Merge branch 'main' into jnitestrebuild

.github/workflows/ci.yml

@@ -37,7 +37,7 @@ jobs:
     - uses: actions/download-artifact@v4
       with:
         name: Maven
-        path: ~/.m2/
+        path: ~/.m2/repository/
 
     - name: Setup RoboRIO Toolchain
       if: ${{ (matrix.language == 'cpp') || (matrix.language == 'asm') || (matrix.language == 'jni') }}

build.gradle

@@ -17,7 +17,7 @@ repositories {
 dependencies {
     api 'com.google.code.gson:gson:2.8.6'
 
-    api 'edu.wpi.first:native-utils:2024.6.1'
+    api 'edu.wpi.first:native-utils:2025.4.0'
 
     api 'de.undercouch:gradle-download-task:4.1.2'
 
@@ -109,6 +109,6 @@ examplesFolder.eachFile { File file ->
 jar.finalizedBy zipExamples
 
 wrapper {
-    gradleVersion = '8.5'
+    gradleVersion = '8.10.2'
     distributionType = Wrapper.DistributionType.BIN
 }

gradle.properties

@@ -1 +1 @@
-version = 2024.3.2
+version = 2025.1.1-beta-1

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/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
 

src/main/java/edu/wpi/first/gradlerio/deploy/roborio/InvalidImageException.java

@@ -16,18 +16,6 @@ public List<String> getAllowedImageVersions() {
         return allowedImageVersions;
     }
 
-    private static String parseMessage(String imageVersion) {
-        return "Invalid RoboRIO Image Version!" +
-            "\nRoboRIO image and GradleRIO versions are incompatible:" +
-            "\n\tCurrent image version: " + imageVersion +
-            "\n\tGradleRIO-compatible image versions: 2024_v2.* except 2024_v2.0" +
-            "\nSee https://docs.wpilib.org/en/stable/docs/zero-to-robot/step-3/imaging-your-roborio.html" +
-            "for information about upgrading the RoboRIO image." +
-            "\nSee https://docs.wpilib.org/en/stable/docs/zero-to-robot/step-2/wpilib-setup.html and" +
-            "\nhttps://docs.wpilib.org/en/stable/docs/software/vscode-overview/importing-gradle-project.html" +
-            "\nfor information about updating WPILib and GradleRIO.";
-    }
-
     private static String parseMessage(String imageVersion, List<String> allowedImageVersions) {
         return "Invalid RoboRIO Image Version!" +
             "\nRoboRIO image and GradleRIO versions are incompatible:" +
@@ -46,12 +34,6 @@ public InvalidImageException(String imageVersion, List<String> allowedImageVersi
         this.allowedImageVersions = new ArrayList<>(allowedImageVersions);
     }
 
-    public InvalidImageException(String imageVersion, boolean isSpecialCase) {
-        super(parseMessage(imageVersion));
-        this.imageVersion = imageVersion;
-        this.allowedImageVersions = new ArrayList<>();
-    }
-
     public InvalidImageException() {
         super("Could not parse image version!");
         allowedImageVersions = List.of();

src/main/java/edu/wpi/first/gradlerio/deploy/roborio/RoboRIO.java

@@ -150,10 +150,6 @@ private void readAndVerifyImage(DeployContext context) {
     }
 
     private void verifyImageVersion(String image) {
-        if (image.equalsIgnoreCase("2024_v2.0")) {
-            throw new InvalidImageException(image, true);
-        }
-
         boolean foundMatch = validImageVersions.stream().filter(x -> {
             int index = x.indexOf("*");
             if (index == -1) {

src/main/java/edu/wpi/first/gradlerio/wpi/WPIExtension.java

@@ -24,7 +24,7 @@
 public class WPIExtension {
     // WPILib (first.wpi.edu/FRC/roborio/maven) libs
 
-    private static final List<String> validImageVersions = List.of("2024_v2.*");
+    private static final List<String> validImageVersions = List.of("2025_v1.*");
 
     private String jreArtifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-3";
 
@@ -58,7 +58,7 @@ public WPIExtension(Project project) {
         platforms = new NativePlatforms();
 
         frcYear = factory.property(String.class);
-        frcYear.convention("2024");
+        frcYear.convention("2025");
 
         frcHome = factory.directoryProperty().fileProvider(project.provider(WPIExtension::computeHomeRoot))
                 .dir(frcYear);
@@ -147,8 +147,6 @@ private static File computeHomeRoot() {
     // "wpilibVersion" : new Tuple("WPILib", wpilibVersion, "wpilib"),
     // "opencvVersion" : new Tuple("OpenCV", opencvVersion, "opencv"),
     // "frcYear " : new Tuple("FRC Year", frcYear, "frcYear"),
-    // "googleTestVersion" : new Tuple("Google Test", googleTestVersion,
-    // "googleTest"),
     // "imguiVersion" : new Tuple("ImGUI", imguiVersion, "imgui"),
     // "wpimathVersion" : new Tuple("WPIMath", wpimathVersion, "wpimath"),
     // "ejmlVersion" : new Tuple("EJML", ejmlVersion, "ejml"),

src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java

@@ -6,31 +6,29 @@
 
 public abstract class WPIVersionsExtension {
 
-    private static final String wpilibVersion = "2024.3.2";
-    private static final String niLibrariesVersion = "2024.2.1";
-    private static final String opencvVersion = "4.8.0-2";
+    private static final String wpilibVersion = "2025.1.1-beta-1";
+    private static final String niLibrariesVersion = "2025.0.0";
+    private static final String opencvVersion = "4.8.0-4";
     private static final String imguiVersion = "1.89.9-1";
     private static final String ejmlVersion = "0.43.1";
     private static final String jacksonVersion = "2.15.2";
     private static final String quickbufVersion = "1.3.3";
-    private static final String wpimathVersion = "2024.3.2";
-    private static final String googleTestVersion = "1.14.0-1";
+    private static final String wpimathVersion = "2025.1.1-beta-1";
 
-    private static final String smartDashboardVersion = "2024.3.2";
-    private static final String shuffleboardVersion = "2024.3.2";
-    private static final String outlineViewerVersion = "2024.3.2";
-    private static final String robotBuilderVersion = "2024.3.2";
-    private static final String pathWeaverVersion = "2024.3.2";
-    private static final String glassVersion = "2024.3.2";
-    private static final String sysIdVersion = "2024.3.2";
-    private static final String roboRIOTeamNumberSetterVersion = "2024.3.2";
-    private static final String dataLogToolVersion = "2024.3.2";
+    private static final String smartDashboardVersion = "2025.1.1-beta-1";
+    private static final String shuffleboardVersion = "2025.1.1-beta-1";
+    private static final String outlineViewerVersion = "2025.1.1-beta-1";
+    private static final String robotBuilderVersion = "2025.1.1-beta-1";
+    private static final String pathWeaverVersion = "2025.1.1-beta-1";
+    private static final String glassVersion = "2025.1.1-beta-1";
+    private static final String sysIdVersion = "2025.1.1-beta-1";
+    private static final String roboRIOTeamNumberSetterVersion = "2025.1.1-beta-1";
+    private static final String dataLogToolVersion = "2025.1.1-beta-1";
 
 
     public abstract Property<String> getWpilibVersion();
     public abstract Property<String> getNiLibrariesVersion();
     public abstract Property<String> getOpencvVersion();
-    public abstract Property<String> getGoogleTestVersion();
     public abstract Property<String> getImguiVersion();
     public abstract Property<String> getWpimathVersion();
 
@@ -52,7 +50,6 @@ public WPIVersionsExtension() {
         getWpilibVersion().convention(wpilibVersion);
         getNiLibrariesVersion().convention(niLibrariesVersion);
         getOpencvVersion().convention(opencvVersion);
-        getGoogleTestVersion().convention(googleTestVersion);
         getImguiVersion().convention(imguiVersion);
         getWpimathVersion().convention(wpimathVersion);
 

src/main/java/edu/wpi/first/gradlerio/wpi/cpp/WPINativeExtension.java

@@ -118,12 +118,10 @@ public WPINativeExtension(Project project, WPIExtension wpi, WPIVersionsExtensio
         // nte.setSinglePrintPerPlatform();
 
         nte.getWpi().configureDependencies(wpiDeps -> {
-            wpiDeps.getGoogleTestYear().set("frc2024");
             wpiDeps.getOpencvYear().set("frc2024");
             wpiDeps.getWpiVersion().set(versions.getWpilibVersion());
             wpiDeps.getNiLibVersion().set(versions.getNiLibrariesVersion());
             wpiDeps.getOpencvVersion().set(versions.getOpencvVersion());
-            wpiDeps.getGoogleTestVersion().set(versions.getGoogleTestVersion());
             wpiDeps.getImguiVersion().set(versions.getImguiVersion());
             wpiDeps.getWpimathVersion().set(versions.getWpimathVersion());
         });

src/main/java/edu/wpi/first/gradlerio/wpi/dependencies/tools/CppToolRunTask.java

@@ -77,7 +77,7 @@ private void runToolWindows() {
     private void runToolUnix() {
         Directory toolsFolder = this.toolsFolder.get();
         String toolName = this.toolName.get();
-        File outputFile = toolsFolder.file(toolName + ".py").getAsFile();
+        File outputFile = toolsFolder.file(toolName + ".sh").getAsFile();
         getProject().exec(spec -> {
             spec.setExecutable(outputFile.getAbsolutePath());
             spec.args(getArgumentPath(toolName.toLowerCase()));

src/main/java/edu/wpi/first/gradlerio/wpi/dependencies/tools/ToolInstallTask.java

@@ -213,8 +213,8 @@ private static void extractScriptWindows(Directory toolsFolder, String toolName)
     }
 
     private static void extractScriptUnix(Project project, Directory toolsFolder, String toolName) {
-        File outputFile = toolsFolder.file(toolName + ".py").getAsFile();
-        try (InputStream it = ToolInstallTask.class.getResourceAsStream("/ScriptBase.py")) {
+        File outputFile = toolsFolder.file(toolName + ".sh").getAsFile();
+        try (InputStream it = ToolInstallTask.class.getResourceAsStream("/ScriptBase.sh")) {
             ResourceGroovyMethods.setText(outputFile, IOGroovyMethods.getText(it));
         } catch (IOException e) {
             throw new RuntimeException(e);

src/main/java/edu/wpi/first/gradlerio/wpi/dependencies/tools/ToolRunTask.java

@@ -76,7 +76,7 @@ private void runToolWindows() {
     private void runToolUnix() {
         Directory toolsFolder = this.toolsFolder.get();
         String toolName = this.toolName.get();
-        File outputFile = toolsFolder.file(toolName + ".py").getAsFile();
+        File outputFile = toolsFolder.file(toolName + ".sh").getAsFile();
         getProject().exec(spec -> {
             spec.setExecutable(outputFile.getAbsolutePath());
         });

src/main/java/edu/wpi/first/gradlerio/wpi/java/WPIJavaDepsExtension.java

@@ -14,20 +14,24 @@ public class WPIJavaDepsExtension {
 
     private final ProviderFactory providers;
 
+    private static String dependencyNotation(String groupId, String artifactId, Provider<String> version) {
+        return groupId + ":" + artifactId + ":" + version.get();
+    }
+
     private void createJavaDependencies(String groupdId, String artifactId, Provider<String> version) {
         wpilibDeps.add(providers.provider(() -> {
-            return groupdId + ":" + artifactId + ":" + version.get();
+            return dependencyNotation(groupdId, artifactId, version);
         }));
 
         wpilibSources.add(providers.provider(() -> {
-            return groupdId + ":" + artifactId + ":" + version.get() + ":sources";
+            return dependencyNotation(groupdId, artifactId, version) + ":sources";
         }));
     }
 
     private Provider<String> createJniDependency(String groupdId, String artifactId, Provider<String> version, boolean debug, String platform) {
         String debugString = debug ? "debug" : "";
         return providers.provider(() -> {
-            return groupdId + ":" + artifactId + ":" + version.get() + ":" + platform + debugString + "@zip";
+            return dependencyNotation(groupdId, artifactId, version) + ":" + platform + debugString + "@zip";
         });
     }
 
@@ -50,6 +54,7 @@ public WPIJavaDepsExtension(WPIVersionsExtension versions, ProviderFactory provi
         createJavaDependencies("edu.wpi.first.wpiutil", "wpiutil-java", versions.getWpilibVersion());
         createJavaDependencies("edu.wpi.first.apriltag", "apriltag-java", versions.getWpilibVersion());
         createJavaDependencies("edu.wpi.first.wpiunits", "wpiunits-java", versions.getWpilibVersion());
+        createJavaDependencies("edu.wpi.first.epilogue", "epilogue-runtime-java", versions.getWpilibVersion());
 
         createJavaDependencies("edu.wpi.first.thirdparty.frc2024.opencv", "opencv-java", versions.getOpencvVersion());
         createJavaDependencies("org.ejml", "ejml-simple", versions.getEjmlVersion());
@@ -65,6 +70,16 @@ public List<Provider<String>> wpilib() {
         return wpilibDeps;
     }
 
+    /** Dependencies required for using WPILib's Java annotations during compilation. */
+    public List<Provider<String>> wpilibAnnotations() {
+        // epilogue-runtime is a dependency of epilogue-processor, and needs to be on the annotation processor
+        // classpath at compile time for the processor to function
+        return List.of(
+                providers.provider(() -> dependencyNotation("edu.wpi.first.epilogue", "epilogue-processor-java", versions.getWpilibVersion())),
+                providers.provider(() -> dependencyNotation("edu.wpi.first.epilogue", "epilogue-runtime-java", versions.getWpilibVersion()))
+        );
+    }
+
     public List<Provider<String>> wpilibSources() {
         return wpilibSources;
     }

src/main/resources/ScriptBase.sh

@@ -0,0 +1,17 @@
+#!/bin/sh
+
+SCRIPT_PATH="$(dirname "$(realpath "$0")")"
+SCRIPT_NAME="$(basename "$(realpath "$0")")"
+SCRIPT_BASE="$(basename -s .sh "$SCRIPT_NAME")"
+JAR_NAME="$SCRIPT_BASE.jar"
+JDK_DIR="$(realpath "$SCRIPT_PATH/../jdk/bin/java")"
+
+if ! "$JDK_DIR" -jar "$SCRIPT_PATH/$JAR_NAME"; then
+    echo "ERROR launching $SCRIPT_PATH/$JAR_NAME using $JDK_DIR"
+    if ! "$JAVA_HOME/bin/java" -jar "$SCRIPT_PATH/$JAR_NAME"; then
+        echo "ERROR launching $SCRIPT_PATH/$JAR_NAME using $JAVA_HOME"
+        if ! java -jar "$SCRIPT_PATH/$JAR_NAME"; then
+		echo "ERROR launching $SCRIPT_PATH/$JAR_NAME using java from path: $(which java)"
+        fi
+    fi
+fi

testing/asm/build.gradle

@@ -1,7 +1,7 @@
 
 plugins {
     id "assembler"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 def projectFolder = project.buildFile.parentFile
@@ -77,6 +77,6 @@ model {
 }
 
 wrapper {
-    gradleVersion = '8.1'
+    gradleVersion = '8.10.2'
     distributionType = Wrapper.DistributionType.BIN
 }

testing/asm/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

testing/asm/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