Merge branch 'robototes:main' into main

.github/workflows/check.yml

@@ -15,7 +15,7 @@ jobs:
       - uses: actions/setup-java@v3
         with:
           distribution: temurin
-          java-version: 11
+          java-version: 17
           cache: gradle
 
       - name: Check

.gitignore

@@ -1,8 +1,6 @@
 # This gitignore has been specially created by the WPILib team.
 # If you remove items from this file, intellisense might break.
 
-.Glass
-
 ### C++ ###
 # Prerequisites
 *.d
@@ -106,13 +104,11 @@ Temporary Items
 .apdisk
 
 ### VisualStudioCode ###
-.factorypath
 .vscode/*
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
-.factorypath
 
 ### Windows ###
 # Windows thumbnail cache files
@@ -162,21 +158,21 @@ gradle-app.setting
 .settings/
 bin/
 
-# Simulation GUI and other tools window save file
-*-window.json
-simgui*.json
-.wpilog
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
 
-# Vim :)
-Session.vim
-.undodir
+# Fleet
+.fleet
 
-# Intellij IDEA platform
-.idea
-local.properties
+# Simulation GUI and other tools window save file
+*-window.json
 
-# WPILib datalog tool config files
-.DataLogTool/
+# Simulation data log directory
+logs/
 
-# Don't know what's creating this
-.project
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/

.vscode/launch.json

@@ -0,0 +1,21 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+
+    {
+      "type": "wpilib",
+      "name": "WPILib Desktop Debug",
+      "request": "launch",
+      "desktop": true,
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib roboRIO Debug",
+      "request": "launch",
+      "desktop": false,
+    }
+  ]
+}

.vscode/settings.json

@@ -1,3 +1,29 @@
 {
-	"java.configuration.updateBuildConfiguration": "automatic"
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "java.test.config": [
+    {
+      "name": "WPIlibUnitTests",
+      "workingDirectory": "${workspaceFolder}/build/jni/release",
+      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "env": {
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
+    },
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests"
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
-  "enableCppIntellisense": false,
-  "currentLanguage": "java",
-  "projectYear": "2024",
-  "teamNumber": 2412
-}
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2024",
+    "teamNumber": 2412
+}

WPILib-License.md

@@ -1,16 +1,16 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
-* Redistributions of source code must retain the above copyright
-	notice, this list of conditions and the following disclaimer.
-* Redistributions in binary form must reproduce the above copyright
-	notice, this list of conditions and the following disclaimer in the
-	documentation and/or other materials provided with the distribution.
-* Neither the name of FIRST, WPILib, nor the names of other WPILib
-	contributors may be used to endorse or promote products derived from
-	this software without specific prior written permission.
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

build.gradle

@@ -1,17 +1,19 @@
 plugins {
 	id "java"
 	id "com.diffplug.spotless" version "6.15.0"
-	id "edu.wpi.first.GradleRIO" version "2023.4.3"
-	id "net.ltgt.errorprone"
+	id "edu.wpi.first.GradleRIO" version "2024.1.1"
+	id "net.ltgt.errorprone" version "3.1.0"
 }
 
 repositories {
 	mavenCentral()
 	maven { url "https://jitpack.io" }
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+	sourceCompatibility = JavaVersion.VERSION_17
+	targetCompatibility = JavaVersion.VERSION_17
+}
 
 def getProjectBooleanProperty(String name, boolean defaultValue = false) {
 	if (!project.hasProperty(name)) {
@@ -28,7 +30,7 @@ def ROBOT_MAIN_CLASS = getProjectBooleanProperty('automatedTest') ? "frc.team241
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
 	targets {
-		roborio(getTargetTypeClass("RoboRIO")) {
+		roborio(getTargetTypeClass('RoboRIO')) {
 			// Team number is loaded either from the .wpilib/wpilib_preferences.json
 			// or from command line. If not found an exception will be thrown.
 			// You can use getTeamOrDefault(team) instead of getTeamNumber if you
@@ -40,13 +42,13 @@ deploy {
 				// First part is artifact name, 2nd is artifact type
 				// getTargetTypeClass is a shortcut to get the class type using a string
 
-				frcJava(getArtifactTypeClass("FRCJavaArtifact")) {
+				frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
 				}
 
 				// Static files artifact
-				frcStaticFileDeploy(getArtifactTypeClass("FileTreeArtifact")) {
-					files = project.fileTree("src/main/deploy")
-					directory = "/home/lvuser/deploy"
+				frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+					files = project.fileTree('src/main/deploy')
+					directory = '/home/lvuser/deploy'
 				}
 			}
 		}
@@ -62,10 +64,9 @@ wpi.java.debugJni = false
 def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
-// Also defines JUnit 4.
+// Also defines JUnit 5.
 dependencies {
-	implementation 'org.jetbrains:annotations:19.0.0'
-	compileOnly group: "com.google.errorprone", name: "error_prone_annotations", version: "2.10.0"
+	compileOnly group: "com.google.errorprone", name: "error_prone_annotations", version: "2.24.1"
 
 	implementation wpi.java.deps.wpilib()
 	implementation wpi.java.vendor.java()
@@ -84,27 +85,34 @@ dependencies {
 	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
 	simulationRelease wpi.sim.enableRelease()
 
-	testImplementation "junit:junit:4.12"
+	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
-	errorprone group: "com.google.errorprone", name: "error_prone_core", version: "2.10.0"
+	errorprone group: "com.google.errorprone", name: "error_prone_core", version: "2.24.1"
 }
 
 tasks.withType(JavaCompile).configureEach {
 	options.errorprone.disableWarningsInGeneratedCode = true
 }
 
+test {
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
 // Simulation configuration (e.g. environment variables).
 
 if (!getProjectBooleanProperty('automatedTest')) {
 	wpi.sim.addGui().defaultEnabled = true
 	wpi.sim.addDriverstation()
 }
 
-// Setting up my Jar File. In this case, adding all libraries into the main jar ("fat jar")
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
 jar {
 	from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+	from sourceSets.main.allSource
 	manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
 	duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
@@ -114,11 +122,16 @@ deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
 
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+	options.compilerArgs.add '-XDstringConcat=inline'
+}
+
 // Spotless
 spotless {
 	format "misc", {
 		target "*"
-		targetExclude "simgui*.json", "**/build/**", "**/build-*/**", "**/bin/**", "/.*"
+		targetExclude "simgui*.json", "**/build/**", "**/build-*/**", "**/bin/**", "/.*", "WPILib-License.md", "gradlew"
 		toggleOffOn()
 		indentWithTabs()
 		endWithNewline()

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.6.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists