Update to WPILib 2025

.gitignore

@@ -161,5 +161,27 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
-    "currentLanguage": "java",
     "enableCppIntellisense": false,
-    "projectYear": "2024",
+    "currentLanguage": "java",
+    "projectYear": "2025beta",
     "teamNumber": 2508
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-2"
     id 'com.diffplug.spotless' version '6.25.0'
 }
 
@@ -14,6 +14,7 @@ repositories {
 }
 
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -23,6 +24,7 @@ dependencies {
 
 test {
     useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
     ignoreFailures = true // Don't fail builds or deploys because of failing tests
 }
 
@@ -53,3 +55,8 @@ spotless {
         endWithNewline()
     }
 }
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+}

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-8.11-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/frc/robot/lib/logging/LogUtil.java

@@ -1,12 +1,8 @@
 package frc.robot.lib.logging;
 
-import java.lang.reflect.Field;
 import java.text.SimpleDateFormat;
-import java.util.ArrayList;
 import java.util.Date;
-import java.util.List;
 import java.util.Locale;
-import java.util.Map;
 import java.util.Optional;
 
 import edu.wpi.first.networktables.BooleanSubscriber;
@@ -15,11 +11,6 @@
 import edu.wpi.first.networktables.DoubleTopic;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.WrapperCommand;
 
 public class LogUtil {
 
@@ -84,44 +75,30 @@ public static BooleanSubscriber getTunableBoolean(String name, boolean defaultVa
         return topic.subscribe(defaultValue);
     }
 
-    static Command getSequentialCommandCurrentCommand(SequentialCommandGroup command) {
-        try {
-            final Field fieldIndex = SequentialCommandGroup.class.getDeclaredField("m_currentCommandIndex");
-            fieldIndex.setAccessible(true);
-            final Field fieldCommands = SequentialCommandGroup.class.getDeclaredField("m_commands");
-            fieldCommands.setAccessible(true);
-            @SuppressWarnings("unchecked")
-            List<Command> list = (List<Command>) fieldCommands.get(command);
-            return list.get(fieldIndex.getInt(command));
-        } catch (NoSuchFieldException | SecurityException | IllegalArgumentException | IllegalAccessException e) {
-            return Commands.none();
-        }
+    public static void logDriverStation() {
+        // String mode = "Unknown";
+        // if (DriverStation.isTeleop()) {
+        //     mode = "Teleop";
+        // }
+        // else if (DriverStation.isAutonomous()) {
+        //     mode = "Autonomous";
+        // }
+        // else if (DriverStation.isTest()) {
+        //     mode = "Test";
+        // }
+        // mainTable.getEntry("_DS Mode").setString(mode);
+        // mainTable.getEntry("_Robot Enabled").setBoolean(DriverStation.isEnabled());
+        // mainTable.getEntry("_Match Time").setDouble(DriverStation.getMatchTime());
+        // mainTable.getEntry("_is FMS Attached").setBoolean(DriverStation.isFMSAttached());
     }
 
-    static List<Command> getParallelCommandCurrentCommands(ParallelCommandGroup command) {
-        try {
-            List<Command> list = new ArrayList<>();
-            final Field fieldCommands = ParallelCommandGroup.class.getDeclaredField("m_commands");
-            fieldCommands.setAccessible(true);
-            @SuppressWarnings("unchecked")
-            Map<Command, Boolean> map = (Map<Command, Boolean>) fieldCommands.get(command);
-            map.forEach((cmd, running) -> {
-                if (running) list.add(cmd);
-            });
-            return list;
-        } catch (NoSuchFieldException | SecurityException | IllegalArgumentException | IllegalAccessException e) {
-            return List.of(Commands.none());
-        }
-    }
-
-    static Command getWrapperCommandInner(WrapperCommand command) {
-        try {
-            final Field cmd = WrapperCommand.class.getDeclaredField("m_command");
-            cmd.setAccessible(true);
-            return (Command) cmd.get(command);
-        } catch (NoSuchFieldException | SecurityException | IllegalArgumentException | IllegalAccessException e) {
-            return Commands.none();
-        }
+    public static void logCommandInterrupts() {
+        // CommandScheduler.getInstance().onCommandInterrupt((interruptedCommand, interrupter) -> {
+        //     Command interruptingCommand = interrupter.orElseGet(Commands::none);
+        //     DataLogManager.log("Command: " + interruptedCommand.getName() + " was interrupted by " + interruptingCommand.getName() + ".");
+            // schedulerTable.getEntry("Last Interrupted Command").setString(interruptedCommand.getName());
+            // schedulerTable.getEntry("Last Interrupting Command").setString(interruptingCommand.getName());
+        // });
     }
 
 }