New stuff

.wpilib/wpilib_preferences.json

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

build.gradle

@@ -1,43 +1,11 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-3"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.25.0"
+    id "pmd"
     id "io.freefair.lombok" version "8.4"
     id "com.google.protobuf" version "0.9.4"
-    id "pmd"
-}
-
-def grpcVersion = '1.61.0' // CURRENT_GRPC_VERSION
-def protobufVersion = '3.25.1'
-def protocVersion = protobufVersion
-
-protobuf {
-    protoc {
-        artifact = "com.google.protobuf:protoc:${protobufVersion}"
-    }
-    plugins {
-        grpc {
-            artifact = "io.grpc:protoc-gen-grpc-java:${grpcVersion}"
-        }
-    }
-    generateProtoTasks {
-        all()*.plugins {
-            grpc {}
-        }
-    }
-}
-
-sourceSets {
-    main {
-        java {
-            srcDirs 'build/generated/source/proto/main/grpc'
-            srcDirs 'build/generated/source/proto/main/java'
-        }
-        proto {
-            srcDirs "trajectory_native/proto"
-        }
-    }
 }
 
 java {
@@ -64,14 +32,25 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                    gcType = edu.wpi.first.gradlerio.deploy.roborio.GarbageCollectorType.G1_Base
+                    // https://www.chiefdelphi.com/t/2024-wpilib-feedback/464322/141
+                    final MAX_JAVA_HEAP_SIZE_MB = 100;
+                    jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
+
+                    // Set the minimum heap size to the maximum heap size to avoid resizing
+                    jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
+                    jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
+                    jvmArgs.add("-XX:GCTimeRatio=5")
+                    jvmArgs.add("-XX:+UseSerialGC")
+                    jvmArgs.add("-XX:MaxGCPauseMillis=50")
                 }
 
                 // Static files artifact
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
-                    predeploy << { execute 'rm -rf /home/lvuser/deploy' }
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory on roboRIO
+                    deleteOldFiles = false
                 }
             }
         }
@@ -98,62 +77,15 @@ repositories {
     mavenLocal()
 }
 
-configurations.all {
-    exclude group: "edu.wpi.first.wpilibj"
-}
-
-task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.CheckInstall"
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
     classpath = sourceSets.main.runtimeClasspath
 }
-compileJava.finalizedBy checkAkitInstall
-
-
-//Check robot type when deploying
-task(checkRobot, dependsOn: "classes", type: JavaExec) {
-    main = "frc.robot.Constants"
-    classpath = sourceSets.main.runtimeClasspath
-}
-
-deployroborio.dependsOn(checkRobot)
-
-//Create commit with working changes on event branches
-task(eventDeploy) {
-    doLast {
-        if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {
-
-            def branchPrefix = "event"
-            def branch = 'git branch --show-current'.execute().text.trim()
-            def commitMessage = "Update at '${new Date().toString()}'"
-
-            if (branch.startsWith(branchPrefix)) {
-                exec {
-                    workingDir(projectDir)
-                    executable 'git'
-                    args 'add', '-A'
-                }
-                exec {
-                    workingDir(projectDir)
-                    executable 'git'
-                    args 'commit', '-m', commitMessage
-                    ignoreExitValue = true
-                }
-
-                println "Committed to branch: '$branch'"
-                println "Commit message: '$commitMessage'"
-            } else {
-                println "Not on an event branch, skipping commit"
-            }
-        } else {
-            println "Not running deploy task, skipping commit"
-        }
-    }
-}
-createVersionFile.dependsOn(eventDeploy)
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -171,25 +103,13 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher:1.10.2'
+    implementation "gov.nist.math:jama:1.0.3"
 
-
-    // Mockito for mocking objects in unit tests
-    testImplementation 'org.mockito:mockito-core:4.8.1'
-    testImplementation 'org.mockito:mockito-junit-jupiter:4.8.1'
-
-    implementation 'gov.nist.math:jama:1.0.3'
-
-    implementation "io.grpc:grpc-protobuf:${grpcVersion}"
-    implementation "io.grpc:grpc-services:${grpcVersion}"
-    implementation "io.grpc:grpc-stub:${grpcVersion}"
-    implementation "javax.annotation:javax.annotation-api:1.3.2"
-    runtimeOnly "io.grpc:grpc-netty-shaded:${grpcVersion}"
-    implementation "com.google.guava:guava:31.1-jre"
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
 test {
@@ -198,7 +118,12 @@ test {
 }
 
 // Simulation configuration (e.g. environment variables).
-wpi.sim.addGui().defaultEnabled = true
+//
+// The sim GUI is *disabled* by default to support running
+// AdvantageKit log replay from the command line. Set the
+// value to "true" to enable the sim GUI by default (this
+// is the standard WPILib behavior).
+wpi.sim.addGui().defaultEnabled = false
 wpi.sim.addDriverstation()
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
@@ -226,22 +151,58 @@ tasks.withType(JavaCompile) {
 }
 
 // Create version file
-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"
-    indent       = "  "
-}
+// 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"
+//     indent       = "  "
+// }
+
+// TODO: set this shit up
+// Create commit with working changes on event branches
+// task(eventDeploy) {
+//     doLast {
+//         if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {
+//             def branchPrefix = "event"
+//             def branch = 'git branch --show-current'.execute().text.trim()
+//             def commitMessage = "Update at '${new Date().toString()}'"
+
+//             if (branch.startsWith(branchPrefix)) {
+//                 exec {
+//                     workingDir(projectDir)
+//                     executable 'git'
+//                     args 'add', '-A'
+//                 }
+//                 exec {
+//                     workingDir(projectDir)
+//                     executable 'git'
+//                     args 'commit', '-m', commitMessage
+//                     ignoreExitValue = true
+//                 }
+
+//                 println "Committed to branch: '$branch'"
+//                 println "Commit message: '$commitMessage'"
+//             } else {
+//                 println "Not on an event branch, skipping commit"
+//             }
+//         } else {
+//             println "Not running deploy task, skipping commit"
+//         }
+//     }
+// }
+// createVersionFile.dependsOn(eventDeploy)
+
 // Spotless formatting
+project.compileJava.dependsOn(spotlessApply)
 spotless {
     enforceCheck = false
     java {
-        target fileTree('.') {
-            include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
+        target fileTree(".") {
+            include "**/*.java"
+            exclude "**/build/**", "**/build-*/**"
         }
         toggleOffOn()
         googleJavaFormat()
@@ -250,36 +211,32 @@ spotless {
         endWithNewline()
     }
     groovyGradle {
-        target fileTree('.') {
-            include '**/*.gradle'
-            exclude '**/build/**', '**/build-*/**'
+        target fileTree(".") {
+            include "**/*.gradle"
+            exclude "**/build/**", "**/build-*/**"
         }
         greclipse()
         indentWithSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
-    format 'xml', {
-        target fileTree('.') {
-            include '**/*.xml'
-            exclude '**/build/**', '**/build-*/**'
+    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-*/**'
+    format "misc", {
+        target fileTree(".") {
+            include "**/*.md", "**/.gitignore"
+            exclude "**/build/**", "**/build-*/**"
         }
         trimTrailingWhitespace()
         indentWithSpaces(2)
         endWithNewline()
     }
 }
-
 // PMD configuration
 pmd {
     ignoreFailures = true

simgui-ds.json

@@ -88,5 +88,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
   ]
 }

simgui.json

@@ -1,7 +1,10 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/AdvantageKit/RealOutputs/Alerts": "Alerts",
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Alerts": "Alerts",
+      "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d"
     }
   },
   "NetworkTables Info": {