in the argument list of slp::interior_point(const InteriorPointMatrixCallbacks< Scalar > &matrix_callbacks, std::span< std::function< bool(const IterationInfo< Scalar > &info)>, iteration_callbacks, const Options &options, Eigen::Vector< Scalar, Eigen::Dynamic > &x)
/home/tav/frc/wpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/newton.hpp:37: error: argument 'iteration_callbacks' of command @param is not found in the argument list of slp::newton(const NewtonMatrixCallbacks< Scalar > &matrix_callbacks, std::span< std::function< bool(const IterationInfo< Scalar > &info)>, iteration_callbacks, const Options &options, Eigen::Vector< Scalar, Eigen::Dynamic > &x)
/home/tav/frc/wpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/optimization/solver/sqp.hpp:69: error: argument 'iteration_callbacks' of command @param is not found in the argument list of slp::sqp(const SQPMatrixCallbacks< Scalar > &matrix_callbacks, std::span< std::function< bool(const IterationInfo< Scalar > &info)>, iteration_callbacks, const Options &options, Eigen::Vector< Scalar, Eigen::Dynamic > &x)
/home/tav/frc/wpilib/allwpilib/wpiutil/src/main/native/include/wpi/protobuf/Protobuf.h:147: error: Unsupported symbol '&out;' found
/home/tav/frc/wpilib/allwpilib/wpiutil/src/main/native/include/wpi/protobuf/Protobuf.h:164: error: Unsupported symbol '&out;' found
/home/tav/frc/wpilib/allwpilib/wpiutil/src/main/native/include/wpi/protobuf/Protobuf.h:139: error: wpi::ProtoOutputStream::Stream has @param documentation sections but no arguments
/home/tav/frc/wpilib/allwpilib/wpiutil/src/main/native/include/wpi/protobuf/Protobuf.h:281: error: Unsupported xml/html tag <typename> found

Sleipnir's CI uses Doxygen 1.9.8 (Ubuntu 24.04's default version, which doesn't have the issue. allwpilib needs 1.12.0 to fix some modern C++ parsing bugs though, so I made this PR skip parsing the problematic Sleipnir headers with 1.12.0.

[calcmogul]

I just hit the JVM OOM with 4 GB of heap, so looks like 8 GB is needed after all.

[KangarooKoala]

What happened to the Java cart pole benchmark?

[calcmogul]

Per the top comment on this PR, it's in #8236. We can't do a Java version of the benchmark unless there's a Java API to benchmark.

[calcmogul]

Windows debug CI is failing with a Gradle JVM OOM error.

 [ RUN      ] LTVDifferentialDriveControllerTest.ReachesReference

> Task :tools:datalogtool:compileDatalogtoolWindowsx86-64ExecutableDatalogtoolCpp
> Task :tools:outlineviewer:compileOutlineviewerWindowsx86-64ExecutableOutlineviewerCpp
> Task :tools:processstarter:linkProcessstarterWindowsx86-64Executable

Exception: java.lang.OutOfMemoryError thrown from the UncaughtExceptionHandler in thread "main"

The JVM heap is set to 16 GB (the VM's max RAM), so idk how we can fix it.