Merge branch 'main' into 99-shoot-system-tests

frc-862 · Jan 29, 2024 · 298e213 · 298e213
2 parents 0a2c1b5 + 8fc59a1
commit 298e213
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Showing 29 changed files with 872 additions and 56 deletions.
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -5,7 +5,7 @@ updates:
     reviewers:
       - "frc-862/reviewers"
     schedule:
-      interval: "weekly"
+      interval: "daily"
     commit-message:
       prefix: "[#3] "
     labels:

diff --git a/.github/linter_suppressions.xml b/.github/linter_suppressions.xml
@@ -5,6 +5,7 @@
   "https://checkstyle.org/dtds/suppressions_1_2.dtd">
 
 <suppressions>
+  <suppress checks="HideUtilityClassConstructor"/>
   <suppress checks="NewlineAtEndOfFile"/>
   <suppress checks="WhitespaceAround"/>
   <suppress checks="WhitespaceAfter"/>
@@ -23,7 +24,9 @@
   <suppress checks="TypeName"/>
   <suppress checks="TodoComment"/>
   <suppress checks="HideUtilityClassConstructor"/>
+  <suppress checks="MagicNumber"/>
   <suppress checks="VisibilityModifier"/> <!-- May delete this one later -->
   <suppress checks="MemberName"/> <!-- May delete this one later -->
+  <suppress checks="FinalParameters"/> <!-- May delete this one later -->
 </suppressions>
 
diff --git a/.github/linter_suppressions_limited.xml b/.github/linter_suppressions_limited.xml
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+
+<!DOCTYPE suppressions PUBLIC
+  "-//Checkstyle//DTD SuppressionFilter Configuration 1.2//EN"
+  "https://checkstyle.org/dtds/suppressions_1_2.dtd">
+
+<suppressions>
+  <suppress checks="TodoComment"/>
+  <suppress checks="LineLength"/>
+  <suppress checks="JavadocPackage"/>
+  <suppress checks="ConstantName"/>
+  <suppress checks="JavadocVariable"/>
+</suppressions>
+
diff --git a/.github/sun_checks.xml b/.github/sun_checks.xml
@@ -62,7 +62,9 @@
 
   <!-- Checks whether files end with a new line.                        -->
   <!-- See https://checkstyle.org/checks/misc/newlineatendoffile.html -->
-  <module name="NewlineAtEndOfFile"/>
+  <module name="NewlineAtEndOfFile">
+    <property name="severity" value="warning"/>
+  </module>
 
   <!-- Checks that property files contain the same keys.         -->
   <!-- See https://checkstyle.org/checks/misc/translation.html -->
@@ -130,6 +132,7 @@
     </module>
     <module name="UnusedImports">
       <property name="processJavadoc" value="false"/>
+      <property name="severity" value="warning"/>
     </module>
 
     <!-- Checks for Size Violations.                    -->
@@ -188,11 +191,11 @@
     <!-- See https://checkstyle.org/checks/design/index.html -->
     <module name="DesignForExtension"/>
     <module name="FinalClass"/>
-    <module name="HideUtilityClassConstructor">
+    <module name="HideUtilityClassConstructor"/>
+    <module name="InterfaceIsType"/>
+    <module name="VisibilityModifier">
       <property name="severity" value="warning"/>
     </module>
-    <module name="InterfaceIsType"/>
-    <module name="VisibilityModifier"/>
 
     <!-- Miscellaneous other checks.                   -->
     <!-- See https://checkstyle.org/checks/misc/index.html -->

diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
@@ -1,5 +1,7 @@
 name: Gradle Build
+
 on: [push, pull_request]
+
 jobs:
     Build:
         runs-on: ubuntu-latest
@@ -16,8 +18,4 @@ jobs:
         - name: Set Execution Permissions
           run: chmod +x ./gradlew
         - name: Gradle build Rhapsody
-          run: ./gradlew build
-        # ENV may not be needed when using thunder, will test later
-        #   env:
-        #     USERNAME: ${{ github.actor }}
-        #     TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          run: ./gradlew build
diff --git a/.github/workflows/linter.yml b/.github/workflows/linter.yml
@@ -1,5 +1,46 @@
 name: Code Linter
-on: [pull_request]
+
+on:
+    pull_request:
+    workflow_dispatch:
+        inputs:
+            suppressionLevel:
+                description: 'Suppressions Level'
+                required: true
+                default: 'Normal'
+                type: choice
+                options:
+                - Normal
+                - More
+                - Show All
+            lintActions:
+                description: 'Lint Github Actions'
+                required: true
+                default: true
+                type: boolean
+            lintMD:
+                description: 'Lint Markdown'
+                required: true
+                default: false
+                type: boolean
+            lintXML:
+                description: 'Lint XML'
+                required: true
+                default: false
+                type: boolean
+            lintYML:
+                description: 'Lint YML'
+                required: true
+                default: false
+                type: boolean
+
+env:
+    suppressionLevel: ${{ github.event_name != 'workflow_dispatch' && 'Normal' || inputs.suppressionLevel }}
+    lintActions: ${{ github.event_name != 'workflow_dispatch' && 'true' || inputs.lintActions }}
+    lintMD: ${{ github.event_name != 'workflow_dispatch' && 'false' || inputs.lintMD }}
+    lintXML: ${{ github.event_name != 'workflow_dispatch' && 'false' || inputs.lintXML }}
+    lintYML: ${{ github.event_name != 'workflow_dispatch' && 'false' || inputs.lintYML }}
+
 jobs:
     Build:
         runs-on: ubuntu-latest
@@ -13,6 +54,20 @@ jobs:
               uses: actions/checkout@v4
               with:
                 fetch-depth: 0
+            - name: Check Suppressions Level
+              run: |
+                if [ "$SUPPRESSIONS" == "Show All" ]; then
+                  echo "Showing ALL Suppressions (Use at your own risk)"
+                  rm .github/linter_suppressions.xml
+                elif [ "$SUPPRESSIONS" == "More" ]; then
+                  echo "Showing More Suppressions"
+                  rm .github/linter_suppressions.xml
+                  mv .github/linter_suppressions_limited.xml .github/linter_suppressions.xml
+                else 
+                  echo "Using Normal Suppressions"
+                fi
+              env:
+                SUPPRESSIONS: ${{ env.suppressionLevel }}
             - name: Java Code Linter
               uses: super-linter/super-linter/[email protected]
               env:
@@ -22,12 +77,13 @@ jobs:
                 JAVA_FILE_NAME: 'sun_checks.xml'
                 VALIDATE_BASH: false
                 VALIDATE_BASH_EXEC: false
+                VALIDATE_GITHUB_ACTIONS: ${{ env.lintActions != 'true' && 'false' || '' }}
                 VALIDATE_GITLEAKS: false
                 VALIDATE_GOOGLE_JAVA_FORMAT: false
                 VALIDATE_GROOVY: false
                 VALIDATE_JSCPD: false
                 VALIDATE_JSON: false
-                VALIDATE_MARKDOWN: false
+                VALIDATE_MARKDOWN: ${{ env.lintMD != 'true' && 'false' || '' }}
                 VALIDATE_NATURAL_LANGUAGE: false
-                VALIDATE_XML: false
-                VALIDATE_YAML: false
+                VALIDATE_XML: ${{ env.lintXML != 'true' && 'false' || '' }}
+                VALIDATE_YAML: ${{ env.lintYML != 'true' && 'false' || '' }}
diff --git a/src/main/deploy/pathplanner/autos/1MeterSquareLL.auto b/src/main/deploy/pathplanner/autos/1MeterSquareLL.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "test"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1MeterSquareLL"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Test Autos",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/SM-3.auto b/src/main/deploy/pathplanner/autos/SM-3.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Sipnslow"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "test"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Spin.auto b/src/main/deploy/pathplanner/autos/Spin.auto
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Spin"
+            "pathName": "Spinslow"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/TestNamedCommands.auto b/src/main/deploy/pathplanner/autos/TestNamedCommands.auto
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.0,
+      "y": 0.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1MeterSquare"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "test"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4MeterSquare"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Through_Pieces.auto b/src/main/deploy/pathplanner/autos/Through_Pieces.auto
@@ -11,11 +11,35 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "disable-Vision"
+          }
+        },
         {
           "type": "path",
           "data": {
             "pathName": "Run_Through_Pieces"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "test"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "StraightOut"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "test"
+          }
         }
       ]
     }