Update to WPILib 2025

.gitattributes

@@ -1,2 +1 @@
-*.java text eol=lf
-*.gradle text eol=lf
+* text=auto eol=lf

.gitignore

@@ -161,5 +161,30 @@ 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
+
+# Eclipse generated file for annotation processors
+.factorypath

.wpilib/wpilib_preferences.json

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

LICENSE.txt

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) [2024] [Armada 2508]
+Copyright (c) [2024-2025] [Armada 2508]
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

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.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

src/main/java/frc/robot/lib/logging/LogUtil.java

@@ -1,25 +1,22 @@
 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;
 import edu.wpi.first.networktables.BooleanTopic;
 import edu.wpi.first.networktables.DoubleSubscriber;
 import edu.wpi.first.networktables.DoubleTopic;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.datalog.DataLog;
+import edu.wpi.first.util.datalog.StringLogEntry;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 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 +81,43 @@ 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();
-        }
-    }
-
-    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());
-        }
+    /**
+     * Logs Driver Station data to NetworkTables. Adds a periodic callback to the given robot.
+     * @param robot The robot to add the callback to
+     * Should try to get some of these into DriverStation's FMSInfo or DS datalog
+     */
+    public static void logDriverStation(TimedRobot robot) {
+        robot.addPeriodic(() -> {
+            String mode = "Unknown";
+            if (DriverStation.isTeleop()) {
+                mode = "Teleop";
+            }
+            else if (DriverStation.isAutonomous()) {
+                mode = "Autonomous";
+            }
+            else if (DriverStation.isTest()) {
+                mode = "Test";
+            }
+            var table = NetworkTableInstance.getDefault().getTable("Driver Station");
+            table.getEntry("DS Mode").setString(mode);
+            table.getEntry("Robot Enabled").setBoolean(DriverStation.isEnabled());
+            table.getEntry("Match Time").setDouble(DriverStation.getMatchTime());
+            table.getEntry("is FMS Attached").setBoolean(DriverStation.isFMSAttached());
+        }, TimedRobot.kDefaultPeriod);
     }
 
-    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();
-        }
+    /**
+     * Logs command interrupts to NetworkTables and DataLog. Does not have to be called periodically.
+     */
+    public static void logCommandInterrupts(DataLog log) {
+        CommandScheduler.getInstance().onCommandInterrupt((interruptedCommand, interrupter) -> {
+            Command interruptingCommand = interrupter.orElseGet(Commands::none);
+            var commandInterrupt = new StringLogEntry(log, "/Command Scheduler");
+            var table = NetworkTableInstance.getDefault().getTable("Command Scheduler");
+            commandInterrupt.append("Command: " + interruptedCommand.getName() + " was interrupted by " + interruptingCommand.getName() + ".");
+            table.getEntry("Last Interrupted Command").setString(interruptedCommand.getName());
+            table.getEntry("Last Interrupting Command").setString(interruptingCommand.getName());
+        });
     }
 
 }