Initial 2024 updates, removed some houndauto things

.gitignore

@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 868
 }

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

@@ -1,10 +1,12 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-2"
 }
 
-sourceCompatibility = JavaVersion.VERSION_11
-targetCompatibility = JavaVersion.VERSION_11
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
 
 def ROBOT_MAIN_CLASS = ""
 
@@ -84,6 +86,7 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     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
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# 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
@@ -133,22 +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 $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$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" \

gradlew.bat

@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 

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");

src/main/java/com/techhounds/houndutil/houndauto/AutoManager.java

@@ -6,7 +6,8 @@
 import java.util.Optional;
 import java.util.function.Consumer;
 
-import com.pathplanner.lib.PathPlannerTrajectory;
+import com.pathplanner.lib.path.PathPlannerPath;
+import com.pathplanner.lib.path.PathPlannerTrajectory;
 import com.techhounds.houndutil.houndlog.LogGroup;
 import com.techhounds.houndutil.houndlog.LoggingManager;
 import com.techhounds.houndutil.houndlog.enums.LogType;
@@ -15,6 +16,7 @@
 import com.techhounds.houndutil.houndlog.logitems.StringLogItem;
 
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
@@ -184,16 +186,16 @@ public void periodicUpdate(boolean ignoreLastTrajCheck) {
      * Display the selected routine's trajectories on the field object.
      */
     public void displayAutoPath(AutoPath autoPath) {
-        if (getSelectedRoutine() != null) {
-            ArrayList<PathPlannerTrajectory> trajectories = autoPath.getTrajectories();
-            Trajectory fullTrajectory = trajectories.get(0);
-            for (int i = 1; i < trajectories.size(); i++) {
-                fullTrajectory = fullTrajectory.concatenate(trajectories.get(i));
-            }
-            field.getObject("Autonomous Routine")
-                    .setTrajectory(fullTrajectory);
-        }
-
+        // if (getSelectedRoutine() != null) {
+        //     List<PathPlannerPath> path = autoPath.getPaths();
+        //     Trajectory fullTrajectory = new PathPlannerTrajectory(path.get(0), new ChassisSpeeds());
+        //     for (int i = 1; i < trajectories.size(); i++) {
+        //         fullTrajectory = fullTrajectory.concatenate(trajectories.get(i));
+        //     }
+        //     field.getObject("Autonomous Routine")
+        //             .setTrajectory(fullTrajectory);
+        // }
+        // TODO
     }
 
     /**

src/main/java/com/techhounds/houndutil/houndauto/AutoPath.java

@@ -4,10 +4,7 @@
 import java.util.Arrays;
 import java.util.List;
 
-import com.pathplanner.lib.PathPlannerTrajectory;
-
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import com.pathplanner.lib.path.PathPlannerPath;
 
 /**
  * A wrapper for a PathPlanner trajectory that includes a name and can take in a
@@ -17,22 +14,17 @@
  */
 public class AutoPath {
     private String name;
-    private ArrayList<PathPlannerTrajectory> blueTrajectories = new ArrayList<PathPlannerTrajectory>();
-    private ArrayList<PathPlannerTrajectory> redTrajectories = new ArrayList<PathPlannerTrajectory>();
+    private List<PathPlannerPath> pathPlannerPaths;
 
     /**
      * Initializes the AutoPath.
      * 
      * @param name       the name of the AutoPath
      * @param trajectory the trajectory to use
      */
-    public AutoPath(String name, ArrayList<PathPlannerTrajectory> trajectories) {
+    public AutoPath(String name, List<PathPlannerPath> paths) {
         this.name = name;
-        this.blueTrajectories = trajectories;
-
-        for (PathPlannerTrajectory trajectory : trajectories) {
-            redTrajectories.add(TrajectoryReflector.reflectiveTransformTrajectory(trajectory, 16.54));
-        }
+        this.pathPlannerPaths = paths;
     }
 
     /**
@@ -41,8 +33,8 @@ public AutoPath(String name, ArrayList<PathPlannerTrajectory> trajectories) {
      * @param name       the name of the AutoPath
      * @param trajectory the trajectory to use
      */
-    public AutoPath(String name, PathPlannerTrajectory... trajectories) {
-        this(name, new ArrayList<PathPlannerTrajectory>(Arrays.asList(trajectories)));
+    public AutoPath(String name, PathPlannerPath... paths) {
+        this(name, new ArrayList<PathPlannerPath>(Arrays.asList(paths)));
     }
 
     /**
@@ -59,26 +51,8 @@ public String getName() {
      * 
      * @return the trajectories associated with this AutoPath
      */
-    public ArrayList<PathPlannerTrajectory> getTrajectories() {
-        if (DriverStation.getAlliance() == Alliance.Red) {
-            return redTrajectories;
-        } else {
-            return blueTrajectories;
-        }
+    public List<PathPlannerPath> getPaths() {
+        return pathPlannerPaths;
     }
 
-    public AutoPath usingMask(List<Boolean> mask) {
-        if (mask.size() != blueTrajectories.size()) {
-            throw new IllegalArgumentException("Mask must be the same length as trajectory array");
-        }
-
-        ArrayList<PathPlannerTrajectory> newTrajectories = new ArrayList<PathPlannerTrajectory>();
-        for (int i = 0; i < mask.size(); i++) {
-            if (mask.get(i)) {
-                newTrajectories.add(blueTrajectories.get(i));
-            }
-        }
-
-        return new AutoPath(name, newTrajectories);
-    }
 }

src/main/java/com/techhounds/houndutil/houndauto/AutoRoutine.java

@@ -8,7 +8,7 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Command;
 
 public class AutoRoutine {
     private String name;
@@ -17,7 +17,7 @@ public class AutoRoutine {
     private Supplier<Pose2d> blueInitialPoseSupplier;
     private Supplier<Pose2d> redInitialPoseSupplier;
 
-    private Function<AutoPath, CommandBase> commandGetter;
+    private Function<AutoPath, Command> commandGetter;
 
     /**
      * Initialize an AutoRoutine.
@@ -28,14 +28,14 @@ public class AutoRoutine {
      */
     public AutoRoutine(String name, List<AutoSetting> autoSettings,
             Supplier<AutoPath> autoPathSupplier, Supplier<Pose2d> blueInitialPoseSupplier,
-            Function<AutoPath, CommandBase> commandGetter) {
+            Function<AutoPath, Command> commandGetter) {
         this.name = name;
         this.commandGetter = commandGetter;
         this.autoPathSupplier = autoPathSupplier;
         this.autoSettings = autoSettings;
         this.blueInitialPoseSupplier = blueInitialPoseSupplier;
-        this.redInitialPoseSupplier = () -> TrajectoryReflector.reflectiveTransformPose(blueInitialPoseSupplier.get(),
-                16.54);
+        // this.redInitialPoseSupplier = () -> TrajectoryReflector.reflectiveTransformPose(blueInitialPoseSupplier.get(),
+        //         16.54);
     }
 
     public String getName() {
@@ -51,11 +51,13 @@ public Optional<AutoPath> getAutoPath() {
     }
 
     public Pose2d getInitialPosition() {
-        return (DriverStation.getAlliance() == Alliance.Blue) ? blueInitialPoseSupplier.get()
-                : redInitialPoseSupplier.get();
+        // return (DriverStation.getAlliance() == Alliance.Blue) ? blueInitialPoseSupplier.get()
+        //         : redInitialPoseSupplier.get();
+        // TODO
+        return blueInitialPoseSupplier.get();
     }
 
-    public CommandBase getCommand(AutoPath autoPath) {
+    public Command getCommand(AutoPath autoPath) {
         return commandGetter.apply(autoPath);
     }
 }