Merge pull request #9 from Talon540Programming/2024-beta-rewrite

allwpilib and dependency updates to 2024 beta

.github/workflows/build.yml

@@ -0,0 +1,18 @@
+name: Build
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build robot code
+        run: ./gradlew build

.github/workflows/formatting-check.yml → .github/workflows/lint-format.yml

@@ -1,15 +1,16 @@
-name: Check Formatting
+name: Lint and Format
 
 on:
   push:
+  pull_request:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
 jobs:
   javaformat:
-    name: "Check Java Format"
+    name: "Java Formatting"
     runs-on: ubuntu-22.04
     container: wpilib/ubuntu-base:22.04
     steps:
@@ -20,4 +21,4 @@ jobs:
       - name: Grant execute permission for gradlew
         run: chmod +x gradlew
       - name: Run Java format
-        run: ./gradlew spotlessCheck
+        run: ./gradlew spotlessCheck

.gitignore

@@ -1,3 +1,6 @@
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
+
 ### C++ ###
 # Prerequisites
 *.d
@@ -106,7 +109,6 @@ Temporary Items
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
-!.vscode/style.xml
 
 ### Windows ###
 # Windows thumbnail cache files
@@ -156,12 +158,19 @@ gradle-app.setting
 .settings/
 bin/
 
-.idea
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
 
-# Simulation GUI and other tools window save files
-*-window.json
+# Simulation GUI and other tools window save file
 simgui*.json
 networktables.json
 
 # Version file
-src/main/java/frc/generated
+src/main/java/frc/generated

.vscode/launch.json

@@ -0,0 +1,17 @@
+{
+  "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

@@ -0,0 +1,41 @@
+{
+  "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"
+      }
+    },
+    null
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "spotlessGradle.format.enable": true,
+  "spotlessGradle.diagnostics.enable": false,
+  "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle",
+  "[json]": {
+    "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
+  },
+  "[java]": {
+    "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
+  }
+}

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": false,
   "currentLanguage": "java",
-  "projectYear": "2023",
+  "projectYear": "2024beta",
   "teamNumber": 540
-}
+}

build.gradle

@@ -1,31 +1,37 @@
-//file:noinspection DependencyNotationArgument
-import edu.wpi.first.gradlerio.GradleRIOPlugin
-import groovy.json.JsonSlurper
-
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
-    id 'com.diffplug.spotless' version "6.12.0"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-3"
     id "com.peterabeles.gversion" version "1.10"
+    id "com.diffplug.spotless" version "6.12.0"
 }
 
-sourceCompatibility = JavaVersion.VERSION_17
-targetCompatibility = JavaVersion.VERSION_17
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
         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
+            // want to store a team number in this file.
             team = project.frc.getTeamOrDefault(540)
             debug = project.frc.getDebugOrDefault(false)
 
             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')) {
-                    gcType = edu.wpi.first.gradlerio.deploy.roborio.GarbageCollectorType.Other
-                    jvmArgs << '-XX:+UseG1GC'
                 }
 
+                // Static files artifact
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
@@ -37,25 +43,30 @@ deploy {
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
+// Set to true to use debug for JNI.
 wpi.java.debugJni = false
 
+// Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
+// Configuration for AdvantageKit
 repositories {
-    mavenLocal()
     maven {
         url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
         credentials {
             username = "Mechanical-Advantage-Bot"
             password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
         }
     }
+    mavenLocal()
 }
 
-configurations.configureEach {
+configurations.all {
     exclude group: "edu.wpi.first.wpilibj"
 }
 
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
 dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
@@ -74,40 +85,46 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
+    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'
+
+    implementation "gov.nist.math:jama:1.0.3"
 
-    def AdvantageKitJSON = new JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$AdvantageKitJSON.version"
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
-wpi.sim.addGui()
+// Simulation configuration (e.g. environment variables).
+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')
+// 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)
-        }
-    }
-    manifest GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    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
 }
 
+// Configure jar and deploy tasks
 deployArtifact.jarTask = jar
 wpi.java.configureExecutableTasks(jar)
 wpi.java.configureTestTasks(test)
 
-tasks.withType(JavaCompile).configureEach {
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
 
+// Create version file
 project.compileJava.dependsOn(createVersionFile)
 gversion {
     srcDir       = "src/main/java/"
@@ -118,11 +135,13 @@ gversion {
     indent       = "  "
 }
 
+// Spotless formatting
+project.compileJava.dependsOn(spotlessApply)
 spotless {
     java {
-        target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**', '.idea', '**/generated/**'
+        target fileTree(".") {
+            include "**/*.java"
+            exclude "**/build/**", "**/build-*/**"
         }
         toggleOffOn()
         googleJavaFormat()
@@ -131,29 +150,26 @@ spotless {
         endWithNewline()
     }
     groovyGradle {
-        target fileTree('.') {
-            include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**', '.idea', '**/generated/**'
+        target fileTree(".") {
+            include "**/*.gradle"
+            exclude "**/build/**", "**/build-*/**"
         }
         greclipse()
         indentWithSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
-    format 'xml', {
-        target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**', '.idea', '**/generated/**'
+    json {
+        target fileTree(".") {
+            include "**/*.json"
+            exclude "**/build/**", "**/build-*/**"
         }
-        eclipseWtp('xml')
-        trimTrailingWhitespace()
-        indentWithSpaces(2)
-        endWithNewline()
+        gson().indentWithSpaces(2)
     }
-    format 'misc', {
-        target fileTree('.') {
-            include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**', '.idea', '**/generated/**'
+    format "misc", {
+        target fileTree(".") {
+            include "**/*.md", "**/.gitignore"
+            exclude "**/build/**", "**/build-*/**"
         }
         trimTrailingWhitespace()
         indentWithSpaces(2)

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists