Merge branch 'main' of https://github.com/TitaniumTigers4829/offseaso…

…n-robot-code-2024 into add-aquila-constants

.pathplanner/settings.json

@@ -12,4 +12,4 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 4.5
-}
+}

.wpilib/wpilib_preferences.json

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

ascopeAssets/Robot_Offseason/config.json

@@ -1,3 +1,3 @@
 {
-    "name": "offseason" 
-  }
+  "name": "offseason"
+}

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-2"
     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 {
@@ -64,13 +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
                 }
             }
         }
@@ -97,62 +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()
 
@@ -170,20 +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'
+    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 {
@@ -192,7 +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')
@@ -229,13 +160,48 @@ gversion {
     timeZone     = "America/New_York"
     indent       = "  "
 }
+
+// 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()
@@ -244,36 +210,32 @@ 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