Update Code for 2024 season

.github/workflows/gradle-build.yml

@@ -18,13 +18,13 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: gradle/gradle-build-action@v2 # enables fancy caching.
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: gradle/wrapper-validation-action@v1 # this validates the jar file
 
     # Declares the repository safe and not under dubious ownership.
@@ -44,13 +44,13 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
     - uses: gradle/gradle-build-action@v2 # enables fancy caching.
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: gradle/wrapper-validation-action@v1 # this validates the jar file
 
     # Declares the repository safe and not under dubious ownership.

.gitignore

@@ -63,9 +63,8 @@ hs_err_pid*
 # idea
 .idea/
 
-#exclude git info files.
-src/main/deploy/branch.txt
-src/main/deploy/commit.txt
+#exclude git info file.
+src/main/java/frc/robot/BuildConstants.java
 
 ### Linux ###
 *~
@@ -165,5 +164,21 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/

.pathplanner/settings.json

@@ -2,6 +2,14 @@
   "robotWidth": 0.75,
   "robotLength": 1.0,
   "holonomicMode": false,
-  "generateJSON": false,
-  "generateCSV": false
+  "pathFolders": [
+    "New Folder"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5,
+  "choreoProjectPath": null
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024",
     "teamNumber": 7652
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-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

build.gradle

@@ -1,11 +1,14 @@
 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"
+    id 'com.diffplug.spotless' version '6.20.0'
+    id "com.peterabeles.gversion" version "1.10"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
@@ -44,7 +47,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = true  // groovylint-disable-line
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -66,9 +69,8 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    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'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {
@@ -84,7 +86,12 @@ wpi.sim.addDriverstation()
 // 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 {
+        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
 }
@@ -103,7 +110,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
+            exclude '**/build/**', '**/build-*/**', '**/BuildConstants.java'
         }
         toggleOffOn()
         googleJavaFormat()
@@ -142,45 +149,13 @@ spotless {
     }
 }
 
-// Git Tasks
-tasks.register("writeBranchName") {
-    // Define an output stream to write to instead of terminal
-    def stdout = new ByteArrayOutputStream()
-
-    // Execute the git command
-    exec {
-        commandLine "git", "rev-parse", "--abbrev-ref", "HEAD"
-        // Write to the output stream instead of terminal
-        standardOutput = stdout
-    }
-
-    // Parse the output into a string
-    def branch = stdout.toString().trim()
-
-    // Create a new file
-    new File(
-            // Join project directory and deploy directory
-            projectDir.toString() + "/src/main/deploy",
-            // File name to write to
-            "branch.txt"
-            ).text = branch // Set the contents of the file to the variable branch
-}
-
-tasks.register("writeCommitHash") {
-    def stdout = new ByteArrayOutputStream()
-
-    exec {
-        commandLine "git", "rev-parse", "--short", "HEAD"
-        standardOutput = stdout
-    }
-
-    def commitHash = stdout.toString().trim()
-
-    new File(
-            projectDir.toString() + "/src/main/deploy",
-            "commit.txt"
-            ).text = commitHash
+// Git Task
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/New_York" // Use preferred time zone
+    indent       = "  "
 }
-// Make deploy depend on these tasks
-deploy.targets.roborio.artifacts.frcStaticFileDeploy.dependsOn(writeBranchName)
-deploy.targets.roborio.artifacts.frcStaticFileDeploy.dependsOn(writeCommitHash)

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.6-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
 networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradlew

@@ -83,10 +83,8 @@ done
 # This is normally unused
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,26 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
         # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC3045 
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
         # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
-        # shellcheck disable=SC3045 
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -197,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");