chore: standardize on C++23 across examples, host tests, docs and CI by owenpkent · Pull Request #844 · esp-cpp/espp

owenpkent · 2026-10-11T20:40:35Z

Description

Follow-up to #843 and the Slack discussion: espp should be C++23 minimum everywhere. The library targets (lib/CMakeLists.txt, lib/espp.cmake, pc/CMakeLists.txt) already require C++23, but most of the repo around them still said C++20. This PR moves all of it to 23:

143 example CMakeLists.txt: set(CMAKE_CXX_STANDARD 20) → 23 (the ~8 examples that already said 23 are unchanged). The telemetry example's comment, which explained why it stayed on 20, is updated to match.
Host-test build lines in the test headers of basicmicro, canopen (both), desktop, dispatcher, hid-rp (3 of 4; the reports test already said 23), mcp266 (both), monitor, odrive_native (both), ota, stream_frame, system, usb_device/xinput and wdi (all 4), plus pc/tests/odrive_native_golden.cpp: -std=c++20 → -std=c++23.
READMEs and the doc/en RST pages that mirror them: the copy-paste build commands, and the prose ("depends only on the C++20 standard library", "requires a C++20 compiler", etc.) now say C++23. References to C++20 language features (concepts, requires clauses, designated initializers) are left alone since they are describing the feature, not the standard level.
Things that actually build with the flag: .github/workflows/desktop_tests.yml, components/odrive_native/interop/run_interop.sh, components/odrive_native/python/tests/test_odrive.py.
components/rtps/example/pc/CMakeLists.txt: cxx_std_17 → cxx_std_23.
.github/copilot-instructions.md code-style note: C++20 → C++23.

components/rtps/REFACTOR_PLAN.md still records the original "DECIDED: C++20" decision point; its header already says the repo moved to C++23, so I left the historical record alone.

Motivation and Context

The hid-rp host tests are the concrete case: hid-rp-switch-pro.hpp uses C++23 decay-copy (auto(x)), so the -std=c++20 build line in three of the four hid-rp test headers could never have worked with clang. More generally, the standard was already 23 for the library but 20 for everything that documents or exercises it, which is confusing for anyone building the host tests or copying an example as a starting point.

Note on the example CMakeLists.txt change: it is a consistency change only, the value has no effect on what the firmware compiles with. Measured from build/compile_commands.json on both IDF 5.5.1 and 6.0.2:

134 of the 143 examples set CMAKE_CXX_STANDARD after project(). In IDF that is after every component target has been created, so no -std= flag is derived from it at all. The compile line carries only IDF's own flag: -std=gnu++2b on 5.5.1, -std=gnu++26 on 6.0.2.
The 9 that set it before project() get -std=gnu++23 -std=gnu++2b (5.5.1) or -std=gnu++23 -std=gnu++26 (6.0.2). Last flag wins, so IDF's still applies.

Either way the espp sources were already being built at C++23 or newer on device; the 20 in the examples was just misleading.

How has this been tested?

Windows 11, clang 22.1.8 with the MSVC STL, every standalone host test built with clang++ -std=c++23 -Wall -Wextra:

22 pass: basicmicro, canopen, canopen simulated_node, desktop, dispatcher, hid_rp_3dconnexion, hid_rp_gamepad, hid_rp_report_map, mcp266 (both), monitor, odrive_native (host + stream), odrive_native golden, ota, stream_frame, system, xinput, wdi (device, hid, host, protocol).
hid_rp_reports_host_test fails the DualSense num_data_bytes == 9 static_assert under the MSVC ABI. This is the pre-existing issue from the fix(hid-rp): bump hid-rp submodule to pick up missing <bit> include #843 discussion and is unrelated to the standard (it fails the same way at -std=c++20, plus the auto(x) errors).
odrive_native_interop_device.cpp needs <sys/select.h>, so it was not built here; it is POSIX-only by design.

pre-commit run (clang-format) passes on the changed files.

ESP-IDF: hid-rp/example builds cleanly for esp32s3 on both IDF v5.5.1 (the CI version) and v6.0.2; thread_pool/example configured on both to check the before-project() case. Flags above are from those builds.

Types of changes

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to not work as expected)
Documentation Update
Software change

Checklist:

My change requires a change to the documentation.
I have added / updated the documentation related to this change via either README or WIKI

Software

I have added tests to cover my changes.
I have updated the .github/workflows/build.yml file to add my new test to the automated cloud build github action.
All new and existing tests passed.
My code follows the code style of this project.

The library targets (lib/, pc/) already require C++23, but most of the repo around them still said C++20: 143 example CMakeLists set CMAKE_CXX_STANDARD 20, the host-test build lines and the READMEs / RST pages that mirror them used -std=c++20, the desktop_tests CI job and the odrive_native interop scripts built with c++20, and the rtps pc example pinned cxx_std_17. Move all of it to C++23 and update the prose ("depends only on the C++20 standard library", "requires a C++20 compiler") and the copilot code-style note to match. References to C++20 language features (concepts, requires clauses, designated initializers) are unchanged. The hid-rp host tests are the concrete motivation: hid-rp-switch-pro.hpp uses C++23 decay-copy (auto(x)), so the -std=c++20 build line in three of the four test headers could never have worked with clang.

github-actions · 2026-10-11T20:41:27Z

✅Static analysis result - no issues found! ✅

Copilot

🟡 Changes recommended

Most example standard assignments occur too late to affect ESP-IDF targets, and several canonical headers still document C++20.

5 open findings

Set CXX_STANDARD before ESP-IDF project initialization · New
Update CANopen core comment to C++23 · New
Update ODrive core and stream comments to C++23 · New
Update WDI protocol comment from C++20 to C++23 · New
Update basicmicro core comment from C++20 to C++23 · New

What changed in this PR

Standardizes examples, host tests, documentation, and CI on the repository’s C++23 minimum.

Changes:

Updates ESP-IDF and host-side build settings to C++23.
Revises test commands and documentation accordingly.
Updates CI and Copilot guidance to reference C++23.

File	Description
`.github/copilot-instructions.md`	Updates coding guidance to C++23.
`.github/workflows/desktop_tests.yml`	Builds desktop host tests with C++23.
`lib/README_PYPI.md`	Documents the C++23 build requirement.
`pc/tests/odrive_native_golden.cpp`	Updates the documented host command.
`doc/en/data/reflect_cpp.rst`	Documents the C++23 requirement.
`doc/en/dispatcher/custom_modules.rst`	Updates the host-test command.
`doc/en/motor_control/basicmicro.rst`	Updates the documented library level.
`doc/en/motor_control/mcp266.rst`	Updates the documented library level.
`doc/en/stream_frame/stream_frame.rst`	Updates the documented library level.
`components/adc/example/CMakeLists.txt`	Selects C++23 for the example.
`components/adrc/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ads1x15/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ads7138/example/CMakeLists.txt`	Selects C++23 for the example.
`components/adxl345/example/CMakeLists.txt`	Selects C++23 for the example.
`components/as5600/example/CMakeLists.txt`	Selects C++23 for the example.
`components/at581x/example/CMakeLists.txt`	Selects C++23 for the example.
`components/aw9523/example/CMakeLists.txt`	Selects C++23 for the example.
`components/basicmicro/example/CMakeLists.txt`	Selects C++23 for the example.
`components/basicmicro/README.md`	Updates the host-test command.
`components/basicmicro/test/basicmicro_host_test.cpp`	Updates the documented test command.
`components/bdc_driver/example/CMakeLists.txt`	Selects C++23 for the example.
`components/binary-log/example/CMakeLists.txt`	Selects C++23 for the example.
`components/bldc_current_sense/example/CMakeLists.txt`	Selects C++23 for the example.
`components/bldc_motor/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ble_gatt_server/example/CMakeLists.txt`	Selects C++23 for the example.
`components/bm8563/example/CMakeLists.txt`	Selects C++23 for the example.
`components/bmi270/example/CMakeLists.txt`	Selects C++23 for the example.
`components/bq27220/example/CMakeLists.txt`	Selects C++23 for the example.
`components/button/example/CMakeLists.txt`	Selects C++23 for the example.
`components/byte90/example/CMakeLists.txt`	Selects C++23 for the example.
`components/canopen/example/CMakeLists.txt`	Selects C++23 for the example.
`components/canopen/README.md`	Updates the documented library level.
`components/canopen/test/canopen_host_test.cpp`	Updates the documented test command.
`components/canopen/can_bridge_example/CMakeLists.txt`	Selects C++23 for the bridge example.
`components/canopen/can_bridge_example/README.md`	Updates the simulated-node command.
`components/canopen/can_bridge_example/test/simulated_node_host_test.cpp`	Updates the documented test command.
`components/chsc6x/example/CMakeLists.txt`	Selects C++23 for the example.
`components/cli/example/CMakeLists.txt`	Selects C++23 for the example.
`components/cobs/example/CMakeLists.txt`	Selects C++23 for the example.
`components/color/example/CMakeLists.txt`	Selects C++23 for the example.
`components/controller/example/CMakeLists.txt`	Selects C++23 for the example.
`components/cst816/example/CMakeLists.txt`	Selects C++23 for the example.
`components/csv/example/CMakeLists.txt`	Selects C++23 for the example.
`components/desktop/example/CMakeLists.txt`	Selects C++23 before project setup.
`components/desktop/test/desktop_host_test.cpp`	Updates the documented test command.
`components/dispatcher/example/CMakeLists.txt`	Selects C++23 for the example.
`components/dispatcher/README.md`	Updates the host-test command.
`components/dispatcher/test/dispatcher_host_test.cpp`	Updates the documented test command.
`components/display_drivers/example/CMakeLists.txt`	Selects C++23 for the example.
`components/dns_server/example/CMakeLists.txt`	Selects C++23 for the example.
`components/drv2605/example/CMakeLists.txt`	Selects C++23 for the example.
`components/encoder/example/CMakeLists.txt`	Selects C++23 for the example.
`components/esp-box/example/CMakeLists.txt`	Selects C++23 for the example.
`components/esp32-ethernet-kit/example/CMakeLists.txt`	Selects C++23 for the example.
`components/esp32-p4-eth/example/CMakeLists.txt`	Selects C++23 for the example.
`components/esp32-p4-function-ev-board/example/CMakeLists.txt`	Selects C++23 for the example.
`components/esp32-p4-nano/example/CMakeLists.txt`	Selects C++23 for the example.
`components/esp32-timer-cam/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ethernet/example/CMakeLists.txt`	Selects C++23 for the example.
`components/event_manager/example/CMakeLists.txt`	Selects C++23 for the example.
`components/expressive_eyes/example/CMakeLists.txt`	Selects C++23 for the example.
`components/file_system/example/CMakeLists.txt`	Selects C++23 for the example.
`components/filters/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ft5x06/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ftp/example/CMakeLists.txt`	Selects C++23 for the example.
`components/gfps_service/example/CMakeLists.txt`	Selects C++23 for the example.
`components/gps/example/CMakeLists.txt`	Selects C++23 for the example.
`components/gt911/example/CMakeLists.txt`	Selects C++23 for the example.
`components/hid_service/example/CMakeLists.txt`	Selects C++23 for the example.
`components/hid-rp/example/CMakeLists.txt`	Selects C++23 for the example.
`components/hid-rp/test/hid_rp_3dconnexion_host_test.cpp`	Updates the documented test command.
`components/hid-rp/test/hid_rp_gamepad_host_test.cpp`	Updates the documented test command.
`components/hid-rp/test/hid_rp_report_map_host_test.cpp`	Updates the documented test command.
`components/i2c/example/CMakeLists.txt`	Selects C++23 for the example.
`components/icm20948/example/CMakeLists.txt`	Selects C++23 for the example.
`components/icm42607/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ina226/example/CMakeLists.txt`	Selects C++23 for the example.
`components/interrupt/example/CMakeLists.txt`	Selects C++23 for the example.
`components/iperf_menu/example/CMakeLists.txt`	Selects C++23 for the example.
`components/joystick/example/CMakeLists.txt`	Selects C++23 for the example.
`components/kts1622/example/CMakeLists.txt`	Selects C++23 for the example.
`components/led/example/CMakeLists.txt`	Selects C++23 for the example.
`components/led_strip/example/CMakeLists.txt`	Selects C++23 for the example.
`components/lilygo-t5-47/example/CMakeLists.txt`	Selects C++23 for the example.
`components/logger/example/CMakeLists.txt`	Selects C++23 for the example.
`components/lp5817/example/CMakeLists.txt`	Selects C++23 for the example.
`components/lsm6dso/example/CMakeLists.txt`	Selects C++23 for the example.
`components/m5stack-cardputer/example/CMakeLists.txt`	Selects C++23 for the example.
`components/m5stack-tab5/example/CMakeLists.txt`	Selects C++23 for the example.
`components/math/example/CMakeLists.txt`	Selects C++23 for the example.
`components/matouch-rotary-display/example/CMakeLists.txt`	Selects C++23 for the example.
`components/max1704x/example/CMakeLists.txt`	Selects C++23 for the example.
`components/mcp23x17/example/CMakeLists.txt`	Selects C++23 for the example.
`components/mcp266/example/CMakeLists.txt`	Selects C++23 for the example.
`components/mcp266/webapp_example/CMakeLists.txt`	Selects C++23 for the webapp example.
`components/mcp266/test/mcp266_host_test.cpp`	Updates the documented test command.
`components/mcp266/test/mcp266_protocol_host_test.cpp`	Updates the documented test command.
`components/meshtastic/example/CMakeLists.txt`	Selects C++23 for the example.
`components/monitor/example/CMakeLists.txt`	Selects C++23 for the example.
`components/monitor/test/monitor_host_test.cpp`	Updates the documented test command.
`components/motorgo-axis/example/CMakeLists.txt`	Selects C++23 for the example.
`components/motorgo-mini/example/CMakeLists.txt`	Selects C++23 for the example.
`components/motorgo-plink/example/CMakeLists.txt`	Selects C++23 for the example.
`components/mt6701/example/CMakeLists.txt`	Selects C++23 for the example.
`components/neopixel/example/CMakeLists.txt`	Selects C++23 for the example.
`components/nvs/example/CMakeLists.txt`	Selects C++23 for the example.
`components/odrive_ascii/example/CMakeLists.txt`	Selects C++23 for the example.
`components/odrive_native/example/CMakeLists.txt`	Selects C++23 for the example.
`components/odrive_native/usb_example/CMakeLists.txt`	Selects C++23 for the USB example.
`components/odrive_native/test/odrive_native_host_test.cpp`	Updates the documented test command.
`components/odrive_native/test/odrive_native_stream_test.cpp`	Updates the documented test command.
`components/odrive_native/interop/README.md`	Updates the documented compiler command.
`components/odrive_native/interop/odrive_native_interop_device.cpp`	Updates embedded build instructions.
`components/odrive_native/interop/run.sh`	Documents a C++23 compiler requirement.
`components/odrive_native/interop/run_interop.sh`	Compiles interop targets as C++23.
`components/odrive_native/python/tests/test_odrive.py`	Compiles the test device as C++23.
`components/ota/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ota/README.md`	Updates requirements and test command.
`components/ota/test/ota_protocol_host_test.cpp`	Updates the documented test command.
`components/pca9535/example/CMakeLists.txt`	Selects C++23 for the example.
`components/pcf85063/example/CMakeLists.txt`	Selects C++23 for the example.
`components/pi4ioe5v/example/CMakeLists.txt`	Selects C++23 for the example.
`components/pid/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ping/example/CMakeLists.txt`	Selects C++23 for the example.
`components/provisioning/example/CMakeLists.txt`	Selects C++23 for the example.
`components/qmi8658/example/CMakeLists.txt`	Selects C++23 for the example.
`components/qtpy/example/CMakeLists.txt`	Selects C++23 for the example.
`components/qwiicnes/example/CMakeLists.txt`	Selects C++23 for the example.
`components/reflect_cpp/README.md`	Documents the C++23 requirement.
`components/remote_debug/example/CMakeLists.txt`	Selects C++23 for the example.
`components/rmt/example/CMakeLists.txt`	Selects C++23 for the example.
`components/rtps/example/CMakeLists.txt`	Selects C++23 for the embedded example.
`components/rtps/example/pc/CMakeLists.txt`	Requires C++23 for the host target.
`components/rtsp/example/CMakeLists.txt`	Selects C++23 for the example.
`components/runqueue/example/CMakeLists.txt`	Selects C++23 for the example.
`components/rx8130ce/example/CMakeLists.txt`	Selects C++23 for the example.
`components/sdcard/example/CMakeLists.txt`	Selects C++23 for the example.
`components/seeed-studio-round-display/example/CMakeLists.txt`	Selects C++23 for the example.
`components/serialization/example/CMakeLists.txt`	Selects C++23 for the example.
`components/smartpanlee-sc01-plus/example/CMakeLists.txt`	Selects C++23 for the example.
`components/socket/example/CMakeLists.txt`	Selects C++23 for the example.
`components/spi/example/CMakeLists.txt`	Selects C++23 for the example.
`components/st25dv/example/CMakeLists.txt`	Selects C++23 for the example.
`components/state_machine/example/CMakeLists.txt`	Selects C++23 for the example.
`components/stream_frame/example/CMakeLists.txt`	Selects C++23 for the example.
`components/stream_frame/include/stream_frame.hpp`	Updates the documented library level.
`components/stream_frame/README.md`	Updates requirements and test command.
`components/stream_frame/test/stream_frame_host_test.cpp`	Updates the documented test command.
`components/switch_pro/example/CMakeLists.txt`	Selects C++23 for the example.
`components/sx126x/example/CMakeLists.txt`	Selects C++23 for the example.
`components/system/example/CMakeLists.txt`	Selects C++23 before project setup.
`components/system/test/system_host_test.cpp`	Updates the documented test command.
`components/t-deck/example/CMakeLists.txt`	Selects C++23 for the example.
`components/t-dongle-s3/example/CMakeLists.txt`	Selects C++23 for the example.
`components/t_keyboard/example/CMakeLists.txt`	Selects C++23 for the example.
`components/tabulate/example/CMakeLists.txt`	Selects C++23 for the example.
`components/task/example/CMakeLists.txt`	Selects C++23 for the example.
`components/telemetry/example/CMakeLists.txt`	Selects C++23 before project setup.
`components/thermistor/example/CMakeLists.txt`	Selects C++23 for the example.
`components/thread_pool/example/CMakeLists.txt`	Selects C++23 before project setup.
`components/timer/example/CMakeLists.txt`	Selects C++23 for the example.
`components/tla2528/example/CMakeLists.txt`	Selects C++23 for the example.
`components/touch/example/CMakeLists.txt`	Selects C++23 for the example.
`components/trajectory_planner/example/CMakeLists.txt`	Selects C++23 for the example.
`components/tt21100/example/CMakeLists.txt`	Selects C++23 for the example.
`components/twai/example/CMakeLists.txt`	Selects C++23 for the example.
`components/usb_device/example/CMakeLists.txt`	Selects C++23 for the example.
`components/usb_device/msc_example/CMakeLists.txt`	Selects C++23 for the MSC example.
`components/usb_device/xinput_example/CMakeLists.txt`	Selects C++23 for the XInput example.
`components/usb_device/test/xinput_host_test.cpp`	Updates the documented test command.
`components/usb_host/example/CMakeLists.txt`	Selects C++23 for the example.
`components/usb_host/tab5_example/CMakeLists.txt`	Selects C++23 for the Tab5 example.
`components/vl53l/example/CMakeLists.txt`	Selects C++23 for the example.
`components/wdi/ble_central_example/CMakeLists.txt`	Selects C++23 for the BLE central example.
`components/wdi/ble_example/CMakeLists.txt`	Selects C++23 for the BLE example.
`components/wdi/usb_example/CMakeLists.txt`	Selects C++23 for the USB example.
`components/wdi/usb_host_example/CMakeLists.txt`	Selects C++23 for the USB host example.
`components/wdi/include/wdi.hpp`	Updates the documented library level.
`components/wdi/include/wdi_host.hpp`	Updates the documented library level.
`components/wdi/README.md`	Updates requirements and test commands.
`components/wdi/test/wdi_device_host_test.cpp`	Updates the documented test command.
`components/wdi/test/wdi_hid_host_test.cpp`	Updates the documented test command.
`components/wdi/test/wdi_host_host_test.cpp`	Updates the documented test command.
`components/wdi/test/wdi_protocol_host_test.cpp`	Updates the documented test command.
`components/wifi/example/CMakeLists.txt`	Selects C++23 for the example.
`components/wrover-kit/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ws-s3-geek/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ws-s3-lcd-1-47/example/CMakeLists.txt`	Selects C++23 for the example.
`components/ws-s3-touch/example/CMakeLists.txt`	Selects C++23 for the example.
`components/xiao-esp32s3-sense/example/CMakeLists.txt`	Selects C++23 for the example.

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 project(adc_example)

-set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD 23)


 (automatic with `espp::Twai`, whose `on_receive` runs in its own task).

-The wire core (`include/detail/canopen_core.hpp`) is host-buildable pure C++20
+The wire core (`include/detail/canopen_core.hpp`) is host-buildable pure C++23


  path arg), registers a small ODrive-like tree on an `OdriveNativeCore`, and runs
  the serve loop: stream bytes → `StreamDeframer` → `process_bytes` → `stream_frame`
-  → write. Uses only the host-buildable `detail/` headers (plain `c++ -std=c++20`,
+  → write. Uses only the host-buildable `detail/` headers (plain `c++ -std=c++23`,


 // the spec.
 //
-// The class depends only on the C++20 standard library and the WDI protocol core
+// The class depends only on the C++23 standard library and the WDI protocol core


 logic (CRC16, packet building, reply validation, big-endian codecs) lives in
 ``espp::detail`` inside ``include/detail/basicmicro_core.hpp``, a
-host-buildable core that depends only on the C++20 standard library and is
+host-buildable core that depends only on the C++23 standard library and is


owenpkent · 2026-10-11T20:56:17Z

Verified the example CMakeLists.txt change against real IDF builds (v5.5.1, the CI version, and v6.0.2), so the earlier hedge in the description is gone.

hid-rp/example builds cleanly for esp32s3 on both versions.
134 of the 143 examples set CMAKE_CXX_STANDARD after project(), which in IDF is after every component target exists, so it emits no -std= flag at all. The compile line carries only IDF's own -std=gnu++2b (5.5.1) / -std=gnu++26 (6.0.2).
The 9 that set it before project() get -std=gnu++23 -std=gnu++2b; the last flag wins, so IDF's still applies.

So on device the sources were already compiling at C++23 or newer; the 20 was only misleading. The CMake change is purely for consistency. Workflows need a maintainer approval since the PR is from a fork.

Copilot AI balanced review requested due to automatic review settings October 11, 2026 20:40

Copilot started reviewing on behalf of owenpkent October 11, 2026 20:41 View session

Copilot AI reviewed Oct 11, 2026

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finger563 approved these changes Oct 11, 2026

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finger563 merged commit 1ae5fda into esp-cpp:main Oct 12, 2026
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chore: standardize on C++23 across examples, host tests, docs and CI - #844

chore: standardize on C++23 across examples, host tests, docs and CI#844
finger563 merged 1 commit into
esp-cpp:mainfrom
owenpkent:chore/cpp23-everywhere

owenpkent commented Oct 11, 2026 •

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✅Static analysis result - no issues found! ✅

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🟡 Changes recommended

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owenpkent commented Oct 11, 2026

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owenpkent commented Oct 11, 2026 •

edited

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