2024 beta changes

.github/workflows/main.yml

@@ -14,12 +14,12 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
 
     # Grant execute permission for gradlew
     - name: Grant execute permission for gradlew

.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": "2024",
     "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"
 }
 
-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

@@ -3,19 +3,18 @@
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
-import java.util.Optional;
 import java.util.function.Consumer;
+import java.util.stream.Collectors;
 
-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;
 import com.techhounds.houndutil.houndlog.loggers.SendableLogger;
 import com.techhounds.houndutil.houndlog.logitems.DoubleLogItem;
-import com.techhounds.houndutil.houndlog.logitems.StringLogItem;
-
 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.trajectory.Trajectory;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.Field2d;
@@ -31,20 +30,11 @@ public class AutoManager {
     private AutoRoutine lastRoutine;
     private SendableChooser<AutoRoutine> chooser = new SendableChooser<AutoRoutine>();
     private Field2d field = new Field2d();
-    private Command scheduledCommand;
+    private Command baseCommand;
+    private Command currentCommand;
     private Consumer<Pose2d> resetOdometryConsumer;
     private HashMap<String, Command> eventMap = new HashMap<String, Command>();
 
-    private Command currentCommand;
-    private AutoPath currentAutoPath;
-
-    private AutoSettingChooser[] autoSettingChoosers = new AutoSettingChooser[] {
-            new AutoSettingChooser(),
-            new AutoSettingChooser(),
-            new AutoSettingChooser(),
-            new AutoSettingChooser()
-    };
-
     private Timer timer = new Timer();
 
     /**
@@ -53,7 +43,8 @@ public class AutoManager {
      * the chooser.
      */
     private AutoManager() {
-        lastRoutine = chooser.getSelected();
+        // lastRoutine = chooser.getSelected();
+        chooser.setDefaultOption("None", new AutoRoutine("None", Commands.print("Waiting...")));
         setupShuffleboardTab();
     }
 
@@ -111,89 +102,44 @@ public void setResetOdometryConsumer(Consumer<Pose2d> consumer) {
      * Create a Shuffleboard tab with the field and chooser objects.
      */
     public void setupShuffleboardTab() {
-        LoggingManager.getInstance().addGroup("Autonomous",
+        LoggingManager.getInstance().addGroup("autonomous",
                 new LogGroup(
-                        new DoubleLogItem("Timer", timer::get, LogType.NT),
-                        new SendableLogger("Field", field),
-                        new SendableLogger("Chooser", chooser),
-                        new SendableLogger("Auto Setting Value #1", autoSettingChoosers[0]),
-                        new SendableLogger("Auto Setting Value #2", autoSettingChoosers[1]),
-                        new SendableLogger("Auto Setting Value #3", autoSettingChoosers[2]),
-                        new SendableLogger("Auto Setting Value #4", autoSettingChoosers[3]),
-                        new StringLogItem("Auto Setting #1", () -> autoSettingChoosers[0].getName(), LogType.NT),
-                        new StringLogItem("Auto Setting #2", () -> autoSettingChoosers[1].getName(), LogType.NT),
-                        new StringLogItem("Auto Setting #3", () -> autoSettingChoosers[2].getName(), LogType.NT),
-                        new StringLogItem("Auto Setting #4", () -> autoSettingChoosers[3].getName(), LogType.NT),
-                        new SendableLogger("Generate Routine",
-                                Commands.runOnce(this::generateSelectedRoutine)
-                                        .withName("Generate Routine")
-                                        .ignoringDisable(true))));
-    }
-
-    public void setAutoSettingChoosers(List<AutoSetting> settings) {
-        for (int i = 0; i < settings.size(); i++) {
-            autoSettingChoosers[i].setAutoSetting(settings.get(i));
-        }
-
-        for (int i = settings.size(); i < 4; i++) {
-            autoSettingChoosers[i].clearAutoSetting();
-        }
-    }
-
-    public void generateSelectedRoutine() {
-        for (AutoSettingChooser chooser : autoSettingChoosers) {
-            chooser.updateSetting();
-        }
-        AutoRoutine selectedRoutine = getSelectedRoutine();
-        if (resetOdometryConsumer != null) {
-            try {
-                resetOdometryConsumer.accept(selectedRoutine.getInitialPosition());
-            } catch (Exception e) {
-                DriverStation.reportError("Error resetting odometry: " + e.getMessage(), true);
-            }
-
-            Optional<AutoPath> autoPathOpt = selectedRoutine.getAutoPath();
-            if (autoPathOpt.isPresent()) {
-                currentAutoPath = autoPathOpt.orElseThrow();
-                try {
-                    currentCommand = selectedRoutine.getCommand(currentAutoPath);
-                } catch (Exception e) {
-                    DriverStation.reportError(
-                            "[houndauto] Failure creating autonomous command! This is likely due to a configuration error. "
-                                    + e.getMessage(),
-                            true);
-                    return;
-                }
-                displayAutoPath(currentAutoPath);
-            }
-        }
+                        new DoubleLogItem("autoTimer", timer::get, LogType.NT),
+                        new SendableLogger("field", field),
+                        new SendableLogger("chooser", chooser)));
     }
 
     /**
      * Updates the Shuffleboard visualization with the new selected auton path. This
      * should be put in {@code disabledPeriodic()}.
      */
-    public void periodicUpdate(boolean ignoreLastTrajCheck) {
-        if (lastRoutine != getSelectedRoutine()) {
-            setAutoSettingChoosers(getSelectedRoutine().getAutoSettings());
-            lastRoutine = getSelectedRoutine();
+    public void periodicUpdate() {
+        AutoRoutine selectedRoutine = getSelectedRoutine();
+        if (getSelectedRoutine() != lastRoutine) {
+            if (resetOdometryConsumer != null) {
+                resetOdometryConsumer.accept(selectedRoutine.getInitialPose());
+            }
+            if (selectedRoutine.getPathPlannerPaths() != null)
+                displayPaths(selectedRoutine.getPathPlannerPaths());
+            lastRoutine = selectedRoutine;
         }
     }
 
     /**
      * 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);
+    public void displayPaths(List<PathPlannerPath> paths) {
+        ArrayList<Pose2d> poses = new ArrayList<Pose2d>();
+        for (PathPlannerPath path : paths) {
+            PathPlannerTrajectory trajectory = path.getTrajectory(new ChassisSpeeds(),
+                    path.getStartingDifferentialPose().getRotation());
+
+            poses.addAll(trajectory.getStates().stream()
+                    .map((state) -> new Pose2d(state.positionMeters, state.targetHolonomicRotation))
+                    .collect(Collectors.toList()));
         }
 
+        field.getObject("trajectory").setPoses(poses);
     }
 
     /**
@@ -209,19 +155,21 @@ public void runSelectedRoutine() {
         if (this.getSelectedRoutine() == null) {
             DriverStation.reportError("[houndauto] An auto routine must be chosen.", false);
         } else {
-
             // the line after this makes the autoroutine command a composition, and
             // commands that are in a composition cannot be recomposed, which is what this
             // would do if auto is run multiple times. this fixes it by removing the
             // composition from the scheduler.
-            CommandScheduler.getInstance().removeComposedCommand(scheduledCommand);
+            CommandScheduler.getInstance().removeComposedCommand(baseCommand);
+
+            baseCommand = getSelectedRoutine().getCommand();
 
             timer.reset();
             timer.start();
-            Command toRun = currentCommand
-                    .beforeStarting(() -> resetOdometryConsumer.accept(getSelectedRoutine().getInitialPosition()));
-            toRun.schedule();
-            new Trigger(toRun::isFinished).onTrue(Commands.runOnce(timer::stop).ignoringDisable(true));
+            currentCommand = baseCommand
+                    .beforeStarting(() -> resetOdometryConsumer.accept(getSelectedRoutine().getInitialPose()))
+                    .withName("auto");
+            currentCommand.schedule();
+            new Trigger(currentCommand::isFinished).onTrue(Commands.runOnce(timer::stop).ignoringDisable(true));
         }
     }
 
@@ -230,8 +178,8 @@ public void runSelectedRoutine() {
      */
     public void endRoutine() {
         timer.stop();
-        if (scheduledCommand != null) {
-            scheduledCommand.cancel();
+        if (currentCommand != null) {
+            currentCommand.cancel();
         }
     }