From 9ae602429c694026fce0d7f7656b101c3fc05360 Mon Sep 17 00:00:00 2001
From: JordanTheToaster <jordanh48@ymail.com>
Date: Mon, 7 Sep 2026 21:04:13 +0100
Subject: [PATCH] 3rdparty: Update googletest to v1.18.0

---
 3rdparty/googletest/CONTRIBUTORS              |   1 +
 3rdparty/googletest/README.md                 |  25 +-
 .../googlemock/include/gmock/gmock-actions.h  | 118 ++--
 .../include/gmock/gmock-cardinalities.h       |   4 +-
 .../googlemock/include/gmock/gmock-matchers.h | 617 ++++++++++++------
 .../include/gmock/gmock-more-matchers.h       |  15 +-
 .../include/gmock/gmock-nice-strict.h         |  18 +-
 .../include/gmock/gmock-spec-builders.h       |  27 +-
 .../gmock/internal/gmock-internal-utils.h     |  61 +-
 .../include/gmock/internal/gmock-port.h       |   6 +-
 .../include/gmock/internal/gmock-pp.h         | 142 +++-
 .../googlemock/src/gmock-internal-utils.cc    |   4 +-
 .../googlemock/src/gmock-spec-builders.cc     |  34 +-
 3rdparty/googletest/googletest/README.md      |   8 +-
 .../include/gtest/gtest-assertion-result.h    |  40 +-
 .../include/gtest/gtest-death-test.h          |   6 +-
 .../googletest/include/gtest/gtest-matchers.h | 195 ++++--
 .../googletest/include/gtest/gtest-message.h  |   4 +-
 .../googletest/include/gtest/gtest-printers.h | 201 +++---
 .../googletest/include/gtest/gtest-spi.h      |   4 +-
 .../include/gtest/gtest-test-part.h           |  17 +-
 .../include/gtest/gtest-typed-test.h          |  12 +-
 .../googletest/include/gtest/gtest.h          |  78 ++-
 .../internal/gtest-death-test-internal.h      |  30 +-
 .../include/gtest/internal/gtest-filepath.h   |   2 +-
 .../include/gtest/internal/gtest-internal.h   |  64 +-
 .../include/gtest/internal/gtest-param-util.h |  43 +-
 .../include/gtest/internal/gtest-port-arch.h  |   2 +
 .../include/gtest/internal/gtest-port.h       | 355 +++++-----
 .../include/gtest/internal/gtest-string.h     |   4 +-
 .../googletest/src/gtest-internal-inl.h       |  15 +-
 .../googletest/src/gtest-matchers.cc          |   2 -
 .../googletest/googletest/src/gtest-port.cc   |  49 +-
 .../googletest/src/gtest-printers.cc          |  23 +-
 .../googletest/src/gtest-test-part.cc         |   8 +-
 3rdparty/googletest/googletest/src/gtest.cc   | 214 +++---
 36 files changed, 1468 insertions(+), 980 deletions(-)

diff --git a/3rdparty/googletest/CONTRIBUTORS b/3rdparty/googletest/CONTRIBUTORS
index 77397a5b53..ccea41ea81 100644
--- a/3rdparty/googletest/CONTRIBUTORS
+++ b/3rdparty/googletest/CONTRIBUTORS
@@ -55,6 +55,7 @@ Russ Cox <rsc@google.com>
 Russ Rufer <russ@pentad.com>
 Sean Mcafee <eefacm@gmail.com>
 Sigurður Ásgeirsson <siggi@google.com>
+Soyeon Kim <sxshx818@naver.com>
 Sverre Sundsdal <sundsdal@gmail.com>
 Szymon Sobik <sobik.szymon@gmail.com>
 Takeshi Yoshino <tyoshino@google.com>
diff --git a/3rdparty/googletest/README.md b/3rdparty/googletest/README.md
index 598cf31242..b4e9b434fc 100644
--- a/3rdparty/googletest/README.md
+++ b/3rdparty/googletest/README.md
@@ -8,12 +8,13 @@ Our documentation is now live on GitHub Pages at
 https://google.github.io/googletest/. We recommend browsing the documentation on
 GitHub Pages rather than directly in the repository.
 
-#### Release 1.17.0
+#### Release 1.18.0
 
-[Release 1.17.0](https://github.com/google/googletest/releases/tag/v1.17.0) is
+[Release 1.18.0](https://github.com/google/googletest/releases/tag/v1.18.0) is
 now available.
 
-The 1.17.x branch [requires at least C++17]((https://opensource.google/documentation/policies/cplusplus-support#c_language_standard).
+The 1.18.x branch
+[requires at least C++17](https://opensource.google/documentation/policies/cplusplus-support#c_language_standard).
 
 #### Continuous Integration
 
@@ -43,35 +44,35 @@ More information about building GoogleTest can be found at
 
 *   xUnit test framework: \
     Googletest is based on the [xUnit](https://en.wikipedia.org/wiki/XUnit)
-    testing framework, a popular architecture for unit testing
+    testing framework, a popular architecture for unit testing.
 *   Test discovery: \
     Googletest automatically discovers and runs your tests, eliminating the need
-    to manually register your tests
+    to manually register your tests.
 *   Rich set of assertions: \
     Googletest provides a variety of assertions, such as equality, inequality,
-    exceptions, and more, making it easy to test your code
+    exceptions, and more, making it easy to test your code.
 *   User-defined assertions: \
     You can define your own assertions with Googletest, making it simple to
-    write tests that are specific to your code
+    write tests that are specific to your code.
 *   Death tests: \
     Googletest supports death tests, which verify that your code exits in a
-    certain way, making it useful for testing error-handling code
+    certain way, making it useful for testing error-handling code.
 *   Fatal and non-fatal failures: \
     You can specify whether a test failure should be treated as fatal or
     non-fatal with Googletest, allowing tests to continue running even if a
-    failure occurs
+    failure occurs.
 *   Value-parameterized tests: \
     Googletest supports value-parameterized tests, which run multiple times with
     different input values, making it useful for testing functions that take
-    different inputs
+    different inputs.
 *   Type-parameterized tests: \
     Googletest also supports type-parameterized tests, which run with different
     data types, making it useful for testing functions that work with different
-    data types
+    data types.
 *   Various options for running tests: \
     Googletest provides many options for running tests including running
     individual tests, running tests in a specific order and running tests in
-    parallel
+    parallel.
 
 ## Supported Platforms
 
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h b/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h
index 5fe50e3d8e..b0a6bdefe6 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-actions.h
@@ -196,7 +196,7 @@ struct BuiltInDefaultValueGetter<T, false> {
 // other type T, the built-in default T value is undefined, and the
 // function will abort the process.
 template <typename T>
-class BuiltInDefaultValue {
+class [[nodiscard]] BuiltInDefaultValue {
  public:
   // This function returns true if and only if type T has a built-in default
   // value.
@@ -211,7 +211,7 @@ class BuiltInDefaultValue {
 // This partial specialization says that we use the same built-in
 // default value for T and const T.
 template <typename T>
-class BuiltInDefaultValue<const T> {
+class [[nodiscard]] BuiltInDefaultValue<const T> {
  public:
   static bool Exists() { return BuiltInDefaultValue<T>::Exists(); }
   static T Get() { return BuiltInDefaultValue<T>::Get(); }
@@ -220,7 +220,7 @@ class BuiltInDefaultValue<const T> {
 // This partial specialization defines the default values for pointer
 // types.
 template <typename T>
-class BuiltInDefaultValue<T*> {
+class [[nodiscard]] BuiltInDefaultValue<T*> {
  public:
   static bool Exists() { return true; }
   static T* Get() { return nullptr; }
@@ -383,7 +383,7 @@ typename std::add_const<T>::type& as_const(T& t) {
 
 // Specialized for function types below.
 template <typename F>
-class OnceAction;
+class [[nodiscard]] OnceAction;
 
 // An action that can only be used once.
 //
@@ -421,27 +421,26 @@ class OnceAction;
 // A less-contrived example would be an action that returns an arbitrary type,
 // whose &&-qualified call operator is capable of dealing with move-only types.
 template <typename Result, typename... Args>
-class OnceAction<Result(Args...)> final {
+class [[nodiscard]] OnceAction<Result(Args...)> final {
  private:
   // True iff we can use the given callable type (or lvalue reference) directly
   // via StdFunctionAdaptor.
   template <typename Callable>
   using IsDirectlyCompatible = internal::conjunction<
-      // It must be possible to capture the callable in StdFunctionAdaptor.
-      std::is_constructible<typename std::decay<Callable>::type, Callable>,
       // The callable must be compatible with our signature.
-      internal::is_callable_r<Result, typename std::decay<Callable>::type,
-                              Args...>>;
+      internal::is_callable_r<Result, std::decay_t<Callable>, Args...>,
+      // It must be possible to capture the callable in StdFunctionAdaptor.
+      std::is_constructible<std::decay_t<Callable>, Callable>>;
 
   // True iff we can use the given callable type via StdFunctionAdaptor once we
   // ignore incoming arguments.
   template <typename Callable>
   using IsCompatibleAfterIgnoringArguments = internal::conjunction<
-      // It must be possible to capture the callable in a lambda.
-      std::is_constructible<typename std::decay<Callable>::type, Callable>,
       // The callable must be invocable with zero arguments, returning something
       // convertible to Result.
-      internal::is_callable_r<Result, typename std::decay<Callable>::type>>;
+      internal::is_callable_r<Result, std::decay_t<Callable>>,
+      // It must be possible to capture the callable in a lambda.
+      std::is_constructible<std::decay_t<Callable>, Callable>>;
 
  public:
   // Construct from a callable that is directly compatible with our mocked
@@ -574,7 +573,7 @@ class OnceAction<Result(Args...)> final {
 //   // Sets the default value for type T to be foo.
 //   DefaultValue<T>::Set(foo);
 template <typename T>
-class DefaultValue {
+class [[nodiscard]] DefaultValue {
  public:
   // Sets the default value for type T; requires T to be
   // copy-constructable and have a public destructor.
@@ -651,7 +650,7 @@ class DefaultValue {
 // This partial specialization allows a user to set default values for
 // reference types.
 template <typename T>
-class DefaultValue<T&> {
+class [[nodiscard]] DefaultValue<T&> {
  public:
   // Sets the default value for type T&.
   static void Set(T& x) {  // NOLINT
@@ -685,7 +684,7 @@ class DefaultValue<T&> {
 // This specialization allows DefaultValue<void>::Get() to
 // compile.
 template <>
-class DefaultValue<void> {
+class [[nodiscard]] DefaultValue<void> {
  public:
   static bool Exists() { return true; }
   static void Get() {}
@@ -701,7 +700,7 @@ T* DefaultValue<T&>::address_ = nullptr;
 
 // Implement this interface to define an action for function type F.
 template <typename F>
-class ActionInterface {
+class [[nodiscard]] ActionInterface {
  public:
   typedef typename internal::Function<F>::Result Result;
   typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
@@ -721,7 +720,7 @@ class ActionInterface {
 };
 
 template <typename F>
-class Action;
+class [[nodiscard]] Action;
 
 // An Action<R(Args...)> is a copyable and IMMUTABLE (except by assignment)
 // object that represents an action to be taken when a mock function of type
@@ -730,7 +729,7 @@ class Action;
 // can view an object implementing ActionInterface<F> as a concrete action
 // (including its current state), and an Action<F> object as a handle to it.
 template <typename R, typename... Args>
-class Action<R(Args...)> {
+class [[nodiscard]] Action<R(Args...)> {
  private:
   using F = R(Args...);
 
@@ -869,7 +868,7 @@ class Action<R(Args...)> {
 // the definition of Return(void) and SetArgumentPointee<N>(value) for
 // complete examples.
 template <typename Impl>
-class PolymorphicAction {
+class [[nodiscard]] PolymorphicAction {
  public:
   explicit PolymorphicAction(const Impl& impl) : impl_(impl) {}
 
@@ -929,7 +928,7 @@ struct ByMoveWrapper {
 
 // The general implementation of Return(R). Specializations follow below.
 template <typename R>
-class ReturnAction final {
+class [[nodiscard]] ReturnAction final {
  public:
   explicit ReturnAction(R value) : value_(std::move(value)) {}
 
@@ -1095,7 +1094,7 @@ class ReturnAction final {
 // the const call operator, checking at runtime that it isn't called more than
 // once, since the user has declared their intent to do so by using ByMove.
 template <typename T>
-class ReturnAction<ByMoveWrapper<T>> final {
+class [[nodiscard]] ReturnAction<ByMoveWrapper<T>> final {
  public:
   explicit ReturnAction(ByMoveWrapper<T> wrapper)
       : state_(new State(std::move(wrapper.payload))) {}
@@ -1122,7 +1121,7 @@ class ReturnAction<ByMoveWrapper<T>> final {
 };
 
 // Implements the ReturnNull() action.
-class ReturnNullAction {
+class [[nodiscard]] ReturnNullAction {
  public:
   // Allows ReturnNull() to be used in any pointer-returning function. In C++11
   // this is enforced by returning nullptr, and in non-C++11 by asserting a
@@ -1134,7 +1133,7 @@ class ReturnNullAction {
 };
 
 // Implements the Return() action.
-class ReturnVoidAction {
+class [[nodiscard]] ReturnVoidAction {
  public:
   // Allows Return() to be used in any void-returning function.
   template <typename Result, typename ArgumentTuple>
@@ -1147,7 +1146,7 @@ class ReturnVoidAction {
 // in any function that returns a reference to the type of x,
 // regardless of the argument types.
 template <typename T>
-class ReturnRefAction {
+class [[nodiscard]] ReturnRefAction {
  public:
   // Constructs a ReturnRefAction object from the reference to be returned.
   explicit ReturnRefAction(T& ref) : ref_(ref) {}  // NOLINT
@@ -1188,7 +1187,7 @@ class ReturnRefAction {
 // used in any function that returns a reference to the type of x,
 // regardless of the argument types.
 template <typename T>
-class ReturnRefOfCopyAction {
+class [[nodiscard]] ReturnRefOfCopyAction {
  public:
   // Constructs a ReturnRefOfCopyAction object from the reference to
   // be returned.
@@ -1229,7 +1228,7 @@ class ReturnRefOfCopyAction {
 // Implements the polymorphic ReturnRoundRobin(v) action, which can be
 // used in any function that returns the element_type of v.
 template <typename T>
-class ReturnRoundRobinAction {
+class [[nodiscard]] ReturnRoundRobinAction {
  public:
   explicit ReturnRoundRobinAction(std::vector<T> values) {
     GTEST_CHECK_(!values.empty())
@@ -1257,7 +1256,7 @@ class ReturnRoundRobinAction {
 };
 
 // Implements the polymorphic DoDefault() action.
-class DoDefaultAction {
+class [[nodiscard]] DoDefaultAction {
  public:
   // This template type conversion operator allows DoDefault() to be
   // used in any function.
@@ -1270,7 +1269,7 @@ class DoDefaultAction {
 // Implements the Assign action to set a given pointer referent to a
 // particular value.
 template <typename T1, typename T2>
-class AssignAction {
+class [[nodiscard]] AssignAction {
  public:
   AssignAction(T1* ptr, T2 value) : ptr_(ptr), value_(value) {}
 
@@ -1289,7 +1288,7 @@ class AssignAction {
 // Implements the SetErrnoAndReturn action to simulate return from
 // various system calls and libc functions.
 template <typename T>
-class SetErrnoAndReturnAction {
+class [[nodiscard]] SetErrnoAndReturnAction {
  public:
   SetErrnoAndReturnAction(int errno_value, T result)
       : errno_(errno_value), result_(result) {}
@@ -1331,22 +1330,6 @@ struct InvokeMethodAction {
   }
 };
 
-// Implements the InvokeWithoutArgs(f) action.  The template argument
-// FunctionImpl is the implementation type of f, which can be either a
-// function pointer or a functor.  InvokeWithoutArgs(f) can be used as an
-// Action<F> as long as f's type is compatible with F.
-template <typename FunctionImpl>
-struct InvokeWithoutArgsAction {
-  FunctionImpl function_impl;
-
-  // Allows InvokeWithoutArgs(f) to be used as any action whose type is
-  // compatible with f.
-  template <typename... Args>
-  auto operator()(const Args&...) -> decltype(function_impl()) {
-    return function_impl();
-  }
-};
-
 // Implements the InvokeWithoutArgs(object_ptr, &Class::Method) action.
 template <class Class, typename MethodPtr>
 struct InvokeMethodWithoutArgsAction {
@@ -1397,7 +1380,7 @@ class IgnoreResultAction {
 
     void Perform(const ArgumentTuple& args) override {
       // Performs the action and ignores its result.
-      action_.Perform(args);
+      (void)action_.Perform(args);
     }
 
    private:
@@ -1503,11 +1486,11 @@ struct WithArgsAction {
 };
 
 template <typename... Actions>
-class DoAllAction;
+class [[nodiscard]] DoAllAction;
 
 // Base case: only a single action.
 template <typename FinalAction>
-class DoAllAction<FinalAction> {
+class [[nodiscard]] DoAllAction<FinalAction> {
  public:
   struct UserConstructorTag {};
 
@@ -1561,7 +1544,7 @@ class DoAllAction<FinalAction> {
 // Recursive case: support N actions by calling the initial action and then
 // calling through to the base class containing N-1 actions.
 template <typename InitialAction, typename... OtherActions>
-class DoAllAction<InitialAction, OtherActions...>
+class [[nodiscard]] DoAllAction<InitialAction, OtherActions...>
     : private DoAllAction<OtherActions...> {
  private:
   using Base = DoAllAction<OtherActions...>;
@@ -1796,11 +1779,24 @@ struct SetArrayArgumentAction {
 };
 
 template <size_t k>
-struct DeleteArgAction {
+class [[nodiscard]] DeleteArgAction {
+ public:
   template <typename... Args>
   void operator()(const Args&... args) const {
-    delete std::get<k>(std::tie(args...));
+    DoDelete(std::get<k>(std::tie(args...)));
   }
+
+ private:
+  template <typename T>
+  static void DoDelete(T* ptr) {
+    delete ptr;
+  }
+
+  template <typename T>
+  [[deprecated(
+      "DeleteArg<N> used for a non-pointer argument, it was likely migrated "
+      "to a smart pointer type. This action should be removed.")]]
+  static void DoDelete(T&) {}
 };
 
 template <typename Ptr>
@@ -1866,6 +1862,13 @@ struct RethrowAction {
 //   EXPECT_CALL(mock, Bar(5, _, _)).WillOnce(Invoke(DistanceToOrigin));
 typedef internal::IgnoredValue Unused;
 
+// Deprecated single-argument DoAll.
+template <typename Action>
+GTEST_INTERNAL_DEPRECATE_AND_INLINE("Avoid using DoAll() for single actions")
+typename std::decay<Action>::type DoAll(Action&& action) {
+  return std::forward<Action>(action);
+}
+
 // Creates an action that does actions a1, a2, ..., sequentially in
 // each invocation. All but the last action will have a readonly view of the
 // arguments.
@@ -2031,10 +2034,11 @@ PolymorphicAction<internal::SetErrnoAndReturnAction<T>> SetErrnoAndReturn(
 // Various overloads for Invoke().
 
 // Legacy function.
-// Actions can now be implicitly constructed from callables. No need to create
-// wrapper objects.
 // This function exists for backwards compatibility.
 template <typename FunctionImpl>
+GTEST_INTERNAL_DEPRECATE_AND_INLINE(
+    "Actions can now be implicitly constructed from callables. No need to "
+    "create wrapper objects using Invoke().")
 typename std::decay<FunctionImpl>::type Invoke(FunctionImpl&& function_impl) {
   return std::forward<FunctionImpl>(function_impl);
 }
@@ -2049,9 +2053,11 @@ internal::InvokeMethodAction<Class, MethodPtr> Invoke(Class* obj_ptr,
 
 // Creates an action that invokes 'function_impl' with no argument.
 template <typename FunctionImpl>
-internal::InvokeWithoutArgsAction<typename std::decay<FunctionImpl>::type>
-InvokeWithoutArgs(FunctionImpl function_impl) {
-  return {std::move(function_impl)};
+GTEST_INTERNAL_DEPRECATE_AND_INLINE(
+    "Actions can now be implicitly constructed from zero-argument callables. "
+    "No need to create wrapper objects using InvokeWithoutArgs().")
+std::decay_t<FunctionImpl> InvokeWithoutArgs(FunctionImpl&& function_impl) {
+  return std::forward<FunctionImpl>(function_impl);
 }
 
 // Creates an action that invokes the given method on the given object
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-cardinalities.h b/3rdparty/googletest/googlemock/include/gmock/gmock-cardinalities.h
index 533e604f32..c88c00c441 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-cardinalities.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-cardinalities.h
@@ -63,7 +63,7 @@ namespace testing {
 // management as Cardinality objects can now be copied like plain values.
 
 // The implementation of a cardinality.
-class CardinalityInterface {
+class [[nodiscard]] CardinalityInterface {
  public:
   virtual ~CardinalityInterface() = default;
 
@@ -88,7 +88,7 @@ class CardinalityInterface {
 // object that specifies how many times a mock function is expected to
 // be called.  The implementation of Cardinality is just a std::shared_ptr
 // to const CardinalityInterface. Don't inherit from Cardinality!
-class GTEST_API_ Cardinality {
+class GTEST_API_ [[nodiscard]] Cardinality {
  public:
   // Constructs a null cardinality.  Needed for storing Cardinality
   // objects in STL containers.
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h b/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h
index aa3a5eb16f..9caee1d6aa 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-matchers.h
@@ -258,7 +258,6 @@
 #include <algorithm>
 #include <cmath>
 #include <cstddef>
-#include <exception>
 #include <functional>
 #include <initializer_list>
 #include <ios>
@@ -268,14 +267,15 @@
 #include <ostream>  // NOLINT
 #include <sstream>
 #include <string>
+#include <tuple>
 #include <type_traits>
 #include <utility>
 #include <vector>
 
 #include "gmock/internal/gmock-internal-utils.h"
-#include "gmock/internal/gmock-port.h"
 #include "gmock/internal/gmock-pp.h"
 #include "gtest/gtest.h"
+#include "gtest/internal/gtest-internal.h"
 
 // MSVC warning C5046 is new as of VS2017 version 15.8.
 #if defined(_MSC_VER) && _MSC_VER >= 1915
@@ -284,6 +284,44 @@
 #define GMOCK_MAYBE_5046_
 #endif
 
+#if GTEST_HAS_RTTI
+namespace proto2 {
+namespace internal {
+
+// A type trait to essentially determine if `DynamicCastMessage` is available,
+// since older versions of protobuf don't have this function.
+template <typename T, typename = void>
+static constexpr bool kHasDynamicCastMessage = false;
+template <typename T>
+static constexpr bool kHasDynamicCastMessage<
+    T, std::void_t<decltype(DynamicCastMessage<T>(
+           std::declval<const proto2::MessageLite*>()))>> = true;
+
+// A helper function to call `DynamicCastMessage` if available, otherwise
+// falling back to `dynamic_cast`. Note that we must declare this function in
+// the `proto2` namespace because we need ADL to find the right
+// `DynamicCastMessage`, and ADL only applies to unqualified function calls.
+template <typename T>
+const T* DynamicCastMessageForGtest(const proto2::MessageLite* msg) {
+  if constexpr (kHasDynamicCastMessage<T>) {
+    return DynamicCastMessage<T>(msg);
+  } else {
+    return dynamic_cast<const T*>(msg);
+  }
+}
+template <typename T>
+T* DynamicCastMessageForGtest(proto2::MessageLite* msg) {
+  if constexpr (kHasDynamicCastMessage<T>) {
+    return DynamicCastMessage<T>(msg);
+  } else {
+    return dynamic_cast<T*>(msg);
+  }
+}
+
+}  // namespace internal
+}  // namespace proto2
+#endif  // GTEST_HAS_RTTI
+
 GTEST_DISABLE_MSC_WARNINGS_PUSH_(
     4251 GMOCK_MAYBE_5046_ /* class A needs to have dll-interface to be used by
                               clients of class B */
@@ -304,7 +342,7 @@ namespace testing {
 // plain values.
 
 // A match result listener that stores the explanation in a string.
-class StringMatchResultListener : public MatchResultListener {
+class [[nodiscard]] StringMatchResultListener : public MatchResultListener {
  public:
   StringMatchResultListener() : MatchResultListener(&ss_) {}
 
@@ -337,7 +375,7 @@ namespace internal {
 // Matcher but is not one yet; for example, Eq(value)) or a value (for
 // example, "hello").
 template <typename T, typename M>
-class MatcherCastImpl {
+class [[nodiscard]] MatcherCastImpl {
  public:
   static Matcher<T> Cast(const M& polymorphic_matcher_or_value) {
     // M can be a polymorphic matcher, in which case we want to use
@@ -376,11 +414,16 @@ class MatcherCastImpl {
 
   // M can't be implicitly converted to Matcher<T>, so M isn't a polymorphic
   // matcher. It's a value of a type implicitly convertible to T. Use direct
-  // initialization to create a matcher.
+  // initialization or `ImplicitCastEqMatcher` to create a matcher.
   static Matcher<T> CastImpl(const M& value,
                              std::false_type /* convertible_to_matcher */,
                              std::true_type /* convertible_to_T */) {
-    return Matcher<T>(ImplicitCast_<T>(value));
+    using NoRefT = std::remove_cv_t<std::remove_reference_t<T>>;
+    if constexpr (std::is_same_v<M, NoRefT>) {
+      return Matcher<T>(value);
+    } else {
+      return ImplicitCastEqMatcher<NoRefT, std::decay_t<const M&>>(value);
+    }
   }
 
   // M can't be implicitly converted to either Matcher<T> or T. Attempt to use
@@ -391,18 +434,18 @@ class MatcherCastImpl {
   // latter calls bool operator==(const Lhs& lhs, const Rhs& rhs) in the end
   // which might be undefined even when Rhs is implicitly convertible to Lhs
   // (e.g. std::pair<const int, int> vs. std::pair<int, int>).
-  //
-  // We don't define this method inline as we need the declaration of Eq().
   static Matcher<T> CastImpl(const M& value,
                              std::false_type /* convertible_to_matcher */,
-                             std::false_type /* convertible_to_T */);
+                             std::false_type /* convertible_to_T */) {
+    return Eq(value);
+  }
 };
 
 // This more specialized version is used when MatcherCast()'s argument
 // is already a Matcher.  This only compiles when type T can be
 // statically converted to type U.
 template <typename T, typename U>
-class MatcherCastImpl<T, Matcher<U>> {
+class [[nodiscard]] MatcherCastImpl<T, Matcher<U>> {
  public:
   static Matcher<T> Cast(const Matcher<U>& source_matcher) {
     return Matcher<T>(new Impl(source_matcher));
@@ -464,14 +507,14 @@ class MatcherCastImpl<T, Matcher<U>> {
 // This even more specialized version is used for efficiently casting
 // a matcher to its own type.
 template <typename T>
-class MatcherCastImpl<T, Matcher<T>> {
+class [[nodiscard]] MatcherCastImpl<T, Matcher<T>> {
  public:
   static Matcher<T> Cast(const Matcher<T>& matcher) { return matcher; }
 };
 
 // Template specialization for parameterless Matcher.
 template <typename Derived>
-class MatcherBaseImpl {
+class [[nodiscard]] MatcherBaseImpl {
  public:
   MatcherBaseImpl() = default;
 
@@ -484,7 +527,7 @@ class MatcherBaseImpl {
 
 // Template specialization for Matcher with parameters.
 template <template <typename...> class Derived, typename... Ts>
-class MatcherBaseImpl<Derived<Ts...>> {
+class [[nodiscard]] MatcherBaseImpl<Derived<Ts...>> {
  public:
   // Mark the constructor explicit for single argument T to avoid implicit
   // conversions.
@@ -622,7 +665,7 @@ bool MatchPrintAndExplain(Value& value, const Matcher<T>& matcher,
 // An internal helper class for doing compile-time loop on a tuple's
 // fields.
 template <size_t N>
-class TuplePrefix {
+class [[nodiscard]] TuplePrefix {
  public:
   // TuplePrefix<N>::Matches(matcher_tuple, value_tuple) returns true
   // if and only if the first N fields of matcher_tuple matches
@@ -670,7 +713,7 @@ class TuplePrefix {
 
 // The base case.
 template <>
-class TuplePrefix<0> {
+class [[nodiscard]] TuplePrefix<0> {
  public:
   template <typename MatcherTuple, typename ValueTuple>
   static bool Matches(const MatcherTuple& /* matcher_tuple */,
@@ -715,7 +758,7 @@ void ExplainMatchFailureTupleTo(const MatcherTuple& matchers,
 // TransformTupleValuesHelper hides the internal machinery that
 // TransformTupleValues uses to implement a tuple traversal.
 template <typename Tuple, typename Func, typename OutIter>
-class TransformTupleValuesHelper {
+class [[nodiscard]] TransformTupleValuesHelper {
  private:
   typedef ::std::tuple_size<Tuple> TupleSize;
 
@@ -754,7 +797,7 @@ OutIter TransformTupleValues(Func f, const Tuple& t, OutIter out) {
 // type.  This is a polymorphic matcher, so we need a template type
 // conversion operator to make it appearing as a Matcher<T> for any
 // type T.
-class AnythingMatcher {
+class [[nodiscard]] AnythingMatcher {
  public:
   using is_gtest_matcher = void;
 
@@ -773,12 +816,16 @@ class AnythingMatcher {
 
 // Implements the polymorphic IsNull() matcher, which matches any raw or smart
 // pointer that is NULL.
-class IsNullMatcher {
+class [[nodiscard]] IsNullMatcher {
  public:
   template <typename Pointer>
   bool MatchAndExplain(const Pointer& p,
                        MatchResultListener* /* listener */) const {
-    return p == nullptr;
+    if constexpr (std::is_function_v<Pointer>) {
+      return false;
+    } else {
+      return p == nullptr;
+    }
   }
 
   void DescribeTo(::std::ostream* os) const { *os << "is NULL"; }
@@ -787,12 +834,16 @@ class IsNullMatcher {
 
 // Implements the polymorphic NotNull() matcher, which matches any raw or smart
 // pointer that is not NULL.
-class NotNullMatcher {
+class [[nodiscard]] NotNullMatcher {
  public:
   template <typename Pointer>
   bool MatchAndExplain(const Pointer& p,
                        MatchResultListener* /* listener */) const {
-    return p != nullptr;
+    if constexpr (std::is_function_v<Pointer>) {
+      return true;
+    } else {
+      return p != nullptr;
+    }
   }
 
   void DescribeTo(::std::ostream* os) const { *os << "isn't NULL"; }
@@ -813,10 +864,10 @@ class NotNullMatcher {
 //   Matcher<int> m1 = Ref(n);   // This won't compile.
 //   Matcher<int&> m2 = Ref(n);  // This will compile.
 template <typename T>
-class RefMatcher;
+class [[nodiscard]] RefMatcher;
 
 template <typename T>
-class RefMatcher<T&> {
+class [[nodiscard]] RefMatcher<T&> {
   // Google Mock is a generic framework and thus needs to support
   // mocking any function types, including those that take non-const
   // reference arguments.  Therefore the template parameter T (and
@@ -905,14 +956,13 @@ bool CaseInsensitiveStringEquals(const StringType& s1, const StringType& s2) {
 
 // Implements equality-based string matchers like StrEq, StrCaseNe, and etc.
 template <typename StringType>
-class StrEqualityMatcher {
+class [[nodiscard]] StrEqualityMatcher {
  public:
   StrEqualityMatcher(StringType str, bool expect_eq, bool case_sensitive)
       : string_(std::move(str)),
         expect_eq_(expect_eq),
         case_sensitive_(case_sensitive) {}
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
   bool MatchAndExplain(const internal::StringView& s,
                        MatchResultListener* listener) const {
     // This should fail to compile if StringView is used with wide
@@ -920,7 +970,6 @@ class StrEqualityMatcher {
     const StringType& str = std::string(s);
     return MatchAndExplain(str, listener);
   }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
   // Accepts pointer types, particularly:
   //   const char*
@@ -975,12 +1024,11 @@ class StrEqualityMatcher {
 // can be used as a Matcher<T> as long as T can be converted to a
 // string.
 template <typename StringType>
-class HasSubstrMatcher {
+class [[nodiscard]] HasSubstrMatcher {
  public:
   explicit HasSubstrMatcher(const StringType& substring)
       : substring_(substring) {}
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
   bool MatchAndExplain(const internal::StringView& s,
                        MatchResultListener* listener) const {
     // This should fail to compile if StringView is used with wide
@@ -988,7 +1036,6 @@ class HasSubstrMatcher {
     const StringType& str = std::string(s);
     return MatchAndExplain(str, listener);
   }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
   // Accepts pointer types, particularly:
   //   const char*
@@ -1029,11 +1076,10 @@ class HasSubstrMatcher {
 // can be used as a Matcher<T> as long as T can be converted to a
 // string.
 template <typename StringType>
-class StartsWithMatcher {
+class [[nodiscard]] StartsWithMatcher {
  public:
   explicit StartsWithMatcher(const StringType& prefix) : prefix_(prefix) {}
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
   bool MatchAndExplain(const internal::StringView& s,
                        MatchResultListener* listener) const {
     // This should fail to compile if StringView is used with wide
@@ -1041,7 +1087,6 @@ class StartsWithMatcher {
     const StringType& str = std::string(s);
     return MatchAndExplain(str, listener);
   }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
   // Accepts pointer types, particularly:
   //   const char*
@@ -1083,11 +1128,10 @@ class StartsWithMatcher {
 // can be used as a Matcher<T> as long as T can be converted to a
 // string.
 template <typename StringType>
-class EndsWithMatcher {
+class [[nodiscard]] EndsWithMatcher {
  public:
   explicit EndsWithMatcher(const StringType& suffix) : suffix_(suffix) {}
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
   bool MatchAndExplain(const internal::StringView& s,
                        MatchResultListener* listener) const {
     // This should fail to compile if StringView is used with wide
@@ -1095,7 +1139,6 @@ class EndsWithMatcher {
     const StringType& str = std::string(s);
     return MatchAndExplain(str, listener);
   }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
   // Accepts pointer types, particularly:
   //   const char*
@@ -1135,7 +1178,7 @@ class EndsWithMatcher {
 
 // Implements the polymorphic WhenBase64Unescaped(matcher) matcher, which can be
 // used as a Matcher<T> as long as T can be converted to a string.
-class WhenBase64UnescapedMatcher {
+class [[nodiscard]] WhenBase64UnescapedMatcher {
  public:
   using is_gtest_matcher = void;
 
@@ -1181,7 +1224,7 @@ class WhenBase64UnescapedMatcher {
 // etc).  Therefore we use a template type conversion operator in the
 // implementation.
 template <typename D, typename Op>
-class PairMatchBase {
+class [[nodiscard]] PairMatchBase {
  public:
   template <typename T1, typename T2>
   operator Matcher<::std::tuple<T1, T2>>() const {
@@ -1213,27 +1256,32 @@ class PairMatchBase {
   };
 };
 
-class Eq2Matcher : public PairMatchBase<Eq2Matcher, std::equal_to<>> {
+class [[nodiscard]] Eq2Matcher
+    : public PairMatchBase<Eq2Matcher, std::equal_to<>> {
  public:
   static const char* Desc() { return "an equal pair"; }
 };
-class Ne2Matcher : public PairMatchBase<Ne2Matcher, std::not_equal_to<>> {
+class [[nodiscard]] Ne2Matcher
+    : public PairMatchBase<Ne2Matcher, std::not_equal_to<>> {
  public:
   static const char* Desc() { return "an unequal pair"; }
 };
-class Lt2Matcher : public PairMatchBase<Lt2Matcher, std::less<>> {
+class [[nodiscard]] Lt2Matcher : public PairMatchBase<Lt2Matcher, std::less<>> {
  public:
   static const char* Desc() { return "a pair where the first < the second"; }
 };
-class Gt2Matcher : public PairMatchBase<Gt2Matcher, std::greater<>> {
+class [[nodiscard]] Gt2Matcher
+    : public PairMatchBase<Gt2Matcher, std::greater<>> {
  public:
   static const char* Desc() { return "a pair where the first > the second"; }
 };
-class Le2Matcher : public PairMatchBase<Le2Matcher, std::less_equal<>> {
+class [[nodiscard]] Le2Matcher
+    : public PairMatchBase<Le2Matcher, std::less_equal<>> {
  public:
   static const char* Desc() { return "a pair where the first <= the second"; }
 };
-class Ge2Matcher : public PairMatchBase<Ge2Matcher, std::greater_equal<>> {
+class [[nodiscard]] Ge2Matcher
+    : public PairMatchBase<Ge2Matcher, std::greater_equal<>> {
  public:
   static const char* Desc() { return "a pair where the first >= the second"; }
 };
@@ -1243,7 +1291,7 @@ class Ge2Matcher : public PairMatchBase<Ge2Matcher, std::greater_equal<>> {
 // will prevent different instantiations of NotMatcher from sharing
 // the same NotMatcherImpl<T> class.
 template <typename T>
-class NotMatcherImpl : public MatcherInterface<const T&> {
+class [[nodiscard]] NotMatcherImpl : public MatcherInterface<const T&> {
  public:
   explicit NotMatcherImpl(const Matcher<T>& matcher) : matcher_(matcher) {}
 
@@ -1267,7 +1315,7 @@ class NotMatcherImpl : public MatcherInterface<const T&> {
 // Implements the Not(m) matcher, which matches a value that doesn't
 // match matcher m.
 template <typename InnerMatcher>
-class NotMatcher {
+class [[nodiscard]] NotMatcher {
  public:
   explicit NotMatcher(InnerMatcher matcher) : matcher_(matcher) {}
 
@@ -1287,7 +1335,7 @@ class NotMatcher {
 // that will prevent different instantiations of BothOfMatcher from
 // sharing the same BothOfMatcherImpl<T> class.
 template <typename T>
-class AllOfMatcherImpl : public MatcherInterface<const T&> {
+class [[nodiscard]] AllOfMatcherImpl : public MatcherInterface<const T&> {
  public:
   explicit AllOfMatcherImpl(std::vector<Matcher<T>> matchers)
       : matchers_(std::move(matchers)) {}
@@ -1325,17 +1373,23 @@ class AllOfMatcherImpl : public MatcherInterface<const T&> {
     // However, if matcher doesn't provide one, this method uses matcher's
     // description.
     std::string all_match_result;
+    bool success = true;
     for (const Matcher<T>& matcher : matchers_) {
       StringMatchResultListener slistener;
       // Return explanation for first failed matcher.
       if (!matcher.MatchAndExplain(x, &slistener)) {
         const std::string explanation = slistener.str();
+        if (!success) {
+          // Already had a failure.
+          *listener << ", and ";
+        }
         if (!explanation.empty()) {
           *listener << explanation;
         } else {
           *listener << "which doesn't match (" << Describe(matcher) << ")";
         }
-        return false;
+        success = false;
+        continue;
       }
       // Keep track of explanations in case all matchers succeed.
       std::string explanation = slistener.str();
@@ -1352,8 +1406,10 @@ class AllOfMatcherImpl : public MatcherInterface<const T&> {
       }
     }
 
-    *listener << all_match_result;
-    return true;
+    if (success) {
+      *listener << all_match_result;
+    }
+    return success;
   }
 
  private:
@@ -1371,7 +1427,7 @@ class AllOfMatcherImpl : public MatcherInterface<const T&> {
 // CombiningMatcher<T> is used to recursively combine the provided matchers
 // (of type Args...).
 template <template <typename T> class CombiningMatcher, typename... Args>
-class VariadicMatcher {
+class [[nodiscard]] VariadicMatcher {
  public:
   VariadicMatcher(const Args&... matchers)  // NOLINT
       : matchers_(matchers...) {
@@ -1415,7 +1471,7 @@ using AllOfMatcher = VariadicMatcher<AllOfMatcherImpl, Args...>;
 // that will prevent different instantiations of AnyOfMatcher from
 // sharing the same EitherOfMatcherImpl<T> class.
 template <typename T>
-class AnyOfMatcherImpl : public MatcherInterface<const T&> {
+class [[nodiscard]] AnyOfMatcherImpl : public MatcherInterface<const T&> {
  public:
   explicit AnyOfMatcherImpl(std::vector<Matcher<T>> matchers)
       : matchers_(std::move(matchers)) {}
@@ -1507,7 +1563,7 @@ using AnyOfMatcher = VariadicMatcher<AnyOfMatcherImpl, Args...>;
 
 // ConditionalMatcher is the implementation of Conditional(cond, m1, m2)
 template <typename MatcherTrue, typename MatcherFalse>
-class ConditionalMatcher {
+class [[nodiscard]] ConditionalMatcher {
  public:
   ConditionalMatcher(bool condition, MatcherTrue matcher_true,
                      MatcherFalse matcher_false)
@@ -1529,7 +1585,7 @@ class ConditionalMatcher {
 
 // Wrapper for implementation of Any/AllOfArray().
 template <template <class> class MatcherImpl, typename T>
-class SomeOfArrayMatcher {
+class [[nodiscard]] SomeOfArrayMatcher {
  public:
   // Constructs the matcher from a sequence of element values or
   // element matchers.
@@ -1560,7 +1616,7 @@ using AnyOfArrayMatcher = SomeOfArrayMatcher<AnyOfMatcherImpl, T>;
 // Used for implementing Truly(pred), which turns a predicate into a
 // matcher.
 template <typename Predicate>
-class TrulyMatcher {
+class [[nodiscard]] TrulyMatcher {
  public:
   explicit TrulyMatcher(Predicate pred) : predicate_(pred) {}
 
@@ -1597,7 +1653,7 @@ class TrulyMatcher {
 // Used for implementing Matches(matcher), which turns a matcher into
 // a predicate.
 template <typename M>
-class MatcherAsPredicate {
+class [[nodiscard]] MatcherAsPredicate {
  public:
   explicit MatcherAsPredicate(M matcher) : matcher_(matcher) {}
 
@@ -1633,7 +1689,7 @@ class MatcherAsPredicate {
 // For implementing ASSERT_THAT() and EXPECT_THAT().  The template
 // argument M must be a type that can be converted to a matcher.
 template <typename M>
-class PredicateFormatterFromMatcher {
+class [[nodiscard]] PredicateFormatterFromMatcher {
  public:
   explicit PredicateFormatterFromMatcher(M m) : matcher_(std::move(m)) {}
 
@@ -1692,7 +1748,7 @@ inline PredicateFormatterFromMatcher<M> MakePredicateFormatterFromMatcher(
 
 // Implements the polymorphic IsNan() matcher, which matches any floating type
 // value that is Nan.
-class IsNanMatcher {
+class [[nodiscard]] IsNanMatcher {
  public:
   template <typename FloatType>
   bool MatchAndExplain(const FloatType& f,
@@ -1709,7 +1765,7 @@ class IsNanMatcher {
 // user-specified epsilon.  The template is meant to be instantiated with
 // FloatType being either float or double.
 template <typename FloatType>
-class FloatingEqMatcher {
+class [[nodiscard]] FloatingEqMatcher {
  public:
   // Constructor for FloatingEqMatcher.
   // The matcher's input will be compared with expected.  The matcher treats two
@@ -1857,7 +1913,7 @@ class FloatingEqMatcher {
 // against y. The former implements "Eq", the latter "Near". At present, there
 // is no version that compares NaNs as equal.
 template <typename FloatType>
-class FloatingEq2Matcher {
+class [[nodiscard]] FloatingEq2Matcher {
  public:
   FloatingEq2Matcher() { Init(-1, false); }
 
@@ -1929,7 +1985,7 @@ class FloatingEq2Matcher {
 // Implements the Pointee(m) matcher for matching a pointer whose
 // pointee matches matcher m.  The pointer can be either raw or smart.
 template <typename InnerMatcher>
-class PointeeMatcher {
+class [[nodiscard]] PointeeMatcher {
  public:
   explicit PointeeMatcher(const InnerMatcher& matcher) : matcher_(matcher) {}
 
@@ -1988,7 +2044,7 @@ class PointeeMatcher {
 // m.  The pointer can be either raw or smart, and will match `m` against the
 // raw pointer.
 template <typename InnerMatcher>
-class PointerMatcher {
+class [[nodiscard]] PointerMatcher {
  public:
   explicit PointerMatcher(const InnerMatcher& matcher) : matcher_(matcher) {}
 
@@ -2049,7 +2105,7 @@ class PointerMatcher {
 // If To is a reference and the cast fails, this matcher returns false
 // immediately.
 template <typename To>
-class WhenDynamicCastToMatcherBase {
+class [[nodiscard]] WhenDynamicCastToMatcherBase {
  public:
   explicit WhenDynamicCastToMatcherBase(const Matcher<To>& matcher)
       : matcher_(matcher) {}
@@ -2069,6 +2125,26 @@ class WhenDynamicCastToMatcherBase {
 
   static std::string GetToName() { return GetTypeName<To>(); }
 
+  template <typename From>
+  static auto DoDynamicCast(From& from) {
+    using ToType =
+        std::remove_const_t<std::remove_reference_t<std::remove_pointer_t<To>>>;
+
+    if constexpr (std::is_base_of_v<proto2::MessageLite, ToType>) {
+      if constexpr (std::is_pointer_v<To>) {
+        return proto2::internal::DynamicCastMessageForGtest<ToType>(from);
+      } else {
+        // We don't want an std::bad_cast here, so do the cast with pointers.
+        return proto2::internal::DynamicCastMessageForGtest<ToType>(&from);
+      }
+    } else if constexpr (std::is_pointer_v<To>) {
+      return dynamic_cast<To>(from);
+    } else {
+      // We don't want an std::bad_cast here, so do the cast with pointers.
+      return dynamic_cast<std::remove_reference_t<To>*>(&from);
+    }
+  }
+
  private:
   static void GetCastTypeDescription(::std::ostream* os) {
     *os << "when dynamic_cast to " << GetToName() << ", ";
@@ -2078,14 +2154,15 @@ class WhenDynamicCastToMatcherBase {
 // Primary template.
 // To is a pointer. Cast and forward the result.
 template <typename To>
-class WhenDynamicCastToMatcher : public WhenDynamicCastToMatcherBase<To> {
+class [[nodiscard]] WhenDynamicCastToMatcher
+    : public WhenDynamicCastToMatcherBase<To> {
  public:
   explicit WhenDynamicCastToMatcher(const Matcher<To>& matcher)
       : WhenDynamicCastToMatcherBase<To>(matcher) {}
 
   template <typename From>
   bool MatchAndExplain(From from, MatchResultListener* listener) const {
-    To to = dynamic_cast<To>(from);
+    To to = this->DoDynamicCast(from);
     return MatchPrintAndExplain(to, this->matcher_, listener);
   }
 };
@@ -2093,15 +2170,15 @@ class WhenDynamicCastToMatcher : public WhenDynamicCastToMatcherBase<To> {
 // Specialize for references.
 // In this case we return false if the dynamic_cast fails.
 template <typename To>
-class WhenDynamicCastToMatcher<To&> : public WhenDynamicCastToMatcherBase<To&> {
+class [[nodiscard]]
+WhenDynamicCastToMatcher<To&> : public WhenDynamicCastToMatcherBase<To&> {
  public:
   explicit WhenDynamicCastToMatcher(const Matcher<To&>& matcher)
       : WhenDynamicCastToMatcherBase<To&>(matcher) {}
 
   template <typename From>
   bool MatchAndExplain(From& from, MatchResultListener* listener) const {
-    // We don't want an std::bad_cast here, so do the cast with pointers.
-    To* to = dynamic_cast<To*>(&from);
+    To* to = this->DoDynamicCast(from);
     if (to == nullptr) {
       *listener << "which cannot be dynamic_cast to " << this->GetToName();
       return false;
@@ -2114,7 +2191,7 @@ class WhenDynamicCastToMatcher<To&> : public WhenDynamicCastToMatcherBase<To&> {
 // Implements the Field() matcher for matching a field (i.e. member
 // variable) of an object.
 template <typename Class, typename FieldType>
-class FieldMatcher {
+class [[nodiscard]] FieldMatcher {
  public:
   FieldMatcher(FieldType Class::* field,
                const Matcher<const FieldType&>& matcher)
@@ -2178,7 +2255,7 @@ class FieldMatcher {
 // Property is a const-qualified member function of Class returning
 // PropertyType.
 template <typename Class, typename PropertyType, typename Property>
-class PropertyMatcher {
+class [[nodiscard]] PropertyMatcher {
  public:
   typedef const PropertyType& RefToConstProperty;
 
@@ -2273,7 +2350,7 @@ struct CallableTraits<ResType (*)(ArgType)> {
 // Implements the ResultOf() matcher for matching a return value of a
 // unary function of an object.
 template <typename Callable, typename InnerMatcher>
-class ResultOfMatcher {
+class [[nodiscard]] ResultOfMatcher {
  public:
   ResultOfMatcher(Callable callable, InnerMatcher matcher)
       : ResultOfMatcher(/*result_description=*/"", std::move(callable),
@@ -2363,7 +2440,7 @@ class ResultOfMatcher {
 
 // Implements a matcher that checks the size of an STL-style container.
 template <typename SizeMatcher>
-class SizeIsMatcher {
+class [[nodiscard]] SizeIsMatcher {
  public:
   explicit SizeIsMatcher(const SizeMatcher& size_matcher)
       : size_matcher_(size_matcher) {}
@@ -2411,7 +2488,7 @@ class SizeIsMatcher {
 // Implements a matcher that checks the begin()..end() distance of an STL-style
 // container.
 template <typename DistanceMatcher>
-class BeginEndDistanceIsMatcher {
+class [[nodiscard]] BeginEndDistanceIsMatcher {
  public:
   explicit BeginEndDistanceIsMatcher(const DistanceMatcher& distance_matcher)
       : distance_matcher_(distance_matcher) {}
@@ -2475,7 +2552,7 @@ class BeginEndDistanceIsMatcher {
 // Uses the container's const_iterator, value_type, operator ==,
 // begin(), and end().
 template <typename Container>
-class ContainerEqMatcher {
+class [[nodiscard]] ContainerEqMatcher {
  public:
   typedef internal::StlContainerView<Container> View;
   typedef typename View::type StlContainer;
@@ -2562,7 +2639,7 @@ struct LessComparator {
 
 // Implements WhenSortedBy(comparator, container_matcher).
 template <typename Comparator, typename ContainerMatcher>
-class WhenSortedByMatcher {
+class [[nodiscard]] WhenSortedByMatcher {
  public:
   WhenSortedByMatcher(const Comparator& comparator,
                       const ContainerMatcher& matcher)
@@ -2583,9 +2660,9 @@ class WhenSortedByMatcher {
     typedef typename LhsView::const_reference LhsStlContainerReference;
     // Transforms std::pair<const Key, Value> into std::pair<Key, Value>
     // so that we can match associative containers.
-    typedef
-        typename RemoveConstFromKey<typename LhsStlContainer::value_type>::type
-            LhsValue;
+    typedef typename RemoveConstFromKey<
+        typename internal::RangeTraits<LhsStlContainer>::value_type>::type
+        LhsValue;
 
     Impl(const Comparator& comparator, const ContainerMatcher& matcher)
         : comparator_(comparator), matcher_(matcher) {}
@@ -2643,7 +2720,7 @@ class WhenSortedByMatcher {
 // T2&> >, where T1 and T2 are the types of elements in the LHS
 // container and the RHS container respectively.
 template <typename TupleMatcher, typename RhsContainer>
-class PointwiseMatcher {
+class [[nodiscard]] PointwiseMatcher {
   static_assert(
       !IsHashTable<GTEST_REMOVE_REFERENCE_AND_CONST_(RhsContainer)>::value,
       "use UnorderedPointwise with hash tables");
@@ -2651,7 +2728,7 @@ class PointwiseMatcher {
  public:
   typedef internal::StlContainerView<RhsContainer> RhsView;
   typedef typename RhsView::type RhsStlContainer;
-  typedef typename RhsStlContainer::value_type RhsValue;
+  typedef typename internal::RangeTraits<RhsStlContainer>::value_type RhsValue;
 
   static_assert(!std::is_const<RhsContainer>::value,
                 "RhsContainer type must not be const");
@@ -2681,7 +2758,8 @@ class PointwiseMatcher {
         LhsView;
     typedef typename LhsView::type LhsStlContainer;
     typedef typename LhsView::const_reference LhsStlContainerReference;
-    typedef typename LhsStlContainer::value_type LhsValue;
+    typedef
+        typename internal::RangeTraits<LhsStlContainer>::value_type LhsValue;
     // We pass the LHS value and the RHS value to the inner matcher by
     // reference, as they may be expensive to copy.  We must use tuple
     // instead of pair here, as a pair cannot hold references (C++ 98,
@@ -2761,13 +2839,13 @@ class PointwiseMatcher {
 
 // Holds the logic common to ContainsMatcherImpl and EachMatcherImpl.
 template <typename Container>
-class QuantifierMatcherImpl : public MatcherInterface<Container> {
+class [[nodiscard]] QuantifierMatcherImpl : public MatcherInterface<Container> {
  public:
   typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
   typedef StlContainerView<RawContainer> View;
   typedef typename View::type StlContainer;
   typedef typename View::const_reference StlContainerReference;
-  typedef typename StlContainer::value_type Element;
+  typedef typename internal::RangeTraits<StlContainer>::value_type Element;
 
   template <typename InnerMatcher>
   explicit QuantifierMatcherImpl(InnerMatcher inner_matcher)
@@ -2851,7 +2929,8 @@ class QuantifierMatcherImpl : public MatcherInterface<Container> {
 // Implements Contains(element_matcher) for the given argument type Container.
 // Symmetric to EachMatcherImpl.
 template <typename Container>
-class ContainsMatcherImpl : public QuantifierMatcherImpl<Container> {
+class [[nodiscard]] ContainsMatcherImpl
+    : public QuantifierMatcherImpl<Container> {
  public:
   template <typename InnerMatcher>
   explicit ContainsMatcherImpl(InnerMatcher inner_matcher)
@@ -2882,7 +2961,7 @@ class ContainsMatcherImpl : public QuantifierMatcherImpl<Container> {
 //   * GetDistance is the type of the functor for computing the distance between
 //     V and T.
 template <typename V, typename T, typename Distance, typename GetDistance>
-class DistanceFromMatcherImpl : public MatcherInterface<V> {
+class [[nodiscard]] DistanceFromMatcherImpl : public MatcherInterface<V> {
  public:
   // Arguments:
   //   * target: the target value.
@@ -2925,7 +3004,7 @@ class DistanceFromMatcherImpl : public MatcherInterface<V> {
 // Implements Each(element_matcher) for the given argument type Container.
 // Symmetric to ContainsMatcherImpl.
 template <typename Container>
-class EachMatcherImpl : public QuantifierMatcherImpl<Container> {
+class [[nodiscard]] EachMatcherImpl : public QuantifierMatcherImpl<Container> {
  public:
   template <typename InnerMatcher>
   explicit EachMatcherImpl(InnerMatcher inner_matcher)
@@ -2951,7 +3030,8 @@ class EachMatcherImpl : public QuantifierMatcherImpl<Container> {
 // Implements Contains(element_matcher).Times(n) for the given argument type
 // Container.
 template <typename Container>
-class ContainsTimesMatcherImpl : public QuantifierMatcherImpl<Container> {
+class [[nodiscard]] ContainsTimesMatcherImpl
+    : public QuantifierMatcherImpl<Container> {
  public:
   template <typename InnerMatcher>
   explicit ContainsTimesMatcherImpl(InnerMatcher inner_matcher,
@@ -2984,7 +3064,7 @@ class ContainsTimesMatcherImpl : public QuantifierMatcherImpl<Container> {
 
 // Implements polymorphic Contains(element_matcher).Times(n).
 template <typename M>
-class ContainsTimesMatcher {
+class [[nodiscard]] ContainsTimesMatcher {
  public:
   explicit ContainsTimesMatcher(M m, Matcher<size_t> count_matcher)
       : inner_matcher_(m), count_matcher_(std::move(count_matcher)) {}
@@ -3002,7 +3082,7 @@ class ContainsTimesMatcher {
 
 // Implements polymorphic Contains(element_matcher).
 template <typename M>
-class ContainsMatcher {
+class [[nodiscard]] ContainsMatcher {
  public:
   explicit ContainsMatcher(M m) : inner_matcher_(m) {}
 
@@ -3022,7 +3102,7 @@ class ContainsMatcher {
 
 // Implements polymorphic Each(element_matcher).
 template <typename M>
-class EachMatcher {
+class [[nodiscard]] EachMatcher {
  public:
   explicit EachMatcher(M m) : inner_matcher_(m) {}
 
@@ -3074,7 +3154,7 @@ struct DefaultGetDistance {
 //     the value being matched and the target.
 //   * DistanceMatcher is the type of the matcher for checking the distance.
 template <typename T, typename GetDistance, typename DistanceMatcher>
-class DistanceFromMatcher {
+class [[nodiscard]] DistanceFromMatcher {
  public:
   // Arguments:
   //   * target: the target value.
@@ -3108,7 +3188,7 @@ class DistanceFromMatcher {
 // inner_matcher.  For example, Contains(Key(Ge(5))) can be used to match an
 // std::map that contains at least one element whose key is >= 5.
 template <typename PairType>
-class KeyMatcherImpl : public MatcherInterface<PairType> {
+class [[nodiscard]] KeyMatcherImpl : public MatcherInterface<PairType> {
  public:
   typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
   typedef typename RawPairType::first_type KeyType;
@@ -3150,7 +3230,7 @@ class KeyMatcherImpl : public MatcherInterface<PairType> {
 
 // Implements polymorphic Key(matcher_for_key).
 template <typename M>
-class KeyMatcher {
+class [[nodiscard]] KeyMatcher {
  public:
   explicit KeyMatcher(M m) : matcher_for_key_(m) {}
 
@@ -3166,7 +3246,7 @@ class KeyMatcher {
 
 // Implements polymorphic Address(matcher_for_address).
 template <typename InnerMatcher>
-class AddressMatcher {
+class [[nodiscard]] AddressMatcher {
  public:
   explicit AddressMatcher(InnerMatcher m) : matcher_(m) {}
 
@@ -3210,7 +3290,7 @@ class AddressMatcher {
 // Implements Pair(first_matcher, second_matcher) for the given argument pair
 // type with its two matchers. See Pair() function below.
 template <typename PairType>
-class PairMatcherImpl : public MatcherInterface<PairType> {
+class [[nodiscard]] PairMatcherImpl : public MatcherInterface<PairType> {
  public:
   typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
   typedef typename RawPairType::first_type FirstType;
@@ -3293,7 +3373,7 @@ class PairMatcherImpl : public MatcherInterface<PairType> {
 
 // Implements polymorphic Pair(first_matcher, second_matcher).
 template <typename FirstMatcher, typename SecondMatcher>
-class PairMatcher {
+class [[nodiscard]] PairMatcher {
  public:
   PairMatcher(FirstMatcher first_matcher, SecondMatcher second_matcher)
       : first_matcher_(first_matcher), second_matcher_(second_matcher) {}
@@ -3433,6 +3513,35 @@ auto UnpackStructImpl(const T& in, std::make_index_sequence<22>, char) {
   return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
                   v);
 }
+
+template <typename T>
+auto UnpackStructImpl(const T& in, std::make_index_sequence<23>, char) {
+  const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u, v,
+               w] = in;
+  return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
+                  v, w);
+}
+template <typename T>
+auto UnpackStructImpl(const T& in, std::make_index_sequence<24>, char) {
+  const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u, v,
+               w, x] = in;
+  return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
+                  v, w, x);
+}
+template <typename T>
+auto UnpackStructImpl(const T& in, std::make_index_sequence<25>, char) {
+  const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u, v,
+               w, x, y] = in;
+  return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
+                  v, w, x, y);
+}
+template <typename T>
+auto UnpackStructImpl(const T& in, std::make_index_sequence<26>, char) {
+  const auto& [a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u, v,
+               w, x, y, z] = in;
+  return std::tie(a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s, t, u,
+                  v, w, x, y, z);
+}
 #endif  // defined(__cpp_structured_bindings)
 
 template <size_t I, typename T>
@@ -3448,10 +3557,10 @@ template <typename T, size_t N>
 void VariadicExpand(const T (&)[N]) {}
 
 template <typename Struct, typename StructSize>
-class FieldsAreMatcherImpl;
+class [[nodiscard]] FieldsAreMatcherImpl;
 
 template <typename Struct, size_t... I>
-class FieldsAreMatcherImpl<Struct, std::index_sequence<I...>>
+class [[nodiscard]] FieldsAreMatcherImpl<Struct, std::index_sequence<I...>>
     : public MatcherInterface<Struct> {
   using UnpackedType =
       decltype(UnpackStruct<sizeof...(I)>(std::declval<const Struct&>()));
@@ -3526,7 +3635,7 @@ class FieldsAreMatcherImpl<Struct, std::index_sequence<I...>>
 };
 
 template <typename... Inner>
-class FieldsAreMatcher {
+class [[nodiscard]] FieldsAreMatcher {
  public:
   explicit FieldsAreMatcher(Inner... inner) : matchers_(std::move(inner)...) {}
 
@@ -3543,13 +3652,14 @@ class FieldsAreMatcher {
 
 // Implements ElementsAre() and ElementsAreArray().
 template <typename Container>
-class ElementsAreMatcherImpl : public MatcherInterface<Container> {
+class [[nodiscard]] ElementsAreMatcherImpl
+    : public MatcherInterface<Container> {
  public:
   typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
   typedef internal::StlContainerView<RawContainer> View;
   typedef typename View::type StlContainer;
   typedef typename View::const_reference StlContainerReference;
-  typedef typename StlContainer::value_type Element;
+  typedef typename internal::RangeTraits<StlContainer>::value_type Element;
 
   // Constructs the matcher from a sequence of element values or
   // element matchers.
@@ -3719,7 +3829,7 @@ class ElementsAreMatcherImpl : public MatcherInterface<Container> {
 // Initially, there are no edges.
 // Use NextGraph() to iterate over all possible edge configurations.
 // Use Randomize() to generate a random edge configuration.
-class GTEST_API_ MatchMatrix {
+class GTEST_API_ [[nodiscard]] MatchMatrix {
  public:
   MatchMatrix(size_t num_elements, size_t num_matchers)
       : num_elements_(num_elements),
@@ -3776,7 +3886,7 @@ struct UnorderedMatcherRequire {
 // Untyped base class for implementing UnorderedElementsAre.  By
 // putting logic that's not specific to the element type here, we
 // reduce binary bloat and increase compilation speed.
-class GTEST_API_ UnorderedElementsAreMatcherImplBase {
+class GTEST_API_ [[nodiscard]] UnorderedElementsAreMatcherImplBase {
  protected:
   explicit UnorderedElementsAreMatcherImplBase(
       UnorderedMatcherRequire::Flags matcher_flags)
@@ -3816,7 +3926,7 @@ class GTEST_API_ UnorderedElementsAreMatcherImplBase {
 // Implements UnorderedElementsAre, UnorderedElementsAreArray, IsSubsetOf, and
 // IsSupersetOf.
 template <typename Container>
-class UnorderedElementsAreMatcherImpl
+class [[nodiscard]] UnorderedElementsAreMatcherImpl
     : public MatcherInterface<Container>,
       public UnorderedElementsAreMatcherImplBase {
  public:
@@ -3824,7 +3934,7 @@ class UnorderedElementsAreMatcherImpl
   typedef internal::StlContainerView<RawContainer> View;
   typedef typename View::type StlContainer;
   typedef typename View::const_reference StlContainerReference;
-  typedef typename StlContainer::value_type Element;
+  typedef typename internal::RangeTraits<StlContainer>::value_type Element;
 
   template <typename InputIter>
   UnorderedElementsAreMatcherImpl(UnorderedMatcherRequire::Flags matcher_flags,
@@ -3892,6 +4002,114 @@ class UnorderedElementsAreMatcherImpl
   ::std::vector<Matcher<const Element&>> matchers_;
 };
 
+// Implements ContainsSubequence().
+template <typename Container>
+class [[nodiscard]] ContainsSubsequenceMatcherImpl
+    : public MatcherInterface<Container> {
+ public:
+  typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+  typedef internal::StlContainerView<RawContainer> View;
+  typedef typename View::type StlContainer;
+  typedef typename View::const_reference StlContainerReference;
+  typedef typename internal::RangeTraits<StlContainer>::value_type Element;
+
+  // Constructs the matcher from a sequence of element values or
+  // element matchers.
+  template <typename InputIter>
+  ContainsSubsequenceMatcherImpl(InputIter first, InputIter last) {
+    std::copy(first, last, std::back_inserter(matchers_));
+  }
+
+  // Describes what this matcher does.
+  void DescribeTo(::std::ostream* os) const override {
+    if (matchers_.size() == 0) {
+      *os << "contains an empty sequence";
+      return;
+    }
+    *os << "contains in order a subsequence of elements that matches: ";
+    for (size_t i = 0; i != matchers_.size(); ++i) {
+      if (i > 0) {
+        *os << ", then ";
+      }
+      matchers_[i].DescribeTo(os);
+    }
+  }
+
+  // Describes what the negation of this matcher does.
+  void DescribeNegationTo(::std::ostream* os) const override {
+    if (matchers_.size() == 0) {
+      *os << "does not contain an empty sequence";
+      return;
+    }
+    *os << "does not contain in order a subsequence of elements that matches ";
+    for (size_t i = 0; i != matchers_.size(); ++i) {
+      if (i > 0) {
+        *os << ", then ";
+      }
+      matchers_[i].DescribeTo(os);
+    }
+  }
+
+  bool MatchAndExplain(Container container,
+                       MatchResultListener* listener) const override {
+    StlContainerReference stl_container = View::ConstReference(container);
+
+    size_t num_matches = 0;
+    // Track which elements match which matcher.
+    size_t num_elements_examined = 0;
+    std::vector<size_t> match_indices;
+    for (const auto& element : stl_container) {
+      if (num_matches == matchers_.size()) {
+        break;
+      }
+      StringMatchResultListener inner_listener;
+      if (matchers_[num_matches].MatchAndExplain(element, &inner_listener)) {
+        ++num_matches;
+        match_indices.push_back(num_elements_examined);
+      }
+
+      ++num_elements_examined;
+    }
+
+    if (num_matches < matchers_.size()) {
+      // We provide an explanation of the first matcher that failed to match
+      // when trying to match the subsequence greedily. A better approach would
+      // be to compute the longest common subsequence (LCS) between the
+      // elements and the matchers and then provide explanations for any
+      // remaining matchers and elements that couldn't match each other, but
+      // this introduces a fair bit of complexity.
+      if (listener->IsInterested()) {
+        for (size_t i = 0; i < match_indices.size(); ++i) {
+          *listener << "found match for matcher #" << i
+                    << " with element at position #" << match_indices[i]
+                    << ", ";
+        }
+
+        if (num_matches > 0) {
+          *listener << "but ";
+        }
+
+        *listener << "could not find a match for matcher #" << num_matches
+                  << " (";
+        matchers_[num_matches].DescribeTo(listener->stream());
+        *listener << ")";
+
+        if (num_matches > 0) {
+          *listener << " after the last match at position #"
+                    << match_indices[num_matches - 1];
+        }
+      }
+
+      return false;
+    }
+
+    return true;
+  }
+
+ private:
+  ::std::vector<Matcher<const Element&>> matchers_;
+};
+
 // Functor for use in TransformTuple.
 // Performs MatcherCast<Target> on an input argument of any type.
 template <typename Target>
@@ -3902,9 +4120,36 @@ struct CastAndAppendTransform {
   }
 };
 
+// Implements ContainsSubsequence.
+template <typename MatcherTuple>
+class [[nodiscard]] ContainsSubsequenceMatcher {
+ public:
+  explicit ContainsSubsequenceMatcher(const MatcherTuple& args)
+      : matchers_(args) {}
+
+  template <typename Container>
+  // NOLINTNEXTLINE(google-explicit-constructor)
+  operator Matcher<Container>() const {
+    typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+    typedef typename internal::StlContainerView<RawContainer>::type View;
+    typedef typename internal::RangeTraits<View>::value_type Element;
+    typedef ::std::vector<Matcher<const Element&>> MatcherVec;
+    MatcherVec matchers;
+    matchers.reserve(::std::tuple_size<MatcherTuple>::value);
+    TransformTupleValues(CastAndAppendTransform<const Element&>(), matchers_,
+                         ::std::back_inserter(matchers));
+    return Matcher<Container>(
+        new ContainsSubsequenceMatcherImpl<const Container&>(matchers.begin(),
+                                                             matchers.end()));
+  }
+
+ private:
+  const MatcherTuple matchers_;
+};
+
 // Implements UnorderedElementsAre.
 template <typename MatcherTuple>
-class UnorderedElementsAreMatcher {
+class [[nodiscard]] UnorderedElementsAreMatcher {
  public:
   explicit UnorderedElementsAreMatcher(const MatcherTuple& args)
       : matchers_(args) {}
@@ -3912,8 +4157,7 @@ class UnorderedElementsAreMatcher {
   template <typename Container>
   operator Matcher<Container>() const {
     typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
-    typedef typename internal::StlContainerView<RawContainer>::type View;
-    typedef typename View::value_type Element;
+    typedef typename internal::RangeTraits<RawContainer>::value_type Element;
     typedef ::std::vector<Matcher<const Element&>> MatcherVec;
     MatcherVec matchers;
     matchers.reserve(::std::tuple_size<MatcherTuple>::value);
@@ -3931,7 +4175,7 @@ class UnorderedElementsAreMatcher {
 
 // Implements ElementsAre.
 template <typename MatcherTuple>
-class ElementsAreMatcher {
+class [[nodiscard]] ElementsAreMatcher {
  public:
   explicit ElementsAreMatcher(const MatcherTuple& args) : matchers_(args) {}
 
@@ -3944,7 +4188,7 @@ class ElementsAreMatcher {
 
     typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
     typedef typename internal::StlContainerView<RawContainer>::type View;
-    typedef typename View::value_type Element;
+    typedef typename internal::RangeTraits<View>::value_type Element;
     typedef ::std::vector<Matcher<const Element&>> MatcherVec;
     MatcherVec matchers;
     matchers.reserve(::std::tuple_size<MatcherTuple>::value);
@@ -3960,7 +4204,7 @@ class ElementsAreMatcher {
 
 // Implements UnorderedElementsAreArray(), IsSubsetOf(), and IsSupersetOf().
 template <typename T>
-class UnorderedElementsAreArrayMatcher {
+class [[nodiscard]] UnorderedElementsAreArrayMatcher {
  public:
   template <typename Iter>
   UnorderedElementsAreArrayMatcher(UnorderedMatcherRequire::Flags match_flags,
@@ -3981,7 +4225,7 @@ class UnorderedElementsAreArrayMatcher {
 
 // Implements ElementsAreArray().
 template <typename T>
-class ElementsAreArrayMatcher {
+class [[nodiscard]] ElementsAreArrayMatcher {
  public:
   template <typename Iter>
   ElementsAreArrayMatcher(Iter first, Iter last) : matchers_(first, last) {}
@@ -4010,7 +4254,7 @@ class ElementsAreArrayMatcher {
 // instances of this class in a vector when implementing
 // UnorderedPointwise().
 template <typename Tuple2Matcher, typename Second>
-class BoundSecondMatcher {
+class [[nodiscard]] BoundSecondMatcher {
  public:
   BoundSecondMatcher(const Tuple2Matcher& tm, const Second& second)
       : tuple2_matcher_(tm), second_value_(second) {}
@@ -4101,7 +4345,7 @@ auto IsOptionalEngaged(const Optional& optional, Rank0)
 
 // Implements a matcher that checks the value of a optional<> type variable.
 template <typename ValueMatcher>
-class OptionalMatcher {
+class [[nodiscard]] OptionalMatcher {
  public:
   explicit OptionalMatcher(const ValueMatcher& value_matcher)
       : value_matcher_(value_matcher) {}
@@ -4165,7 +4409,7 @@ void get() {}
 
 // Implements a matcher that checks the value of a variant<> type variable.
 template <typename T>
-class VariantMatcher {
+class [[nodiscard]] VariantMatcher {
  public:
   explicit VariantMatcher(::testing::Matcher<const T&> matcher)
       : matcher_(std::move(matcher)) {}
@@ -4226,7 +4470,7 @@ void any_cast() {}
 
 // Implements a matcher that any_casts the value.
 template <typename T>
-class AnyCastMatcher {
+class [[nodiscard]] AnyCastMatcher {
  public:
   explicit AnyCastMatcher(const ::testing::Matcher<const T&>& matcher)
       : matcher_(matcher) {}
@@ -4281,7 +4525,7 @@ class AnyCastMatcher {
 
 // Implements the Args() matcher.
 template <class ArgsTuple, size_t... k>
-class ArgsMatcherImpl : public MatcherInterface<ArgsTuple> {
+class [[nodiscard]] ArgsMatcherImpl : public MatcherInterface<ArgsTuple> {
  public:
   using RawArgsTuple = typename std::decay<ArgsTuple>::type;
   using SelectedArgs =
@@ -4343,7 +4587,7 @@ class ArgsMatcherImpl : public MatcherInterface<ArgsTuple> {
 };
 
 template <class InnerMatcher, size_t... k>
-class ArgsMatcher {
+class [[nodiscard]] ArgsMatcher {
  public:
   explicit ArgsMatcher(InnerMatcher inner_matcher)
       : inner_matcher_(std::move(inner_matcher)) {}
@@ -4475,13 +4719,6 @@ inline Matcher<T> An() {
   return _;
 }
 
-template <typename T, typename M>
-Matcher<T> internal::MatcherCastImpl<T, M>::CastImpl(
-    const M& value, std::false_type /* convertible_to_matcher */,
-    std::false_type /* convertible_to_T */) {
-  return Eq(value);
-}
-
 // Creates a polymorphic matcher that matches any NULL pointer.
 inline PolymorphicMatcher<internal::IsNullMatcher> IsNull() {
   return MakePolymorphicMatcher(internal::IsNullMatcher());
@@ -4737,116 +4974,68 @@ internal::ResultOfMatcher<Callable, InnerMatcher> ResultOf(
 
 // Matches a string equal to str.
 template <typename T = std::string>
-PolymorphicMatcher<internal::StrEqualityMatcher<std::string>> StrEq(
-    const internal::StringLike<T>& str) {
+PolymorphicMatcher<internal::StrEqualityMatcher<internal::StringType<T>>> StrEq(
+    const T& str) {
   return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::string>(std::string(str), true, true));
+      internal::StrEqualityMatcher<internal::StringType<T>>(
+          internal::StringType<T>(str), true, true));
 }
 
 // Matches a string not equal to str.
 template <typename T = std::string>
-PolymorphicMatcher<internal::StrEqualityMatcher<std::string>> StrNe(
-    const internal::StringLike<T>& str) {
+PolymorphicMatcher<internal::StrEqualityMatcher<internal::StringType<T>>> StrNe(
+    const T& str) {
   return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::string>(std::string(str), false, true));
+      internal::StrEqualityMatcher<internal::StringType<T>>(
+          internal::StringType<T>(str), false, true));
 }
 
 // Matches a string equal to str, ignoring case.
 template <typename T = std::string>
-PolymorphicMatcher<internal::StrEqualityMatcher<std::string>> StrCaseEq(
-    const internal::StringLike<T>& str) {
+PolymorphicMatcher<internal::StrEqualityMatcher<internal::StringType<T>>>
+StrCaseEq(const T& str) {
   return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::string>(std::string(str), true, false));
+      internal::StrEqualityMatcher<internal::StringType<T>>(
+          internal::StringType<T>(str), true, false));
 }
 
 // Matches a string not equal to str, ignoring case.
 template <typename T = std::string>
-PolymorphicMatcher<internal::StrEqualityMatcher<std::string>> StrCaseNe(
-    const internal::StringLike<T>& str) {
-  return MakePolymorphicMatcher(internal::StrEqualityMatcher<std::string>(
-      std::string(str), false, false));
+PolymorphicMatcher<internal::StrEqualityMatcher<internal::StringType<T>>>
+StrCaseNe(const T& str) {
+  return MakePolymorphicMatcher(
+      internal::StrEqualityMatcher<internal::StringType<T>>(
+          internal::StringType<T>(str), false, false));
 }
 
 // Creates a matcher that matches any string, std::string, or C string
 // that contains the given substring.
 template <typename T = std::string>
-PolymorphicMatcher<internal::HasSubstrMatcher<std::string>> HasSubstr(
-    const internal::StringLike<T>& substring) {
+PolymorphicMatcher<internal::HasSubstrMatcher<internal::StringType<T>>>
+HasSubstr(const T& substring) {
   return MakePolymorphicMatcher(
-      internal::HasSubstrMatcher<std::string>(std::string(substring)));
+      internal::HasSubstrMatcher<internal::StringType<T>>(
+          internal::StringType<T>(substring)));
 }
 
 // Matches a string that starts with 'prefix' (case-sensitive).
 template <typename T = std::string>
-PolymorphicMatcher<internal::StartsWithMatcher<std::string>> StartsWith(
-    const internal::StringLike<T>& prefix) {
+PolymorphicMatcher<internal::StartsWithMatcher<internal::StringType<T>>>
+StartsWith(const T& prefix) {
   return MakePolymorphicMatcher(
-      internal::StartsWithMatcher<std::string>(std::string(prefix)));
+      internal::StartsWithMatcher<internal::StringType<T>>(
+          internal::StringType<T>(prefix)));
 }
 
 // Matches a string that ends with 'suffix' (case-sensitive).
 template <typename T = std::string>
-PolymorphicMatcher<internal::EndsWithMatcher<std::string>> EndsWith(
-    const internal::StringLike<T>& suffix) {
+PolymorphicMatcher<internal::EndsWithMatcher<internal::StringType<T>>> EndsWith(
+    const T& suffix) {
   return MakePolymorphicMatcher(
-      internal::EndsWithMatcher<std::string>(std::string(suffix)));
+      internal::EndsWithMatcher<internal::StringType<T>>(
+          internal::StringType<T>(suffix)));
 }
 
-#if GTEST_HAS_STD_WSTRING
-// Wide string matchers.
-
-// Matches a string equal to str.
-inline PolymorphicMatcher<internal::StrEqualityMatcher<std::wstring>> StrEq(
-    const std::wstring& str) {
-  return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::wstring>(str, true, true));
-}
-
-// Matches a string not equal to str.
-inline PolymorphicMatcher<internal::StrEqualityMatcher<std::wstring>> StrNe(
-    const std::wstring& str) {
-  return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::wstring>(str, false, true));
-}
-
-// Matches a string equal to str, ignoring case.
-inline PolymorphicMatcher<internal::StrEqualityMatcher<std::wstring>> StrCaseEq(
-    const std::wstring& str) {
-  return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::wstring>(str, true, false));
-}
-
-// Matches a string not equal to str, ignoring case.
-inline PolymorphicMatcher<internal::StrEqualityMatcher<std::wstring>> StrCaseNe(
-    const std::wstring& str) {
-  return MakePolymorphicMatcher(
-      internal::StrEqualityMatcher<std::wstring>(str, false, false));
-}
-
-// Creates a matcher that matches any ::wstring, std::wstring, or C wide string
-// that contains the given substring.
-inline PolymorphicMatcher<internal::HasSubstrMatcher<std::wstring>> HasSubstr(
-    const std::wstring& substring) {
-  return MakePolymorphicMatcher(
-      internal::HasSubstrMatcher<std::wstring>(substring));
-}
-
-// Matches a string that starts with 'prefix' (case-sensitive).
-inline PolymorphicMatcher<internal::StartsWithMatcher<std::wstring>> StartsWith(
-    const std::wstring& prefix) {
-  return MakePolymorphicMatcher(
-      internal::StartsWithMatcher<std::wstring>(prefix));
-}
-
-// Matches a string that ends with 'suffix' (case-sensitive).
-inline PolymorphicMatcher<internal::EndsWithMatcher<std::wstring>> EndsWith(
-    const std::wstring& suffix) {
-  return MakePolymorphicMatcher(
-      internal::EndsWithMatcher<std::wstring>(suffix));
-}
-
-#endif  // GTEST_HAS_STD_WSTRING
-
 // Creates a polymorphic matcher that matches a 2-tuple where the
 // first field == the second field.
 inline internal::Eq2Matcher Eq() { return internal::Eq2Matcher(); }
@@ -4940,9 +5129,9 @@ inline PolymorphicMatcher<internal::TrulyMatcher<Predicate>> Truly(
 }
 
 // Returns a matcher that matches the container size. The container must
-// support both size() and size_type which all STL-like containers provide.
-// Note that the parameter 'size' can be a value of type size_type as well as
-// matcher. For instance:
+// support size() which all STL-like containers provide.
+// Note that the parameter 'size' can be a value of type returned by size() as
+// well as a matcher. For instance:
 //   EXPECT_THAT(container, SizeIs(2));     // Checks container has 2 elements.
 //   EXPECT_THAT(container, SizeIs(Le(2));  // Checks container has at most 2.
 template <typename SizeMatcher>
@@ -5037,7 +5226,7 @@ UnorderedPointwise(const Tuple2Matcher& tuple2_matcher,
   // STL-style container and it being a native C-style array.
   typedef typename internal::StlContainerView<RhsContainer> RhsView;
   typedef typename RhsView::type RhsStlContainer;
-  typedef typename RhsStlContainer::value_type Second;
+  typedef typename internal::RangeTraits<RhsStlContainer>::value_type Second;
   const RhsStlContainer& rhs_stl_container =
       RhsView::ConstReference(rhs_container);
 
@@ -5378,6 +5567,18 @@ UnorderedElementsAre(const Args&... matchers) {
       std::make_tuple(matchers...));
 }
 
+// ContainsSubsequence(m1, m2, ..., mk) matches a container that contains
+// elements that match m1, m2, ..., mk in that order with possible gaps
+// between them.
+template <typename... Args>
+internal::ContainsSubsequenceMatcher<
+    ::std::tuple<typename ::std::decay<const Args&>::type...>>
+ContainsSubsequence(const Args&... matchers) {
+  return internal::ContainsSubsequenceMatcher<
+      ::std::tuple<typename ::std::decay<const Args&>::type...>>(
+      ::std::make_tuple(matchers...));
+}
+
 // Define variadic matcher versions.
 template <typename... Args>
 internal::AllOfMatcher<typename std::decay<const Args&>::type...> AllOf(
@@ -5504,7 +5705,7 @@ inline InnerMatcher AllArgs(const InnerMatcher& matcher) {
 // printable using 'PrintToString'. It is compatible with
 // std::optional/std::experimental::optional.
 // Note that to compare an optional type variable against nullopt you should
-// use Eq(nullopt) and not Eq(Optional(nullopt)). The latter implies that the
+// use Eq(nullopt) and not Optional(Eq(nullopt)). The latter implies that the
 // optional value contains an optional itself.
 template <typename ValueMatcher>
 inline internal::OptionalMatcher<ValueMatcher> Optional(
@@ -5537,7 +5738,7 @@ PolymorphicMatcher<internal::variant_matcher::VariantMatcher<T>> VariantWith(
 // and must not be used in user code!
 namespace internal {
 
-class WithWhatMatcherImpl {
+class [[nodiscard]] WithWhatMatcherImpl {
  public:
   WithWhatMatcherImpl(Matcher<std::string> matcher)
       : matcher_(std::move(matcher)) {}
@@ -5569,7 +5770,7 @@ inline PolymorphicMatcher<WithWhatMatcherImpl> WithWhat(
 }
 
 template <typename Err>
-class ExceptionMatcherImpl {
+class [[nodiscard]] ExceptionMatcherImpl {
   class NeverThrown {
    public:
     const char* what() const noexcept {
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-more-matchers.h b/3rdparty/googletest/googlemock/include/gmock/gmock-more-matchers.h
index 54ea68be96..9d9688ef01 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-more-matchers.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-more-matchers.h
@@ -61,7 +61,7 @@ namespace internal {
 // Implements the polymorphic IsEmpty matcher, which
 // can be used as a Matcher<T> as long as T is either a container that defines
 // empty() and size() (e.g. std::vector or std::string), or a C-style string.
-class IsEmptyMatcher {
+class [[nodiscard]] IsEmptyMatcher {
  public:
   // Matches anything that defines empty() and size().
   template <typename MatcheeContainerType>
@@ -76,9 +76,22 @@ class IsEmptyMatcher {
 
   // Matches C-style strings.
   bool MatchAndExplain(const char* s, MatchResultListener* listener) const {
+    if (s == nullptr) {
+      return false;
+    }
     return MatchAndExplain(std::string(s), listener);
   }
 
+#if GTEST_HAS_STD_WSTRING
+  // Matches C-style wide strings.
+  bool MatchAndExplain(const wchar_t* s, MatchResultListener* listener) const {
+    if (s == nullptr) {
+      return false;
+    }
+    return MatchAndExplain(std::wstring(s), listener);
+  }
+#endif  // GTEST_HAS_STD_WSTRING
+
   // Describes what this matcher matches.
   void DescribeTo(std::ostream* os) const { *os << "is empty"; }
 
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-nice-strict.h b/3rdparty/googletest/googlemock/include/gmock/gmock-nice-strict.h
index 056d471417..5a3537e2bf 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-nice-strict.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-nice-strict.h
@@ -71,11 +71,11 @@
 
 namespace testing {
 template <class MockClass>
-class NiceMock;
+class [[nodiscard]] NiceMock;
 template <class MockClass>
-class NaggyMock;
+class [[nodiscard]] NaggyMock;
 template <class MockClass>
-class StrictMock;
+class [[nodiscard]] StrictMock;
 
 namespace internal {
 template <typename T>
@@ -108,7 +108,7 @@ constexpr bool HasStrictnessModifier() {
 #endif
 
 template <typename Base>
-class NiceMockImpl {
+class [[nodiscard]] NiceMockImpl {
  public:
   NiceMockImpl() {
     ::testing::Mock::AllowUninterestingCalls(reinterpret_cast<uintptr_t>(this));
@@ -120,7 +120,7 @@ class NiceMockImpl {
 };
 
 template <typename Base>
-class NaggyMockImpl {
+class [[nodiscard]] NaggyMockImpl {
  public:
   NaggyMockImpl() {
     ::testing::Mock::WarnUninterestingCalls(reinterpret_cast<uintptr_t>(this));
@@ -132,7 +132,7 @@ class NaggyMockImpl {
 };
 
 template <typename Base>
-class StrictMockImpl {
+class [[nodiscard]] StrictMockImpl {
  public:
   StrictMockImpl() {
     ::testing::Mock::FailUninterestingCalls(reinterpret_cast<uintptr_t>(this));
@@ -146,7 +146,7 @@ class StrictMockImpl {
 }  // namespace internal
 
 template <class MockClass>
-class GTEST_INTERNAL_EMPTY_BASE_CLASS NiceMock
+class [[nodiscard]] GTEST_INTERNAL_EMPTY_BASE_CLASS NiceMock
     : private internal::NiceMockImpl<MockClass>,
       public MockClass {
  public:
@@ -187,7 +187,7 @@ class GTEST_INTERNAL_EMPTY_BASE_CLASS NiceMock
 };
 
 template <class MockClass>
-class GTEST_INTERNAL_EMPTY_BASE_CLASS NaggyMock
+class [[nodiscard]] GTEST_INTERNAL_EMPTY_BASE_CLASS NaggyMock
     : private internal::NaggyMockImpl<MockClass>,
       public MockClass {
   static_assert(!internal::HasStrictnessModifier<MockClass>(),
@@ -229,7 +229,7 @@ class GTEST_INTERNAL_EMPTY_BASE_CLASS NaggyMock
 };
 
 template <class MockClass>
-class GTEST_INTERNAL_EMPTY_BASE_CLASS StrictMock
+class [[nodiscard]] GTEST_INTERNAL_EMPTY_BASE_CLASS StrictMock
     : private internal::StrictMockImpl<MockClass>,
       public MockClass {
  public:
diff --git a/3rdparty/googletest/googlemock/include/gmock/gmock-spec-builders.h b/3rdparty/googletest/googlemock/include/gmock/gmock-spec-builders.h
index c4c42b7c59..1be93588cb 100644
--- a/3rdparty/googletest/googlemock/include/gmock/gmock-spec-builders.h
+++ b/3rdparty/googletest/googlemock/include/gmock/gmock-spec-builders.h
@@ -1292,10 +1292,10 @@ class MockSpec {
       : function_mocker_(function_mocker), matchers_(matchers) {}
 
   // Adds a new default action spec to the function mocker and returns
-  // the newly created spec.
-  internal::OnCallSpec<F>& InternalDefaultActionSetAt(const char* file,
-                                                      int line, const char* obj,
-                                                      const char* call) {
+  // the newly created spec. .WillByDefault() must be called on the returned
+  // object.
+  [[nodiscard]] internal::OnCallSpec<F>& InternalDefaultActionSetAt(
+      const char* file, int line, const char* obj, const char* call) {
     LogWithLocation(internal::kInfo, file, line,
                     std::string("ON_CALL(") + obj + ", " + call + ") invoked");
     return function_mocker_->AddNewOnCallSpec(file, line, matchers_);
@@ -1467,7 +1467,7 @@ class FunctionMocker<R(Args...)> final : public UntypedFunctionMockerBase {
   // function have been satisfied.  If not, it will report Google Test
   // non-fatal failures for the violations.
   ~FunctionMocker() override GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
-    MutexLock l(&g_gmock_mutex);
+    MutexLock l(g_gmock_mutex);
     VerifyAndClearExpectationsLocked();
     Mock::UnregisterLocked(this);
     ClearDefaultActionsLocked();
@@ -1530,7 +1530,7 @@ class FunctionMocker<R(Args...)> final : public UntypedFunctionMockerBase {
     UntypedOnCallSpecs specs_to_delete;
     untyped_on_call_specs_.swap(specs_to_delete);
 
-    g_gmock_mutex.Unlock();
+    g_gmock_mutex.unlock();
     for (UntypedOnCallSpecs::const_iterator it = specs_to_delete.begin();
          it != specs_to_delete.end(); ++it) {
       delete static_cast<const OnCallSpec<F>*>(*it);
@@ -1538,7 +1538,7 @@ class FunctionMocker<R(Args...)> final : public UntypedFunctionMockerBase {
 
     // Lock the mutex again, since the caller expects it to be locked when we
     // return.
-    g_gmock_mutex.Lock();
+    g_gmock_mutex.lock();
   }
 
   // Returns the result of invoking this mock function with the given
@@ -1646,7 +1646,7 @@ class FunctionMocker<R(Args...)> final : public UntypedFunctionMockerBase {
       GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
     const ArgumentTuple& args =
         *static_cast<const ArgumentTuple*>(untyped_args);
-    MutexLock l(&g_gmock_mutex);
+    MutexLock l(g_gmock_mutex);
     TypedExpectation<F>* exp = this->FindMatchingExpectationLocked(args);
     if (exp == nullptr) {  // A match wasn't found.
       this->FormatUnexpectedCallMessageLocked(args, what, why);
@@ -1957,6 +1957,11 @@ struct SignatureOf<R(Args...)> {
   using type = R(Args...);
 };
 
+template <typename R, typename... Args>
+struct SignatureOf<R(Args...) const> {
+  using type = R(Args...);
+};
+
 template <template <typename> class C, typename F>
 struct SignatureOf<C<F>,
                    typename std::enable_if<std::is_function<F>::value>::type>
@@ -2132,9 +2137,9 @@ GTEST_DISABLE_MSC_WARNINGS_POP_()  //  4251
 // second argument is an internal type derived from the method signature. The
 // failure to disambiguate two overloads of this method in the ON_CALL statement
 // is how we block callers from setting expectations on overloaded methods.
-#define GMOCK_ON_CALL_IMPL_(mock_expr, Setter, call)                    \
-  ((mock_expr).gmock_##call)(::testing::internal::GetWithoutMatchers(), \
-                             nullptr)                                   \
+#define GMOCK_ON_CALL_IMPL_(mock_expr, Setter, call)                      \
+  ((mock_expr).gmock_##call)(::testing::internal::WithoutMatchers::Get(), \
+                             nullptr)                                     \
       .Setter(__FILE__, __LINE__, #mock_expr, #call)
 
 #define ON_CALL(obj, call) \
diff --git a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h
index 8fc1ddc7ab..2982c244ee 100644
--- a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h
+++ b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-internal-utils.h
@@ -41,6 +41,7 @@
 
 #include <stdio.h>
 
+#include <iterator>
 #include <ostream>  // NOLINT
 #include <string>
 #include <type_traits>
@@ -193,11 +194,11 @@ using LosslessArithmeticConvertibleImpl = std::integral_constant<
        // Converting between integers of different widths is allowed so long
        // as the conversion does not go from signed to unsigned.
       (((sizeof(From) < sizeof(To)) &&
-        !(std::is_signed<From>::value && !std::is_signed<To>::value)) ||
+        !(std::is_signed_v<From> && !std::is_signed_v<To>)) ||
        // Converting between integers of the same width only requires the
        // two types to have the same signedness.
        ((sizeof(From) == sizeof(To)) &&
-        (std::is_signed<From>::value == std::is_signed<To>::value)))
+        (std::is_signed_v<From> == std::is_signed_v<To>)))
        ) ? true
       // Floating point conversions are lossless if and only if `To` is at least
       // as wide as `From`.
@@ -220,7 +221,7 @@ using LosslessArithmeticConvertible =
 
 // This interface knows how to report a Google Mock failure (either
 // non-fatal or fatal).
-class FailureReporterInterface {
+class [[nodiscard]] FailureReporterInterface {
  public:
   // The type of a failure (either non-fatal or fatal).
   enum FailureType { kNonfatal, kFatal };
@@ -296,14 +297,13 @@ GTEST_API_ void Log(LogSeverity severity, const std::string& message,
 //
 //    ON_CALL(mock, Method({}, nullptr))...
 //
-class WithoutMatchers {
+class [[nodiscard]] WithoutMatchers {
  private:
-  WithoutMatchers() {}
-  friend GTEST_API_ WithoutMatchers GetWithoutMatchers();
-};
+  WithoutMatchers() = default;
 
-// Internal use only: access the singleton instance of WithoutMatchers.
-GTEST_API_ WithoutMatchers GetWithoutMatchers();
+ public:
+  GTEST_API_ static WithoutMatchers Get();
+};
 
 // Invalid<T>() is usable as an expression of type T, but will terminate
 // the program with an assertion failure if actually run.  This is useful
@@ -323,6 +323,24 @@ inline T Invalid() {
 #endif
 }
 
+void GetValueType(const void*);
+
+template <class T>
+typename std::iterator_traits<
+    decltype(std::begin(std::declval<T&>()))>::value_type
+GetValueType(T*);
+
+template <class T, class = void>
+struct RangeTraits {
+  typedef decltype(internal::GetValueType(
+      static_cast<std::remove_reference_t<T>*>(nullptr))) value_type;
+};
+
+template <class T>
+struct RangeTraits<T, std::conditional_t<true, void, typename T::value_type>> {
+  typedef typename T::value_type value_type;
+};
+
 // Given a raw type (i.e. having no top-level reference or const
 // modifier) RawContainer that's either an STL-style container or a
 // native array, class StlContainerView<RawContainer> has the
@@ -340,13 +358,13 @@ inline T Invalid() {
 // This generic version is used when RawContainer itself is already an
 // STL-style container.
 template <class RawContainer>
-class StlContainerView {
+class [[nodiscard]] StlContainerView {
  public:
   typedef RawContainer type;
   typedef const type& const_reference;
 
   static const_reference ConstReference(const RawContainer& container) {
-    static_assert(!std::is_const<RawContainer>::value,
+    static_assert(!std::is_const_v<RawContainer>,
                   "RawContainer type must not be const");
     return container;
   }
@@ -355,7 +373,7 @@ class StlContainerView {
 
 // This specialization is used when RawContainer is a native array type.
 template <typename Element, size_t N>
-class StlContainerView<Element[N]> {
+class [[nodiscard]] StlContainerView<Element[N]> {
  public:
   typedef typename std::remove_const<Element>::type RawElement;
   typedef internal::NativeArray<RawElement> type;
@@ -367,7 +385,7 @@ class StlContainerView<Element[N]> {
   typedef const type const_reference;
 
   static const_reference ConstReference(const Element (&array)[N]) {
-    static_assert(std::is_same<Element, RawElement>::value,
+    static_assert(std::is_same_v<Element, RawElement>,
                   "Element type must not be const");
     return type(array, N, RelationToSourceReference());
   }
@@ -379,7 +397,7 @@ class StlContainerView<Element[N]> {
 // This specialization is used when RawContainer is a native array
 // represented as a (pointer, size) tuple.
 template <typename ElementPointer, typename Size>
-class StlContainerView< ::std::tuple<ElementPointer, Size> > {
+class [[nodiscard]] StlContainerView< ::std::tuple<ElementPointer, Size> > {
  public:
   typedef typename std::remove_const<
       typename std::pointer_traits<ElementPointer>::element_type>::type
@@ -429,14 +447,13 @@ auto ApplyImpl(F&& f, Tuple&& args, std::index_sequence<Idx...>)
 
 // Apply the function to a tuple of arguments.
 template <typename F, typename Tuple>
-auto Apply(F&& f, Tuple&& args)
-    -> decltype(ApplyImpl(
-        std::forward<F>(f), std::forward<Tuple>(args),
-        std::make_index_sequence<std::tuple_size<
-            typename std::remove_reference<Tuple>::type>::value>())) {
+auto Apply(F&& f, Tuple&& args) -> decltype(ApplyImpl(
+    std::forward<F>(f), std::forward<Tuple>(args),
+    std::make_index_sequence<
+        std::tuple_size_v<std::remove_reference_t<Tuple>>>())) {
   return ApplyImpl(std::forward<F>(f), std::forward<Tuple>(args),
-                   std::make_index_sequence<std::tuple_size<
-                       typename std::remove_reference<Tuple>::type>::value>());
+                   std::make_index_sequence<
+                       std::tuple_size_v<std::remove_reference_t<Tuple>>>());
 }
 
 // Template struct Function<F>, where F must be a function type, contains
@@ -472,7 +489,7 @@ struct Function<R(Args...)> {
 // See: https://github.com/google/googletest/issues/3931
 // Can be replaced with std::tuple_element_t in C++14.
 template <size_t I, typename T>
-using TupleElement = typename std::tuple_element<I, T>::type;
+using TupleElement = std::tuple_element_t<I, T>;
 
 bool Base64Unescape(const std::string& encoded, std::string* decoded);
 
diff --git a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-port.h b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-port.h
index 42d36d2f12..3bf0b818cb 100644
--- a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-port.h
+++ b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-port.h
@@ -86,11 +86,11 @@
 
 // Macros for declaring flags.
 #define GMOCK_DECLARE_bool_(name) \
-  ABSL_DECLARE_FLAG(bool, GMOCK_FLAG_NAME_(name))
+  GTEST_API_ ABSL_DECLARE_FLAG(bool, GMOCK_FLAG_NAME_(name))
 #define GMOCK_DECLARE_int32_(name) \
-  ABSL_DECLARE_FLAG(int32_t, GMOCK_FLAG_NAME_(name))
+  GTEST_API_ ABSL_DECLARE_FLAG(int32_t, GMOCK_FLAG_NAME_(name))
 #define GMOCK_DECLARE_string_(name) \
-  ABSL_DECLARE_FLAG(std::string, GMOCK_FLAG_NAME_(name))
+  GTEST_API_ ABSL_DECLARE_FLAG(std::string, GMOCK_FLAG_NAME_(name))
 
 #define GMOCK_FLAG_GET(name) ::absl::GetFlag(GMOCK_FLAG(name))
 #define GMOCK_FLAG_SET(name, value) \
diff --git a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-pp.h b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-pp.h
index 94d61c09c8..e3ba807ba6 100644
--- a/3rdparty/googletest/googlemock/include/gmock/internal/gmock-pp.h
+++ b/3rdparty/googletest/googlemock/include/gmock/internal/gmock-pp.h
@@ -25,16 +25,18 @@
 //   GMOCK_PP_NARG(x, y) => 2
 //   GMOCK_PP_NARG(PAIR) => 2
 //
-// Requires: the number of arguments after expansion is at most 15.
-#define GMOCK_PP_NARG(...) \
-  GMOCK_PP_INTERNAL_16TH(  \
-      (__VA_ARGS__, 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0))
+// Requires: the number of arguments after expansion is at most 31.
+#define GMOCK_PP_NARG(...)                                                     \
+  GMOCK_PP_INTERNAL_32ND((__VA_ARGS__, 31, 30, 29, 28, 27, 26, 25, 24, 23, 22, \
+                          21, 20, 19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9,   \
+                          8, 7, 6, 5, 4, 3, 2, 1, 0))
 
 // Returns 1 if the expansion of arguments has an unprotected comma. Otherwise
-// returns 0. Requires no more than 15 unprotected commas.
-#define GMOCK_PP_HAS_COMMA(...) \
-  GMOCK_PP_INTERNAL_16TH(       \
-      (__VA_ARGS__, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0))
+// returns 0. Requires no more than 31 unprotected commas.
+#define GMOCK_PP_HAS_COMMA(...)                                               \
+  GMOCK_PP_INTERNAL_32ND((__VA_ARGS__, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, \
+                          1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,  \
+                          0, 0))
 
 // Returns the first argument.
 #define GMOCK_PP_HEAD(...) GMOCK_PP_INTERNAL_HEAD((__VA_ARGS__, unusedArg))
@@ -51,7 +53,7 @@
 // If the arguments after expansion have no tokens, evaluates to `1`. Otherwise
 // evaluates to `0`.
 //
-// Requires: * the number of arguments after expansion is at most 15.
+// Requires: * the number of arguments after expansion is at most 31.
 //           * If the argument is a macro, it must be able to be called with one
 //             argument.
 //
@@ -104,7 +106,7 @@
 //   GMOCK_PP_NARG0(x, y) => 2
 //   GMOCK_PP_NARG0(PAIR) => 2
 //
-// Requires: * the number of arguments after expansion is at most 15.
+// Requires: * the number of arguments after expansion is at most 31.
 //           * If the argument is a macro, it must be able to be called with one
 //             argument.
 #define GMOCK_PP_NARG0(...) \
@@ -127,7 +129,7 @@
 // Expands to _Macro(0, _Data, e1) _Macro(1, _Data, e2) ... _Macro(K -1, _Data,
 // eK) as many of GMOCK_INTERNAL_NARG0 _Tuple.
 // Requires: * |_Macro| can be called with 3 arguments.
-//           * |_Tuple| expansion has no more than 15 elements.
+//           * |_Tuple| expansion has no more than 31 elements.
 #define GMOCK_PP_FOR_EACH(_Macro, _Data, _Tuple)                        \
   GMOCK_PP_CAT(GMOCK_PP_INTERNAL_FOR_EACH_IMPL_, GMOCK_PP_NARG0 _Tuple) \
   (0, _Macro, _Data, _Tuple)
@@ -135,20 +137,21 @@
 // Expands to _Macro(0, _Data, ) _Macro(1, _Data, ) ... _Macro(K - 1, _Data, )
 // Empty if _K = 0.
 // Requires: * |_Macro| can be called with 3 arguments.
-//           * |_K| literal between 0 and 15
+//           * |_K| literal between 0 and 31
 #define GMOCK_PP_REPEAT(_Macro, _Data, _N)           \
   GMOCK_PP_CAT(GMOCK_PP_INTERNAL_FOR_EACH_IMPL_, _N) \
   (0, _Macro, _Data, GMOCK_PP_INTENRAL_EMPTY_TUPLE)
 
-// Increments the argument, requires the argument to be between 0 and 15.
+// Increments the argument, requires the argument to be between 0 and 31.
 #define GMOCK_PP_INC(_i) GMOCK_PP_CAT(GMOCK_PP_INTERNAL_INC_, _i)
 
-// Returns comma if _i != 0. Requires _i to be between 0 and 15.
+// Returns comma if _i != 0. Requires _i to be between 0 and 31.
 #define GMOCK_PP_COMMA_IF(_i) GMOCK_PP_CAT(GMOCK_PP_INTERNAL_COMMA_IF_, _i)
 
 // Internal details follow. Do not use any of these symbols outside of this
 // file or we will break your code.
-#define GMOCK_PP_INTENRAL_EMPTY_TUPLE (, , , , , , , , , , , , , , , )
+#define GMOCK_PP_INTENRAL_EMPTY_TUPLE \
+  (, , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , )
 #define GMOCK_PP_INTERNAL_CAT(_1, _2) _1##_2
 #define GMOCK_PP_INTERNAL_STRINGIZE(...) #__VA_ARGS__
 #define GMOCK_PP_INTERNAL_CAT_5(_1, _2, _3, _4, _5) _1##_2##_3##_4##_5
@@ -164,12 +167,13 @@
 // tokens. We do that by using a "IDENTITY(MACRO PARENTHESIZED_ARGS)" macro. We
 // define one per possible macro that relies on this behavior. Note "_Args" must
 // be parenthesized.
-#define GMOCK_PP_INTERNAL_INTERNAL_16TH(_1, _2, _3, _4, _5, _6, _7, _8, _9, \
-                                        _10, _11, _12, _13, _14, _15, _16,  \
-                                        ...)                                \
-  _16
-#define GMOCK_PP_INTERNAL_16TH(_Args) \
-  GMOCK_PP_IDENTITY(GMOCK_PP_INTERNAL_INTERNAL_16TH _Args)
+#define GMOCK_PP_INTERNAL_INTERNAL_32ND(                                       \
+    _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, _11, _12, _13, _14, _15, _16,     \
+    _17, _18, _19, _20, _21, _22, _23, _24, _25, _26, _27, _28, _29, _30, _31, \
+    _32, ...)                                                                  \
+  _32
+#define GMOCK_PP_INTERNAL_32ND(_Args) \
+  GMOCK_PP_IDENTITY(GMOCK_PP_INTERNAL_INTERNAL_32ND _Args)
 #define GMOCK_PP_INTERNAL_INTERNAL_HEAD(_1, ...) _1
 #define GMOCK_PP_INTERNAL_HEAD(_Args) \
   GMOCK_PP_IDENTITY(GMOCK_PP_INTERNAL_INTERNAL_HEAD _Args)
@@ -198,6 +202,22 @@
 #define GMOCK_PP_INTERNAL_INC_13 14
 #define GMOCK_PP_INTERNAL_INC_14 15
 #define GMOCK_PP_INTERNAL_INC_15 16
+#define GMOCK_PP_INTERNAL_INC_16 17
+#define GMOCK_PP_INTERNAL_INC_17 18
+#define GMOCK_PP_INTERNAL_INC_18 19
+#define GMOCK_PP_INTERNAL_INC_19 20
+#define GMOCK_PP_INTERNAL_INC_20 21
+#define GMOCK_PP_INTERNAL_INC_21 22
+#define GMOCK_PP_INTERNAL_INC_22 23
+#define GMOCK_PP_INTERNAL_INC_23 24
+#define GMOCK_PP_INTERNAL_INC_24 25
+#define GMOCK_PP_INTERNAL_INC_25 26
+#define GMOCK_PP_INTERNAL_INC_26 27
+#define GMOCK_PP_INTERNAL_INC_27 28
+#define GMOCK_PP_INTERNAL_INC_28 29
+#define GMOCK_PP_INTERNAL_INC_29 30
+#define GMOCK_PP_INTERNAL_INC_30 31
+#define GMOCK_PP_INTERNAL_INC_31 32
 #define GMOCK_PP_INTERNAL_COMMA_IF_0
 #define GMOCK_PP_INTERNAL_COMMA_IF_1 ,
 #define GMOCK_PP_INTERNAL_COMMA_IF_2 ,
@@ -214,6 +234,22 @@
 #define GMOCK_PP_INTERNAL_COMMA_IF_13 ,
 #define GMOCK_PP_INTERNAL_COMMA_IF_14 ,
 #define GMOCK_PP_INTERNAL_COMMA_IF_15 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_16 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_17 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_18 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_19 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_20 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_21 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_22 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_23 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_24 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_25 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_26 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_27 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_28 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_29 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_30 ,
+#define GMOCK_PP_INTERNAL_COMMA_IF_31 ,
 #define GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, _element) \
   _Macro(_i, _Data, _element)
 #define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_0(_i, _Macro, _Data, _Tuple)
@@ -275,5 +311,69 @@
   GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
   GMOCK_PP_INTERNAL_FOR_EACH_IMPL_14(GMOCK_PP_INC(_i), _Macro, _Data,   \
                                      (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_16(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_15(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_17(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_16(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_18(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_17(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_19(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_18(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_20(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_19(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_21(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_20(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_22(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_21(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_23(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_22(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_24(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_23(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_25(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_24(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_26(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_25(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_27(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_26(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_28(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_27(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_29(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_28(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_30(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_29(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
+#define GMOCK_PP_INTERNAL_FOR_EACH_IMPL_31(_i, _Macro, _Data, _Tuple)   \
+  GMOCK_PP_INTERNAL_CALL_MACRO(_Macro, _i, _Data, GMOCK_PP_HEAD _Tuple) \
+  GMOCK_PP_INTERNAL_FOR_EACH_IMPL_30(GMOCK_PP_INC(_i), _Macro, _Data,   \
+                                     (GMOCK_PP_TAIL _Tuple))
 
 #endif  // GOOGLEMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PP_H_
diff --git a/3rdparty/googletest/googlemock/src/gmock-internal-utils.cc b/3rdparty/googletest/googlemock/src/gmock-internal-utils.cc
index 96c7e306ec..c4aca25695 100644
--- a/3rdparty/googletest/googlemock/src/gmock-internal-utils.cc
+++ b/3rdparty/googletest/googlemock/src/gmock-internal-utils.cc
@@ -156,7 +156,7 @@ GTEST_API_ void Log(LogSeverity severity, const std::string& message,
   if (!LogIsVisible(severity)) return;
 
   // Ensures that logs from different threads don't interleave.
-  MutexLock l(&g_log_mutex);
+  MutexLock l(g_log_mutex);
 
   if (severity == kWarning) {
     // Prints a GMOCK WARNING marker to make the warnings easily searchable.
@@ -188,7 +188,7 @@ GTEST_API_ void Log(LogSeverity severity, const std::string& message,
   std::cout << ::std::flush;
 }
 
-GTEST_API_ WithoutMatchers GetWithoutMatchers() { return WithoutMatchers(); }
+GTEST_API_ WithoutMatchers WithoutMatchers::Get() { return WithoutMatchers(); }
 
 GTEST_API_ void IllegalDoDefault(const char* file, int line) {
   internal::Assert(
diff --git a/3rdparty/googletest/googlemock/src/gmock-spec-builders.cc b/3rdparty/googletest/googlemock/src/gmock-spec-builders.cc
index ffdf03dd45..88e0c02006 100644
--- a/3rdparty/googletest/googlemock/src/gmock-spec-builders.cc
+++ b/3rdparty/googletest/googlemock/src/gmock-spec-builders.cc
@@ -212,7 +212,7 @@ void ExpectationBase::CheckActionCountIfNotDone() const
     GTEST_LOCK_EXCLUDED_(mutex_) {
   bool should_check = false;
   {
-    MutexLock l(&mutex_);
+    MutexLock l(mutex_);
     if (!action_count_checked_) {
       action_count_checked_ = true;
       should_check = true;
@@ -293,7 +293,7 @@ void ReportUninterestingCall(CallReaction reaction, const std::string& msg) {
       Log(kWarning,
           msg +
               "\nNOTE: You can safely ignore the above warning unless this "
-              "call should not happen.  Do not suppress it by blindly adding "
+              "call should not happen.  Do not suppress it by adding "
               "an EXPECT_CALL() if you don't mean to enforce the call.  "
               "See "
               "https://github.com/google/googletest/blob/main/docs/"
@@ -318,7 +318,7 @@ UntypedFunctionMockerBase::~UntypedFunctionMockerBase() = default;
 void UntypedFunctionMockerBase::RegisterOwner(const void* mock_obj)
     GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
   {
-    MutexLock l(&g_gmock_mutex);
+    MutexLock l(g_gmock_mutex);
     mock_obj_ = mock_obj;
   }
   Mock::Register(mock_obj, this);
@@ -332,7 +332,7 @@ void UntypedFunctionMockerBase::SetOwnerAndName(const void* mock_obj,
     GTEST_LOCK_EXCLUDED_(g_gmock_mutex) {
   // We protect name_ under g_gmock_mutex in case this mock function
   // is called from two threads concurrently.
-  MutexLock l(&g_gmock_mutex);
+  MutexLock l(g_gmock_mutex);
   mock_obj_ = mock_obj;
   name_ = name;
 }
@@ -345,7 +345,7 @@ const void* UntypedFunctionMockerBase::MockObject() const
   {
     // We protect mock_obj_ under g_gmock_mutex in case this mock
     // function is called from two threads concurrently.
-    MutexLock l(&g_gmock_mutex);
+    MutexLock l(g_gmock_mutex);
     Assert(mock_obj_ != nullptr, __FILE__, __LINE__,
            "MockObject() must not be called before RegisterOwner() or "
            "SetOwnerAndName() has been called.");
@@ -362,7 +362,7 @@ const char* UntypedFunctionMockerBase::Name() const
   {
     // We protect name_ under g_gmock_mutex in case this mock
     // function is called from two threads concurrently.
-    MutexLock l(&g_gmock_mutex);
+    MutexLock l(g_gmock_mutex);
     Assert(name_ != nullptr, __FILE__, __LINE__,
            "Name() must not be called before SetOwnerAndName() has "
            "been called.");
@@ -436,9 +436,9 @@ bool UntypedFunctionMockerBase::VerifyAndClearExpectationsLocked()
   UntypedExpectations expectations_to_delete;
   untyped_expectations_.swap(expectations_to_delete);
 
-  g_gmock_mutex.Unlock();
+  g_gmock_mutex.unlock();
   expectations_to_delete.clear();
-  g_gmock_mutex.Lock();
+  g_gmock_mutex.lock();
 
   return expectations_met;
 }
@@ -490,7 +490,7 @@ class MockObjectRegistry {
   // failure, unless the user explicitly asked us to ignore it.
   ~MockObjectRegistry() {
     if (!GMOCK_FLAG_GET(catch_leaked_mocks)) return;
-    internal::MutexLock l(&internal::g_gmock_mutex);
+    internal::MutexLock l(internal::g_gmock_mutex);
 
     int leaked_count = 0;
     for (StateMap::const_iterator it = states_.begin(); it != states_.end();
@@ -559,7 +559,7 @@ UninterestingCallReactionMap() {
 void SetReactionOnUninterestingCalls(uintptr_t mock_obj,
                                      internal::CallReaction reaction)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   UninterestingCallReactionMap()[mock_obj] = reaction;
 }
 
@@ -590,7 +590,7 @@ void Mock::FailUninterestingCalls(uintptr_t mock_obj)
 // entry in the call-reaction table should be removed.
 void Mock::UnregisterCallReaction(uintptr_t mock_obj)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   UninterestingCallReactionMap().erase(static_cast<uintptr_t>(mock_obj));
 }
 
@@ -598,7 +598,7 @@ void Mock::UnregisterCallReaction(uintptr_t mock_obj)
 // made on the given mock object.
 internal::CallReaction Mock::GetReactionOnUninterestingCalls(
     const void* mock_obj) GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   return (UninterestingCallReactionMap().count(
               reinterpret_cast<uintptr_t>(mock_obj)) == 0)
              ? internal::intToCallReaction(
@@ -611,7 +611,7 @@ internal::CallReaction Mock::GetReactionOnUninterestingCalls(
 // objects.
 void Mock::AllowLeak(const void* mock_obj)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   g_mock_object_registry.states()[mock_obj].leakable = true;
 }
 
@@ -620,7 +620,7 @@ void Mock::AllowLeak(const void* mock_obj)
 // Test non-fatal failures and returns false.
 bool Mock::VerifyAndClearExpectations(void* mock_obj)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   return VerifyAndClearExpectationsLocked(mock_obj);
 }
 
@@ -629,7 +629,7 @@ bool Mock::VerifyAndClearExpectations(void* mock_obj)
 // verification was successful.
 bool Mock::VerifyAndClear(void* mock_obj)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   ClearDefaultActionsLocked(mock_obj);
   return VerifyAndClearExpectationsLocked(mock_obj);
 }
@@ -679,7 +679,7 @@ bool Mock::IsStrict(void* mock_obj)
 void Mock::Register(const void* mock_obj,
                     internal::UntypedFunctionMockerBase* mocker)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   g_mock_object_registry.states()[mock_obj].function_mockers.insert(mocker);
 }
 
@@ -689,7 +689,7 @@ void Mock::Register(const void* mock_obj,
 void Mock::RegisterUseByOnCallOrExpectCall(const void* mock_obj,
                                            const char* file, int line)
     GTEST_LOCK_EXCLUDED_(internal::g_gmock_mutex) {
-  internal::MutexLock l(&internal::g_gmock_mutex);
+  internal::MutexLock l(internal::g_gmock_mutex);
   MockObjectState& state = g_mock_object_registry.states()[mock_obj];
   if (state.first_used_file == nullptr) {
     state.first_used_file = file;
diff --git a/3rdparty/googletest/googletest/README.md b/3rdparty/googletest/googletest/README.md
index a760759eb0..148598c6b6 100644
--- a/3rdparty/googletest/googletest/README.md
+++ b/3rdparty/googletest/googletest/README.md
@@ -25,7 +25,7 @@ When building GoogleTest as a standalone project, the typical workflow starts
 with
 
 ```
-git clone https://github.com/google/googletest.git -b v1.17.0
+git clone https://github.com/google/googletest.git -b v1.18.0
 cd googletest        # Main directory of the cloned repository.
 mkdir build          # Create a directory to hold the build output.
 cd build
@@ -145,9 +145,9 @@ We list the most frequently used macros below. For a complete list, see file
 ### Multi-threaded Tests
 
 GoogleTest is thread-safe where the pthread library is available. After
-`#include <gtest/gtest.h>`, you can check the
-`GTEST_IS_THREADSAFE` macro to see whether this is the case (yes if the macro is
-`#defined` to 1, no if it's undefined.).
+`#include <gtest/gtest.h>`, you can check the `GTEST_IS_THREADSAFE` macro to see
+whether this is the case (yes if the macro is `#defined` to 1, no if it's
+undefined.).
 
 If GoogleTest doesn't correctly detect whether pthread is available in your
 environment, you can force it with
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h b/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h
index 954e7c40f3..a72ac93910 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-assertion-result.h
@@ -137,7 +137,7 @@ namespace testing {
 class [[nodiscard]] AssertionResult;
 #endif  // !SWIG
 
-class GTEST_API_ AssertionResult {
+class GTEST_API_ [[nodiscard]] AssertionResult {
  public:
   // Copy constructor.
   // Used in EXPECT_TRUE/FALSE(assertion_result).
@@ -158,14 +158,18 @@ class GTEST_API_ AssertionResult {
   // The second parameter prevents this overload from being considered if
   // the argument is implicitly convertible to AssertionResult. In that case
   // we want AssertionResult's copy constructor to be used.
-  template <typename T>
-  explicit AssertionResult(
-      const T& success,
-      typename std::enable_if<
-          !std::is_convertible<T, AssertionResult>::value>::type*
-      /*enabler*/
-      = nullptr)
-      : success_(success) {}
+  template <typename T,
+            std::enable_if_t<!std::is_convertible_v<T, AssertionResult> &&
+                                 !std::is_trivially_constructible_v<bool, T>,
+                             int> = 0>
+  explicit AssertionResult(T&& success) : success_(std::forward<T>(success)) {}
+
+  // Similar to the mutable overload, but for cases where mutability is
+  // unnecessary or problematic (e.g., bitfields).
+  template <typename T,
+            std::enable_if_t<!std::is_convertible_v<const T&, AssertionResult>,
+                             int> = 0>
+  explicit AssertionResult(const T& success) : success_(success) {}
 
 #if defined(_MSC_VER) && (_MSC_VER < 1910 || _MSC_VER >= 1920)
   GTEST_DISABLE_MSC_WARNINGS_POP_()
@@ -227,6 +231,24 @@ class GTEST_API_ AssertionResult {
   std::unique_ptr< ::std::string> message_;
 };
 
+namespace internal {
+
+// A pair containing the result that an assertion is evaluating, and the
+// expected result (true, false).
+//
+// Contains a conversion operator that indicates whether the two match.
+struct AssertionResultExpectation {
+  testing::AssertionResult assertion_result;
+  bool expected_result;
+
+  explicit operator bool() const {
+    bool converted(assertion_result);
+    return converted == expected_result;
+  }
+};
+
+}  // namespace internal
+
 // Makes a successful assertion result.
 GTEST_API_ AssertionResult AssertionSuccess();
 
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-death-test.h b/3rdparty/googletest/googletest/include/gtest/gtest-death-test.h
index 3c61909726..afd7b3a468 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-death-test.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-death-test.h
@@ -192,7 +192,7 @@ GTEST_API_ bool InDeathTestChild();
 // Two predicate classes that can be used in {ASSERT,EXPECT}_EXIT*:
 
 // Tests that an exit code describes a normal exit with a given exit code.
-class GTEST_API_ ExitedWithCode {
+class GTEST_API_ [[nodiscard]] ExitedWithCode {
  public:
   explicit ExitedWithCode(int exit_code);
   ExitedWithCode(const ExitedWithCode&) = default;
@@ -206,7 +206,7 @@ class GTEST_API_ ExitedWithCode {
 #if !defined(GTEST_OS_WINDOWS) && !defined(GTEST_OS_FUCHSIA)
 // Tests that an exit code describes an exit due to termination by a
 // given signal.
-class GTEST_API_ KilledBySignal {
+class GTEST_API_ [[nodiscard]] KilledBySignal {
  public:
   explicit KilledBySignal(int signum);
   bool operator()(int exit_status) const;
@@ -317,7 +317,7 @@ class GTEST_API_ KilledBySignal {
     GTEST_LOG_(WARNING) << "Death tests are not supported on this platform.\n" \
                         << "Statement '" #statement "' cannot be verified.";   \
   } else if (::testing::internal::AlwaysFalse()) {                             \
-    ::testing::internal::MakeDeathTestMatcher(regex_or_matcher);               \
+    (void)::testing::internal::MakeDeathTestMatcher(regex_or_matcher);         \
     GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement);                 \
     terminator;                                                                \
   } else                                                                       \
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-matchers.h b/3rdparty/googletest/googletest/include/gtest/gtest-matchers.h
index 78160f0e41..b5950425cc 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-matchers.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-matchers.h
@@ -40,10 +40,12 @@
 #define GOOGLETEST_INCLUDE_GTEST_GTEST_MATCHERS_H_
 
 #include <atomic>
+#include <cstddef>
 #include <functional>
 #include <memory>
 #include <ostream>
 #include <string>
+#include <string_view>
 #include <type_traits>
 
 #include "gtest/gtest-printers.h"
@@ -75,7 +77,7 @@ namespace testing {
 //   2. a factory function that creates a Matcher<T> object from a
 //      FooMatcherMatcher.
 
-class MatchResultListener {
+class [[nodiscard]] MatchResultListener {
  public:
   // Creates a listener object with the given underlying ostream.  The
   // listener does not own the ostream, and does not dereference it
@@ -111,7 +113,7 @@ inline MatchResultListener::~MatchResultListener() = default;
 
 // An instance of a subclass of this knows how to describe itself as a
 // matcher.
-class GTEST_API_ MatcherDescriberInterface {
+class GTEST_API_ [[nodiscard]] MatcherDescriberInterface {
  public:
   virtual ~MatcherDescriberInterface() = default;
 
@@ -137,7 +139,7 @@ class GTEST_API_ MatcherDescriberInterface {
 
 // The implementation of a matcher.
 template <typename T>
-class MatcherInterface : public MatcherDescriberInterface {
+class [[nodiscard]] MatcherInterface : public MatcherDescriberInterface {
  public:
   // Returns true if and only if the matcher matches x; also explains the
   // match result to 'listener' if necessary (see the next paragraph), in
@@ -180,7 +182,7 @@ class MatcherInterface : public MatcherDescriberInterface {
 namespace internal {
 
 // A match result listener that ignores the explanation.
-class DummyMatchResultListener : public MatchResultListener {
+class [[nodiscard]] DummyMatchResultListener : public MatchResultListener {
  public:
   DummyMatchResultListener() : MatchResultListener(nullptr) {}
 
@@ -192,7 +194,7 @@ class DummyMatchResultListener : public MatchResultListener {
 // A match result listener that forwards the explanation to a given
 // ostream.  The difference between this and MatchResultListener is
 // that the former is concrete.
-class StreamMatchResultListener : public MatchResultListener {
+class [[nodiscard]] StreamMatchResultListener : public MatchResultListener {
  public:
   explicit StreamMatchResultListener(::std::ostream* os)
       : MatchResultListener(os) {}
@@ -225,7 +227,7 @@ struct SharedPayload : SharedPayloadBase {
 // from it.  We put functionalities common to all Matcher<T>
 // specializations here to avoid code duplication.
 template <typename T>
-class MatcherBase : private MatcherDescriberInterface {
+class [[nodiscard]] MatcherBase : private MatcherDescriberInterface {
  public:
   // Returns true if and only if the matcher matches x; also explains the
   // match result to 'listener'.
@@ -276,8 +278,8 @@ class MatcherBase : private MatcherDescriberInterface {
     Init(impl);
   }
 
-  template <typename M, typename = typename std::remove_reference<
-                            M>::type::is_gtest_matcher>
+  template <typename M,
+            typename = typename std::remove_reference_t<M>::is_gtest_matcher>
   MatcherBase(M&& m) : vtable_(nullptr), buffer_() {  // NOLINT
     Init(std::forward<M>(m));
   }
@@ -296,12 +298,12 @@ class MatcherBase : private MatcherDescriberInterface {
     return *this;
   }
 
-  MatcherBase(MatcherBase&& other)
+  MatcherBase(MatcherBase&& other) noexcept
       : vtable_(other.vtable_), buffer_(other.buffer_) {
     other.vtable_ = nullptr;
   }
 
-  MatcherBase& operator=(MatcherBase&& other) {
+  MatcherBase& operator=(MatcherBase&& other) noexcept {
     if (this == &other) return *this;
     Destroy();
     vtable_ = other.vtable_;
@@ -362,11 +364,10 @@ class MatcherBase : private MatcherDescriberInterface {
     // from the impl, but some users really want to get their impl back when
     // they call GetDescriber().
     // We use std::get on a tuple as a workaround of not having `if constexpr`.
-    return std::get<(
-        std::is_convertible<decltype(&P::Get(m)),
-                            const MatcherDescriberInterface*>::value
-            ? 1
-            : 0)>(std::make_tuple(&m, &P::Get(m)));
+    return std::get<(std::is_convertible_v<decltype(&P::Get(m)),
+                                           const MatcherDescriberInterface*>
+                         ? 1
+                         : 0)>(std::make_tuple(&m, &P::Get(m)));
   }
 
   template <typename P>
@@ -395,8 +396,8 @@ class MatcherBase : private MatcherDescriberInterface {
   template <typename M>
   static constexpr bool IsInlined() {
     return sizeof(M) <= sizeof(Buffer) && alignof(M) <= alignof(Buffer) &&
-           std::is_trivially_copy_constructible<M>::value &&
-           std::is_trivially_destructible<M>::value;
+           std::is_trivially_copy_constructible_v<M> &&
+           std::is_trivially_destructible_v<M>;
   }
 
   template <typename M, bool = MatcherBase::IsInlined<M>()>
@@ -443,7 +444,7 @@ class MatcherBase : private MatcherDescriberInterface {
 
   template <typename M>
   void Init(M&& m) {
-    using MM = typename std::decay<M>::type;
+    using MM = std::decay_t<M>;
     using Policy = ValuePolicy<MM>;
     vtable_ = GetVTable<Policy>();
     Policy::Init(*this, std::forward<M>(m));
@@ -460,7 +461,7 @@ class MatcherBase : private MatcherDescriberInterface {
 // implementation of Matcher<T> is just a std::shared_ptr to const
 // MatcherInterface<T>.  Don't inherit from Matcher!
 template <typename T>
-class Matcher : public internal::MatcherBase<T> {
+class [[nodiscard]] Matcher : public internal::MatcherBase<T> {
  public:
   // Constructs a null matcher.  Needed for storing Matcher objects in STL
   // containers.  A default-constructed matcher is not yet initialized.  You
@@ -472,35 +473,42 @@ class Matcher : public internal::MatcherBase<T> {
       : internal::MatcherBase<T>(impl) {}
 
   template <typename U>
-  explicit Matcher(
-      const MatcherInterface<U>* impl,
-      typename std::enable_if<!std::is_same<U, const U&>::value>::type* =
-          nullptr)
+  explicit Matcher(const MatcherInterface<U>* impl,
+                   std::enable_if_t<!std::is_same_v<U, const U&>>* = nullptr)
       : internal::MatcherBase<T>(impl) {}
 
-  template <typename M, typename = typename std::remove_reference<
-                            M>::type::is_gtest_matcher>
+  template <typename M,
+            typename = typename std::remove_reference_t<M>::is_gtest_matcher>
   Matcher(M&& m) : internal::MatcherBase<T>(std::forward<M>(m)) {}  // NOLINT
 
   // Implicit constructor here allows people to write
   // EXPECT_CALL(foo, Bar(5)) instead of EXPECT_CALL(foo, Bar(Eq(5))) sometimes
   Matcher(T value);  // NOLINT
+
+  // Implicit constructor here allows people to write
+  // EXPECT_THAT(foo, nullptr) instead of EXPECT_THAT(foo, IsNull()) for smart
+  // pointer types.
+  //
+  // The second argument is needed to avoid capturing literal '0'.
+  template <typename U>
+  Matcher(U,  // NOLINT
+          std::enable_if_t<std::is_same_v<U, std::nullptr_t>>* = nullptr);
 };
 
 // The following two specializations allow the user to write str
 // instead of Eq(str) and "foo" instead of Eq("foo") when a std::string
 // matcher is expected.
 template <>
-class GTEST_API_ Matcher<const std::string&>
-    : public internal::MatcherBase<const std::string&> {
+class GTEST_API_ [[nodiscard]]
+Matcher<const std::string&> : public internal::MatcherBase<const std::string&> {
  public:
   Matcher() = default;
 
   explicit Matcher(const MatcherInterface<const std::string&>* impl)
       : internal::MatcherBase<const std::string&>(impl) {}
 
-  template <typename M, typename = typename std::remove_reference<
-                            M>::type::is_gtest_matcher>
+  template <typename M,
+            typename = typename std::remove_reference_t<M>::is_gtest_matcher>
   Matcher(M&& m)  // NOLINT
       : internal::MatcherBase<const std::string&>(std::forward<M>(m)) {}
 
@@ -513,8 +521,8 @@ class GTEST_API_ Matcher<const std::string&>
 };
 
 template <>
-class GTEST_API_ Matcher<std::string>
-    : public internal::MatcherBase<std::string> {
+class GTEST_API_ [[nodiscard]]
+Matcher<std::string> : public internal::MatcherBase<std::string> {
  public:
   Matcher() = default;
 
@@ -523,8 +531,8 @@ class GTEST_API_ Matcher<std::string>
   explicit Matcher(const MatcherInterface<std::string>* impl)
       : internal::MatcherBase<std::string>(impl) {}
 
-  template <typename M, typename = typename std::remove_reference<
-                            M>::type::is_gtest_matcher>
+  template <typename M,
+            typename = typename std::remove_reference_t<M>::is_gtest_matcher>
   Matcher(M&& m)  // NOLINT
       : internal::MatcherBase<std::string>(std::forward<M>(m)) {}
 
@@ -536,12 +544,11 @@ class GTEST_API_ Matcher<std::string>
   Matcher(const char* s);  // NOLINT
 };
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
 // The following two specializations allow the user to write str
-// instead of Eq(str) and "foo" instead of Eq("foo") when a absl::string_view
+// instead of Eq(str) and "foo" instead of Eq("foo") when a std::string_view
 // matcher is expected.
 template <>
-class GTEST_API_ Matcher<const internal::StringView&>
+class GTEST_API_ [[nodiscard]] Matcher<const internal::StringView&>
     : public internal::MatcherBase<const internal::StringView&> {
  public:
   Matcher() = default;
@@ -549,8 +556,8 @@ class GTEST_API_ Matcher<const internal::StringView&>
   explicit Matcher(const MatcherInterface<const internal::StringView&>* impl)
       : internal::MatcherBase<const internal::StringView&>(impl) {}
 
-  template <typename M, typename = typename std::remove_reference<
-                            M>::type::is_gtest_matcher>
+  template <typename M,
+            typename = typename std::remove_reference_t<M>::is_gtest_matcher>
   Matcher(M&& m)  // NOLINT
       : internal::MatcherBase<const internal::StringView&>(std::forward<M>(m)) {
   }
@@ -562,12 +569,12 @@ class GTEST_API_ Matcher<const internal::StringView&>
   // Allows the user to write "foo" instead of Eq("foo") sometimes.
   Matcher(const char* s);  // NOLINT
 
-  // Allows the user to pass absl::string_views or std::string_views directly.
+  // Allows the user to pass std::string_views directly.
   Matcher(internal::StringView s);  // NOLINT
 };
 
 template <>
-class GTEST_API_ Matcher<internal::StringView>
+class GTEST_API_ [[nodiscard]] Matcher<internal::StringView>
     : public internal::MatcherBase<internal::StringView> {
  public:
   Matcher() = default;
@@ -577,8 +584,8 @@ class GTEST_API_ Matcher<internal::StringView>
   explicit Matcher(const MatcherInterface<internal::StringView>* impl)
       : internal::MatcherBase<internal::StringView>(impl) {}
 
-  template <typename M, typename = typename std::remove_reference<
-                            M>::type::is_gtest_matcher>
+  template <typename M,
+            typename = typename std::remove_reference_t<M>::is_gtest_matcher>
   Matcher(M&& m)  // NOLINT
       : internal::MatcherBase<internal::StringView>(std::forward<M>(m)) {}
 
@@ -589,10 +596,9 @@ class GTEST_API_ Matcher<internal::StringView>
   // Allows the user to write "foo" instead of Eq("foo") sometimes.
   Matcher(const char* s);  // NOLINT
 
-  // Allows the user to pass absl::string_views or std::string_views directly.
+  // Allows the user to pass std::string_views directly.
   Matcher(internal::StringView s);  // NOLINT
 };
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
 // Prints a matcher in a human-readable format.
 template <typename T>
@@ -614,7 +620,7 @@ std::ostream& operator<<(std::ostream& os, const Matcher<T>& matcher) {
 //
 // See the definition of NotNull() for a complete example.
 template <class Impl>
-class PolymorphicMatcher {
+class [[nodiscard]] PolymorphicMatcher {
  public:
   explicit PolymorphicMatcher(const Impl& an_impl) : impl_(an_impl) {}
 
@@ -689,7 +695,7 @@ namespace internal {
 // The following template definition assumes that the Rhs parameter is
 // a "bare" type (i.e. neither 'const T' nor 'T&').
 template <typename D, typename Rhs, typename Op>
-class ComparisonBase {
+class [[nodiscard]] ComparisonBase {
  public:
   explicit ComparisonBase(const Rhs& rhs) : rhs_(rhs) {}
 
@@ -722,7 +728,8 @@ class ComparisonBase {
 };
 
 template <typename Rhs>
-class EqMatcher : public ComparisonBase<EqMatcher<Rhs>, Rhs, std::equal_to<>> {
+class [[nodiscard]] EqMatcher
+    : public ComparisonBase<EqMatcher<Rhs>, Rhs, std::equal_to<>> {
  public:
   explicit EqMatcher(const Rhs& rhs)
       : ComparisonBase<EqMatcher<Rhs>, Rhs, std::equal_to<>>(rhs) {}
@@ -730,7 +737,7 @@ class EqMatcher : public ComparisonBase<EqMatcher<Rhs>, Rhs, std::equal_to<>> {
   static const char* NegatedDesc() { return "isn't equal to"; }
 };
 template <typename Rhs>
-class NeMatcher
+class [[nodiscard]] NeMatcher
     : public ComparisonBase<NeMatcher<Rhs>, Rhs, std::not_equal_to<>> {
  public:
   explicit NeMatcher(const Rhs& rhs)
@@ -739,7 +746,8 @@ class NeMatcher
   static const char* NegatedDesc() { return "is equal to"; }
 };
 template <typename Rhs>
-class LtMatcher : public ComparisonBase<LtMatcher<Rhs>, Rhs, std::less<>> {
+class [[nodiscard]] LtMatcher
+    : public ComparisonBase<LtMatcher<Rhs>, Rhs, std::less<>> {
  public:
   explicit LtMatcher(const Rhs& rhs)
       : ComparisonBase<LtMatcher<Rhs>, Rhs, std::less<>>(rhs) {}
@@ -747,7 +755,8 @@ class LtMatcher : public ComparisonBase<LtMatcher<Rhs>, Rhs, std::less<>> {
   static const char* NegatedDesc() { return "isn't <"; }
 };
 template <typename Rhs>
-class GtMatcher : public ComparisonBase<GtMatcher<Rhs>, Rhs, std::greater<>> {
+class [[nodiscard]] GtMatcher
+    : public ComparisonBase<GtMatcher<Rhs>, Rhs, std::greater<>> {
  public:
   explicit GtMatcher(const Rhs& rhs)
       : ComparisonBase<GtMatcher<Rhs>, Rhs, std::greater<>>(rhs) {}
@@ -755,7 +764,7 @@ class GtMatcher : public ComparisonBase<GtMatcher<Rhs>, Rhs, std::greater<>> {
   static const char* NegatedDesc() { return "isn't >"; }
 };
 template <typename Rhs>
-class LeMatcher
+class [[nodiscard]] LeMatcher
     : public ComparisonBase<LeMatcher<Rhs>, Rhs, std::less_equal<>> {
  public:
   explicit LeMatcher(const Rhs& rhs)
@@ -764,7 +773,7 @@ class LeMatcher
   static const char* NegatedDesc() { return "isn't <="; }
 };
 template <typename Rhs>
-class GeMatcher
+class [[nodiscard]] GeMatcher
     : public ComparisonBase<GeMatcher<Rhs>, Rhs, std::greater_equal<>> {
  public:
   explicit GeMatcher(const Rhs& rhs)
@@ -773,24 +782,68 @@ class GeMatcher
   static const char* NegatedDesc() { return "isn't >="; }
 };
 
-template <typename T, typename = typename std::enable_if<
-                          std::is_constructible<std::string, T>::value>::type>
-using StringLike = T;
+// Same as `EqMatcher<Rhs>`, except that the `rhs` is stored as `StoredRhs` and
+// must be implicitly convertible to `Rhs`.
+template <typename Rhs, typename StoredRhs>
+class [[nodiscard]] ImplicitCastEqMatcher {
+ public:
+  explicit ImplicitCastEqMatcher(const StoredRhs& rhs) : stored_rhs_(rhs) {}
+
+  using is_gtest_matcher = void;
+
+  template <typename Lhs>
+  bool MatchAndExplain(const Lhs& lhs, std::ostream*) const {
+    return lhs == rhs();
+  }
+
+  void DescribeTo(std::ostream* os) const {
+    *os << "is equal to ";
+    UniversalPrint(rhs(), os);
+  }
+  void DescribeNegationTo(std::ostream* os) const {
+    *os << "isn't equal to ";
+    UniversalPrint(rhs(), os);
+  }
+
+ private:
+  Rhs rhs() const { return ImplicitCast_<Rhs>(stored_rhs_); }
+
+  StoredRhs stored_rhs_;
+};
+
+// Dummy function (never defined) whose return type evaluates to std::string if
+// the given type is a string-like type that can be converted to std::string,
+// either directly or through an intermediate std::string_view.
+template <class T>
+extern std::enable_if_t<std::is_constructible_v<std::string, T>, std::string>
+ResolveAsString(const void* /* preferred */);
+
+#if GTEST_HAS_STD_WSTRING
+// Same as above, but for std::wstring. In cases where both conversions are
+// possible, this overload takes lower priority.
+template <class T>
+extern std::enable_if_t<std::is_constructible_v<std::wstring, T>, std::wstring>
+ResolveAsString(... /* fallback */);
+#endif
+
+// Evaluates to the std::basic_string type that the given string-like type can
+// be converted to. Prefers std::string over std::wstring if both are possible.
+// Fails in a SFINAE-friendly way if no conversion was viable.
+template <typename T>
+using StringType = decltype(ResolveAsString<T>(nullptr));
 
 // Implements polymorphic matchers MatchesRegex(regex) and
 // ContainsRegex(regex), which can be used as a Matcher<T> as long as
 // T can be converted to a string.
-class MatchesRegexMatcher {
+class [[nodiscard]] MatchesRegexMatcher {
  public:
   MatchesRegexMatcher(const RE* regex, bool full_match)
       : regex_(regex), full_match_(full_match) {}
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
   bool MatchAndExplain(const internal::StringView& s,
                        MatchResultListener* listener) const {
     return MatchAndExplain(std::string(s), listener);
   }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
   // Accepts pointer types, particularly:
   //   const char*
@@ -805,7 +858,7 @@ class MatchesRegexMatcher {
   // Matches anything that can convert to std::string.
   //
   // This is a template, not just a plain function with const std::string&,
-  // because absl::string_view has some interfering non-explicit constructors.
+  // because std::string_view has some interfering non-explicit constructors.
   template <class MatcheeStringType>
   bool MatchAndExplain(const MatcheeStringType& s,
                        MatchResultListener* /* listener */) const {
@@ -838,9 +891,10 @@ inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
   return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, true));
 }
 template <typename T = std::string>
-PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
-    const internal::StringLike<T>& regex) {
-  return MatchesRegex(new internal::RE(std::string(regex)));
+std::enable_if_t<std::is_constructible_v<internal::RE, internal::StringType<T>>,
+                 PolymorphicMatcher<internal::MatchesRegexMatcher>>
+MatchesRegex(const T& regex) {
+  return MatchesRegex(new internal::RE(internal::StringType<T>(regex)));
 }
 
 // Matches a string that contains regular expression 'regex'.
@@ -850,9 +904,10 @@ inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
   return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, false));
 }
 template <typename T = std::string>
-PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
-    const internal::StringLike<T>& regex) {
-  return ContainsRegex(new internal::RE(std::string(regex)));
+std::enable_if_t<std::is_constructible_v<internal::RE, internal::StringType<T>>,
+                 PolymorphicMatcher<internal::MatchesRegexMatcher>>
+ContainsRegex(const T& regex) {
+  return ContainsRegex(new internal::RE(internal::StringType<T>(regex)));
 }
 
 // Creates a polymorphic matcher that matches anything equal to x.
@@ -863,13 +918,21 @@ inline internal::EqMatcher<T> Eq(T x) {
   return internal::EqMatcher<T>(x);
 }
 
-// Constructs a Matcher<T> from a 'value' of type T.  The constructed
+// Constructs a Matcher<T> from a 'value' of type T. The constructed
 // matcher matches any value that's equal to 'value'.
 template <typename T>
 Matcher<T>::Matcher(T value) {
   *this = Eq(value);
 }
 
+// Constructs a Matcher<T> from nullptr. The constructed matcher matches any
+// value that is equal to nullptr.
+template <typename T>
+template <typename U>
+Matcher<T>::Matcher(U, std::enable_if_t<std::is_same_v<U, std::nullptr_t>>*) {
+  *this = Eq(nullptr);
+}
+
 // Creates a monomorphic matcher that matches anything with type Lhs
 // and equal to rhs.  A user may need to use this instead of Eq(...)
 // in order to resolve an overloading ambiguity.
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-message.h b/3rdparty/googletest/googletest/include/gtest/gtest-message.h
index 448ac6b7ee..065ed07ed5 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-message.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-message.h
@@ -129,7 +129,7 @@ class GTEST_API_ Message {
                               int>::type = 0
 #endif  // GTEST_HAS_ABSL
       >
-  inline Message& operator<<(const T& val) {
+  Message& operator<<(const T& val) {
         // Some libraries overload << for STL containers.  These
     // overloads are defined in the global namespace instead of ::std.
     //
@@ -155,7 +155,7 @@ class GTEST_API_ Message {
   template <typename T,
             typename std::enable_if<absl::HasAbslStringify<T>::value,  // NOLINT
                                     int>::type = 0>
-  inline Message& operator<<(const T& val) {
+  Message& operator<<(const T& val) {
     // ::operator<< is needed here for a similar reason as with the non-Abseil
     // version above
     using ::operator<<;
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-printers.h b/3rdparty/googletest/googletest/include/gtest/gtest-printers.h
index 198a769349..315ce0a510 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-printers.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-printers.h
@@ -104,15 +104,19 @@
 #ifndef GOOGLETEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
 #define GOOGLETEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
 
+#include <any>
 #include <functional>
 #include <memory>
+#include <optional>
 #include <ostream>  // NOLINT
 #include <sstream>
 #include <string>
+#include <string_view>
 #include <tuple>
 #include <type_traits>
 #include <typeinfo>
 #include <utility>
+#include <variant>
 #include <vector>
 
 #ifdef GTEST_HAS_ABSL
@@ -245,8 +249,8 @@ struct StreamPrinter {
   // ADL (possibly involving implicit conversions).
   // (Use SFINAE via return type, because it seems GCC < 12 doesn't handle name
   // lookup properly when we do it in the template parameter list.)
-  static auto PrintValue(const T& value,
-                         ::std::ostream* os) -> decltype((void)(*os << value)) {
+  static auto PrintValue(const T& value, ::std::ostream* os)
+      -> decltype((void)(*os << value)) {
     // Call streaming operator found by ADL, possibly with implicit conversions
     // of the arguments.
     *os << value;
@@ -287,11 +291,9 @@ struct ConvertibleToIntegerPrinter {
 };
 
 struct ConvertibleToStringViewPrinter {
-#if GTEST_INTERNAL_HAS_STRING_VIEW
   static void PrintValue(internal::StringView value, ::std::ostream* os) {
     internal::UniversalPrint(value, os);
   }
-#endif
 };
 
 #ifdef GTEST_HAS_ABSL
@@ -378,7 +380,7 @@ void PrintWithFallback(const T& value, ::std::ostream* os) {
 
 // The default case.
 template <typename ToPrint, typename OtherOperand>
-class FormatForComparison {
+class [[nodiscard]] FormatForComparison {
  public:
   static ::std::string Format(const ToPrint& value) {
     return ::testing::PrintToString(value);
@@ -387,7 +389,7 @@ class FormatForComparison {
 
 // Array.
 template <typename ToPrint, size_t N, typename OtherOperand>
-class FormatForComparison<ToPrint[N], OtherOperand> {
+class [[nodiscard]] FormatForComparison<ToPrint[N], OtherOperand> {
  public:
   static ::std::string Format(const ToPrint* value) {
     return FormatForComparison<const ToPrint*, OtherOperand>::Format(value);
@@ -473,7 +475,7 @@ std::string FormatForComparisonFailureMessage(const T1& value,
 // function template), as we need to partially specialize it for
 // reference types, which cannot be done with function templates.
 template <typename T>
-class UniversalPrinter;
+class [[nodiscard]] UniversalPrinter;
 
 // Prints the given value using the << operator if it has one;
 // otherwise prints the bytes in it.  This is what
@@ -521,11 +523,15 @@ GTEST_API_ void PrintTo(wchar_t wc, ::std::ostream* os);
 
 GTEST_API_ void PrintTo(char32_t c, ::std::ostream* os);
 inline void PrintTo(char16_t c, ::std::ostream* os) {
-  PrintTo(ImplicitCast_<char32_t>(c), os);
+  // TODO(b/418738869): Incorrect for values not representing valid codepoints.
+  // Also see https://github.com/google/googletest/issues/4762.
+  PrintTo(static_cast<char32_t>(c), os);
 }
 #ifdef __cpp_lib_char8_t
 inline void PrintTo(char8_t c, ::std::ostream* os) {
-  PrintTo(ImplicitCast_<char32_t>(c), os);
+  // TODO(b/418738869): Incorrect for values not representing valid codepoints.
+  // Also see https://github.com/google/googletest/issues/4762.
+  PrintTo(static_cast<char32_t>(c), os);
 }
 #endif
 
@@ -695,46 +701,63 @@ void PrintRawArrayTo(const T a[], size_t count, ::std::ostream* os) {
   }
 }
 
-// Overloads for ::std::string.
-GTEST_API_ void PrintStringTo(const ::std::string& s, ::std::ostream* os);
+// Overloads for ::std::string and std::string_view
+GTEST_API_ void PrintStringTo(std::string_view s, ::std::ostream* os);
 inline void PrintTo(const ::std::string& s, ::std::ostream* os) {
   PrintStringTo(s, os);
 }
+inline void PrintTo(std::string_view s, ::std::ostream* os) {
+  PrintStringTo(s, os);
+}
 
-// Overloads for ::std::u8string
+// Overloads for ::std::u8string and ::std::u8string_view
 #ifdef __cpp_lib_char8_t
-GTEST_API_ void PrintU8StringTo(const ::std::u8string& s, ::std::ostream* os);
+GTEST_API_ void PrintU8StringTo(::std::u8string_view s, ::std::ostream* os);
 inline void PrintTo(const ::std::u8string& s, ::std::ostream* os) {
   PrintU8StringTo(s, os);
 }
+inline void PrintTo(::std::u8string_view s, ::std::ostream* os) {
+  PrintU8StringTo(s, os);
+}
 #endif
 
-// Overloads for ::std::u16string
-GTEST_API_ void PrintU16StringTo(const ::std::u16string& s, ::std::ostream* os);
+// Overloads for ::std::u16string and ::std::u16string_view
+GTEST_API_ void PrintU16StringTo(::std::u16string_view s, ::std::ostream* os);
 inline void PrintTo(const ::std::u16string& s, ::std::ostream* os) {
   PrintU16StringTo(s, os);
 }
+inline void PrintTo(::std::u16string_view s, ::std::ostream* os) {
+  PrintU16StringTo(s, os);
+}
 
-// Overloads for ::std::u32string
-GTEST_API_ void PrintU32StringTo(const ::std::u32string& s, ::std::ostream* os);
+// Overloads for ::std::u32string and ::std::u32string_view
+GTEST_API_ void PrintU32StringTo(::std::u32string_view s, ::std::ostream* os);
 inline void PrintTo(const ::std::u32string& s, ::std::ostream* os) {
   PrintU32StringTo(s, os);
 }
+inline void PrintTo(::std::u32string_view s, ::std::ostream* os) {
+  PrintU32StringTo(s, os);
+}
 
-// Overloads for ::std::wstring.
+// Overloads for ::std::wstring and ::std::wstring_view
 #if GTEST_HAS_STD_WSTRING
-GTEST_API_ void PrintWideStringTo(const ::std::wstring& s, ::std::ostream* os);
+GTEST_API_ void PrintWideStringTo(::std::wstring_view s, ::std::ostream* os);
 inline void PrintTo(const ::std::wstring& s, ::std::ostream* os) {
   PrintWideStringTo(s, os);
 }
+inline void PrintTo(::std::wstring_view s, ::std::ostream* os) {
+  PrintWideStringTo(s, os);
+}
 #endif  // GTEST_HAS_STD_WSTRING
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
-// Overload for internal::StringView.
+// Overload for internal::StringView. Needed for build configurations where
+// internal::StringView is an alias for absl::string_view, but absl::string_view
+// is a distinct type from std::string_view.
+template <int&... ExplicitArgumentBarrier, typename T = internal::StringView,
+          std::enable_if_t<!std::is_same_v<T, std::string_view>, int> = 0>
 inline void PrintTo(internal::StringView sp, ::std::ostream* os) {
-  PrintTo(::std::string(sp), os);
+  PrintStringTo(sp, os);
 }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
 inline void PrintTo(std::nullptr_t, ::std::ostream* os) { *os << "(nullptr)"; }
 
@@ -836,8 +859,8 @@ void PrintTupleTo(const T& t, std::integral_constant<size_t, I>,
     GTEST_INTENTIONAL_CONST_COND_POP_()
     *os << ", ";
   }
-  UniversalPrinter<typename std::tuple_element<I - 1, T>::type>::Print(
-      std::get<I - 1>(t), os);
+  UniversalPrinter<std::tuple_element_t<I - 1, T>>::Print(std::get<I - 1>(t),
+                                                          os);
 }
 
 template <typename... Types>
@@ -862,7 +885,7 @@ void PrintTo(const ::std::pair<T1, T2>& value, ::std::ostream* os) {
 // Implements printing a non-reference type T by letting the compiler
 // pick the right overload of PrintTo() for T.
 template <typename T>
-class UniversalPrinter {
+class [[nodiscard]] UniversalPrinter {
  public:
   // MSVC warns about adding const to a function type, so we want to
   // disable the warning.
@@ -888,16 +911,13 @@ class UniversalPrinter {
 
 // Remove any const-qualifiers before passing a type to UniversalPrinter.
 template <typename T>
-class UniversalPrinter<const T> : public UniversalPrinter<T> {};
-
-#if GTEST_INTERNAL_HAS_ANY
-
-// Printer for std::any / absl::any
+class [[nodiscard]] UniversalPrinter<const T> : public UniversalPrinter<T> {};
 
+// Printer for std::any
 template <>
-class UniversalPrinter<Any> {
+class [[nodiscard]] UniversalPrinter<std::any> {
  public:
-  static void Print(const Any& value, ::std::ostream* os) {
+  static void Print(const std::any& value, ::std::ostream* os) {
     if (value.has_value()) {
       *os << "value of type " << GetTypeName(value);
     } else {
@@ -906,7 +926,7 @@ class UniversalPrinter<Any> {
   }
 
  private:
-  static std::string GetTypeName(const Any& value) {
+  static std::string GetTypeName(const std::any& value) {
 #if GTEST_HAS_RTTI
     return internal::GetTypeName(value.type());
 #else
@@ -916,67 +936,60 @@ class UniversalPrinter<Any> {
   }
 };
 
-#endif  // GTEST_INTERNAL_HAS_ANY
-
-#if GTEST_INTERNAL_HAS_OPTIONAL
-
-// Printer for std::optional / absl::optional
-
+// Printer for std::optional
 template <typename T>
-class UniversalPrinter<Optional<T>> {
+class [[nodiscard]] UniversalPrinter<std::optional<T>> {
  public:
-  static void Print(const Optional<T>& value, ::std::ostream* os) {
-    *os << '(';
+  static void Print(const std::optional<T>& value, ::std::ostream* os) {
     if (!value) {
-      *os << "nullopt";
+      UniversalPrint(std::nullopt, os);
     } else {
+      *os << '(';
       UniversalPrint(*value, os);
+      *os << ')';
     }
-    *os << ')';
   }
 };
 
 template <>
-class UniversalPrinter<decltype(Nullopt())> {
+class [[nodiscard]] UniversalPrinter<std::nullopt_t> {
  public:
-  static void Print(decltype(Nullopt()), ::std::ostream* os) {
-    *os << "(nullopt)";
-  }
+  static void Print(std::nullopt_t, ::std::ostream* os) { *os << "(nullopt)"; }
 };
 
-#endif  // GTEST_INTERNAL_HAS_OPTIONAL
-
-#if GTEST_INTERNAL_HAS_VARIANT
-
-// Printer for std::variant / absl::variant
+struct UniversalPrinterVisitor {
+  template <typename T>
+  void operator()(const T& arg) const {
+    *os << "'" << GetTypeName<T>() << "(index = " << index << ")' with value ";
+    UniversalPrint(arg, os);
+  }
+  ::std::ostream* os;
+  std::size_t index;
+};
 
+// Printer for std::variant
 template <typename... T>
-class UniversalPrinter<Variant<T...>> {
+class [[nodiscard]] UniversalPrinter<std::variant<T...>> {
  public:
-  static void Print(const Variant<T...>& value, ::std::ostream* os) {
-    *os << '(';
-#ifdef GTEST_HAS_ABSL
-    absl::visit(Visitor{os, value.index()}, value);
-#else
-    std::visit(Visitor{os, value.index()}, value);
-#endif  // GTEST_HAS_ABSL
-    *os << ')';
-  }
-
- private:
-  struct Visitor {
-    template <typename U>
-    void operator()(const U& u) const {
-      *os << "'" << GetTypeName<U>() << "(index = " << index
-          << ")' with value ";
-      UniversalPrint(u, os);
+  static void Print(const std::variant<T...>& value, ::std::ostream* os) {
+    if (value.valueless_by_exception()) {
+      *os << "(valueless)";
+    } else {
+      *os << '(';
+      std::visit(UniversalPrinterVisitor{os, value.index()}, value);
+      *os << ')';
     }
-    ::std::ostream* os;
-    std::size_t index;
-  };
+  }
 };
 
-#endif  // GTEST_INTERNAL_HAS_VARIANT
+// Printer for std::monostate
+template <>
+class [[nodiscard]] UniversalPrinter<std::monostate> {
+ public:
+  static void Print(std::monostate, ::std::ostream* os) {
+    *os << "(monostate)";
+  }
+};
 
 // UniversalPrintArray(begin, len, os) prints an array of 'len'
 // elements, starting at address 'begin'.
@@ -1025,7 +1038,7 @@ GTEST_API_ void UniversalPrintArray(const wchar_t* begin, size_t len,
 
 // Implements printing an array type T[N].
 template <typename T, size_t N>
-class UniversalPrinter<T[N]> {
+class [[nodiscard]] UniversalPrinter<T[N]> {
  public:
   // Prints the given array, omitting some elements when there are too
   // many.
@@ -1036,7 +1049,7 @@ class UniversalPrinter<T[N]> {
 
 // Implements printing a reference type T&.
 template <typename T>
-class UniversalPrinter<T&> {
+class [[nodiscard]] UniversalPrinter<T&> {
  public:
   // MSVC warns about adding const to a function type, so we want to
   // disable the warning.
@@ -1059,35 +1072,35 @@ class UniversalPrinter<T&> {
 // NUL-terminated string (but not the pointer) is printed.
 
 template <typename T>
-class UniversalTersePrinter {
+class [[nodiscard]] UniversalTersePrinter {
  public:
   static void Print(const T& value, ::std::ostream* os) {
     UniversalPrint(value, os);
   }
 };
 template <typename T>
-class UniversalTersePrinter<T&> {
+class [[nodiscard]] UniversalTersePrinter<T&> {
  public:
   static void Print(const T& value, ::std::ostream* os) {
     UniversalPrint(value, os);
   }
 };
 template <typename T>
-class UniversalTersePrinter<std::reference_wrapper<T>> {
+class [[nodiscard]] UniversalTersePrinter<std::reference_wrapper<T>> {
  public:
   static void Print(std::reference_wrapper<T> value, ::std::ostream* os) {
     UniversalTersePrinter<T>::Print(value.get(), os);
   }
 };
 template <typename T, size_t N>
-class UniversalTersePrinter<T[N]> {
+class [[nodiscard]] UniversalTersePrinter<T[N]> {
  public:
   static void Print(const T (&value)[N], ::std::ostream* os) {
     UniversalPrinter<T[N]>::Print(value, os);
   }
 };
 template <>
-class UniversalTersePrinter<const char*> {
+class [[nodiscard]] UniversalTersePrinter<const char*> {
  public:
   static void Print(const char* str, ::std::ostream* os) {
     if (str == nullptr) {
@@ -1098,12 +1111,12 @@ class UniversalTersePrinter<const char*> {
   }
 };
 template <>
-class UniversalTersePrinter<char*> : public UniversalTersePrinter<const char*> {
-};
+class [[nodiscard]]
+UniversalTersePrinter<char*> : public UniversalTersePrinter<const char*> {};
 
 #ifdef __cpp_lib_char8_t
 template <>
-class UniversalTersePrinter<const char8_t*> {
+class [[nodiscard]] UniversalTersePrinter<const char8_t*> {
  public:
   static void Print(const char8_t* str, ::std::ostream* os) {
     if (str == nullptr) {
@@ -1114,12 +1127,12 @@ class UniversalTersePrinter<const char8_t*> {
   }
 };
 template <>
-class UniversalTersePrinter<char8_t*>
+class [[nodiscard]] UniversalTersePrinter<char8_t*>
     : public UniversalTersePrinter<const char8_t*> {};
 #endif
 
 template <>
-class UniversalTersePrinter<const char16_t*> {
+class [[nodiscard]] UniversalTersePrinter<const char16_t*> {
  public:
   static void Print(const char16_t* str, ::std::ostream* os) {
     if (str == nullptr) {
@@ -1130,11 +1143,11 @@ class UniversalTersePrinter<const char16_t*> {
   }
 };
 template <>
-class UniversalTersePrinter<char16_t*>
+class [[nodiscard]] UniversalTersePrinter<char16_t*>
     : public UniversalTersePrinter<const char16_t*> {};
 
 template <>
-class UniversalTersePrinter<const char32_t*> {
+class [[nodiscard]] UniversalTersePrinter<const char32_t*> {
  public:
   static void Print(const char32_t* str, ::std::ostream* os) {
     if (str == nullptr) {
@@ -1145,12 +1158,12 @@ class UniversalTersePrinter<const char32_t*> {
   }
 };
 template <>
-class UniversalTersePrinter<char32_t*>
+class [[nodiscard]] UniversalTersePrinter<char32_t*>
     : public UniversalTersePrinter<const char32_t*> {};
 
 #if GTEST_HAS_STD_WSTRING
 template <>
-class UniversalTersePrinter<const wchar_t*> {
+class [[nodiscard]] UniversalTersePrinter<const wchar_t*> {
  public:
   static void Print(const wchar_t* str, ::std::ostream* os) {
     if (str == nullptr) {
@@ -1163,7 +1176,7 @@ class UniversalTersePrinter<const wchar_t*> {
 #endif
 
 template <>
-class UniversalTersePrinter<wchar_t*> {
+class [[nodiscard]] UniversalTersePrinter<wchar_t*> {
  public:
   static void Print(wchar_t* str, ::std::ostream* os) {
     UniversalTersePrinter<const wchar_t*>::Print(str, os);
@@ -1212,7 +1225,7 @@ template <typename Tuple>
 Strings UniversalTersePrintTupleFieldsToStrings(const Tuple& value) {
   Strings result;
   TersePrintPrefixToStrings(
-      value, std::integral_constant<size_t, std::tuple_size<Tuple>::value>(),
+      value, std::integral_constant<size_t, std::tuple_size_v<Tuple>>(),
       &result);
   return result;
 }
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-spi.h b/3rdparty/googletest/googletest/include/gtest/gtest-spi.h
index c0613b6959..27c2d660e0 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-spi.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-spi.h
@@ -51,7 +51,7 @@ namespace testing {
 // generated in the same thread that created this object or it can intercept
 // all generated failures. The scope of this mock object can be controlled with
 // the second argument to the two arguments constructor.
-class GTEST_API_ ScopedFakeTestPartResultReporter
+class GTEST_API_ [[nodiscard]] ScopedFakeTestPartResultReporter
     : public TestPartResultReporterInterface {
  public:
   // The two possible mocking modes of this object.
@@ -100,7 +100,7 @@ namespace internal {
 // TestPartResultArray contains exactly one failure that has the given
 // type and contains the given substring.  If that's not the case, a
 // non-fatal failure will be generated.
-class GTEST_API_ SingleFailureChecker {
+class GTEST_API_ [[nodiscard]] SingleFailureChecker {
  public:
   // The constructor remembers the arguments.
   SingleFailureChecker(const TestPartResultArray* results,
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-test-part.h b/3rdparty/googletest/googletest/include/gtest/gtest-test-part.h
index 41c8a9a0d0..ce1e21945c 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-test-part.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-test-part.h
@@ -37,6 +37,7 @@
 #include <iosfwd>
 #include <ostream>
 #include <string>
+#include <string_view>
 #include <vector>
 
 #include "gtest/internal/gtest-internal.h"
@@ -51,7 +52,7 @@ namespace testing {
 // assertion or an explicit FAIL(), ADD_FAILURE(), or SUCCESS()).
 //
 // Don't inherit from TestPartResult as its destructor is not virtual.
-class GTEST_API_ TestPartResult {
+class GTEST_API_ [[nodiscard]] TestPartResult {
  public:
   // The possible outcomes of a test part (i.e. an assertion or an
   // explicit SUCCEED(), FAIL(), or ADD_FAILURE()).
@@ -65,10 +66,10 @@ class GTEST_API_ TestPartResult {
   // C'tor.  TestPartResult does NOT have a default constructor.
   // Always use this constructor (with parameters) to create a
   // TestPartResult object.
-  TestPartResult(Type a_type, const char* a_file_name, int a_line_number,
-                 const char* a_message)
+  TestPartResult(Type a_type, std::string_view a_file_name, int a_line_number,
+                 std::string_view a_message)
       : type_(a_type),
-        file_name_(a_file_name == nullptr ? "" : a_file_name),
+        file_name_(a_file_name),
         line_number_(a_line_number),
         summary_(ExtractSummary(a_message)),
         message_(a_message) {}
@@ -112,7 +113,7 @@ class GTEST_API_ TestPartResult {
 
   // Gets the summary of the failure message by omitting the stack
   // trace in it.
-  static std::string ExtractSummary(const char* message);
+  static std::string ExtractSummary(std::string_view message);
 
   // The name of the source file where the test part took place, or
   // "" if the source file is unknown.
@@ -131,7 +132,7 @@ std::ostream& operator<<(std::ostream& os, const TestPartResult& result);
 //
 // Don't inherit from TestPartResultArray as its destructor is not
 // virtual.
-class GTEST_API_ TestPartResultArray {
+class GTEST_API_ [[nodiscard]] TestPartResultArray {
  public:
   TestPartResultArray() = default;
 
@@ -152,7 +153,7 @@ class GTEST_API_ TestPartResultArray {
 };
 
 // This interface knows how to report a test part result.
-class GTEST_API_ TestPartResultReporterInterface {
+class GTEST_API_ [[nodiscard]] TestPartResultReporterInterface {
  public:
   virtual ~TestPartResultReporterInterface() = default;
 
@@ -167,7 +168,7 @@ namespace internal {
 // reported, it only delegates the reporting to the former result reporter.
 // The original result reporter is restored in the destructor.
 // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-class GTEST_API_ HasNewFatalFailureHelper
+class GTEST_API_ [[nodiscard]] HasNewFatalFailureHelper
     : public TestPartResultReporterInterface {
  public:
   HasNewFatalFailureHelper();
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h b/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h
index 442e00bd34..8575a41076 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest-typed-test.h
@@ -45,18 +45,18 @@
 // First, define a fixture class template.  It should be parameterized
 // by a type.  Remember to derive it from testing::Test.
 template <typename T>
-class FooTest : public testing::Test {
+class [[nodiscard]] FooTest : public testing::Test {
  public:
   ...
-  typedef std::list<T> List;
+  using List = ::std::list<T>;
   static T shared_;
   T value_;
 };
 
 // Next, associate a list of types with the test suite, which will be
-// repeated for each type in the list.  The typedef is necessary for
+// repeated for each type in the list.  The using-declaration is necessary for
 // the macro to parse correctly.
-typedef testing::Types<char, int, unsigned int> MyTypes;
+using MyTypes = ::testing::Types<char, int, unsigned int>;
 TYPED_TEST_SUITE(FooTest, MyTypes);
 
 // If the type list contains only one type, you can write that type
@@ -123,7 +123,7 @@ TYPED_TEST(FooTest, HasPropertyA) { ... }
 // First, define a fixture class template.  It should be parameterized
 // by a type.  Remember to derive it from testing::Test.
 template <typename T>
-class FooTest : public testing::Test {
+class [[nodiscard]] FooTest : public testing::Test {
   ...
 };
 
@@ -157,7 +157,7 @@ REGISTER_TYPED_TEST_SUITE_P(FooTest,
 // argument to the INSTANTIATE_* macro is a prefix that will be added
 // to the actual test suite name.  Remember to pick unique prefixes for
 // different instances.
-typedef testing::Types<char, int, unsigned int> MyTypes;
+using MyTypes = ::testing::Types<char, int, unsigned int>;
 INSTANTIATE_TYPED_TEST_SUITE_P(My, FooTest, MyTypes);
 
 // If the type list contains only one type, you can write that type
diff --git a/3rdparty/googletest/googletest/include/gtest/gtest.h b/3rdparty/googletest/googletest/include/gtest/gtest.h
index 7be0caaf51..089b10e9f7 100644
--- a/3rdparty/googletest/googletest/include/gtest/gtest.h
+++ b/3rdparty/googletest/googletest/include/gtest/gtest.h
@@ -57,6 +57,7 @@
 #include <set>
 #include <sstream>
 #include <string>
+#include <string_view>
 #include <type_traits>
 #include <vector>
 
@@ -136,6 +137,10 @@ GTEST_DECLARE_int32_(repeat);
 // only torn down once, for the last.
 GTEST_DECLARE_bool_(recreate_environments_when_repeating);
 
+// Together these flags determine which tests are run if the test is sharded.
+GTEST_DECLARE_int32_(shard_index);
+GTEST_DECLARE_int32_(total_shards);
+
 // This flag controls whether Google Test includes Google Test internal
 // stack frames in failure stack traces.
 GTEST_DECLARE_bool_(show_internal_stack_frames);
@@ -193,7 +198,7 @@ std::set<std::string>* GetIgnoredParameterizedTestSuites();
 // A base class that prevents subclasses from being copyable.
 // We do this instead of using '= delete' so as to avoid triggering warnings
 // inside user code regarding any of our declarations.
-class GTestNonCopyable {
+class [[nodiscard]] GTestNonCopyable {
  public:
   GTestNonCopyable() = default;
   GTestNonCopyable(const GTestNonCopyable&) = delete;
@@ -206,15 +211,15 @@ class GTestNonCopyable {
 // The friend relationship of some of these classes is cyclic.
 // If we don't forward declare them the compiler might confuse the classes
 // in friendship clauses with same named classes on the scope.
-class Test;
-class TestSuite;
+class [[nodiscard]] Test;
+class [[nodiscard]] TestSuite;
 
 // Old API is still available but deprecated
 #ifndef GTEST_REMOVE_LEGACY_TEST_CASEAPI_
 using TestCase = TestSuite;
 #endif
-class TestInfo;
-class UnitTest;
+class [[nodiscard]] TestInfo;
+class [[nodiscard]] UnitTest;
 
 // The abstract class that all tests inherit from.
 //
@@ -239,7 +244,7 @@ class UnitTest;
 //   TEST_F(FooTest, Baz) { ... }
 //
 // Test is not copyable.
-class GTEST_API_ Test {
+class GTEST_API_ [[nodiscard]] Test {
  public:
   friend class TestInfo;
 
@@ -366,7 +371,7 @@ typedef internal::TimeInMillis TimeInMillis;
 // output as a key/value string pair.
 //
 // Don't inherit from TestProperty as its destructor is not virtual.
-class TestProperty {
+class [[nodiscard]] TestProperty {
  public:
   // C'tor.  TestProperty does NOT have a default constructor.
   // Always use this constructor (with parameters) to create a
@@ -396,7 +401,7 @@ class TestProperty {
 // the Test.
 //
 // TestResult is not copyable.
-class GTEST_API_ TestResult {
+class GTEST_API_ [[nodiscard]] TestResult {
  public:
   // Creates an empty TestResult.
   TestResult();
@@ -530,7 +535,7 @@ class GTEST_API_ TestResult {
 // The constructor of TestInfo registers itself with the UnitTest
 // singleton such that the RUN_ALL_TESTS() macro knows which tests to
 // run.
-class GTEST_API_ TestInfo {
+class GTEST_API_ [[nodiscard]] TestInfo {
  public:
   // Destructs a TestInfo object.  This function is not virtual, so
   // don't inherit from TestInfo.
@@ -669,7 +674,7 @@ class GTEST_API_ TestInfo {
 // A test suite, which consists of a vector of TestInfos.
 //
 // TestSuite is not copyable.
-class GTEST_API_ TestSuite {
+class GTEST_API_ [[nodiscard]] TestSuite {
  public:
   // Creates a TestSuite with the given name.
   //
@@ -890,7 +895,7 @@ class GTEST_API_ TestSuite {
 //      available.
 //   2. You cannot use ASSERT_* directly in a constructor or
 //      destructor.
-class Environment {
+class [[nodiscard]] Environment {
  public:
   // The d'tor is virtual as we need to subclass Environment.
   virtual ~Environment() = default;
@@ -911,7 +916,7 @@ class Environment {
 #if GTEST_HAS_EXCEPTIONS
 
 // Exception which can be thrown from TestEventListener::OnTestPartResult.
-class GTEST_API_ AssertionException
+class GTEST_API_ [[nodiscard]] AssertionException
     : public internal::GoogleTestFailureException {
  public:
   explicit AssertionException(const TestPartResult& result)
@@ -922,7 +927,7 @@ class GTEST_API_ AssertionException
 
 // The interface for tracing execution of tests. The methods are organized in
 // the order the corresponding events are fired.
-class TestEventListener {
+class [[nodiscard]] TestEventListener {
  public:
   virtual ~TestEventListener() = default;
 
@@ -989,7 +994,7 @@ class TestEventListener {
 // the methods they override will not be caught during the build.  For
 // comments about each method please see the definition of TestEventListener
 // above.
-class EmptyTestEventListener : public TestEventListener {
+class [[nodiscard]] EmptyTestEventListener : public TestEventListener {
  public:
   void OnTestProgramStart(const UnitTest& /*unit_test*/) override {}
   void OnTestIterationStart(const UnitTest& /*unit_test*/,
@@ -1019,7 +1024,7 @@ class EmptyTestEventListener : public TestEventListener {
 };
 
 // TestEventListeners lets users add listeners to track events in Google Test.
-class GTEST_API_ TestEventListeners {
+class GTEST_API_ [[nodiscard]] TestEventListeners {
  public:
   TestEventListeners();
   ~TestEventListeners();
@@ -1110,7 +1115,7 @@ class GTEST_API_ TestEventListeners {
 //
 // This class is thread-safe as long as the methods are called
 // according to their specification.
-class GTEST_API_ UnitTest {
+class GTEST_API_ [[nodiscard]] UnitTest {
  public:
   // Gets the singleton UnitTest object.  The first time this method
   // is called, a UnitTest object is constructed and returned.
@@ -1246,7 +1251,7 @@ class GTEST_API_ UnitTest {
   // eventually call this to report their results.  The user code
   // should use the assertion macros instead of calling this directly.
   void AddTestPartResult(TestPartResult::Type result_type,
-                         const char* file_name, int line_number,
+                         std::string_view file_name, int line_number,
                          const std::string& message,
                          const std::string& os_stack_trace)
       GTEST_LOCK_EXCLUDED_(mutex_);
@@ -1398,7 +1403,7 @@ AssertionResult CmpHelperEQ(const char* lhs_expression,
   return CmpHelperEQFailure(lhs_expression, rhs_expression, lhs, rhs);
 }
 
-class EqHelper {
+class [[nodiscard]] EqHelper {
  public:
   // This templatized version is for the general case.
   template <
@@ -1610,18 +1615,23 @@ GTEST_API_ AssertionResult DoubleNearPredFormat(const char* expr1,
                                                 double val1, double val2,
                                                 double abs_error);
 
+using GoogleTest_NotSupported_OnFunctionReturningNonVoid = void;
+
 // INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
 // A class that enables one to stream messages to assertion macros
-class GTEST_API_ AssertHelper {
+class GTEST_API_ [[nodiscard]] AssertHelper {
  public:
   // Constructor.
   AssertHelper(TestPartResult::Type type, const char* file, int line,
                const char* message);
+  AssertHelper(TestPartResult::Type type, std::string_view file, int line,
+               std::string_view message);
   ~AssertHelper();
 
   // Message assignment is a semantic trick to enable assertion
   // streaming; see the GTEST_MESSAGE_ macro below.
-  void operator=(const Message& message) const;
+  GoogleTest_NotSupported_OnFunctionReturningNonVoid operator=(
+      const Message& message) const;
 
  private:
   // We put our data in a struct so that the size of the AssertHelper class can
@@ -1629,12 +1639,12 @@ class GTEST_API_ AssertHelper {
   // re-using stack space even for temporary variables, so every EXPECT_EQ
   // reserves stack space for another AssertHelper.
   struct AssertHelperData {
-    AssertHelperData(TestPartResult::Type t, const char* srcfile, int line_num,
-                     const char* msg)
+    AssertHelperData(TestPartResult::Type t, std::string_view srcfile,
+                     int line_num, std::string_view msg)
         : type(t), file(srcfile), line(line_num), message(msg) {}
 
     TestPartResult::Type const type;
-    const char* const file;
+    const std::string_view file;
     int const line;
     std::string const message;
 
@@ -1686,14 +1696,14 @@ class GTEST_API_ AssertHelper {
 // INSTANTIATE_TEST_SUITE_P(OneToTenRange, FooTest, ::testing::Range(1, 10));
 
 template <typename T>
-class WithParamInterface {
+class [[nodiscard]] WithParamInterface {
  public:
   typedef T ParamType;
   virtual ~WithParamInterface() = default;
 
   // The current parameter value. Is also available in the test fixture's
   // constructor.
-  static const ParamType& GetParam() {
+  [[nodiscard]] static const ParamType& GetParam() {
     GTEST_CHECK_(parameter_ != nullptr)
         << "GetParam() can only be called inside a value-parameterized test "
         << "-- did you intend to write TEST_P instead of TEST_F?";
@@ -1720,7 +1730,8 @@ const T* WithParamInterface<T>::parameter_ = nullptr;
 // WithParamInterface, and can just inherit from ::testing::TestWithParam.
 
 template <typename T>
-class TestWithParam : public Test, public WithParamInterface<T> {};
+class [[nodiscard]] TestWithParam : public Test,
+                                    public WithParamInterface<T> {};
 
 // Macros for indicating success/failure in test code.
 
@@ -1807,14 +1818,13 @@ class TestWithParam : public Test, public WithParamInterface<T> {};
 #define GTEST_EXPECT_TRUE(condition)                      \
   GTEST_TEST_BOOLEAN_(condition, #condition, false, true, \
                       GTEST_NONFATAL_FAILURE_)
-#define GTEST_EXPECT_FALSE(condition)                        \
-  GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+#define GTEST_EXPECT_FALSE(condition)                     \
+  GTEST_TEST_BOOLEAN_(condition, #condition, true, false, \
                       GTEST_NONFATAL_FAILURE_)
 #define GTEST_ASSERT_TRUE(condition) \
   GTEST_TEST_BOOLEAN_(condition, #condition, false, true, GTEST_FATAL_FAILURE_)
-#define GTEST_ASSERT_FALSE(condition)                        \
-  GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
-                      GTEST_FATAL_FAILURE_)
+#define GTEST_ASSERT_FALSE(condition) \
+  GTEST_TEST_BOOLEAN_(condition, #condition, true, false, GTEST_FATAL_FAILURE_)
 
 // Define these macros to 1 to omit the definition of the corresponding
 // EXPECT or ASSERT, which clashes with some users' own code.
@@ -2068,7 +2078,7 @@ GTEST_API_ AssertionResult DoubleLE(const char* expr1, const char* expr2,
 // Example:
 //   testing::ScopedTrace trace("file.cc", 123, "message");
 //
-class GTEST_API_ ScopedTrace {
+class GTEST_API_ [[nodiscard]] ScopedTrace {
  public:
   // The c'tor pushes the given source file location and message onto
   // a trace stack maintained by Google Test.
@@ -2153,7 +2163,7 @@ class GTEST_API_ ScopedTrace {
 // to cause a compiler error.
 template <typename T1, typename T2>
 constexpr bool StaticAssertTypeEq() noexcept {
-  static_assert(std::is_same<T1, T2>::value, "T1 and T2 are not the same type");
+  static_assert(std::is_same_v<T1, T2>, "T1 and T2 are not the same type");
   return true;
 }
 
@@ -2299,7 +2309,7 @@ template <int&... ExplicitParameterBarrier, typename Factory>
 TestInfo* RegisterTest(const char* test_suite_name, const char* test_name,
                        const char* type_param, const char* value_param,
                        const char* file, int line, Factory factory) {
-  using TestT = typename std::remove_pointer<decltype(factory())>::type;
+  using TestT = std::remove_pointer_t<decltype(factory())>;
 
   class FactoryImpl : public internal::TestFactoryBase {
    public:
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-death-test-internal.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-death-test-internal.h
index b363259ec6..f0f93e520b 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-death-test-internal.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-death-test-internal.h
@@ -43,6 +43,7 @@
 
 #include <memory>
 #include <string>
+#include <string_view>
 
 #include "gtest/gtest-matchers.h"
 #include "gtest/internal/gtest-internal.h"
@@ -63,6 +64,10 @@ inline Matcher<const ::std::string&> MakeDeathTestMatcher(
     ::testing::internal::RE regex) {
   return ContainsRegex(regex.pattern());
 }
+inline Matcher<const ::std::string&> MakeDeathTestMatcher(
+    std::string_view regex) {
+  return ContainsRegex(regex);
+}
 inline Matcher<const ::std::string&> MakeDeathTestMatcher(const char* regex) {
   return ContainsRegex(regex);
 }
@@ -96,7 +101,7 @@ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \
 //               by wait(2)
 // exit code:    The integer code passed to exit(3), _Exit(2), or
 //               returned from main()
-class GTEST_API_ DeathTest {
+class GTEST_API_ [[nodiscard]] DeathTest {
  public:
   // Create returns false if there was an error determining the
   // appropriate action to take for the current death test; for example,
@@ -172,7 +177,7 @@ class GTEST_API_ DeathTest {
 GTEST_DISABLE_MSC_WARNINGS_POP_()  //  4251
 
 // Factory interface for death tests.  May be mocked out for testing.
-class DeathTestFactory {
+class [[nodiscard]] DeathTestFactory {
  public:
   virtual ~DeathTestFactory() = default;
   virtual bool Create(const char* statement,
@@ -181,7 +186,7 @@ class DeathTestFactory {
 };
 
 // A concrete DeathTestFactory implementation for normal use.
-class DefaultDeathTestFactory : public DeathTestFactory {
+class [[nodiscard]] DefaultDeathTestFactory : public DeathTestFactory {
  public:
   bool Create(const char* statement, Matcher<const std::string&> matcher,
               const char* file, int line, DeathTest** test) override;
@@ -229,7 +234,8 @@ GTEST_API_ bool ExitedUnsuccessfully(int exit_status);
       goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__);                        \
     }                                                                          \
     if (gtest_dt != nullptr) {                                                 \
-      std::unique_ptr< ::testing::internal::DeathTest> gtest_dt_ptr(gtest_dt); \
+      const std::unique_ptr< ::testing::internal::DeathTest> gtest_dt_ptr(     \
+          gtest_dt);                                                           \
       switch (gtest_dt->AssumeRole()) {                                        \
         case ::testing::internal::DeathTest::OVERSEE_TEST:                     \
           if (!gtest_dt->Passed(predicate(gtest_dt->Wait()))) {                \
@@ -256,19 +262,19 @@ GTEST_API_ bool ExitedUnsuccessfully(int exit_status);
 // must accept a streamed message even though the message is never printed.
 // The regex object is not evaluated, but it is used to prevent "unused"
 // warnings and to avoid an expression that doesn't compile in debug mode.
-#define GTEST_EXECUTE_STATEMENT_(statement, regex_or_matcher)    \
-  GTEST_AMBIGUOUS_ELSE_BLOCKER_                                  \
-  if (::testing::internal::AlwaysTrue()) {                       \
-    GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement);   \
-  } else if (!::testing::internal::AlwaysTrue()) {               \
-    ::testing::internal::MakeDeathTestMatcher(regex_or_matcher); \
-  } else                                                         \
+#define GTEST_EXECUTE_STATEMENT_(statement, regex_or_matcher)          \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_                                        \
+  if (::testing::internal::AlwaysTrue()) {                             \
+    GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement);         \
+  } else if (!::testing::internal::AlwaysTrue()) {                     \
+    (void)::testing::internal::MakeDeathTestMatcher(regex_or_matcher); \
+  } else                                                               \
     ::testing::Message()
 
 // A class representing the parsed contents of the
 // --gtest_internal_run_death_test flag, as it existed when
 // RUN_ALL_TESTS was called.
-class InternalRunDeathTestFlag {
+class [[nodiscard]] InternalRunDeathTestFlag {
  public:
   InternalRunDeathTestFlag(const std::string& a_file, int a_line, int an_index,
                            int a_write_fd)
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-filepath.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-filepath.h
index 6dc47be54a..4dc00ee7b3 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-filepath.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-filepath.h
@@ -67,7 +67,7 @@ namespace internal {
 // Names are NOT checked for syntax correctness -- no checking for illegal
 // characters, malformed paths, etc.
 
-class GTEST_API_ FilePath {
+class GTEST_API_ [[nodiscard]] FilePath {
  public:
   FilePath() : pathname_("") {}
   FilePath(const FilePath& rhs) : pathname_(rhs.pathname_) {}
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h
index 808d89be91..55e9966720 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-internal.h
@@ -95,7 +95,13 @@
 #define GTEST_STRINGIFY_(...) GTEST_STRINGIFY_HELPER_(__VA_ARGS__, )
 
 namespace proto2 {
-class MessageLite;
+class [[nodiscard]] MessageLite;
+
+// Dummy forward declaration of `DynamicCastMessage`. Does not match any actual
+// overloads of `DynamicCastMessage`, but can be used to assist name resolution
+// in templates.
+template <typename T>
+T DynamicCastMessage() = delete;
 }
 
 namespace testing {
@@ -115,15 +121,15 @@ template <typename T>
 namespace internal {
 
 struct TraceInfo;    // Information about a trace point.
-class TestInfoImpl;  // Opaque implementation of TestInfo
-class UnitTestImpl;  // Opaque implementation of UnitTest
+class [[nodiscard]] TestInfoImpl;  // Opaque implementation of TestInfo
+class [[nodiscard]] UnitTestImpl;  // Opaque implementation of UnitTest
 
 // The text used in failure messages to indicate the start of the
 // stack trace.
 GTEST_API_ extern const char kStackTraceMarker[];
 
 // An IgnoredValue object can be implicitly constructed from ANY value.
-class IgnoredValue {
+class [[nodiscard]] IgnoredValue {
   struct Sink {};
 
  public:
@@ -155,7 +161,8 @@ GTEST_DISABLE_MSC_WARNINGS_PUSH_(
 // errors presumably detectable only at run time.  Since
 // std::runtime_error inherits from std::exception, many testing
 // frameworks know how to extract and print the message inside it.
-class GTEST_API_ GoogleTestFailureException : public ::std::runtime_error {
+class GTEST_API_ [[nodiscard]] GoogleTestFailureException
+    : public ::std::runtime_error {
  public:
   explicit GoogleTestFailureException(const TestPartResult& failure);
 };
@@ -242,7 +249,7 @@ GTEST_API_ std::string GetBoolAssertionFailureMessage(
 //
 //   RawType: the raw floating-point type (either float or double)
 template <typename RawType>
-class FloatingPoint {
+class [[nodiscard]] FloatingPoint {
  public:
   // Defines the unsigned integer type that has the same size as the
   // floating point number.
@@ -392,7 +399,7 @@ typedef FloatingPoint<double> Double;
 typedef const void* TypeId;
 
 template <typename T>
-class TypeIdHelper {
+class [[nodiscard]] TypeIdHelper {
  public:
   // dummy_ must not have a const type.  Otherwise an overly eager
   // compiler (e.g. MSVC 7.1 & 8.0) may try to merge
@@ -424,7 +431,7 @@ GTEST_API_ TypeId GetTestTypeId();
 
 // Defines the abstract factory interface that creates instances
 // of a Test object.
-class TestFactoryBase {
+class [[nodiscard]] TestFactoryBase {
  public:
   virtual ~TestFactoryBase() = default;
 
@@ -443,7 +450,7 @@ class TestFactoryBase {
 // This class provides implementation of TestFactoryBase interface.
 // It is used in TEST and TEST_F macros.
 template <class TestClass>
-class TestFactoryImpl : public TestFactoryBase {
+class [[nodiscard]] TestFactoryImpl : public TestFactoryBase {
  public:
   Test* CreateTest() override { return new TestClass; }
 };
@@ -570,7 +577,7 @@ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \
 /* class A needs to have dll-interface to be used by clients of class B */)
 
 // State of the definition of a type-parameterized test suite.
-class GTEST_API_ TypedTestSuitePState {
+class GTEST_API_ [[nodiscard]] TypedTestSuitePState {
  public:
   TypedTestSuitePState() : registered_(false) {}
 
@@ -685,7 +692,7 @@ std::vector<std::string> GenerateNames() {
 // Implementation note: The GTEST_TEMPLATE_ macro declares a template
 // template parameter.  It's defined in gtest-type-util.h.
 template <GTEST_TEMPLATE_ Fixture, class TestSel, typename Types>
-class TypeParameterizedTest {
+class [[nodiscard]] TypeParameterizedTest {
  public:
   // 'index' is the index of the test in the type list 'Types'
   // specified in INSTANTIATE_TYPED_TEST_SUITE_P(Prefix, TestSuite,
@@ -723,7 +730,7 @@ class TypeParameterizedTest {
 
 // The base case for the compile time recursion.
 template <GTEST_TEMPLATE_ Fixture, class TestSel>
-class TypeParameterizedTest<Fixture, TestSel, internal::None> {
+class [[nodiscard]] TypeParameterizedTest<Fixture, TestSel, internal::None> {
  public:
   static bool Register(const char* /*prefix*/, CodeLocation,
                        const char* /*case_name*/, const char* /*test_names*/,
@@ -744,7 +751,7 @@ GTEST_API_ void RegisterTypeParameterizedTestSuiteInstantiation(
 // Test.  The return value is insignificant - we just need to return
 // something such that we can call this function in a namespace scope.
 template <GTEST_TEMPLATE_ Fixture, typename Tests, typename Types>
-class TypeParameterizedTestSuite {
+class [[nodiscard]] TypeParameterizedTestSuite {
  public:
   static bool Register(const char* prefix, CodeLocation code_location,
                        const TypedTestSuitePState* state, const char* case_name,
@@ -782,7 +789,7 @@ class TypeParameterizedTestSuite {
 
 // The base case for the compile time recursion.
 template <GTEST_TEMPLATE_ Fixture, typename Types>
-class TypeParameterizedTestSuite<Fixture, internal::None, Types> {
+class [[nodiscard]] TypeParameterizedTestSuite<Fixture, internal::None, Types> {
  public:
   static bool Register(const char* /*prefix*/, const CodeLocation&,
                        const TypedTestSuitePState* /*state*/,
@@ -838,7 +845,7 @@ struct TrueWithString {
 // doesn't use global state (and therefore can't interfere with user
 // code).  Unlike rand_r(), it's portable.  An LCG isn't very random,
 // but it's good enough for our purposes.
-class GTEST_API_ Random {
+class GTEST_API_ [[nodiscard]] Random {
  public:
   static const uint32_t kMaxRange = 1u << 31;
 
@@ -864,7 +871,7 @@ class GTEST_API_ Random {
 // that's true if and only if T has methods DebugString() and ShortDebugString()
 // that return std::string.
 template <typename T>
-class HasDebugStringAndShortDebugString {
+class [[nodiscard]] HasDebugStringAndShortDebugString {
  private:
   template <typename C>
   static auto CheckDebugString(C*) -> typename std::is_same<
@@ -1064,7 +1071,7 @@ struct RelationToSourceCopy {};
 // this requirement.  Element can be an array type itself (hence
 // multi-dimensional arrays are supported).
 template <typename Element>
-class NativeArray {
+class [[nodiscard]] NativeArray {
  public:
   // STL-style container typedefs.
   typedef Element value_type;
@@ -1150,7 +1157,7 @@ struct ElemFromList {
 struct FlatTupleConstructTag {};
 
 template <typename... T>
-class FlatTuple;
+class [[nodiscard]] FlatTuple;
 
 template <typename Derived, size_t I>
 struct FlatTupleElemBase;
@@ -1209,7 +1216,7 @@ struct FlatTupleBase<FlatTuple<T...>, std::index_sequence<Idx...>>
 // std::make_index_sequence, on the other hand, it is recursive but with an
 // instantiation depth of O(ln(N)).
 template <typename... T>
-class FlatTuple
+class [[nodiscard]] FlatTuple
     : private FlatTupleBase<FlatTuple<T...>,
                             std::make_index_sequence<sizeof...(T)>> {
   using Indices =
@@ -1317,7 +1324,7 @@ struct tuple_size<testing::internal::FlatTuple<Ts...>>
 namespace testing {
 namespace internal {
 
-class NeverThrown {
+class [[nodiscard]] NeverThrown {
  public:
   const char* what() const noexcept {
     return "this exception should never be thrown";
@@ -1444,15 +1451,14 @@ class NeverThrown {
 // Implements Boolean test assertions such as EXPECT_TRUE. expression can be
 // either a boolean expression or an AssertionResult. text is a textual
 // representation of expression as it was passed into the EXPECT_TRUE.
-#define GTEST_TEST_BOOLEAN_(expression, text, actual, expected, fail) \
-  GTEST_AMBIGUOUS_ELSE_BLOCKER_                                       \
-  if (const ::testing::AssertionResult gtest_ar_ =                    \
-          ::testing::AssertionResult(expression))                     \
-    ;                                                                 \
-  else                                                                \
-    fail(::testing::internal::GetBoolAssertionFailureMessage(         \
-             gtest_ar_, text, #actual, #expected)                     \
-             .c_str())
+#define GTEST_TEST_BOOLEAN_(expression, text, actual, expected, fail)      \
+  GTEST_AMBIGUOUS_ELSE_BLOCKER_                                            \
+  if (const ::testing::internal::AssertionResultExpectation gtest_are_ = { \
+          ::testing::AssertionResult(expression), expected})               \
+    ;                                                                      \
+  else /* NOLINT */                                                        \
+    fail(::testing::internal::GetBoolAssertionFailureMessage(              \
+        gtest_are_.assertion_result, text, #actual, #expected))
 
 #define GTEST_TEST_NO_FATAL_FAILURE_(statement, fail)               \
   GTEST_AMBIGUOUS_ELSE_BLOCKER_                                     \
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h
index a092a86ada..716779346a 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-param-util.h
@@ -90,14 +90,14 @@ GTEST_API_ void ReportInvalidTestSuiteType(const char* test_suite_name,
                                            const CodeLocation& code_location);
 
 template <typename>
-class ParamGeneratorInterface;
+class [[nodiscard]] ParamGeneratorInterface;
 template <typename>
-class ParamGenerator;
+class [[nodiscard]] ParamGenerator;
 
 // Interface for iterating over elements provided by an implementation
 // of ParamGeneratorInterface<T>.
 template <typename T>
-class ParamIteratorInterface {
+class [[nodiscard]] ParamIteratorInterface {
  public:
   virtual ~ParamIteratorInterface() = default;
   // A pointer to the base generator instance.
@@ -127,7 +127,7 @@ class ParamIteratorInterface {
 // ParamGeneratorInterface<T>. It wraps ParamIteratorInterface<T>
 // and implements the const forward iterator concept.
 template <typename T>
-class ParamIterator {
+class [[nodiscard]] ParamIterator {
  public:
   typedef T value_type;
   typedef const T& reference;
@@ -169,7 +169,7 @@ class ParamIterator {
 // ParamGeneratorInterface<T> is the binary interface to access generators
 // defined in other translation units.
 template <typename T>
-class ParamGeneratorInterface {
+class [[nodiscard]] ParamGeneratorInterface {
  public:
   typedef T ParamType;
 
@@ -186,7 +186,7 @@ class ParamGeneratorInterface {
 // ParamGeneratorInterface<T> instance is shared among all copies
 // of the original object. This is possible because that instance is immutable.
 template <typename T>
-class ParamGenerator {
+class [[nodiscard]] ParamGenerator {
  public:
   typedef ParamIterator<T> iterator;
 
@@ -210,7 +210,7 @@ class ParamGenerator {
 // operator<().
 // This class is used in the Range() function.
 template <typename T, typename IncrementT>
-class RangeGenerator : public ParamGeneratorInterface<T> {
+class [[nodiscard]] RangeGenerator : public ParamGeneratorInterface<T> {
  public:
   RangeGenerator(T begin, T end, IncrementT step)
       : begin_(begin),
@@ -296,7 +296,8 @@ class RangeGenerator : public ParamGeneratorInterface<T> {
 // since the source can be located on the stack, and the generator
 // is likely to persist beyond that stack frame.
 template <typename T>
-class ValuesInIteratorRangeGenerator : public ParamGeneratorInterface<T> {
+class [[nodiscard]] ValuesInIteratorRangeGenerator
+    : public ParamGeneratorInterface<T> {
  public:
   template <typename ForwardIterator>
   ValuesInIteratorRangeGenerator(ForwardIterator begin, ForwardIterator end)
@@ -396,7 +397,7 @@ void TestNotEmpty(const T&) {}
 // Stores a parameter value and later creates tests parameterized with that
 // value.
 template <class TestClass>
-class ParameterizedTestFactory : public TestFactoryBase {
+class [[nodiscard]] ParameterizedTestFactory : public TestFactoryBase {
  public:
   typedef typename TestClass::ParamType ParamType;
   explicit ParameterizedTestFactory(ParamType parameter)
@@ -418,7 +419,7 @@ class ParameterizedTestFactory : public TestFactoryBase {
 // TestMetaFactoryBase is a base class for meta-factories that create
 // test factories for passing into MakeAndRegisterTestInfo function.
 template <class ParamType>
-class TestMetaFactoryBase {
+class [[nodiscard]] TestMetaFactoryBase {
  public:
   virtual ~TestMetaFactoryBase() = default;
 
@@ -434,7 +435,7 @@ class TestMetaFactoryBase {
 // it for each Test/Parameter value combination. Thus it needs meta factory
 // creator class.
 template <class TestSuite>
-class TestMetaFactory
+class [[nodiscard]] TestMetaFactory
     : public TestMetaFactoryBase<typename TestSuite::ParamType> {
  public:
   using ParamType = typename TestSuite::ParamType;
@@ -460,7 +461,7 @@ class TestMetaFactory
 // in RegisterTests method. The ParameterizeTestSuiteRegistry class holds
 // a collection of pointers to the ParameterizedTestSuiteInfo objects
 // and calls RegisterTests() on each of them when asked.
-class ParameterizedTestSuiteInfoBase {
+class [[nodiscard]] ParameterizedTestSuiteInfoBase {
  public:
   virtual ~ParameterizedTestSuiteInfoBase() = default;
 
@@ -503,7 +504,8 @@ GTEST_API_ void InsertSyntheticTestCase(const std::string& name,
 // test suite. It registers tests with all values generated by all
 // generators when asked.
 template <class TestSuite>
-class ParameterizedTestSuiteInfo : public ParameterizedTestSuiteInfoBase {
+class [[nodiscard]] ParameterizedTestSuiteInfo
+    : public ParameterizedTestSuiteInfoBase {
  public:
   // ParamType and GeneratorCreationFunc are private types but are required
   // for declarations of public methods AddTestPattern() and
@@ -688,7 +690,7 @@ using ParameterizedTestCaseInfo = ParameterizedTestSuiteInfo<TestCase>;
 // ParameterizedTestSuiteInfoBase classes accessed by test suite names. TEST_P
 // and INSTANTIATE_TEST_SUITE_P macros use it to locate their corresponding
 // ParameterizedTestSuiteInfo descriptors.
-class ParameterizedTestSuiteRegistry {
+class [[nodiscard]] ParameterizedTestSuiteRegistry {
  public:
   ParameterizedTestSuiteRegistry() = default;
   ~ParameterizedTestSuiteRegistry() {
@@ -762,7 +764,7 @@ class ParameterizedTestSuiteRegistry {
 // Keep track of what type-parameterized test suite are defined and
 // where as well as which are intatiated. This allows susequently
 // identifying suits that are defined but never used.
-class TypeParameterizedTestSuiteRegistry {
+class [[nodiscard]] TypeParameterizedTestSuiteRegistry {
  public:
   // Add a suite definition
   void RegisterTestSuite(const char* test_suite_name,
@@ -801,7 +803,7 @@ namespace internal {
 GTEST_DISABLE_MSC_WARNINGS_PUSH_(4100)
 
 template <typename... Ts>
-class ValueArray {
+class [[nodiscard]] ValueArray {
  public:
   explicit ValueArray(Ts... v) : v_(FlatTupleConstructTag{}, std::move(v)...) {}
 
@@ -822,7 +824,7 @@ class ValueArray {
 GTEST_DISABLE_MSC_WARNINGS_POP_()  // 4100
 
 template <typename... T>
-class CartesianProductGenerator
+class [[nodiscard]] CartesianProductGenerator
     : public ParamGeneratorInterface<::std::tuple<T...>> {
  public:
   typedef ::std::tuple<T...> ParamType;
@@ -939,7 +941,7 @@ class CartesianProductGenerator
 };
 
 template <class... Gen>
-class CartesianProductHolder {
+class [[nodiscard]] CartesianProductHolder {
  public:
   CartesianProductHolder(const Gen&... g) : generators_(g...) {}
   template <typename... T>
@@ -953,7 +955,8 @@ class CartesianProductHolder {
 };
 
 template <typename From, typename To, typename Func>
-class ParamGeneratorConverter : public ParamGeneratorInterface<To> {
+class [[nodiscard]] ParamGeneratorConverter
+    : public ParamGeneratorInterface<To> {
  public:
   ParamGeneratorConverter(ParamGenerator<From> gen, Func converter)  // NOLINT
       : generator_(std::move(gen)), converter_(std::move(converter)) {}
@@ -1023,7 +1026,7 @@ class ParamGeneratorConverter : public ParamGeneratorInterface<To> {
 template <class GeneratedT,
           typename StdFunction =
               std::function<const GeneratedT&(const GeneratedT&)>>
-class ParamConverterGenerator {
+class [[nodiscard]] ParamConverterGenerator {
  public:
   ParamConverterGenerator(ParamGenerator<GeneratedT> g)  // NOLINT
       : generator_(std::move(g)), converter_(Identity) {}
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port-arch.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port-arch.h
index 7ec968f312..fbffc95b1a 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port-arch.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port-arch.h
@@ -119,6 +119,8 @@
 #define GTEST_OS_NXP_QN9090 1
 #elif defined(NRF52)
 #define GTEST_OS_NRF52 1
+#elif defined(__EMSCRIPTEN__)
+#define GTEST_OS_EMSCRIPTEN 1
 #endif  // __CYGWIN__
 
 #endif  // GOOGLETEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_ARCH_H_
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
index 25b7d194db..92e6591d2c 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-port.h
@@ -198,21 +198,8 @@
 //                                        suppressed (constant conditional).
 //   GTEST_INTENTIONAL_CONST_COND_POP_  - finish code section where MSVC C4127
 //                                        is suppressed.
-//   GTEST_INTERNAL_HAS_ANY - for enabling UniversalPrinter<std::any> or
-//                            UniversalPrinter<absl::any> specializations.
-//                            Always defined to 0 or 1.
-//   GTEST_INTERNAL_HAS_OPTIONAL - for enabling UniversalPrinter<std::optional>
-//   or
-//                                 UniversalPrinter<absl::optional>
-//                                 specializations. Always defined to 0 or 1.
 //   GTEST_INTERNAL_HAS_STD_SPAN - for enabling UniversalPrinter<std::span>
 //                                 specializations. Always defined to 0 or 1
-//   GTEST_INTERNAL_HAS_STRING_VIEW - for enabling Matcher<std::string_view> or
-//                                    Matcher<absl::string_view>
-//                                    specializations. Always defined to 0 or 1.
-//   GTEST_INTERNAL_HAS_VARIANT - for enabling UniversalPrinter<std::variant> or
-//                                UniversalPrinter<absl::variant>
-//                                specializations. Always defined to 0 or 1.
 //   GTEST_USE_OWN_FLAGFILE_FLAG_ - Always defined to 0 or 1.
 //   GTEST_HAS_CXXABI_H_ - Always defined to 0 or 1.
 //   GTEST_CAN_STREAM_RESULTS_ - Always defined to 0 or 1.
@@ -306,9 +293,10 @@
 #include <limits>
 #include <locale>
 #include <memory>
+// #include <mutex>  // Guarded by GTEST_IS_THREADSAFE below
 #include <ostream>
 #include <string>
-// #include <mutex>  // Guarded by GTEST_IS_THREADSAFE below
+#include <string_view>
 #include <tuple>
 #include <type_traits>
 #include <vector>
@@ -376,18 +364,24 @@
 #define GTEST_DISABLE_MSC_WARNINGS_POP_()
 #endif
 
-// Clang on Windows does not understand MSVC's pragma warning.
-// We need clang-specific way to disable function deprecation warning.
-#ifdef __clang__
-#define GTEST_DISABLE_MSC_DEPRECATED_PUSH_()                            \
+// Pragmas to disable function deprecation warnings.
+#if defined(__clang__)
+#define GTEST_DISABLE_DEPRECATED_PUSH_()                                \
   _Pragma("clang diagnostic push")                                      \
       _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"") \
           _Pragma("clang diagnostic ignored \"-Wdeprecated-implementations\"")
-#define GTEST_DISABLE_MSC_DEPRECATED_POP_() _Pragma("clang diagnostic pop")
+#define GTEST_DISABLE_DEPRECATED_POP_() _Pragma("clang diagnostic pop")
+#elif defined(__GNUC__)
+#define GTEST_DISABLE_DEPRECATED_PUSH_() \
+  _Pragma("GCC diagnostic push")         \
+      _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#define GTEST_DISABLE_DEPRECATED_POP_() _Pragma("GCC diagnostic pop")
+#elif defined(_MSC_VER)
+#define GTEST_DISABLE_DEPRECATED_PUSH_() GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996)
+#define GTEST_DISABLE_DEPRECATED_POP_() GTEST_DISABLE_MSC_WARNINGS_POP_()
 #else
-#define GTEST_DISABLE_MSC_DEPRECATED_PUSH_() \
-  GTEST_DISABLE_MSC_WARNINGS_PUSH_(4996)
-#define GTEST_DISABLE_MSC_DEPRECATED_POP_() GTEST_DISABLE_MSC_WARNINGS_POP_()
+#define GTEST_DISABLE_DEPRECATED_PUSH_()
+#define GTEST_DISABLE_DEPRECATED_POP_()
 #endif
 
 // Brings in definitions for functions used in the testing::internal::posix
@@ -606,7 +600,8 @@ typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
      defined(GTEST_OS_DRAGONFLY) || defined(GTEST_OS_GNU_KFREEBSD) || \
      defined(GTEST_OS_OPENBSD) || defined(GTEST_OS_HAIKU) ||          \
      defined(GTEST_OS_GNU_HURD) || defined(GTEST_OS_SOLARIS) ||       \
-     defined(GTEST_OS_AIX) || defined(GTEST_OS_ZOS))
+     defined(GTEST_OS_AIX) || defined(GTEST_OS_ZOS) ||                \
+     (defined(GTEST_OS_EMSCRIPTEN) && defined(__EMSCRIPTEN_PTHREADS__)))
 #define GTEST_HAS_PTHREAD 1
 #else
 #define GTEST_HAS_PTHREAD 0
@@ -677,12 +672,22 @@ typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
      defined(GTEST_OS_NETBSD) || defined(GTEST_OS_FUCHSIA) ||         \
      defined(GTEST_OS_DRAGONFLY) || defined(GTEST_OS_GNU_KFREEBSD) || \
      defined(GTEST_OS_HAIKU) || defined(GTEST_OS_GNU_HURD))
+
 // Death tests require a file system to work properly.
 #if GTEST_HAS_FILE_SYSTEM
 #define GTEST_HAS_DEATH_TEST 1
 #endif  // GTEST_HAS_FILE_SYSTEM
 #endif
 
+// Determines whether the Premature Exit file can be created.
+// Created by default when Death tests are supported, but other platforms can
+// use the Premature exit file without Death test support (e.g. for detecting
+// crashes).
+#if GTEST_HAS_DEATH_TEST || \
+    (defined(GTEST_OS_EMSCRIPTEN) && GTEST_HAS_FILE_SYSTEM)
+#define GTEST_INTERNAL_HAS_PREMATURE_EXIT_FILE 1
+#endif
+
 // Determines whether to support type-driven tests.
 
 // Typed tests need <typeinfo> and variadic macros, which GCC, VC++ 8.0,
@@ -835,11 +840,13 @@ typedef struct _RTL_CRITICAL_SECTION GTEST_CRITICAL_SECTION;
 #ifndef GTEST_API_
 
 #ifdef _MSC_VER
-#if defined(GTEST_LINKED_AS_SHARED_LIBRARY) && GTEST_LINKED_AS_SHARED_LIBRARY
-#define GTEST_API_ __declspec(dllimport)
-#elif defined(GTEST_CREATE_SHARED_LIBRARY) && GTEST_CREATE_SHARED_LIBRARY
+#if defined(GTEST_CREATE_SHARED_LIBRARY) && GTEST_CREATE_SHARED_LIBRARY
 #define GTEST_API_ __declspec(dllexport)
+#elif defined(GTEST_LINKED_AS_SHARED_LIBRARY) && GTEST_LINKED_AS_SHARED_LIBRARY
+#define GTEST_API_ __declspec(dllimport)
 #endif
+#elif GTEST_INTERNAL_HAVE_CPP_ATTRIBUTE(gnu::visibility)
+#define GTEST_API_ [[gnu::visibility("default")]]
 #elif GTEST_HAVE_ATTRIBUTE_(visibility)
 #define GTEST_API_ __attribute__((visibility("default")))
 #endif  // _MSC_VER
@@ -930,7 +937,7 @@ namespace internal {
 // A secret type that Google Test users don't know about.  It has no
 // accessible constructors on purpose.  Therefore it's impossible to create a
 // Secret object, which is what we want.
-class Secret {
+class [[nodiscard]] Secret {
   Secret(const Secret&) = delete;
 };
 
@@ -943,21 +950,21 @@ GTEST_API_ bool IsTrue(bool condition);
 #ifdef GTEST_USES_RE2
 
 // This is almost `using RE = ::RE2`, except it is copy-constructible, and it
-// needs to disambiguate the `std::string`, `absl::string_view`, and `const
+// needs to disambiguate the `std::string`, `std::string_view`, and `const
 // char*` constructors.
-class GTEST_API_ RE {
+class GTEST_API_ [[nodiscard]] RE {
  public:
-  RE(absl::string_view regex) : regex_(regex) {}                  // NOLINT
-  RE(const char* regex) : RE(absl::string_view(regex)) {}         // NOLINT
-  RE(const std::string& regex) : RE(absl::string_view(regex)) {}  // NOLINT
+  RE(std::string_view regex) : regex_(regex) {}                  // NOLINT
+  RE(const char* regex) : RE(std::string_view(regex)) {}         // NOLINT
+  RE(const std::string& regex) : RE(std::string_view(regex)) {}  // NOLINT
   RE(const RE& other) : RE(other.pattern()) {}
 
   const std::string& pattern() const { return regex_.pattern(); }
 
-  static bool FullMatch(absl::string_view str, const RE& re) {
+  static bool FullMatch(std::string_view str, const RE& re) {
     return RE2::FullMatch(str, re.regex_);
   }
-  static bool PartialMatch(absl::string_view str, const RE& re) {
+  static bool PartialMatch(std::string_view str, const RE& re) {
     return RE2::PartialMatch(str, re.regex_);
   }
 
@@ -971,7 +978,7 @@ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \
 
 // A simple C++ wrapper for <regex.h>.  It uses the POSIX Extended
 // Regular Expression syntax.
-class GTEST_API_ RE {
+class GTEST_API_ [[nodiscard]] RE {
  public:
   // A copy constructor is required by the Standard to initialize object
   // references from r-values.
@@ -1040,7 +1047,7 @@ enum GTestLogSeverity { GTEST_INFO, GTEST_WARNING, GTEST_ERROR, GTEST_FATAL };
 // Formats log entry severity, provides a stream object for streaming the
 // log message, and terminates the message with a newline when going out of
 // scope.
-class GTEST_API_ GTestLog {
+class GTEST_API_ [[nodiscard]] GTestLog {
  public:
   GTestLog(GTestLogSeverity severity, const char* file, int line);
 
@@ -1203,7 +1210,7 @@ void ClearInjectableArgvs();
 #ifdef GTEST_OS_WINDOWS
 // Provides leak-safe Windows kernel handle ownership.
 // Used in death tests and in threading support.
-class GTEST_API_ AutoHandle {
+class GTEST_API_ [[nodiscard]] AutoHandle {
  public:
   // Assume that Win32 HANDLE type is equivalent to void*. Doing so allows us to
   // avoid including <windows.h> in this header file. Including <windows.h> is
@@ -1237,9 +1244,6 @@ class GTEST_API_ AutoHandle {
 // Nothing to do here.
 
 #else
-GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \
-/* class A needs to have dll-interface to be used by clients of class B */)
-
 // Allows a controller thread to pause execution of newly created
 // threads until notified.  Instances of this class must be created
 // and destroyed in the controller thread.
@@ -1247,7 +1251,40 @@ GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \
 // This class is only for testing Google Test's own constructs. Do not
 // use it in user tests, either directly or indirectly.
 // TODO(b/203539622): Replace unconditionally with absl::Notification.
-class GTEST_API_ Notification {
+#ifdef GTEST_OS_WINDOWS_MINGW
+// GCC version < 13 with the win32 thread model does not provide std::mutex and
+// std::condition_variable in the <mutex> and <condition_variable> headers. So
+// we implement the Notification class using a Windows manual-reset event. See
+// https://gcc.gnu.org/gcc-13/changes.html#windows.
+class GTEST_API_ [[nodiscard]] Notification {
+ public:
+  Notification();
+  Notification(const Notification&) = delete;
+  Notification& operator=(const Notification&) = delete;
+  ~Notification();
+
+  // Notifies all threads created with this notification to start. Must
+  // be called from the controller thread.
+  void Notify();
+
+  // Blocks until the controller thread notifies. Must be called from a test
+  // thread.
+  void WaitForNotification();
+
+ private:
+  // Assume that Win32 HANDLE type is equivalent to void*. Doing so allows us to
+  // avoid including <windows.h> in this header file. Including <windows.h> is
+  // undesirable because it defines a lot of symbols and macros that tend to
+  // conflict with client code. This assumption is verified by
+  // WindowsTypesTest.HANDLEIsVoidStar.
+  typedef void* Handle;
+  Handle event_;
+};
+#else
+GTEST_DISABLE_MSC_WARNINGS_PUSH_(4251 \
+/* class A needs to have dll-interface to be used by clients of class B */)
+
+class GTEST_API_ [[nodiscard]] Notification {
  public:
   Notification() : notified_(false) {}
   Notification(const Notification&) = delete;
@@ -1274,6 +1311,7 @@ class GTEST_API_ Notification {
   bool notified_;
 };
 GTEST_DISABLE_MSC_WARNINGS_POP_()  // 4251
+#endif  // GTEST_OS_WINDOWS_MINGW
 #endif  // GTEST_HAS_NOTIFICATION_
 
 // On MinGW, we can have both GTEST_OS_WINDOWS and GTEST_HAS_PTHREAD
@@ -1286,7 +1324,7 @@ GTEST_DISABLE_MSC_WARNINGS_POP_()  // 4251
 // in order to call its Run(). Introducing ThreadWithParamBase as a
 // non-templated base class for ThreadWithParam allows us to bypass this
 // problem.
-class ThreadWithParamBase {
+class [[nodiscard]] ThreadWithParamBase {
  public:
   virtual ~ThreadWithParamBase() = default;
   virtual void Run() = 0;
@@ -1316,7 +1354,7 @@ extern "C" inline void* ThreadFuncWithCLinkage(void* thread) {
 // These classes are only for testing Google Test's own constructs. Do
 // not use them in user tests, either directly or indirectly.
 template <typename T>
-class ThreadWithParam : public ThreadWithParamBase {
+class [[nodiscard]] ThreadWithParam : public ThreadWithParamBase {
  public:
   typedef void UserThreadFunc(T);
 
@@ -1382,7 +1420,7 @@ class ThreadWithParam : public ThreadWithParamBase {
 //   GTEST_DECLARE_STATIC_MUTEX_(g_some_mutex);
 //
 // (A non-static Mutex is defined/declared in the usual way).
-class GTEST_API_ Mutex {
+class GTEST_API_ [[nodiscard]] Mutex {
  public:
   enum MutexType { kStatic = 0, kDynamic = 1 };
   // We rely on kStaticMutex being 0 as it is to what the linker initializes
@@ -1398,9 +1436,9 @@ class GTEST_API_ Mutex {
   Mutex();
   ~Mutex();
 
-  void Lock();
+  void lock();
 
-  void Unlock();
+  void unlock();
 
   // Does nothing if the current thread holds the mutex. Otherwise, crashes
   // with high probability.
@@ -1435,14 +1473,13 @@ class GTEST_API_ Mutex {
 // platforms. That macro is used as a defensive measure to prevent against
 // inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
 // "MutexLock l(&mu)".  Hence the typedef trick below.
-class GTestMutexLock {
+class [[nodiscard]] GTestMutexLock {
  public:
-  explicit GTestMutexLock(Mutex* mutex) : mutex_(mutex) { mutex_->Lock(); }
-
-  ~GTestMutexLock() { mutex_->Unlock(); }
+  explicit GTestMutexLock(Mutex& mutex) : mutex_(mutex) { mutex_.lock(); }
+  ~GTestMutexLock() { mutex_.unlock(); }
 
  private:
-  Mutex* const mutex_;
+  Mutex& mutex_;
 
   GTestMutexLock(const GTestMutexLock&) = delete;
   GTestMutexLock& operator=(const GTestMutexLock&) = delete;
@@ -1452,14 +1489,14 @@ typedef GTestMutexLock MutexLock;
 
 // Base class for ValueHolder<T>.  Allows a caller to hold and delete a value
 // without knowing its type.
-class ThreadLocalValueHolderBase {
+class [[nodiscard]] ThreadLocalValueHolderBase {
  public:
-  virtual ~ThreadLocalValueHolderBase() {}
+  virtual ~ThreadLocalValueHolderBase() = default;
 };
 
 // Provides a way for a thread to send notifications to a ThreadLocal
 // regardless of its parameter type.
-class ThreadLocalBase {
+class [[nodiscard]] ThreadLocalBase {
  public:
   // Creates a new ValueHolder<T> object holding a default value passed to
   // this ThreadLocal<T>'s constructor and returns it.  It is the caller's
@@ -1468,8 +1505,8 @@ class ThreadLocalBase {
   virtual ThreadLocalValueHolderBase* NewValueForCurrentThread() const = 0;
 
  protected:
-  ThreadLocalBase() {}
-  virtual ~ThreadLocalBase() {}
+  ThreadLocalBase() = default;
+  virtual ~ThreadLocalBase() = default;
 
  private:
   ThreadLocalBase(const ThreadLocalBase&) = delete;
@@ -1479,7 +1516,7 @@ class ThreadLocalBase {
 // Maps a thread to a set of ThreadLocals that have values instantiated on that
 // thread and notifies them when the thread exits.  A ThreadLocal instance is
 // expected to persist until all threads it has values on have terminated.
-class GTEST_API_ ThreadLocalRegistry {
+class GTEST_API_ [[nodiscard]] ThreadLocalRegistry {
  public:
   // Registers thread_local_instance as having value on the current thread.
   // Returns a value that can be used to identify the thread from other threads.
@@ -1491,14 +1528,14 @@ class GTEST_API_ ThreadLocalRegistry {
       const ThreadLocalBase* thread_local_instance);
 };
 
-class GTEST_API_ ThreadWithParamBase {
+class GTEST_API_ [[nodiscard]] ThreadWithParamBase {
  public:
   void Join();
 
  protected:
   class Runnable {
    public:
-    virtual ~Runnable() {}
+    virtual ~Runnable() = default;
     virtual void Run() = 0;
   };
 
@@ -1511,20 +1548,20 @@ class GTEST_API_ ThreadWithParamBase {
 
 // Helper class for testing Google Test's multi-threading constructs.
 template <typename T>
-class ThreadWithParam : public ThreadWithParamBase {
+class [[nodiscard]] ThreadWithParam : public ThreadWithParamBase {
  public:
   typedef void UserThreadFunc(T);
 
   ThreadWithParam(UserThreadFunc* func, T param, Notification* thread_can_start)
       : ThreadWithParamBase(new RunnableImpl(func, param), thread_can_start) {}
-  virtual ~ThreadWithParam() {}
+  ~ThreadWithParam() override = default;
 
  private:
   class RunnableImpl : public Runnable {
    public:
     RunnableImpl(UserThreadFunc* func, T param) : func_(func), param_(param) {}
-    virtual ~RunnableImpl() {}
-    virtual void Run() { func_(param_); }
+    ~RunnableImpl() override = default;
+    void Run() override { func_(param_); }
 
    private:
     UserThreadFunc* const func_;
@@ -1566,7 +1603,7 @@ class ThreadWithParam : public ThreadWithParamBase {
 // object managed by Google Test will be leaked as long as all threads
 // using Google Test have exited when main() returns.
 template <typename T>
-class ThreadLocal : public ThreadLocalBase {
+class [[nodiscard]] ThreadLocal : public ThreadLocalBase {
  public:
   ThreadLocal() : default_factory_(new DefaultValueHolderFactory()) {}
   explicit ThreadLocal(const T& value)
@@ -1607,8 +1644,8 @@ class ThreadLocal : public ThreadLocalBase {
 
   class ValueHolderFactory {
    public:
-    ValueHolderFactory() {}
-    virtual ~ValueHolderFactory() {}
+    ValueHolderFactory() = default;
+    virtual ~ValueHolderFactory() = default;
     virtual ValueHolder* MakeNewHolder() const = 0;
 
    private:
@@ -1618,7 +1655,7 @@ class ThreadLocal : public ThreadLocalBase {
 
   class DefaultValueHolderFactory : public ValueHolderFactory {
    public:
-    DefaultValueHolderFactory() {}
+    DefaultValueHolderFactory() = default;
     ValueHolder* MakeNewHolder() const override { return new ValueHolder(); }
 
    private:
@@ -1651,17 +1688,17 @@ class ThreadLocal : public ThreadLocalBase {
 #elif GTEST_HAS_PTHREAD
 
 // MutexBase and Mutex implement mutex on pthreads-based platforms.
-class MutexBase {
+class [[nodiscard]] MutexBase {
  public:
   // Acquires this mutex.
-  void Lock() {
+  void lock() {
     GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_lock(&mutex_));
     owner_ = pthread_self();
     has_owner_ = true;
   }
 
   // Releases this mutex.
-  void Unlock() {
+  void unlock() {
     // Since the lock is being released the owner_ field should no longer be
     // considered valid. We don't protect writing to has_owner_ here, as it's
     // the caller's responsibility to ensure that the current thread holds the
@@ -1709,7 +1746,7 @@ class MutexBase {
 
 // The Mutex class can only be used for mutexes created at runtime. It
 // shares its API with MutexBase otherwise.
-class Mutex : public MutexBase {
+class [[nodiscard]] Mutex : public MutexBase {
  public:
   Mutex() {
     GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, nullptr));
@@ -1727,14 +1764,13 @@ class Mutex : public MutexBase {
 // platforms. That macro is used as a defensive measure to prevent against
 // inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
 // "MutexLock l(&mu)".  Hence the typedef trick below.
-class GTestMutexLock {
+class [[nodiscard]] GTestMutexLock {
  public:
-  explicit GTestMutexLock(MutexBase* mutex) : mutex_(mutex) { mutex_->Lock(); }
-
-  ~GTestMutexLock() { mutex_->Unlock(); }
+  explicit GTestMutexLock(MutexBase& mutex) : mutex_(mutex) { mutex_.lock(); }
+  ~GTestMutexLock() { mutex_.unlock(); }
 
  private:
-  MutexBase* const mutex_;
+  MutexBase& mutex_;
 
   GTestMutexLock(const GTestMutexLock&) = delete;
   GTestMutexLock& operator=(const GTestMutexLock&) = delete;
@@ -1748,7 +1784,7 @@ typedef GTestMutexLock MutexLock;
 // C-linkage.  Therefore it cannot be templatized to access
 // ThreadLocal<T>.  Hence the need for class
 // ThreadLocalValueHolderBase.
-class GTEST_API_ ThreadLocalValueHolderBase {
+class GTEST_API_ [[nodiscard]] ThreadLocalValueHolderBase {
  public:
   virtual ~ThreadLocalValueHolderBase() = default;
 };
@@ -1761,7 +1797,7 @@ extern "C" inline void DeleteThreadLocalValue(void* value_holder) {
 
 // Implements thread-local storage on pthreads-based systems.
 template <typename T>
-class GTEST_API_ ThreadLocal {
+class GTEST_API_ [[nodiscard]] ThreadLocal {
  public:
   ThreadLocal()
       : key_(CreateKey()), default_factory_(new DefaultValueHolderFactory()) {}
@@ -1874,11 +1910,11 @@ class GTEST_API_ ThreadLocal {
 // mutex is not supported - using Google Test in multiple threads is not
 // supported on such platforms.
 
-class Mutex {
+class [[nodiscard]] Mutex {
  public:
   Mutex() {}
-  void Lock() {}
-  void Unlock() {}
+  void lock() {}
+  void unlock() {}
   void AssertHeld() const {}
 };
 
@@ -1892,15 +1928,15 @@ class Mutex {
 // platforms. That macro is used as a defensive measure to prevent against
 // inadvertent misuses of MutexLock like "MutexLock(&mu)" rather than
 // "MutexLock l(&mu)".  Hence the typedef trick below.
-class GTestMutexLock {
+class [[nodiscard]] GTestMutexLock {
  public:
-  explicit GTestMutexLock(Mutex*) {}  // NOLINT
+  explicit GTestMutexLock(Mutex&) {}  // NOLINT
 };
 
 typedef GTestMutexLock MutexLock;
 
 template <typename T>
-class GTEST_API_ ThreadLocal {
+class GTEST_API_ [[nodiscard]] ThreadLocal {
  public:
   ThreadLocal() : value_() {}
   explicit ThreadLocal(const T& value) : value_(value) {}
@@ -2090,7 +2126,7 @@ inline int IsATTY(int fd) {
 
 // Functions deprecated by MSVC 8.0.
 
-GTEST_DISABLE_MSC_DEPRECATED_PUSH_()
+GTEST_DISABLE_DEPRECATED_PUSH_()
 
 // ChDir(), FReopen(), FDOpen(), Read(), Write(), Close(), and
 // StrError() aren't needed on Windows CE at this time and thus not
@@ -2152,7 +2188,7 @@ inline const char* GetEnv(const char* name) {
 #endif
 }
 
-GTEST_DISABLE_MSC_DEPRECATED_POP_()
+GTEST_DISABLE_DEPRECATED_POP_()
 
 #ifdef GTEST_OS_WINDOWS_MOBILE
 // Windows CE has no C library. The abort() function is used in
@@ -2208,7 +2244,7 @@ constexpr BiggestInt kMaxBiggestInt = (std::numeric_limits<BiggestInt>::max)();
 // needs.  Other types can be easily added in the future if need
 // arises.
 template <size_t size>
-class TypeWithSize {
+class [[nodiscard]] TypeWithSize {
  public:
   // This prevents the user from using TypeWithSize<N> with incorrect
   // values of N.
@@ -2217,7 +2253,7 @@ class TypeWithSize {
 
 // The specialization for size 4.
 template <>
-class TypeWithSize<4> {
+class [[nodiscard]] TypeWithSize<4> {
  public:
   using Int = std::int32_t;
   using UInt = std::uint32_t;
@@ -2225,7 +2261,7 @@ class TypeWithSize<4> {
 
 // The specialization for size 8.
 template <>
-class TypeWithSize<8> {
+class [[nodiscard]] TypeWithSize<8> {
  public:
   using Int = std::int64_t;
   using UInt = std::uint64_t;
@@ -2255,11 +2291,11 @@ using TimeInMillis = int64_t;  // Represents time in milliseconds.
 
 // Macros for declaring flags.
 #define GTEST_DECLARE_bool_(name) \
-  ABSL_DECLARE_FLAG(bool, GTEST_FLAG_NAME_(name))
+  GTEST_API_ ABSL_DECLARE_FLAG(bool, GTEST_FLAG_NAME_(name))
 #define GTEST_DECLARE_int32_(name) \
-  ABSL_DECLARE_FLAG(int32_t, GTEST_FLAG_NAME_(name))
+  GTEST_API_ ABSL_DECLARE_FLAG(int32_t, GTEST_FLAG_NAME_(name))
 #define GTEST_DECLARE_string_(name) \
-  ABSL_DECLARE_FLAG(std::string, GTEST_FLAG_NAME_(name))
+  GTEST_API_ ABSL_DECLARE_FLAG(std::string, GTEST_FLAG_NAME_(name))
 
 #define GTEST_FLAG_SAVER_ ::absl::FlagSaver
 
@@ -2273,22 +2309,29 @@ using TimeInMillis = int64_t;  // Represents time in milliseconds.
 
 // Macros for defining flags.
 #define GTEST_DEFINE_bool_(name, default_val, doc)  \
+  GTEST_DECLARE_bool_(name);                        \
   namespace testing {                               \
   GTEST_API_ bool GTEST_FLAG(name) = (default_val); \
   }                                                 \
   static_assert(true, "no-op to require trailing semicolon")
 #define GTEST_DEFINE_int32_(name, default_val, doc)         \
+  GTEST_DECLARE_int32_(name);                               \
   namespace testing {                                       \
   GTEST_API_ std::int32_t GTEST_FLAG(name) = (default_val); \
   }                                                         \
   static_assert(true, "no-op to require trailing semicolon")
 #define GTEST_DEFINE_string_(name, default_val, doc)         \
+  GTEST_DECLARE_string_(name);                               \
   namespace testing {                                        \
   GTEST_API_ ::std::string GTEST_FLAG(name) = (default_val); \
   }                                                          \
   static_assert(true, "no-op to require trailing semicolon")
 
 // Macros for declaring flags.
+//
+// We also need to declare the flag in the public namespace to avoid triggering
+// -Wmissing-variable-declarations warnings, as reported here:
+// https://github.com/google/googletest/issues/4897
 #define GTEST_DECLARE_bool_(name)          \
   namespace testing {                      \
   GTEST_API_ extern bool GTEST_FLAG(name); \
@@ -2335,71 +2378,11 @@ const char* StringFromGTestEnv(const char* flag, const char* default_val);
 }  // namespace internal
 }  // namespace testing
 
-#ifdef GTEST_HAS_ABSL
-// Always use absl::any for UniversalPrinter<> specializations if googletest
-// is built with absl support.
-#define GTEST_INTERNAL_HAS_ANY 1
-#include "absl/types/any.h"
-namespace testing {
-namespace internal {
-using Any = ::absl::any;
-}  // namespace internal
-}  // namespace testing
+#if GTEST_INTERNAL_HAVE_CPP_ATTRIBUTE(clang::annotate)
+#define GTEST_INTERNAL_DEPRECATE_AND_INLINE(msg) \
+  [[deprecated(msg), clang::annotate("inline-me")]]
 #else
-#if defined(__cpp_lib_any) || (GTEST_INTERNAL_HAS_INCLUDE(<any>) &&        \
-                               GTEST_INTERNAL_CPLUSPLUS_LANG >= 201703L && \
-                               (!defined(_MSC_VER) || GTEST_HAS_RTTI))
-// Otherwise for C++17 and higher use std::any for UniversalPrinter<>
-// specializations.
-#define GTEST_INTERNAL_HAS_ANY 1
-#include <any>
-namespace testing {
-namespace internal {
-using Any = ::std::any;
-}  // namespace internal
-}  // namespace testing
-// The case where absl is configured NOT to alias std::any is not
-// supported.
-#endif  // __cpp_lib_any
-#endif  // GTEST_HAS_ABSL
-
-#ifndef GTEST_INTERNAL_HAS_ANY
-#define GTEST_INTERNAL_HAS_ANY 0
-#endif
-
-#ifdef GTEST_HAS_ABSL
-// Always use absl::optional for UniversalPrinter<> specializations if
-// googletest is built with absl support.
-#define GTEST_INTERNAL_HAS_OPTIONAL 1
-#include "absl/types/optional.h"
-namespace testing {
-namespace internal {
-template <typename T>
-using Optional = ::absl::optional<T>;
-inline ::absl::nullopt_t Nullopt() { return ::absl::nullopt; }
-}  // namespace internal
-}  // namespace testing
-#else
-#if defined(__cpp_lib_optional) || (GTEST_INTERNAL_HAS_INCLUDE(<optional>) && \
-                                    GTEST_INTERNAL_CPLUSPLUS_LANG >= 201703L)
-// Otherwise for C++17 and higher use std::optional for UniversalPrinter<>
-// specializations.
-#define GTEST_INTERNAL_HAS_OPTIONAL 1
-#include <optional>
-namespace testing {
-namespace internal {
-template <typename T>
-using Optional = ::std::optional<T>;
-inline ::std::nullopt_t Nullopt() { return ::std::nullopt; }
-}  // namespace internal
-}  // namespace testing
-// The case where absl is configured NOT to alias std::optional is not
-// supported.
-#endif  // __cpp_lib_optional
-#endif  // GTEST_HAS_ABSL
-
-#ifndef GTEST_INTERNAL_HAS_OPTIONAL
-#define GTEST_INTERNAL_HAS_OPTIONAL 0
+#define GTEST_INTERNAL_DEPRECATE_AND_INLINE(msg) [[deprecated(msg)]]
 #endif
 
 #if defined(__cpp_lib_span) || (GTEST_INTERNAL_HAS_INCLUDE(<span>) && \
@@ -2414,7 +2397,6 @@ inline ::std::nullopt_t Nullopt() { return ::std::nullopt; }
 #ifdef GTEST_HAS_ABSL
 // Always use absl::string_view for Matcher<> specializations if googletest
 // is built with absl support.
-#define GTEST_INTERNAL_HAS_STRING_VIEW 1
 #include "absl/strings/string_view.h"
 namespace testing {
 namespace internal {
@@ -2422,62 +2404,17 @@ using StringView = ::absl::string_view;
 }  // namespace internal
 }  // namespace testing
 #else
-#if defined(__cpp_lib_string_view) ||             \
-    (GTEST_INTERNAL_HAS_INCLUDE(<string_view>) && \
-     GTEST_INTERNAL_CPLUSPLUS_LANG >= 201703L)
 // Otherwise for C++17 and higher use std::string_view for Matcher<>
 // specializations.
+namespace testing {
+namespace internal {
+using StringView = std::string_view;
+}  // namespace internal
+}  // namespace testing
+#endif  // GTEST_HAS_ABSL
 #define GTEST_INTERNAL_HAS_STRING_VIEW 1
-#include <string_view>
-namespace testing {
-namespace internal {
-using StringView = ::std::string_view;
-}  // namespace internal
-}  // namespace testing
-// The case where absl is configured NOT to alias std::string_view is not
-// supported.
-#endif  // __cpp_lib_string_view
-#endif  // GTEST_HAS_ABSL
 
-#ifndef GTEST_INTERNAL_HAS_STRING_VIEW
-#define GTEST_INTERNAL_HAS_STRING_VIEW 0
-#endif
-
-#ifdef GTEST_HAS_ABSL
-// Always use absl::variant for UniversalPrinter<> specializations if googletest
-// is built with absl support.
-#define GTEST_INTERNAL_HAS_VARIANT 1
-#include "absl/types/variant.h"
-namespace testing {
-namespace internal {
-template <typename... T>
-using Variant = ::absl::variant<T...>;
-}  // namespace internal
-}  // namespace testing
-#else
-#if defined(__cpp_lib_variant) || (GTEST_INTERNAL_HAS_INCLUDE(<variant>) && \
-                                   GTEST_INTERNAL_CPLUSPLUS_LANG >= 201703L)
-// Otherwise for C++17 and higher use std::variant for UniversalPrinter<>
-// specializations.
-#define GTEST_INTERNAL_HAS_VARIANT 1
-#include <variant>
-namespace testing {
-namespace internal {
-template <typename... T>
-using Variant = ::std::variant<T...>;
-}  // namespace internal
-}  // namespace testing
-// The case where absl is configured NOT to alias std::variant is not supported.
-#endif  // __cpp_lib_variant
-#endif  // GTEST_HAS_ABSL
-
-#ifndef GTEST_INTERNAL_HAS_VARIANT
-#define GTEST_INTERNAL_HAS_VARIANT 0
-#endif
-
-#if (defined(__cpp_lib_three_way_comparison) || \
-     (GTEST_INTERNAL_HAS_INCLUDE(<compare>) &&  \
-      GTEST_INTERNAL_CPLUSPLUS_LANG >= 201907L))
+#if defined(__cpp_lib_three_way_comparison)
 #define GTEST_INTERNAL_HAS_COMPARE_LIB 1
 #else
 #define GTEST_INTERNAL_HAS_COMPARE_LIB 0
diff --git a/3rdparty/googletest/googletest/include/gtest/internal/gtest-string.h b/3rdparty/googletest/googletest/include/gtest/internal/gtest-string.h
index 7c05b58339..2363034fc0 100644
--- a/3rdparty/googletest/googletest/include/gtest/internal/gtest-string.h
+++ b/3rdparty/googletest/googletest/include/gtest/internal/gtest-string.h
@@ -60,7 +60,7 @@ namespace testing {
 namespace internal {
 
 // String - an abstract class holding static string utilities.
-class GTEST_API_ String {
+class GTEST_API_ [[nodiscard]] String {
  public:
   // Static utility methods
 
@@ -166,7 +166,7 @@ class GTEST_API_ String {
 
  private:
   String();  // Not meant to be instantiated.
-};           // class String
+};  // class String
 
 // Gets the content of the stringstream's buffer as an std::string.  Each '\0'
 // character in the buffer is replaced with "\\0".
diff --git a/3rdparty/googletest/googletest/src/gtest-internal-inl.h b/3rdparty/googletest/googletest/src/gtest-internal-inl.h
index 6a39b93be1..4bebca1bc6 100644
--- a/3rdparty/googletest/googletest/src/gtest-internal-inl.h
+++ b/3rdparty/googletest/googletest/src/gtest-internal-inl.h
@@ -246,15 +246,12 @@ GTEST_API_ std::string WideStringToUtf8(const wchar_t* str, int num_chars);
 // be created, prints an error and exits.
 void WriteToShardStatusFileIfNeeded();
 
-// Checks whether sharding is enabled by examining the relevant
-// environment variable values. If the variables are present,
-// but inconsistent (e.g., shard_index >= total_shards), prints
-// an error and exits. If in_subprocess_for_death_test, sharding is
+// Checks whether sharding is enabled by examining the relevant flag values.
+// If the flags are set, but inconsistent (e.g., shard_index >= total_shards),
+// prints an error and exits. If in_subprocess_for_death_test, sharding is
 // disabled because it must only be applied to the original test
 // process. Otherwise, we could filter out death tests we intended to execute.
-GTEST_API_ bool ShouldShard(const char* total_shards_str,
-                            const char* shard_index_str,
-                            bool in_subprocess_for_death_test);
+GTEST_API_ bool ShouldShard(bool in_subprocess_for_death_test);
 
 // Parses the environment variable var as a 32-bit integer. If it is unset,
 // returns default_val. If it is not a 32-bit integer, prints an error and
@@ -590,7 +587,7 @@ class GTEST_API_ UnitTestImpl {
   // total_test_suite_count() - 1. If i is not in that range, returns NULL.
   const TestSuite* GetTestSuite(int i) const {
     const int index = GetElementOr(test_suite_indices_, i, -1);
-    return index < 0 ? nullptr : test_suites_[static_cast<size_t>(i)];
+    return index < 0 ? nullptr : test_suites_[static_cast<size_t>(index)];
   }
 
   //  Legacy API is deprecated but still available
@@ -1109,7 +1106,7 @@ class StreamingListener : public EmptyTestEventListener {
       GTEST_CHECK_(sockfd_ != -1)
           << "Send() can be called only when there is a connection.";
 
-      const auto len = static_cast<size_t>(message.length());
+      const size_t len = message.length();
       if (write(sockfd_, message.c_str(), len) != static_cast<ssize_t>(len)) {
         GTEST_LOG_(WARNING) << "stream_result_to: failed to stream to "
                             << host_name_ << ":" << port_num_;
diff --git a/3rdparty/googletest/googletest/src/gtest-matchers.cc b/3rdparty/googletest/googletest/src/gtest-matchers.cc
index 7e3bcc0cff..626019e238 100644
--- a/3rdparty/googletest/googletest/src/gtest-matchers.cc
+++ b/3rdparty/googletest/googletest/src/gtest-matchers.cc
@@ -59,7 +59,6 @@ Matcher<std::string>::Matcher(const std::string& s) { *this = Eq(s); }
 // s.
 Matcher<std::string>::Matcher(const char* s) { *this = Eq(std::string(s)); }
 
-#if GTEST_INTERNAL_HAS_STRING_VIEW
 // Constructs a matcher that matches a const StringView& whose value is
 // equal to s.
 Matcher<const internal::StringView&>::Matcher(const std::string& s) {
@@ -93,6 +92,5 @@ Matcher<internal::StringView>::Matcher(const char* s) {
 Matcher<internal::StringView>::Matcher(internal::StringView s) {
   *this = Eq(std::string(s));
 }
-#endif  // GTEST_INTERNAL_HAS_STRING_VIEW
 
 }  // namespace testing
diff --git a/3rdparty/googletest/googletest/src/gtest-port.cc b/3rdparty/googletest/googletest/src/gtest-port.cc
index 1038ad7bf6..433586f3b7 100644
--- a/3rdparty/googletest/googletest/src/gtest-port.cc
+++ b/3rdparty/googletest/googletest/src/gtest-port.cc
@@ -89,6 +89,7 @@
 
 #include "gtest/gtest-message.h"
 #include "gtest/gtest-spi.h"
+#include "gtest/gtest.h"
 #include "gtest/internal/gtest-internal.h"
 #include "gtest/internal/gtest-string.h"
 #include "src/gtest-internal-inl.h"
@@ -302,6 +303,22 @@ bool AutoHandle::IsCloseable() const {
   return handle_ != nullptr && handle_ != INVALID_HANDLE_VALUE;
 }
 
+#if !GTEST_HAS_NOTIFICATION_ && defined(GTEST_OS_WINDOWS_MINGW)
+Notification::Notification() {
+  // Create a manual-reset event object.
+  event_ = ::CreateEvent(nullptr, TRUE, FALSE, nullptr);
+  GTEST_CHECK_(event_ != nullptr);
+}
+
+Notification::~Notification() { ::CloseHandle(event_); }
+
+void Notification::Notify() { GTEST_CHECK_(::SetEvent(event_)); }
+
+void Notification::WaitForNotification() {
+  GTEST_CHECK_(::WaitForSingleObject(event_, INFINITE) == WAIT_OBJECT_0);
+}
+#endif  // !GTEST_HAS_NOTIFICATION_ && defined(GTEST_OS_WINDOWS_MINGW)
+
 Mutex::Mutex()
     : owner_thread_id_(0),
       type_(kDynamic),
@@ -320,13 +337,13 @@ Mutex::~Mutex() {
   }
 }
 
-void Mutex::Lock() {
+void Mutex::lock() {
   ThreadSafeLazyInit();
   ::EnterCriticalSection(critical_section_);
   owner_thread_id_ = ::GetCurrentThreadId();
 }
 
-void Mutex::Unlock() {
+void Mutex::unlock() {
   ThreadSafeLazyInit();
   // We don't protect writing to owner_thread_id_ here, as it's the
   // caller's responsibility to ensure that the current thread holds the
@@ -499,7 +516,7 @@ class ThreadLocalRegistryImpl {
     MemoryIsNotDeallocated memory_is_not_deallocated;
 #endif  // _MSC_VER
     DWORD current_thread = ::GetCurrentThreadId();
-    MutexLock lock(&mutex_);
+    MutexLock lock(mutex_);
     ThreadIdToThreadLocals* const thread_to_thread_locals =
         GetThreadLocalsMapLocked();
     ThreadIdToThreadLocals::iterator thread_local_pos =
@@ -532,7 +549,7 @@ class ThreadLocalRegistryImpl {
     // Clean up the ThreadLocalValues data structure while holding the lock, but
     // defer the destruction of the ThreadLocalValueHolderBases.
     {
-      MutexLock lock(&mutex_);
+      MutexLock lock(mutex_);
       ThreadIdToThreadLocals* const thread_to_thread_locals =
           GetThreadLocalsMapLocked();
       for (ThreadIdToThreadLocals::iterator it =
@@ -559,7 +576,7 @@ class ThreadLocalRegistryImpl {
     // Clean up the ThreadIdToThreadLocals data structure while holding the
     // lock, but defer the destruction of the ThreadLocalValueHolderBases.
     {
-      MutexLock lock(&mutex_);
+      MutexLock lock(mutex_);
       ThreadIdToThreadLocals* const thread_to_thread_locals =
           GetThreadLocalsMapLocked();
       ThreadIdToThreadLocals::iterator thread_local_pos =
@@ -729,7 +746,7 @@ void RE::Init(const char* regex) {
   char* const full_pattern = new char[full_regex_len];
 
   snprintf(full_pattern, full_regex_len, "^(%s)$", regex);
-  is_valid_ = regcomp(&full_regex_, full_pattern, reg_flags) == 0;
+  int error = regcomp(&full_regex_, full_pattern, reg_flags);
   // We want to call regcomp(&partial_regex_, ...) even if the
   // previous expression returns false.  Otherwise partial_regex_ may
   // not be properly initialized can may cause trouble when it's
@@ -738,13 +755,13 @@ void RE::Init(const char* regex) {
   // Some implementation of POSIX regex (e.g. on at least some
   // versions of Cygwin) doesn't accept the empty string as a valid
   // regex.  We change it to an equivalent form "()" to be safe.
-  if (is_valid_) {
+  if (!error) {
     const char* const partial_regex = (*regex == '\0') ? "()" : regex;
-    is_valid_ = regcomp(&partial_regex_, partial_regex, reg_flags) == 0;
+    error = regcomp(&partial_regex_, partial_regex, reg_flags);
   }
-  EXPECT_TRUE(is_valid_)
-      << "Regular expression \"" << regex
-      << "\" is not a valid POSIX Extended regular expression.";
+  is_valid_ = error == 0;
+  EXPECT_EQ(error, 0) << "Regular expression \"" << regex
+                      << "\" is not a valid POSIX Extended regular expression.";
 
   delete[] full_pattern;
 }
@@ -1052,7 +1069,7 @@ GTestLog::~GTestLog() {
 
 // Disable Microsoft deprecation warnings for POSIX functions called from
 // this class (creat, dup, dup2, and close)
-GTEST_DISABLE_MSC_DEPRECATED_PUSH_()
+GTEST_DISABLE_DEPRECATED_PUSH_()
 
 namespace {
 
@@ -1078,10 +1095,12 @@ class CapturedStream {
                                             0,  // Generate unique file name.
                                             temp_file_path);
     GTEST_CHECK_(success != 0)
-        << "Unable to create a temporary file in " << temp_dir_path;
+        << "Failed to create temporary file in " << temp_dir_path
+        << " with error " << ::GetLastError();
     const int captured_fd = creat(temp_file_path, _S_IREAD | _S_IWRITE);
     GTEST_CHECK_(captured_fd != -1)
-        << "Unable to open temporary file " << temp_file_path;
+        << "Failed to open temporary file " << temp_file_path << " with error "
+        << ::GetLastError();
     filename_ = temp_file_path;
 #else
     // There's no guarantee that a test has write access to the current
@@ -1183,7 +1202,7 @@ class CapturedStream {
   CapturedStream& operator=(const CapturedStream&) = delete;
 };
 
-GTEST_DISABLE_MSC_DEPRECATED_POP_()
+GTEST_DISABLE_DEPRECATED_POP_()
 
 static CapturedStream* g_captured_stderr = nullptr;
 static CapturedStream* g_captured_stdout = nullptr;
diff --git a/3rdparty/googletest/googletest/src/gtest-printers.cc b/3rdparty/googletest/googletest/src/gtest-printers.cc
index e3acecba8e..7c0ecc6ad1 100644
--- a/3rdparty/googletest/googletest/src/gtest-printers.cc
+++ b/3rdparty/googletest/googletest/src/gtest-printers.cc
@@ -50,7 +50,7 @@
 #include <iomanip>
 #include <ios>
 #include <ostream>  // NOLINT
-#include <string>
+#include <string_view>
 #include <type_traits>
 
 #include "gtest/internal/gtest-port.h"
@@ -114,8 +114,7 @@ void PrintBytesInObjectToImpl(const unsigned char* obj_bytes, size_t count,
 // char32_t.
 template <typename CharType>
 char32_t ToChar32(CharType in) {
-  return static_cast<char32_t>(
-      static_cast<typename std::make_unsigned<CharType>::type>(in));
+  return static_cast<char32_t>(static_cast<std::make_unsigned_t<CharType>>(in));
 }
 
 }  // namespace
@@ -333,14 +332,14 @@ void PrintTo(__int128_t v, ::std::ostream* os) {
 
 // Prints the given array of characters to the ostream.  CharType must be either
 // char, char8_t, char16_t, char32_t, or wchar_t.
-// The array starts at begin, the length is len, it may include '\0' characters
-// and may not be NUL-terminated.
+// The array starts at begin (which may be nullptr) and contains len characters.
+// The array may include '\0' characters and may not be NUL-terminated.
 template <typename CharType>
 GTEST_ATTRIBUTE_NO_SANITIZE_MEMORY_ GTEST_ATTRIBUTE_NO_SANITIZE_ADDRESS_
     GTEST_ATTRIBUTE_NO_SANITIZE_HWADDRESS_
         GTEST_ATTRIBUTE_NO_SANITIZE_THREAD_ static CharFormat
         PrintCharsAsStringTo(const CharType* begin, size_t len, ostream* os) {
-  const char* const quote_prefix = GetCharWidthPrefix(*begin);
+  const char* const quote_prefix = GetCharWidthPrefix(CharType());
   *os << quote_prefix << "\"";
   bool is_previous_hex = false;
   CharFormat print_format = kAsIs;
@@ -516,13 +515,13 @@ bool IsValidUTF8(const char* str, size_t length) {
 void ConditionalPrintAsText(const char* str, size_t length, ostream* os) {
   if (!ContainsUnprintableControlCodes(str, length) &&
       IsValidUTF8(str, length)) {
-    *os << "\n    As Text: \"" << str << "\"";
+    *os << "\n    As Text: \"" << std::string_view(str, length) << "\"";
   }
 }
 
 }  // anonymous namespace
 
-void PrintStringTo(const ::std::string& s, ostream* os) {
+void PrintStringTo(std::string_view s, ostream* os) {
   if (PrintCharsAsStringTo(s.data(), s.size(), os) == kHexEscape) {
     if (GTEST_FLAG_GET(print_utf8)) {
       ConditionalPrintAsText(s.data(), s.size(), os);
@@ -531,21 +530,21 @@ void PrintStringTo(const ::std::string& s, ostream* os) {
 }
 
 #ifdef __cpp_lib_char8_t
-void PrintU8StringTo(const ::std::u8string& s, ostream* os) {
+void PrintU8StringTo(::std::u8string_view s, ostream* os) {
   PrintCharsAsStringTo(s.data(), s.size(), os);
 }
 #endif
 
-void PrintU16StringTo(const ::std::u16string& s, ostream* os) {
+void PrintU16StringTo(::std::u16string_view s, ostream* os) {
   PrintCharsAsStringTo(s.data(), s.size(), os);
 }
 
-void PrintU32StringTo(const ::std::u32string& s, ostream* os) {
+void PrintU32StringTo(::std::u32string_view s, ostream* os) {
   PrintCharsAsStringTo(s.data(), s.size(), os);
 }
 
 #if GTEST_HAS_STD_WSTRING
-void PrintWideStringTo(const ::std::wstring& s, ostream* os) {
+void PrintWideStringTo(::std::wstring_view s, ostream* os) {
   PrintCharsAsStringTo(s.data(), s.size(), os);
 }
 #endif  // GTEST_HAS_STD_WSTRING
diff --git a/3rdparty/googletest/googletest/src/gtest-test-part.cc b/3rdparty/googletest/googletest/src/gtest-test-part.cc
index 6f8ddd7c48..c7f993c8b4 100644
--- a/3rdparty/googletest/googletest/src/gtest-test-part.cc
+++ b/3rdparty/googletest/googletest/src/gtest-test-part.cc
@@ -34,7 +34,9 @@
 
 #include <ostream>
 #include <string>
+#include <string_view>
 
+#include "gtest/internal/gtest-internal.h"
 #include "gtest/internal/gtest-port.h"
 #include "src/gtest-internal-inl.h"
 
@@ -42,9 +44,9 @@ namespace testing {
 
 // Gets the summary of the failure message by omitting the stack trace
 // in it.
-std::string TestPartResult::ExtractSummary(const char* message) {
-  const char* const stack_trace = strstr(message, internal::kStackTraceMarker);
-  return stack_trace == nullptr ? message : std::string(message, stack_trace);
+std::string TestPartResult::ExtractSummary(const std::string_view message) {
+  auto stack_trace = message.find(internal::kStackTraceMarker);
+  return std::string(message.substr(0, stack_trace));
 }
 
 // Prints a TestPartResult object.
diff --git a/3rdparty/googletest/googletest/src/gtest.cc b/3rdparty/googletest/googletest/src/gtest.cc
index 09af15179f..3c85546826 100644
--- a/3rdparty/googletest/googletest/src/gtest.cc
+++ b/3rdparty/googletest/googletest/src/gtest.cc
@@ -58,6 +58,7 @@
 #include <ostream>  // NOLINT
 #include <set>
 #include <sstream>
+#include <string_view>
 #include <unordered_set>
 #include <utility>
 #include <vector>
@@ -269,6 +270,13 @@ GTEST_DEFINE_bool_(
     "True if and only if the test should fail if no test case (including "
     "disabled test cases) is linked.");
 
+GTEST_DEFINE_bool_(
+    fail_if_no_test_selected,
+    testing::internal::BoolFromGTestEnv("fail_if_no_test_selected", false),
+    "True if and only if the test should fail if no test case is selected to "
+    "run. A test case is selected to run if it is not disabled and is matched "
+    "by the filter flag so that it starts executing.");
+
 GTEST_DEFINE_bool_(
     also_run_disabled_tests,
     testing::internal::BoolFromGTestEnv("also_run_disabled_tests", false),
@@ -399,6 +407,18 @@ GTEST_DEFINE_bool_(
     "if exceptions are enabled or exit the program with a non-zero code "
     "otherwise. For use with an external test framework.");
 
+GTEST_DEFINE_int32_(
+    shard_index,
+    testing::internal::Int32FromEnvOrDie(testing::kTestShardIndex, -1),
+    "The zero-based index of the shard to run. A value of -1 "
+    "(the default) indicates that sharding is disabled.");
+
+GTEST_DEFINE_int32_(
+    total_shards,
+    testing::internal::Int32FromEnvOrDie(testing::kTestTotalShards, -1),
+    "The total number of shards to use when running tests in parallel. "
+    "A value of -1 (the default) indicates that sharding is disabled.");
+
 #if GTEST_USE_OWN_FLAGFILE_FLAG_
 GTEST_DEFINE_string_(
     flagfile, testing::internal::StringFromGTestEnv("flagfile", ""),
@@ -478,6 +498,15 @@ bool ShouldEmitStackTraceForResultType(TestPartResult::Type type) {
 // AssertHelper constructor.
 AssertHelper::AssertHelper(TestPartResult::Type type, const char* file,
                            int line, const char* message)
+    : AssertHelper(
+          type, file == nullptr ? std::string_view() : std::string_view(file),
+          line,
+          message == nullptr ? std::string_view() : std::string_view(message)) {
+}
+
+AssertHelper::AssertHelper(TestPartResult::Type type,
+                           const std::string_view file, int line,
+                           const std::string_view message)
     : data_(new AssertHelperData(type, file, line, message)) {}
 
 AssertHelper::~AssertHelper() { delete data_; }
@@ -706,7 +735,7 @@ std::string UnitTestOptions::GetAbsolutePathToOutputFile() {
   const char* const gtest_output_flag = s.c_str();
 
   std::string format = GetOutputFormat();
-  if (format.empty()) format = std::string(kDefaultOutputFormat);
+  if (format.empty()) format = kDefaultOutputFormat;
 
   const char* const colon = strchr(gtest_output_flag, ':');
   if (colon == nullptr)
@@ -868,7 +897,11 @@ class PositiveAndNegativeUnitTestFilter {
   // and does not match the negative filter.
   bool MatchesTest(const std::string& test_suite_name,
                    const std::string& test_name) const {
+#ifdef GTEST_HAS_ABSL
+    return MatchesName(absl::StrCat(test_suite_name, ".", test_name));
+#else
     return MatchesName(test_suite_name + "." + test_name);
+#endif
   }
 
   // Returns true if and only if name matches the positive filter and does not
@@ -1079,14 +1112,14 @@ void DefaultPerThreadTestPartResultReporter::ReportTestPartResult(
 // Returns the global test part result reporter.
 TestPartResultReporterInterface*
 UnitTestImpl::GetGlobalTestPartResultReporter() {
-  internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+  internal::MutexLock lock(global_test_part_result_reporter_mutex_);
   return global_test_part_result_reporter_;
 }
 
 // Sets the global test part result reporter.
 void UnitTestImpl::SetGlobalTestPartResultReporter(
     TestPartResultReporterInterface* reporter) {
-  internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+  internal::MutexLock lock(global_test_part_result_reporter_mutex_);
   global_test_part_result_reporter_ = reporter;
 }
 
@@ -1176,7 +1209,7 @@ int UnitTestImpl::test_to_run_count() const {
 // trace but Bar() and CurrentOsStackTraceExceptTop() won't.
 std::string UnitTestImpl::CurrentOsStackTraceExceptTop(int skip_count) {
   return os_stack_trace_getter()->CurrentStackTrace(
-      static_cast<int>(GTEST_FLAG_GET(stack_trace_depth)), skip_count + 1
+      GTEST_FLAG_GET(stack_trace_depth), skip_count + 1
       // Skips the user-specified number of frames plus this function
       // itself.
   );  // NOLINT
@@ -1488,17 +1521,17 @@ class Hunk {
   // Print a unified diff header for one hunk.
   // The format is
   //   "@@ -<left_start>,<left_length> +<right_start>,<right_length> @@"
-  // where the left/right parts are omitted if unnecessary.
+  // where the left/right lengths are omitted if unnecessary.
   void PrintHeader(std::ostream* ss) const {
-    *ss << "@@ ";
-    if (removes_) {
-      *ss << "-" << left_start_ << "," << (removes_ + common_);
+    size_t left_length = removes_ + common_;
+    size_t right_length = adds_ + common_;
+    *ss << "@@ " << "-" << left_start_;
+    if (left_length != 1) {
+      *ss << "," << left_length;
     }
-    if (removes_ && adds_) {
-      *ss << " ";
-    }
-    if (adds_) {
-      *ss << "+" << right_start_ << "," << (adds_ + common_);
+    *ss << " " << "+" << right_start_;
+    if (right_length != 1) {
+      *ss << "," << right_length;
     }
     *ss << " @@\n";
   }
@@ -2340,7 +2373,7 @@ void TestResult::RecordProperty(const std::string& xml_element,
   if (!ValidateTestProperty(xml_element, test_property)) {
     return;
   }
-  internal::MutexLock lock(&test_properties_mutex_);
+  internal::MutexLock lock(test_properties_mutex_);
   const std::vector<TestProperty>::iterator property_with_matching_key =
       std::find_if(test_properties_.begin(), test_properties_.end(),
                    internal::TestPropertyKeyIs(test_property.key()));
@@ -2540,8 +2573,9 @@ void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
   // AddTestPartResult.
   UnitTest::GetInstance()->AddTestPartResult(
       result_type,
-      nullptr,  // No info about the source file where the exception occurred.
-      -1,       // We have no info on which line caused the exception.
+      std::string_view(),  // No info about the source file where the exception
+                           // occurred.
+      -1,  // We have no info on which line caused the exception.
       message,
       "");  // No stack trace, either.
 }
@@ -2666,7 +2700,7 @@ Result HandleSehExceptionsInMethodIfSupported(T* object, Result (T::*method)(),
 }
 
 // Runs the given method and catches and reports C++ and/or SEH-style
-// exceptions, if they are supported; returns the 0-value for type
+// exceptions, if they are supported; returns the default-value for type
 // Result in case of an SEH exception.
 template <class T, typename Result>
 Result HandleExceptionsInMethodIfSupported(T* object, Result (T::*method)(),
@@ -2714,7 +2748,7 @@ Result HandleExceptionsInMethodIfSupported(T* object, Result (T::*method)(),
           TestPartResult::kFatalFailure,
           FormatCxxExceptionMessage(nullptr, location));
     }
-    return static_cast<Result>(0);
+    return Result();
 #else
     return HandleSehExceptionsInMethodIfSupported(object, method, location);
 #endif  // GTEST_HAS_EXCEPTIONS
@@ -3298,6 +3332,7 @@ bool ShouldUseColor(bool stdout_is_tty) {
     const bool term_supports_color =
         term != nullptr && (String::CStringEquals(term, "xterm") ||
                             String::CStringEquals(term, "xterm-color") ||
+                            String::CStringEquals(term, "xterm-ghostty") ||
                             String::CStringEquals(term, "xterm-kitty") ||
                             String::CStringEquals(term, "alacritty") ||
                             String::CStringEquals(term, "screen") ||
@@ -3452,11 +3487,11 @@ void PrettyUnitTestResultPrinter::OnTestIterationStart(
                   filter);
   }
 
-  if (internal::ShouldShard(kTestTotalShards, kTestShardIndex, false)) {
-    const int32_t shard_index = Int32FromEnvOrDie(kTestShardIndex, -1);
-    ColoredPrintf(GTestColor::kYellow, "Note: This is test shard %d of %s.\n",
+  if (internal::ShouldShard(false)) {
+    const int32_t shard_index = GTEST_FLAG_GET(shard_index);
+    ColoredPrintf(GTestColor::kYellow, "Note: This is test shard %d of %d.\n",
                   static_cast<int>(shard_index) + 1,
-                  internal::posix::GetEnv(kTestTotalShards));
+                  GTEST_FLAG_GET(total_shards));
   }
 
   if (GTEST_FLAG_GET(shuffle)) {
@@ -4204,8 +4239,7 @@ void XmlUnitTestResultPrinter::OutputXmlCDataSection(::std::ostream* stream,
   for (;;) {
     const char* const next_segment = strstr(segment, "]]>");
     if (next_segment != nullptr) {
-      stream->write(segment,
-                    static_cast<std::streamsize>(next_segment - segment));
+      stream->write(segment, next_segment - segment);
       *stream << "]]>]]&gt;<![CDATA[";
       segment = next_segment + strlen("]]>");
     } else {
@@ -4347,8 +4381,8 @@ void XmlUnitTestResultPrinter::OutputXmlTestResult(::std::ostream* stream,
           internal::FormatCompilerIndependentFileLocation(part.file_name(),
                                                           part.line_number());
       const std::string summary = location + "\n" + part.summary();
-      *stream << "      <skipped message=\""
-              << EscapeXmlAttribute(summary.c_str()) << "\">";
+      *stream << "      <skipped message=\"" << EscapeXmlAttribute(summary)
+              << "\">";
       const std::string detail = location + "\n" + part.message();
       OutputXmlCDataSection(stream, RemoveInvalidXmlCharacters(detail).c_str());
       *stream << "</skipped>\n";
@@ -5080,7 +5114,7 @@ std::string OsStackTraceGetter::CurrentStackTrace(int max_depth, int skip_count)
 
   void* caller_frame = nullptr;
   {
-    MutexLock lock(&mutex_);
+    MutexLock lock(mutex_);
     caller_frame = caller_frame_;
   }
 
@@ -5119,12 +5153,12 @@ void OsStackTraceGetter::UponLeavingGTest() GTEST_LOCK_EXCLUDED_(mutex_) {
     caller_frame = nullptr;
   }
 
-  MutexLock lock(&mutex_);
+  MutexLock lock(mutex_);
   caller_frame_ = caller_frame;
 #endif  // GTEST_HAS_ABSL
 }
 
-#ifdef GTEST_HAS_DEATH_TEST
+#ifdef GTEST_INTERNAL_HAS_PREMATURE_EXIT_FILE
 // A helper class that creates the premature-exit file in its
 // constructor and deletes the file in its destructor.
 class ScopedPrematureExitFile {
@@ -5137,9 +5171,12 @@ class ScopedPrematureExitFile {
       // create the file with a single "0" character in it.  I/O
       // errors are ignored as there's nothing better we can do and we
       // don't want to fail the test because of this.
-      FILE* pfile = posix::FOpen(premature_exit_filepath_.c_str(), "w");
-      fwrite("0", 1, 1, pfile);
-      fclose(pfile);
+      if (FILE* pfile = posix::FOpen(premature_exit_filepath_.c_str(), "w")) {
+        fwrite("0", 1, 1, pfile);
+        fclose(pfile);
+      } else {
+        premature_exit_filepath_.clear();
+      }
     }
   }
 
@@ -5157,12 +5194,12 @@ class ScopedPrematureExitFile {
   }
 
  private:
-  const std::string premature_exit_filepath_;
+  std::string premature_exit_filepath_;
 
   ScopedPrematureExitFile(const ScopedPrematureExitFile&) = delete;
   ScopedPrematureExitFile& operator=(const ScopedPrematureExitFile&) = delete;
 };
-#endif  // GTEST_HAS_DEATH_TEST
+#endif  // GTEST_INTERNAL_HAS_PREMATURE_EXIT_FILE
 
 }  // namespace internal
 
@@ -5382,13 +5419,13 @@ void UnitTest::UponLeavingGTest() {
 
 // Sets the TestSuite object for the test that's currently running.
 void UnitTest::set_current_test_suite(TestSuite* a_current_test_suite) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   impl_->set_current_test_suite(a_current_test_suite);
 }
 
 // Sets the TestInfo object for the test that's currently running.
 void UnitTest::set_current_test_info(TestInfo* a_current_test_info) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   impl_->set_current_test_info(a_current_test_info);
 }
 
@@ -5420,14 +5457,14 @@ Environment* UnitTest::AddEnvironment(Environment* env) {
 // this to report their results.  The user code should use the
 // assertion macros instead of calling this directly.
 void UnitTest::AddTestPartResult(TestPartResult::Type result_type,
-                                 const char* file_name, int line_number,
-                                 const std::string& message,
+                                 const std::string_view file_name,
+                                 int line_number, const std::string& message,
                                  const std::string& os_stack_trace)
     GTEST_LOCK_EXCLUDED_(mutex_) {
   Message msg;
   msg << message;
 
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   if (!impl_->gtest_trace_stack().empty()) {
     msg << "\n" << GTEST_NAME_ << " trace:";
 
@@ -5507,7 +5544,7 @@ void UnitTest::RecordProperty(const std::string& key,
 // We don't protect this under mutex_, as we only support calling it
 // from the main thread.
 int UnitTest::Run() {
-#ifdef GTEST_HAS_DEATH_TEST
+#ifdef GTEST_INTERNAL_HAS_PREMATURE_EXIT_FILE
   const bool in_death_test_child_process =
       !GTEST_FLAG_GET(internal_run_death_test).empty();
 
@@ -5538,7 +5575,7 @@ int UnitTest::Run() {
           : internal::posix::GetEnv("TEST_PREMATURE_EXIT_FILE"));
 #else
   const bool in_death_test_child_process = false;
-#endif  // GTEST_HAS_DEATH_TEST
+#endif  // GTEST_INTERNAL_HAS_PREMATURE_EXIT_FILE
 
   // Captures the value of GTEST_FLAG(catch_exceptions).  This value will be
   // used for the duration of the program.
@@ -5610,7 +5647,7 @@ const char* UnitTest::original_working_dir() const {
 // or NULL if no test is running.
 const TestSuite* UnitTest::current_test_suite() const
     GTEST_LOCK_EXCLUDED_(mutex_) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   return impl_->current_test_suite();
 }
 
@@ -5618,7 +5655,7 @@ const TestSuite* UnitTest::current_test_suite() const
 #ifndef GTEST_REMOVE_LEGACY_TEST_CASEAPI_
 const TestCase* UnitTest::current_test_case() const
     GTEST_LOCK_EXCLUDED_(mutex_) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   return impl_->current_test_suite();
 }
 #endif
@@ -5627,7 +5664,7 @@ const TestCase* UnitTest::current_test_case() const
 // or NULL if no test is running.
 const TestInfo* UnitTest::current_test_info() const
     GTEST_LOCK_EXCLUDED_(mutex_) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   return impl_->current_test_info();
 }
 
@@ -5651,13 +5688,13 @@ UnitTest::~UnitTest() { delete impl_; }
 // Google Test trace stack.
 void UnitTest::PushGTestTrace(const internal::TraceInfo& trace)
     GTEST_LOCK_EXCLUDED_(mutex_) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   impl_->gtest_trace_stack().push_back(trace);
 }
 
 // Pops a trace from the per-thread Google Test trace stack.
 void UnitTest::PopGTestTrace() GTEST_LOCK_EXCLUDED_(mutex_) {
-  internal::MutexLock lock(&mutex_);
+  internal::MutexLock lock(mutex_);
   impl_->gtest_trace_stack().pop_back();
 }
 
@@ -5960,8 +5997,7 @@ bool UnitTestImpl::RunAllTests() {
 #endif  // defined(GTEST_EXTRA_DEATH_TEST_CHILD_SETUP_)
 #endif  // GTEST_HAS_DEATH_TEST
 
-  const bool should_shard = ShouldShard(kTestTotalShards, kTestShardIndex,
-                                        in_subprocess_for_death_test);
+  const bool should_shard = ShouldShard(in_subprocess_for_death_test);
 
   // Compares the full test names with the filter to decide which
   // tests to run.
@@ -6079,6 +6115,20 @@ bool UnitTestImpl::RunAllTests() {
                       TearDownEnvironment);
         repeater->OnEnvironmentsTearDownEnd(*parent_);
       }
+    } else if (GTEST_FLAG_GET(fail_if_no_test_selected)) {
+      // If there were no tests to run, bail if we were requested to be
+      // strict.
+      constexpr char kNoTestsSelectedMessage[] =
+          "No tests ran. Check that tests exist and are not disabled or "
+          "filtered out.\n\n"
+          "For sharded runs, this error indicates an empty shard. This can "
+          "happen if you have more shards than tests, or if --gtest_filter "
+          "leaves a shard with no tests.\n\n"
+          "To permit empty shards (e.g., when debugging with a filter), "
+          "specify \n"
+          "--gtest_fail_if_no_test_selected=false.";
+      ColoredPrintf(GTestColor::kRed, "%s\n", kNoTestsSelectedMessage);
+      return false;
     }
 
     elapsed_time_ = timer.Elapsed();
@@ -6159,45 +6209,44 @@ void WriteToShardStatusFileIfNeeded() {
 }
 #endif  // GTEST_HAS_FILE_SYSTEM
 
-// Checks whether sharding is enabled by examining the relevant
-// environment variable values. If the variables are present,
-// but inconsistent (i.e., shard_index >= total_shards), prints
-// an error and exits. If in_subprocess_for_death_test, sharding is
-// disabled because it must only be applied to the original test
-// process. Otherwise, we could filter out death tests we intended to execute.
-bool ShouldShard(const char* total_shards_env, const char* shard_index_env,
-                 bool in_subprocess_for_death_test) {
+// Checks whether sharding is enabled by examining the relevant command line
+// arguments. If the arguments are present, but inconsistent
+// (i.e., shard_index >= total_shards), prints an error and exits.
+// If in_subprocess_for_death_test, sharding is disabled because it must only
+// be applied to the original test process. Otherwise, we could filter out death
+// tests we intended to execute.
+bool ShouldShard(bool in_subprocess_for_death_test) {
   if (in_subprocess_for_death_test) {
     return false;
   }
 
-  const int32_t total_shards = Int32FromEnvOrDie(total_shards_env, -1);
-  const int32_t shard_index = Int32FromEnvOrDie(shard_index_env, -1);
+  const int32_t total_shards = GTEST_FLAG_GET(total_shards);
+  const int32_t shard_index = GTEST_FLAG_GET(shard_index);
 
   if (total_shards == -1 && shard_index == -1) {
     return false;
   } else if (total_shards == -1 && shard_index != -1) {
-    const Message msg = Message() << "Invalid environment variables: you have "
-                                  << kTestShardIndex << " = " << shard_index
-                                  << ", but have left " << kTestTotalShards
-                                  << " unset.\n";
+    const Message msg = Message()
+                        << "Invalid sharding: you have " << kTestShardIndex
+                        << " = " << shard_index << ", but have left "
+                        << kTestTotalShards << " unset.\n";
     ColoredPrintf(GTestColor::kRed, "%s", msg.GetString().c_str());
     fflush(stdout);
     exit(EXIT_FAILURE);
   } else if (total_shards != -1 && shard_index == -1) {
     const Message msg = Message()
-                        << "Invalid environment variables: you have "
-                        << kTestTotalShards << " = " << total_shards
-                        << ", but have left " << kTestShardIndex << " unset.\n";
+                        << "Invalid sharding: you have " << kTestTotalShards
+                        << " = " << total_shards << ", but have left "
+                        << kTestShardIndex << " unset.\n";
     ColoredPrintf(GTestColor::kRed, "%s", msg.GetString().c_str());
     fflush(stdout);
     exit(EXIT_FAILURE);
   } else if (shard_index < 0 || shard_index >= total_shards) {
     const Message msg =
-        Message() << "Invalid environment variables: we require 0 <= "
-                  << kTestShardIndex << " < " << kTestTotalShards
-                  << ", but you have " << kTestShardIndex << "=" << shard_index
-                  << ", " << kTestTotalShards << "=" << total_shards << ".\n";
+        Message() << "Invalid sharding: we require 0 <= " << kTestShardIndex
+                  << " < " << kTestTotalShards << ", but you have "
+                  << kTestShardIndex << "=" << shard_index << ", "
+                  << kTestTotalShards << "=" << total_shards << ".\n";
     ColoredPrintf(GTestColor::kRed, "%s", msg.GetString().c_str());
     fflush(stdout);
     exit(EXIT_FAILURE);
@@ -6240,11 +6289,10 @@ bool ShouldRunTestOnShard(int total_shards, int shard_index, int test_id) {
 // . Returns the number of tests that should run.
 int UnitTestImpl::FilterTests(ReactionToSharding shard_tests) {
   const int32_t total_shards = shard_tests == HONOR_SHARDING_PROTOCOL
-                                   ? Int32FromEnvOrDie(kTestTotalShards, -1)
+                                   ? GTEST_FLAG_GET(total_shards)
                                    : -1;
-  const int32_t shard_index = shard_tests == HONOR_SHARDING_PROTOCOL
-                                  ? Int32FromEnvOrDie(kTestShardIndex, -1)
-                                  : -1;
+  const int32_t shard_index =
+      shard_tests == HONOR_SHARDING_PROTOCOL ? GTEST_FLAG_GET(shard_index) : -1;
 
   const PositiveAndNegativeUnitTestFilter gtest_flag_filter(
       GTEST_FLAG_GET(filter));
@@ -6686,6 +6734,12 @@ static const char kColorEncodedHelpMessage[] =
     "recreate_environments_when_repeating@D\n"
     "      Sets up and tears down the global test environment on each repeat\n"
     "      of the test.\n"
+    "  @G--" GTEST_FLAG_PREFIX_
+    "fail_fast@D\n"
+    "      Stop running tests after the first failure.\n"
+    "  @G--" GTEST_FLAG_PREFIX_
+    "fail_if_no_test_linked@D\n"
+    "      Fail if no test is linked into the test program.\n"
     "\n"
     "Test Output:\n"
     "  @G--" GTEST_FLAG_PREFIX_
@@ -6698,6 +6752,9 @@ static const char kColorEncodedHelpMessage[] =
     "print_time=0@D\n"
     "      Don't print the elapsed time of each test.\n"
     "  @G--" GTEST_FLAG_PREFIX_
+    "print_utf8=0@D\n"
+    "      Don't print UTF-8 characters as text.\n"
+    "  @G--" GTEST_FLAG_PREFIX_
     "output=@Y(@Gjson@Y|@Gxml@Y)[@G:@YDIRECTORY_PATH@G" GTEST_PATH_SEP_
     "@Y|@G:@YFILE_PATH]@D\n"
     "      Generate a JSON or XML report in the given directory or with the "
@@ -6714,6 +6771,9 @@ static const char kColorEncodedHelpMessage[] =
     "  @G--" GTEST_FLAG_PREFIX_
     "death_test_style=@Y(@Gfast@Y|@Gthreadsafe@Y)@D\n"
     "      Set the default death test style.\n"
+    "  @G--" GTEST_FLAG_PREFIX_
+    "death_test_use_fork@D\n"
+    "      Use fork() instead of clone() to spawn death test child processes.\n"
 #endif  // GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
     "  @G--" GTEST_FLAG_PREFIX_
     "break_on_failure@D\n"
@@ -6726,6 +6786,9 @@ static const char kColorEncodedHelpMessage[] =
     "catch_exceptions=0@D\n"
     "      Do not report exceptions as test failures. Instead, allow them\n"
     "      to crash the program or throw a pop-up (on Windows).\n"
+    "  @G--" GTEST_FLAG_PREFIX_
+    "stack_trace_depth=@Y[NUMBER]@D\n"
+    "      Maximum number of stack frames to print when an assertion fails.\n"
     "\n"
     "Except for @G--" GTEST_FLAG_PREFIX_
     "list_tests@D, you can alternatively set "
@@ -6763,6 +6826,7 @@ static bool ParseGoogleTestFlag(const char* const arg) {
   GTEST_INTERNAL_PARSE_FLAG(death_test_use_fork);
   GTEST_INTERNAL_PARSE_FLAG(fail_fast);
   GTEST_INTERNAL_PARSE_FLAG(fail_if_no_test_linked);
+  GTEST_INTERNAL_PARSE_FLAG(fail_if_no_test_selected);
   GTEST_INTERNAL_PARSE_FLAG(filter);
   GTEST_INTERNAL_PARSE_FLAG(internal_run_death_test);
   GTEST_INTERNAL_PARSE_FLAG(list_tests);
@@ -6772,6 +6836,8 @@ static bool ParseGoogleTestFlag(const char* const arg) {
   GTEST_INTERNAL_PARSE_FLAG(print_utf8);
   GTEST_INTERNAL_PARSE_FLAG(random_seed);
   GTEST_INTERNAL_PARSE_FLAG(repeat);
+  GTEST_INTERNAL_PARSE_FLAG(shard_index);
+  GTEST_INTERNAL_PARSE_FLAG(total_shards);
   GTEST_INTERNAL_PARSE_FLAG(recreate_environments_when_repeating);
   GTEST_INTERNAL_PARSE_FLAG(shuffle);
   GTEST_INTERNAL_PARSE_FLAG(stack_trace_depth);
@@ -6864,7 +6930,7 @@ void ParseGoogleTestFlagsOnly(int* argc, char** argv) {
   std::vector<char*> positional_args;
   std::vector<absl::UnrecognizedFlag> unrecognized_flags;
   absl::ParseAbseilFlagsOnly(*argc, argv, positional_args, unrecognized_flags);
-  absl::flat_hash_set<absl::string_view> unrecognized;
+  absl::flat_hash_set<std::string_view> unrecognized;
   for (const auto& flag : unrecognized_flags) {
     unrecognized.insert(flag.flag_name);
   }