2025 beta (#2)

* first commit

* remove alerts

* what

* j

* more unit conversions

* things

* more units

* add ci

* more units

* format

* push

* comment out alerts bc no worky

* refactor frc.robot.extras.simulation directory

* format again

* comment out broken build thingy

* changes + format

* idk

* some stuff

* ok

* bruuuuuuuuuuuuuuuuuuuuuuuuuuuh

* clean up constants

* more constants

* constants

* yay pose estimation

* ok

* add back alerts

.github/workflows/build.yml

@@ -0,0 +1,62 @@
+name: Build
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    name: Compile Java
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+      - name: Compile robot code
+        run: ./gradlew compileJava
+
+  test:
+    name: "Test Java"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+    - uses: actions/checkout@v4
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    - name: Run tests on robot code
+      run: ./gradlew test -PrunTests 
+
+  format:
+    name: "Check Format Java"
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    - name: Fetch all history and metadata
+      run: |
+        git checkout -b pr
+        git branch -f main origin/main
+    - uses: actions/setup-java@v4
+      with:
+        java-version: 17
+        distribution: temurin
+    - name: Run formatter
+      run: ./gradlew spotlessCheck
+
+  lint: 
+    name: "Lint"
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-java@v4
+      with:
+        distribution: temurin
+        java-version: 17
+    - uses: pmd/pmd-github-action@v2
+      with:
+        rulesets: 'pmd-ruleset.xml'
+        analyzeModifiedFilesOnly: false

.gitignore

@@ -1,6 +1,6 @@
 # This gitignore has been specially created by the WPILib team.
 # If you remove items from this file, intellisense might break.
-
+*src/main/java/frc/robot/BuildConstants.java
 ### C++ ###
 # Prerequisites
 *.d
@@ -176,3 +176,5 @@ logs/
 
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
+
+.vscode

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025beta",
     "teamNumber": 4829
 }

README.md

@@ -1 +1 @@
-# 4829-BaseRobotCode-2025
+# 4829-BaseRobotCode-2025

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.25.0"
     id "io.freefair.lombok" version "8.4"
@@ -108,22 +108,16 @@ task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
 }
 compileJava.finalizedBy checkAkitInstall
 
-// // Generate drive trajectories when building
-// task(generateDriveTrajectories, dependsOn: "classes", type: JavaExec) {
-//     mainClass = "org.littletonrobotics.frc2024.subsystems.drive.trajectory.GenerateTrajectories"
-//     classpath = sourceSets.main.runtimeClasspath
-// }
-// compileJava.finalizedBy generateDriveTrajectories
 
-// Check robot type when deploying
-// task(checkRobot, dependsOn: "classes", type: JavaExec) {
-//     main = "frc.robot.Constants"
-//     classpath = sourceSets.main.runtimeClasspath
-// }
+//Check robot type when deploying
+task(checkRobot, dependsOn: "classes", type: JavaExec) {
+    main = "frc.robot.Constants"
+    classpath = sourceSets.main.runtimeClasspath
+}
 
-// deployroborio.dependsOn(checkRobot)
+deployroborio.dependsOn(checkRobot)
 
-// Create commit with working changes on event branches
+//Create commit with working changes on event branches
 task(eventDeploy) {
     doLast {
         if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,8 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 

pmd-ruleset.xml

@@ -0,0 +1,94 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ruleset name="WPILibRuleset"
+  xmlns="http://pmd.sourceforge.net/ruleset/2.0.0"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://pmd.sourceforge.net/ruleset/2.0.0 http://pmd.sourceforge.net/ruleset_2_0_0.xsd">
+
+  <description>PMD Ruleset for WPILib</description>
+
+  <exclude-pattern>.*/LimeligtHelpers.java</exclude-pattern>
+
+  <rule ref="category/java/bestpractices.xml">
+    <exclude name="AccessorClassGeneration" />
+    <exclude name="AccessorMethodGeneration" />
+    <exclude name="AvoidPrintStackTrace" />
+    <exclude name="AvoidReassigningCatchVariables" />
+    <exclude name="AvoidReassigningParameters" />
+    <exclude name="AvoidUsingHardCodedIP" />
+    <exclude name="ConstantsInInterface" />
+    <exclude name="JUnitAssertionsShouldIncludeMessage" />
+    <exclude name="JUnitTestContainsTooManyAsserts" />
+    <exclude name="JUnitTestsShouldIncludeAssert" />
+    <exclude name="JUnit4TestShouldUseAfterAnnotation" />
+    <exclude name="JUnit4TestShouldUseBeforeAnnotation" />
+    <exclude name="JUnit4TestShouldUseTestAnnotation" />
+    <exclude name="LooseCoupling" />
+    <exclude name="PreserveStackTrace" />
+    <exclude name="ReplaceHashtableWithMap" />
+    <exclude name="ReplaceVectorWithList" />
+    <exclude name="SwitchStmtsShouldHaveDefault" />
+    <exclude name="SystemPrintln" />
+    <exclude name="UseVarargs" />
+  </rule>
+
+  <rule ref="category/java/bestpractices.xml/UnusedPrivateMethod">
+    <properties>
+      <property name="violationSuppressRegex"
+        value=".*'.*Arguments\(\)'.*" />
+    </properties>
+  </rule>
+
+  <rule ref="category/java/bestpractices.xml/UnusedLocalVariable">
+    <properties>
+      <property name="violationSuppressXPath" value="//Resource" />
+    </properties>
+  </rule>
+
+  <rule ref="category/java/design.xml">
+    <exclude name="AvoidThrowingRawExceptionTypes" />
+    <exclude name="AvoidThrowingNewInstanceOfSameException" />
+    <exclude name="CognitiveComplexity" />
+    <exclude name="CouplingBetweenObjects" />
+    <exclude name="CyclomaticComplexity" />
+    <exclude name="DataClass" />
+    <exclude name="ExceptionAsFlowControl" />
+    <exclude name="ExcessiveImports" />
+    <exclude name="ExcessiveParameterList" />
+    <exclude name="ExcessivePublicCount" />
+    <exclude name="GodClass" />
+    <exclude name="LawOfDemeter" />
+    <exclude name="LoosePackageCoupling" />
+    <exclude name="NPathComplexity" />
+    <exclude name="NcssCount" />
+    <exclude name="TooManyFields" />
+    <exclude name="TooManyMethods" />
+  </rule>
+
+  <rule ref="category/java/errorprone.xml">
+    <exclude name="AssignmentToNonFinalStatic" />
+    <exclude name="AvoidCatchingThrowable" />
+    <exclude name="AvoidDuplicateLiterals" />
+    <exclude name="AvoidLiteralsInIfCondition" />
+    <exclude name="CloseResource" />
+    <exclude name="ConstructorCallsOverridableMethod" />
+    <exclude name="DoNotTerminateVM" />
+    <exclude name="EmptyCatchBlock" />
+    <exclude name="FinalizeDoesNotCallSuperFinalize" />
+    <exclude name="JUnitSpelling" />
+    <exclude name="MissingSerialVersionUID" />
+    <exclude name="NonSerializableClass" />
+    <exclude name="NullAssignment" />
+  </rule>
+
+  <rule ref="category/java/multithreading.xml">
+    <exclude name="AvoidSynchronizedAtMethodLevel" />
+    <exclude name="AvoidUsingVolatile" />
+    <exclude name="DoNotUseThreads" />
+    <exclude name="UseConcurrentHashMap" />
+  </rule>
+
+  <rule ref="category/java/performance.xml">
+    <exclude name="AvoidInstantiatingObjectsInLoops" />
+  </rule>
+
+</ruleset>

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/frc/robot/BuildConstants.java

@@ -1,19 +1,17 @@
 package frc.robot;
 
-/**
- * Automatically generated file containing build version information.
- */
+/** Automatically generated file containing build version information. */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "fuck";
+  public static final String MAVEN_NAME = "4829-BaseRobotCode-2025-1";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 1;
-  public static final String GIT_SHA = "c788c01f09c748b73747c452d0f82b20b8bf8d5d";
-  public static final String GIT_DATE = "2024-10-22 22:41:55 EDT";
-  public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2024-10-22 22:45:01 EDT";
-  public static final long BUILD_UNIX_TIME = 1729651501218L;
+  public static final int GIT_REVISION = 22;
+  public static final String GIT_SHA = "ee746c8ba2b3fd21fde3a8e41cdd2f213deee1be";
+  public static final String GIT_DATE = "2024-10-27 14:01:12 EDT";
+  public static final String GIT_BRANCH = "k";
+  public static final String BUILD_DATE = "2024-10-27 14:10:44 EDT";
+  public static final long BUILD_UNIX_TIME = 1730052644497L;
   public static final int DIRTY = 1;
 
-  private BuildConstants(){}
+  private BuildConstants() {}
 }