Merge branch 'master' into v2025-1-0-0/gyros

Signed-off-by: Brenden Freier <[email protected]>

.github/workflows/grade-publish.yml

@@ -13,7 +13,7 @@ on:
             - published
 
 jobs:
-    build:
+    publish:
         runs-on: ubuntu-latest
         permissions:
             contents: read

.github/workflows/build-java.yml → .github/workflows/test-java.yml

@@ -1,4 +1,4 @@
-name: Build Java
+name: Test Java
 
 on:
     push:
@@ -14,7 +14,7 @@ on:
     pull_request:
 
 jobs:
-    build-java:
+    test-java:
         runs-on: ubuntu-latest
         steps:
             - name: Checkout
@@ -29,5 +29,5 @@ jobs:
             - name: Setup Gradle
               uses: gradle/actions/setup-gradle@v3
 
-            - name: Build
-              run: ./gradlew build --scan
+            - name: Test
+              run: ./gradlew test

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+  "enableCppIntellisense": false,
+  "currentLanguage": "java",
+  "projectYear": "2024",
+  "teamNumber": 5183
+}

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id 'java'
     id 'maven-publish'
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 group = 'net.frc5183.librobot'
@@ -34,74 +35,66 @@ publishing {
     }
 }
 
-repositories {
-    mavenCentral()
-
-    // WPILib
-    maven {
-        url = "https://frcmaven.wpi.edu/artifactory/release"
-    }
-
-    // PathPlannerLib
-    maven {
-        url = "https://3015rangerrobotics.github.io/pathplannerlib/repo"
-    }
-
-    // CTRE Phoenix
-    maven {
-        url = "https://maven.ctr-electronics.com/release/"
-    }
-
-    // REV Robotics
-    maven {
-        url = "https://maven.revrobotics.com/"
+deploy {
+    targets {
+        roborio(getTargetTypeClass('RoboRIO')) {
+            artifacts {
+                // First part is artifact name, 2nd is artifact type
+                // getTargetTypeClass is a shortcut to get the class type using a string
+
+                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                }
+
+                // Static files artifact
+                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                    files = project.fileTree('src/main/deploy')
+                    directory = '/home/lvuser/deploy'
+                }
+            }
+        }
     }
+}
 
-    // Kauai Labs NavX
-    maven {
-        url = "https://dev.studica.com/maven/release/2024/"
-    }
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-    // YAGSL
-    maven {
-        url = "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos"
-    }
+repositories {
+    mavenCentral()
 }
 
 dependencies {
-    // Jetbrains Annotations
     compileOnly "org.jetbrains:annotations:25.0.0"
 
-    compileOnly "edu.wpi.first.wpilibj:wpilibj-java:2024.3.2"
-    compileOnly "edu.wpi.first.wpiutil:wpiutil-java:2024.3.2"
-    compileOnly "edu.wpi.first.wpilibj:commands:2024.3.2"
-    compileOnly "edu.wpi.first.wpimath:wpimath-java:2024.3.2"
-    compileOnly "edu.wpi.first.wpiunits:wpiunits-java:2024.3.2"
-    compileOnly "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.3.2"
+    compileOnly wpi.java.deps.wpilib()
+    compileOnly wpi.java.vendor.java()
 
-    // PathPlannerLib
-    // todo: maven repository is broken
-    // compileOnly "com.pathplanner.lib:PathPlannerLib-java:2024.2.6"
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
 
-    // CTRE Phoenix (v6)
-    compileOnly "com.ctre.phoenix6:wpiapi-java:24.1.0"
-    // CTRE Phoenix (v5)
-    compileOnly "com.ctre.phoenix:api-java:5.33.0"
-    compileOnly "com.ctre.phoenix:wpiapi-java:5.33.0"
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
 
-    // REV Robotics
-    compileOnly "com.revrobotics.frc:REVLib-java:2024.2.0"
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 
-    // NavX
-    compileOnly "com.kauailabs.navx.frc:navx-frc-java:2024.1.0"
-
-    // YAGSL
-    compileOnly "swervelib:YAGSL-java:2024.5.0.0"
-
-    testImplementation platform('org.junit:junit-bom:5.9.1')
-    testImplementation 'org.junit.jupiter:junit-jupiter'
+    testImplementation wpi.java.deps.wpilib()
+    testImplementation wpi.java.vendor.java()
 }
 
 test {
     useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
+
+jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
+    duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)

settings.gradle

@@ -1,2 +1,29 @@
-rootProject.name = 'librobot'
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2024'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
 
+rootProject.name = 'librobot'

vendordeps/NavX.json

@@ -0,0 +1,40 @@
+{
+    "fileName": "NavX.json",
+    "name": "NavX",
+    "version": "2024.1.0",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://dev.studica.com/maven/release/2024/"
+    ],
+    "jsonUrl": "https://dev.studica.com/releases/2024/NavX.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-frc-java",
+            "version": "2024.1.0"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-frc-cpp",
+            "version": "2024.1.0",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "linuxarm32",
+                "linuxarm64",
+                "linuxx86-64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}

vendordeps/PathplannerLib.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib.json",
+    "name": "PathplannerLib",
+    "version": "2024.2.8",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.2.8"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.2.8",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}