Prep work for phoenix 6 (#40)

* Prep work for phoenix 6 * Fixup * Lint
snobotsim · Jan 2, 2024 · ecd7c42 · ecd7c42
1 parent 0fa2136
commit ecd7c42
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Showing 62 changed files with 2,048 additions and 2,110 deletions.
diff --git a/MODULE.bazel b/MODULE.bazel
@@ -3,9 +3,10 @@ bazel_dep(name = "rules_java", version = "6.4.0")
 bazel_dep(name = "rules_bazelrio", version = "0.0.13")
 bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1")
 bazel_dep(name = "rules_pmd", version = "6.43.0")
-bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.1.1-beta-1")
-bazel_dep(name = "bzlmodrio-navx", version = "2024.0.1-beta-2")
-bazel_dep(name = "bzlmodrio-phoenix", version = "5.32.0-beta-1")
+bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.1.1-beta-4")
+bazel_dep(name = "bzlmodrio-navx", version = "2024.0.1-beta-4")
+bazel_dep(name = "bzlmodrio-phoenix", version = "5.32.0-beta-4")
+bazel_dep(name = "bzlmodrio-phoenix6", version = "24.0.0-beta-5")
 bazel_dep(name = "bzlmodrio-revlib", version = "2024.0.0")
 
 maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")

diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
diff --git a/build_scripts/base_java.gradle b/build_scripts/base_java.gradle
@@ -41,13 +41,13 @@ ext.getCurrentOs = {
 }
 
 ext {
-    wpiVersion = '2024.1.1-beta-2'
+    wpiVersion = '2024.1.1-beta-4'
     opencvYear = '2024'
     opencvVersion = '4.8.0-1'
-    ctreVersion = '5.32.0-beta-1'
-    ctreSimVersion = "24.0.0-beta-1"
+    phoenix5Version = '5.32.0-beta-4'
+    phoenix6Version = "24.0.0-beta-5"
     revVersion = '2024.0.0'
-    navxVersion = '2024.0.1-beta-3'
+    navxVersion = '2024.0.1-beta-4'
 
     nativeOs = getCurrentOs() + getCurrentArch()
 }
@@ -68,17 +68,17 @@ dependencies {
     nativeDesktopZip "edu.wpi.first.wpimath:wpimath-cpp:${wpiVersion}:${nativeOs}@zip"
     nativeDesktopZip "edu.wpi.first.thirdparty.frc${opencvYear}.opencv:opencv-cpp:${opencvVersion}:${nativeOs}@zip"
 
-    nativeDesktopZip "com.ctre.phoenix.sim:cci-sim:${ctreVersion}:${nativeOs}@zip"
-
-    nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonFX:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simCANCoder:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simProCANcoder:${ctreSimVersion}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simProPigeon2:${ctreSimVersion}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix.sim:cci-sim:${phoenix5Version}:${nativeOs}@zip"
+
+    nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simTalonFX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simCANCoder:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProCANcoder:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProPigeon2:${phoenix6Version}:${nativeOs}@zip"
 
     nativeDesktopZip "com.revrobotics.frc:REVLib-driver:${revVersion}:${nativeOs}@zip"
 }

diff --git a/build_scripts/bazel/deps/activate_dependencies.bzl b/build_scripts/bazel/deps/activate_dependencies.bzl
@@ -1,13 +1,13 @@
-load("@bzlmodrio//:bzlmodrio_setup.bzl", "bzlmodrio_setup", "get_bzlmodrio_java_dependencies")
+load("@bzlmodrio//private/non_bzlmod:setup_dependencies.bzl", "get_java_dependencies", "setup_dependencies")
 load("@rules_jvm_external//:defs.bzl", "maven_install")
 
 def activate_dependencies():
     jupiter_version = "5.6.1"
     platform_version = "1.6.1"
 
-    bzlmodrio_setup()
+    setup_dependencies()
 
-    maven_artifacts, maven_repositories = get_bzlmodrio_java_dependencies()
+    maven_artifacts, maven_repositories = get_java_dependencies()
     maven_artifacts += [
         "org.junit.jupiter:junit-jupiter-api:" + jupiter_version,
         "org.junit.jupiter:junit-jupiter-params:" + jupiter_version,

diff --git a/build_scripts/bazel/deps/download_external_archives.bzl b/build_scripts/bazel/deps/download_external_archives.bzl
@@ -4,9 +4,9 @@ def download_external_archives():
     # Download bzlmodRio <3
     http_archive(
         name = "bzlmodrio",
-        url = "https://github.com/bzlmodRio/bzlmodRio/archive/452decb66e79e43ed43e4debbf5d9849ecf6275f.tar.gz",
-        sha256 = "6ca2fbcf33da8e769587fb87a8da7736c5088ab0ac1ab4735a99914e5e5fbeda",
-        strip_prefix = "bzlmodRio-452decb66e79e43ed43e4debbf5d9849ecf6275f",
+        url = "https://github.com/bzlmodRio/bzlmodRio/archive/03b41cfcece36d7bcbb984a441803f99f3641e2e.tar.gz",
+        sha256 = "c9aae913cd118e79df1b4e9d1387d50f7e47e116330cc281c39e6c0089d3b09d",
+        strip_prefix = "bzlmodRio-03b41cfcece36d7bcbb984a441803f99f3641e2e",
     )
     # native.local_repository(
     #     name = "bzlmodrio",

diff --git a/build_scripts/bazel/deps/maven_install.json b/build_scripts/bazel/deps/maven_install.json
@@ -1,25 +1,25 @@
 {
   "__AUTOGENERATED_FILE_DO_NOT_MODIFY_THIS_FILE_MANUALLY": "THERE_IS_NO_DATA_ONLY_ZUUL",
-  "__INPUT_ARTIFACTS_HASH": -1965317510,
-  "__RESOLVED_ARTIFACTS_HASH": -1467967604,
+  "__INPUT_ARTIFACTS_HASH": -858297645,
+  "__RESOLVED_ARTIFACTS_HASH": -450393126,
   "artifacts": {
     "com.fasterxml.jackson.core:jackson-annotations": {
       "shasums": {
-        "jar": "f6aa3706a875689b66cdac3334f65dfdb795ccfad4117bf072893b196ed1ec8e"
+        "jar": "04e21f94dcfee4b078fa5a5f53047b785aaba69d19de392f616e7a7fe5d3882f"
       },
-      "version": "2.12.4"
+      "version": "2.15.2"
     },
     "com.fasterxml.jackson.core:jackson-core": {
       "shasums": {
-        "jar": "3506ce47ec2604ae2d80d79505f7cb374f718060639415c07d144adadd2d68a3"
+        "jar": "303c99e82b1faa91a0bae5d8fbeb56f7e2adf9b526a900dd723bf140d62bd4b4"
       },
-      "version": "2.12.4"
+      "version": "2.15.2"
     },
     "com.fasterxml.jackson.core:jackson-databind": {
       "shasums": {
-        "jar": "e99a7b4b89074bc689aabcd9eb1f2c1318b68cc5c34979daf3e34edc558c7a01"
+        "jar": "0eb2fdad6e40ab8832a78c9b22f58196dd970594e8d3d5a26ead87847c4f3a96"
       },
-      "version": "2.12.4"
+      "version": "2.15.2"
     },
     "org.apiguardian:apiguardian-api": {
       "shasums": {
@@ -29,51 +29,51 @@
     },
     "org.ejml:ejml-cdense": {
       "shasums": {
-        "jar": "ad06ef87a0e1b4b8152ebcbf8fa204a17a394b7cb0625c9b36f78181590ff907"
+        "jar": "20c96f2b25facf9014c46c6d0e0139e2c1bbec7954411e9eb1b4c53ef7eaef6d"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-core": {
       "shasums": {
-        "jar": "8d36469e8414d79c875defc0af3b980525d384761c9471d15a4f365b936dd1d5"
+        "jar": "04136b8fabedf92c218914da3a837e27ba0aefbf924444d2aac243f77dbf208d"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-ddense": {
       "shasums": {
-        "jar": "355347e9cac7e96d5d724d331a9b04bb14a8a02e1d111f1ac51c79f25d937123"
+        "jar": "bb3d00c111868673d35f1aca24de7fe72b970c47dc44295f510684b2be6eb7ce"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-dsparse": {
       "shasums": {
-        "jar": "278dbe323a3218697d687243da1a2ff0c88800825ebba02388274542519641ed"
+        "jar": "5b15d7d06e88d0384ed40358127f3358cab462ad4d273da1763e9f5282ad27e1"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-fdense": {
       "shasums": {
-        "jar": "0ec25b3bcd950c2ce1c7d5389f958e5507ebf9f4c7a209a2b4236a73740aa98e"
+        "jar": "67dc4bebaa52a9864c2028ad150444a22227792a712bbc13f5d0c1ebe836b029"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-fsparse": {
       "shasums": {
-        "jar": "8ddb3bfa0de174c16e57b7b08b60d0f324a4f99e574033c4fc77508e2516ce41"
+        "jar": "23ef080a75893f7d1b0b2f16bd937ddbc4199a2999c246d905a55663a4d54a91"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-simple": {
       "shasums": {
-        "jar": "f8989a6df897b32789d2bc590c7ddc020c8e269180150322c1e812522fce96a7"
+        "jar": "348acd004027e1e0719b76cac6432d368640489eb3d619508275fd37373acb0d"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.ejml:ejml-zdense": {
       "shasums": {
-        "jar": "5d44c52c24e2d6e702c2f5f775707f62a71055fdbc655da21389beca4427c3f9"
+        "jar": "dc47e7395fb7dd3652f0f2e82566f193824ba3762fc709487e03d76bba13e070"
       },
-      "version": "0.41"
+      "version": "0.43.1"
     },
     "org.junit.jupiter:junit-jupiter-api": {
       "shasums": {
@@ -134,6 +134,12 @@
         "jar": "58812de60898d976fb81ef3b62da05c6604c18fd4a249f5044282479fc286af2"
       },
       "version": "1.2.0"
+    },
+    "us.hebi.quickbuf:quickbuf-runtime": {
+      "shasums": {
+        "jar": "6b78e77b7691a8ecfc67fa7ae275dc02770c9172293852c3d60a220a541997fe"
+      },
+      "version": "1.3.2"
     }
   },
   "dependencies": {
@@ -220,6 +226,8 @@
       "com.fasterxml.jackson.core.filter",
       "com.fasterxml.jackson.core.format",
       "com.fasterxml.jackson.core.io",
+      "com.fasterxml.jackson.core.io.doubleparser",
+      "com.fasterxml.jackson.core.io.schubfach",
       "com.fasterxml.jackson.core.json",
       "com.fasterxml.jackson.core.json.async",
       "com.fasterxml.jackson.core.sym",
@@ -248,7 +256,8 @@
       "com.fasterxml.jackson.databind.ser.impl",
       "com.fasterxml.jackson.databind.ser.std",
       "com.fasterxml.jackson.databind.type",
-      "com.fasterxml.jackson.databind.util"
+      "com.fasterxml.jackson.databind.util",
+      "com.fasterxml.jackson.databind.util.internal"
     ],
     "org.apiguardian:apiguardian-api": [
       "org.apiguardian.api"
@@ -470,6 +479,9 @@
     ],
     "org.opentest4j:opentest4j": [
       "org.opentest4j"
+    ],
+    "us.hebi.quickbuf:quickbuf-runtime": [
+      "us.hebi.quickbuf"
     ]
   },
   "repositories": {
@@ -495,7 +507,8 @@
       "org.junit.platform:junit-platform-launcher",
       "org.junit.platform:junit-platform-reporting",
       "org.junit.platform:junit-platform-suite-api",
-      "org.opentest4j:opentest4j"
+      "org.opentest4j:opentest4j",
+      "us.hebi.quickbuf:quickbuf-runtime"
     ],
     "https://frcmaven.wpi.edu/release/": [
       "com.fasterxml.jackson.core:jackson-annotations",
@@ -519,7 +532,8 @@
       "org.junit.platform:junit-platform-launcher",
       "org.junit.platform:junit-platform-reporting",
       "org.junit.platform:junit-platform-suite-api",
-      "org.opentest4j:opentest4j"
+      "org.opentest4j:opentest4j",
+      "us.hebi.quickbuf:quickbuf-runtime"
     ]
   },
   "version": "2"

diff --git a/build_scripts/bazel/deps/setup_dependencies.bzl b/build_scripts/bazel/deps/setup_dependencies.bzl
@@ -1,14 +1,15 @@
-load("@bzlmodrio//:bzlmodrio_dependencies.bzl", "bzlmodrio_dependencies")
+load("@bzlmodrio//private/non_bzlmod:download_dependencies.bzl", "download_dependencies")
 
 def setup_dependencies():
-    bzlmodrio_dependencies(
+    download_dependencies(
         # toolchain_versions = "2024-1",
-        allwpilib_version = "2024.1.1-beta-1",
+        allwpilib_version = "2024.1.1-beta-4",
         # ni_version = "2024.1.1",
         # opencv_version = "2024.4.8.0-1",
         revlib_version = "2024.0.0",
-        phoenix_version = "5.32.0-beta-1",
-        navx_version = "2024.0.1-beta-2",
+        phoenix_version = "5.32.0-beta-4",
+        phoenix6_version = "24.0.0-beta-5",
+        navx_version = "2024.0.1-beta-4",
         # imgui_version = None,
         # libssh_version = None,
     )
diff --git a/examples/create_standalone_projects.py b/examples/create_standalone_projects.py
@@ -24,7 +24,7 @@ def run():
 
     projects = []
     projects.append(ExampleConfig("rev", "Rev", ["navx_frc.json", "REVLib.json"]))
-    projects.append(ExampleConfig("ctre", "Ctre", ["Phoenix.json"]))
+    projects.append(ExampleConfig("phoenix5", "Phoenix5", ["Phoenix.json"]))
     projects.append(ExampleConfig("wpi", "Wpi", []))
     projects.append(
         ExampleConfig(
@@ -33,7 +33,10 @@ def run():
     )
     projects.append(
         ExampleConfig(
-            "ctre_swerve", "CtreSwerve", ["Phoenix.json"], "test_robot_base_swerve"
+            "phoenix5_swerve",
+            "Phoenix5Swerve",
+            ["Phoenix.json"],
+            "test_robot_base_swerve",
         )
     )
     projects.append(

diff --git a/examples/test_robot_base/build.gradle b/examples/test_robot_base/build.gradle
@@ -11,6 +11,7 @@ apply from: "${rootDir}/build_scripts/base_java.gradle"
 
 dependencies {
     implementation wpilibTools.deps.wpilibJava("wpilibj")
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibJava("wpimath")
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("ntcore")

diff --git a/examples/test_robot_base_swerve/build.gradle b/examples/test_robot_base_swerve/build.gradle
@@ -9,6 +9,7 @@ ext.baseId = "test_robot_base_swerve"
 apply from: "${rootDir}/build_scripts/base_java.gradle"
 dependencies {
 
+    implementation wpilibTools.deps.wpilibJava("wpiunits")
     implementation wpilibTools.deps.wpilibJava("wpimath")
     implementation wpilibTools.deps.wpilibJava("hal")
     implementation wpilibTools.deps.wpilibJava("wpiutil")

diff --git a/examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/BUILD.bazel b/examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/BUILD.bazel
@@ -9,7 +9,7 @@ snobot_sim_java_library(
     ),
     visibility = [
         "//examples/test_robot_base_swerve:__subpackages__",
-        "//examples/test_robot_ctre_swerve:__subpackages__",
+        "//examples/test_robot_phoenix5_swerve:__subpackages__",
         "//examples/test_robot_rev_swerve:__subpackages__",
     ],
     deps = [

diff --git a/...st_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/BUILD.bazel b/...st_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/BUILD.bazel
@@ -9,7 +9,7 @@ snobot_sim_java_library(
     ),
     visibility = [
         "//examples/test_robot_base_swerve:__subpackages__",
-        "//examples/test_robot_ctre_swerve:__subpackages__",
+        "//examples/test_robot_phoenix5_swerve:__subpackages__",
         "//examples/test_robot_rev_swerve:__subpackages__",
     ],
     deps = [

diff --git a/...bot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/auto/BUILD.bazel b/...bot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/auto/BUILD.bazel
@@ -9,7 +9,7 @@ snobot_sim_java_library(
     ),
     visibility = [
         "//examples/test_robot_base_swerve:__subpackages__",
-        "//examples/test_robot_ctre_swerve:__subpackages__",
+        "//examples/test_robot_phoenix5_swerve:__subpackages__",
         "//examples/test_robot_rev_swerve:__subpackages__",
     ],
     deps = [

diff --git a/...t_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/tuning/BUILD.bazel b/...t_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/commands/tuning/BUILD.bazel
@@ -9,7 +9,7 @@ snobot_sim_java_library(
     ),
     visibility = [
         "//examples/test_robot_base_swerve:__subpackages__",
-        "//examples/test_robot_ctre_swerve:__subpackages__",
+        "//examples/test_robot_phoenix5_swerve:__subpackages__",
         "//examples/test_robot_rev_swerve:__subpackages__",
     ],
     deps = [

diff --git a/..._robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/subsystems/BUILD.bazel b/..._robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/subsystems/BUILD.bazel
@@ -9,7 +9,7 @@ snobot_sim_java_library(
     ),
     visibility = [
         "//examples/test_robot_base_swerve:__subpackages__",
-        "//examples/test_robot_ctre_swerve:__subpackages__",
+        "//examples/test_robot_phoenix5_swerve:__subpackages__",
         "//examples/test_robot_rev_swerve:__subpackages__",
     ],
     deps = [

diff --git a/examples/test_robot_catchall/build.gradle b/examples/test_robot_catchall/build.gradle
@@ -20,8 +20,8 @@ dependencies {
     implementation wpilibTools.deps.wpilibJava("wpilibNewCommands")
 
     implementation "com.kauailabs.navx.frc:navx-frc-java:${navxVersion}"
-    implementation "com.ctre.phoenix:api-java:${ctreVersion}"
-    implementation "com.ctre.phoenix:wpiapi-java:${ctreVersion}"
+    implementation "com.ctre.phoenix:api-java:${phoenix5Version}"
+    implementation "com.ctre.phoenix:wpiapi-java:${phoenix5Version}"
     implementation "com.revrobotics.frc:REVLib-java:${revVersion}"
     implementation project(":snobot_sim_java")
 

diff --git a/examples/test_robot_ctre/BUILD.bazel b/examples/test_robot_ctre/BUILD.bazel
diff --git a/examples/test_robot_ctre_swerve/BUILD.bazel b/examples/test_robot_ctre_swerve/BUILD.bazel
diff --git a/examples/test_robot_phoenix5/BUILD.bazel b/examples/test_robot_phoenix5/BUILD.bazel
@@ -0,0 +1,9 @@
+alias(
+    name = "test_robot_phoenix5",
+    actual = "//examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5:Main",
+)
+
+alias(
+    name = "sim",
+    actual = "//examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5:Main.sim",
+)