Update code to 2025 WPILib

.gitignore

@@ -169,6 +169,8 @@ out/
 .fleet
 
 # Simulation GUI and other tools window save file
+networktables.json
+simgui.json
 *-window.json
 
 # Simulation data log directory
@@ -177,12 +179,15 @@ logs/
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
 
-BuildConstants.java
-networktables.json
-simgui-ds.json
-simgui.json
+# clangd
+/.cache
+compile_commands.json
 
-!src/main/deploy/photon-configs/*.zip
+# Eclipse generated file for annotation processors
+.factorypath
 
+BuildConstants.java
+simgui-ds.json
 /*.wpilog
 /*-profile.json
+!src/main/deploy/photon-configs/*.zip

.vscode/settings.json

@@ -18,14 +18,48 @@
     {
       "name": "WPIlibUnitTests",
       "workingDirectory": "${workspaceFolder}/build/jni/release",
-      "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ],
+      "vmargs": [
+        "-Djava.library.path=${workspaceFolder}/build/jni/release"
+      ],
       "env": {
-        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" ,
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
         "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
       }
     },
   ],
   "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.import.gradle.annotationProcessing.enabled": false,
+  "java.completion.favoriteStaticMembers": [
+    "org.junit.Assert.*",
+    "org.junit.Assume.*",
+    "org.junit.jupiter.api.Assertions.*",
+    "org.junit.jupiter.api.Assumptions.*",
+    "org.junit.jupiter.api.DynamicContainer.*",
+    "org.junit.jupiter.api.DynamicTest.*",
+    "org.mockito.Mockito.*",
+    "org.mockito.ArgumentMatchers.*",
+    "org.mockito.Answers.*",
+    "edu.wpi.first.units.Units.*"
+  ],
+  "java.completion.filteredTypes": [
+    "java.awt.*",
+    "com.sun.*",
+    "sun.*",
+    "jdk.*",
+    "org.graalvm.*",
+    "io.micrometer.shaded.*",
+    "java.beans.*",
+    "java.util.Base64.*",
+    "java.util.Timer",
+    "java.sql.*",
+    "javax.swing.*",
+    "javax.management.*",
+    "javax.smartcardio.*",
+    "edu.wpi.first.math.proto.*",
+    "edu.wpi.first.math.**.proto.*",
+    "edu.wpi.first.math.**.struct.*",
+  ],
+  "java.test.defaultConfig": "WPIlibUnitTests",
   "java.format.settings.url": "formatter.xml",
   "java.format.settings.profile": "GoogleStyle",
   "[java]": {
@@ -37,4 +71,4 @@
   "editor.formatOnSave": true,
   "editor.formatOnPaste": true,
   "terminal.integrated.defaultProfile.windows": "Git Bash"
-}
+}

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 5572
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.peterabeles.gversion" version "1.10"
 }
 
@@ -28,19 +28,14 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                    // jvmArgs.add("-XX:StartFlightRecording=duration=30s,filename=/home/lvuser/flight.jfr")
-                    // jvmArgs.add("-Dcom.sun.management.jmxremote=true")
-                    // jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
-                    // jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
-                    // jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
-                    // jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
-                    // jvmArgs.add("-Djava.rmi.server.hostname=10.55.72.2") // Replace XX.XX with team number
                 }
 
                 // Static files artifact
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                                           // longer exist in deploy directory of this project
                 }
             }
         }
@@ -57,32 +52,20 @@ def includeDesktopSupport = false
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
-
 repositories {
-    maven {
-        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
-        credentials {
-            username = "Mechanical-Advantage-Bot"
-            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
-        }
-    }
     mavenLocal()
     maven { url 'https://jitpack.io' }
 }
 
-configurations.all {
-    exclude group: "edu.wpi.first.wpilibj"
-}
-
-task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.CheckInstall"
+task(replayWatch, type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.ReplayWatch"
     classpath = sourceSets.main.runtimeClasspath
 }
-compileJava.finalizedBy checkAkitInstall
 
 dependencies {
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
+    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -100,12 +83,20 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
     annotationProcessor 'com.github.Frc5572:RobotTools:v1.1.1'
 
     implementation 'org.apache.httpcomponents:httpclient:4.5.14'
     implementation 'org.apache.httpcomponents:httpmime:4.5.14'
 }
 
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()

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
 

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/frc/lib/profiling/LoggingProfiler.java

@@ -109,6 +109,7 @@ public void endTick() {
         if (!this.tickStarted) {
             throw new RuntimeException("Profiler tick already ended. Missing startTick()?");
         } else {
+            this.push(fullPath);
             this.pop();
             this.tickStarted = false;
             if (!this.fullPath.isEmpty()) {