From 334c9d7557c0eac57611a7e87a0f656c7f8f62bf Mon Sep 17 00:00:00 2001 From: Jonah <47046556+jwbonner@users.noreply.github.com> Date: Sat, 4 Nov 2023 01:55:55 -0400 Subject: [PATCH] Update to WPILib 2024.1.1-beta-3 --- .../template/vendordeps/PathplannerLib.json | 6 +- frcmaven_install.json | 124 ++++----- generate_library_deps.py | 2 +- .../littletonrobotics/junction/LogTable.java | 3 +- .../junction/StructBuffer.java | 247 ------------------ library_deps.bzl | 104 ++++---- 6 files changed, 120 insertions(+), 366 deletions(-) delete mode 100644 junction/core/src/org/littletonrobotics/junction/StructBuffer.java diff --git a/example_projects/template/vendordeps/PathplannerLib.json b/example_projects/template/vendordeps/PathplannerLib.json index bcdb4160..8b5ad3cd 100644 --- a/example_projects/template/vendordeps/PathplannerLib.json +++ b/example_projects/template/vendordeps/PathplannerLib.json @@ -1,7 +1,7 @@ { "fileName": "PathplannerLib.json", "name": "PathplannerLib", - "version": "2024.0.0-beta-3", + "version": "2024.0.0-beta-4", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", "frcYear": "2024", "mavenUrls": [ @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - 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"coord": "edu.wpi.first.wpiutil:wpiutil-java:2024.1.1-beta-2", + "coord": "edu.wpi.first.wpiutil:wpiutil-java:2024.1.1-beta-3", "dependencies": [], "directDependencies": [], - "file": "v1/https/frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-java/2024.1.1-beta-2/wpiutil-java-2024.1.1-beta-2.jar", + "file": "v1/https/frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-java/2024.1.1-beta-3/wpiutil-java-2024.1.1-beta-3.jar", "mirror_urls": [ - "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-java/2024.1.1-beta-2/wpiutil-java-2024.1.1-beta-2.jar" + "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-java/2024.1.1-beta-3/wpiutil-java-2024.1.1-beta-3.jar" ], - "sha256": "424c17eb3da0e20a132db7e1bb60030cae5ddda59e81ce78ab66a7d642acb177", - "url": "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-java/2024.1.1-beta-2/wpiutil-java-2024.1.1-beta-2.jar" + "sha256": "8ce16c36eddceed5e1b3ec3172fe85da698a8566241453b707d118c99c004139", + "url": "https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-java/2024.1.1-beta-3/wpiutil-java-2024.1.1-beta-3.jar" } ], "version": "0.1.0" diff --git a/generate_library_deps.py b/generate_library_deps.py index 66a6f358..2bb211ab 100644 --- a/generate_library_deps.py +++ b/generate_library_deps.py @@ -22,7 +22,7 @@ # Version of WPILib dependencies to use NI_VERSION = "2024.1.1" -WPILIB_VERSION = "2024.1.1-beta-2" +WPILIB_VERSION = "2024.1.1-beta-3" # --- Artifacts and versions --- # Dependencies to pull from standard maven repositories (currently just central) diff --git a/junction/core/src/org/littletonrobotics/junction/LogTable.java b/junction/core/src/org/littletonrobotics/junction/LogTable.java index c18148df..ad6f4f21 100644 --- a/junction/core/src/org/littletonrobotics/junction/LogTable.java +++ b/junction/core/src/org/littletonrobotics/junction/LogTable.java @@ -27,10 +27,11 @@ import org.littletonrobotics.junction.LogTable.LogValue; -import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.util.protobuf.Protobuf; import edu.wpi.first.util.protobuf.ProtobufBuffer; +import edu.wpi.first.util.struct.StructBuffer; import edu.wpi.first.util.struct.Struct; +import edu.wpi.first.wpilibj.DriverStation; import us.hebi.quickbuf.ProtoMessage; /** diff --git a/junction/core/src/org/littletonrobotics/junction/StructBuffer.java b/junction/core/src/org/littletonrobotics/junction/StructBuffer.java deleted file mode 100644 index 18d4dc11..00000000 --- a/junction/core/src/org/littletonrobotics/junction/StructBuffer.java +++ /dev/null @@ -1,247 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -// Copyright 2021-2023 FRC 6328 -// http://github.com/Mechanical-Advantage -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// version 3 as published by the Free Software Foundation or -// available in the root directory of this project. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. - -package org.littletonrobotics.junction; - -import java.lang.reflect.Array; -import java.nio.ByteBuffer; -import java.nio.ByteOrder; -import java.util.Collection; - -import edu.wpi.first.util.struct.Struct; - -// NOTE: THIS IS A PATCHED CLASS, REMOVE ONCE FIXED: -// https://github.com/wpilibsuite/allwpilib/pull/5801 - -/** - * Reusable buffer for serialization/deserialization to/from a raw struct. - * - * @param object type - */ -public final class StructBuffer { - private StructBuffer(Struct struct) { - m_structSize = struct.getSize(); - m_buf = ByteBuffer.allocateDirect(m_structSize).order(ByteOrder.LITTLE_ENDIAN); - m_struct = struct; - } - - public static StructBuffer create(Struct struct) { - return new StructBuffer(struct); - } - - /** - * Gets the struct object of the stored type. - * - * @return struct object - */ - public Struct getStruct() { - return m_struct; - } - - /** - * Gets the type string. - * - * @return type string - */ - public String getTypeString() { - return m_struct.getTypeString(); - } - - /** - * Ensures sufficient buffer space is available for the given number of - * elements. - * - * @param nelem number of elements - */ - public void reserve(int nelem) { - if ((nelem * m_structSize) > m_buf.capacity()) { - m_buf = ByteBuffer.allocateDirect(nelem * m_structSize).order(ByteOrder.LITTLE_ENDIAN); - } - } - - /** - * Serializes a value to a ByteBuffer. The returned ByteBuffer is a direct byte - * buffer with the - * position set to the end of the serialized data. - * - * @param value value - * @return byte buffer - */ - public ByteBuffer write(T value) { - m_buf.position(0); - m_struct.pack(m_buf, value); - return m_buf; - } - - /** - * Deserializes a value from a byte array, creating a new object. - * - * @param buf byte array - * @param start starting location within byte array - * @param len length of serialized data - * @return new object - */ - public T read(byte[] buf, int start, int len) { - return read(ByteBuffer.wrap(buf, start, len)); - } - - /** - * Deserializes a value from a byte array, creating a new object. - * - * @param buf byte array - * @return new object - */ - public T read(byte[] buf) { - return read(buf, 0, buf.length); - } - - /** - * Deserializes a value from a ByteBuffer, creating a new object. - * - * @param buf byte buffer - * @return new object - */ - public T read(ByteBuffer buf) { - buf.order(ByteOrder.LITTLE_ENDIAN); - return m_struct.unpack(buf); - } - - /** - * Deserializes a value from a byte array into a mutable object. - * - * @param out object (will be updated with deserialized contents) - * @param buf byte array - * @param start starting location within byte array - * @param len length of serialized data - * @throws UnsupportedOperationException if T is immutable - */ - public void readInto(T out, byte[] buf, int start, int len) { - readInto(out, ByteBuffer.wrap(buf, start, len)); - } - - /** - * Deserializes a value from a byte array into a mutable object. - * - * @param out object (will be updated with deserialized contents) - * @param buf byte array - * @throws UnsupportedOperationException if T is immutable - */ - public void readInto(T out, byte[] buf) { - readInto(out, buf, 0, buf.length); - } - - /** - * Deserializes a value from a ByteBuffer into a mutable object. - * - * @param out object (will be updated with deserialized contents) - * @param buf byte buffer - * @throws UnsupportedOperationException if T is immutable - */ - public void readInto(T out, ByteBuffer buf) { - m_struct.unpackInto(out, buf); - } - - /** - * Serializes a collection of values to a ByteBuffer. The returned ByteBuffer is - * a direct byte - * buffer with the position set to the end of the serialized data. - * - * @param values values - * @return byte buffer - */ - public ByteBuffer writeArray(Collection values) { - m_buf.position(0); - if ((values.size() * m_structSize) > m_buf.capacity()) { - m_buf = ByteBuffer.allocateDirect(values.size() * m_structSize * 2) - .order(ByteOrder.LITTLE_ENDIAN); - } - for (T v : values) { - m_struct.pack(m_buf, v); - } - return m_buf; - } - - /** - * Serializes an array of values to a ByteBuffer. The returned ByteBuffer is a - * direct byte buffer - * with the position set to the end of the serialized data. - * - * @param values values - * @return byte buffer - */ - public ByteBuffer writeArray(T[] values) { - m_buf.position(0); - if ((values.length * m_structSize) > m_buf.capacity()) { - m_buf = ByteBuffer.allocateDirect(values.length * m_structSize * 2) - .order(ByteOrder.LITTLE_ENDIAN); - } - for (T v : values) { - m_struct.pack(m_buf, v); - } - return m_buf; - } - - /** - * Deserializes an array of values from a byte array, creating an array of new - * objects. - * - * @param buf byte array - * @param start starting location within byte array - * @param len length of serialized data - * @return new object array - */ - public T[] readArray(byte[] buf, int start, int len) { - return readArray(ByteBuffer.wrap(buf, start, len)); - } - - /** - * Deserializes an array of values from a byte array, creating an array of new - * objects. - * - * @param buf byte array - * @return new object array - */ - public T[] readArray(byte[] buf) { - return readArray(buf, 0, buf.length); - } - - /** - * Deserializes an array of values from a ByteBuffer, creating an array of new - * objects. - * - * @param buf byte buffer - * @return new object array - */ - public T[] readArray(ByteBuffer buf) { - buf.order(ByteOrder.LITTLE_ENDIAN); - int len = buf.limit() - buf.position(); - if ((len % m_structSize) != 0) { - throw new RuntimeException("buffer size not a multiple of struct size"); - } - int nelem = len / m_structSize; - @SuppressWarnings("unchecked") - T[] arr = (T[]) Array.newInstance(m_struct.getTypeClass(), nelem); - for (int i = 0; i < nelem; i++) { - arr[i] = m_struct.unpack(buf); - } - return arr; - } - - private ByteBuffer m_buf; - private final Struct m_struct; - private final int m_structSize; -} diff --git a/library_deps.bzl b/library_deps.bzl index 608f2eac..003abfc2 100644 --- a/library_deps.bzl +++ b/library_deps.bzl @@ -6,24 +6,24 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file" MAVEN_ARTIFACTS = ['io.github.classgraph:classgraph:4.8.128', 'com.fasterxml.jackson.core:jackson-annotations:2.10.0', 'com.fasterxml.jackson.core:jackson-core:2.10.0', 'com.fasterxml.jackson.core:jackson-databind:2.10.0', 'org.ejml:ejml-simple:0.38', 'org.ejml:ejml-core:0.38', 'junit:junit:4.13.2', 'com.squareup:javapoet:1.13.0', 'us.hebi.quickbuf:quickbuf-runtime:1.3.2'] -WPILIB_VERSION = "2024.1.1-beta-2" +WPILIB_VERSION = "2024.1.1-beta-3" -FRCMAVEN_ARTIFACTS = ['edu.wpi.first.hal:hal-java:2024.1.1-beta-2', 'edu.wpi.first.wpiutil:wpiutil-java:2024.1.1-beta-2', 'edu.wpi.first.wpimath:wpimath-java:2024.1.1-beta-2', 'edu.wpi.first.ntcore:ntcore-java:2024.1.1-beta-2', 'edu.wpi.first.cscore:cscore-java:2024.1.1-beta-2', 'edu.wpi.first.cameraserver:cameraserver-java:2024.1.1-beta-2', 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-1'] +FRCMAVEN_ARTIFACTS = ['edu.wpi.first.hal:hal-java:2024.1.1-beta-3', 'edu.wpi.first.wpiutil:wpiutil-java:2024.1.1-beta-3', 'edu.wpi.first.wpimath:wpimath-java:2024.1.1-beta-3', 'edu.wpi.first.ntcore:ntcore-java:2024.1.1-beta-3', 'edu.wpi.first.cscore:cscore-java:2024.1.1-beta-3', 'edu.wpi.first.cameraserver:cameraserver-java:2024.1.1-beta-3', 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-1'] def library_deps_setup(): http_file( name = "wpilibj_jar_file", downloaded_file_path = "wpilibj.jar", # java_import needs the filename to contain .jar - sha256 = "cb6fc2823da85a6128143e7500b1376461f7d46a368986edb30e6b3190915f2d", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpilibj/wpilibj-java/2024.1.1-beta-2/wpilibj-java-2024.1.1-beta-2.jar"], + sha256 = "a3a0c2b6b213d7effa12f2a3f5c23a1018eca04569557ec4be69171f2696380f", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpilibj/wpilibj-java/2024.1.1-beta-3/wpilibj-java-2024.1.1-beta-3.jar"], ) http_file( name = "wpilibj_sources_jar_file", downloaded_file_path = "wpilibj_sources.jar", - sha256 = "173599f0f3b98207c3d044efcba18b35e38bd7d0ffa00572d3e0afd35d0b7ce0", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpilibj/wpilibj-java/2024.1.1-beta-2/wpilibj-java-2024.1.1-beta-2-sources.jar"], + sha256 = "b2723c77b9a90c0c71dc8bff702a5ea4bd6566aa365a17d268ec1bee16536a2a", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpilibj/wpilibj-java/2024.1.1-beta-3/wpilibj-java-2024.1.1-beta-3-sources.jar"], ) @@ -247,8 +247,8 @@ cc_library( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "942dbde0d2bb071130c6173a6f706889a9217b504ffdaabd86d543c376b21585", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-2/wpiutil-cpp-2024.1.1-beta-2-headers.zip"] + sha256 = "8353e0b22ae9d02c93011d8dcec3f1ee122a208f593bd8c97f768b47d999b346", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-3/wpiutil-cpp-2024.1.1-beta-3-headers.zip"] ) http_archive( @@ -272,8 +272,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "331693e853c136f0ff140b6c3a9e04cbee11b77716b91b3e3a37d6e17337d446", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-2/wpiutil-cpp-2024.1.1-beta-2-linuxathena.zip"] + sha256 = "a615cb27e9cb439210f309240300f1645ed0e3f16dc22c87287c9be4391febef", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-3/wpiutil-cpp-2024.1.1-beta-3-linuxathena.zip"] ) http_archive( @@ -297,8 +297,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "735bb4c46a451c3165e76e8f08e92df66e194abd0a334079e496a05778a9059d", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-2/wpiutil-cpp-2024.1.1-beta-2-linuxx86-64.zip"] + sha256 = "69b5e55c870db24d82ded780c790feaff164869f796c3872eb32dc4e962a07e1", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-3/wpiutil-cpp-2024.1.1-beta-3-linuxx86-64.zip"] ) http_archive( @@ -322,8 +322,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "a683d25738c436b36c0cc3475f68444dddf98a007cc5b80b17542069fd8f0934", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-2/wpiutil-cpp-2024.1.1-beta-2-windowsx86-64.zip"] + sha256 = "8b1405a0673b821135592ee1318155e6db7b9c64d103556f5afe0d1a16faa9a9", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-3/wpiutil-cpp-2024.1.1-beta-3-windowsx86-64.zip"] ) http_archive( @@ -347,8 +347,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "368138d2d7e7b4011308e0fa1b3ecb0c4928bbc0d11c5b2400e8b5f1ff0f8985", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-2/wpiutil-cpp-2024.1.1-beta-2-osxuniversal.zip"] + sha256 = "56e9ec0a3919ad8d6161a7a7f1d1ea7715c0de69eb97bacd08311f4dfb537205", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/2024.1.1-beta-3/wpiutil-cpp-2024.1.1-beta-3-osxuniversal.zip"] ) http_archive( @@ -378,8 +378,8 @@ cc_library( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "533ec7f0a7ee3e61b84f711aa3bc2d1556addafd8bd77c257d3ac30c3f33d5c8", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/2024.1.1-beta-2/wpimath-cpp-2024.1.1-beta-2-headers.zip"] + sha256 = "eff6977a8f736d34da2531ae45380846274924648751888861f44b37047a1d93", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/2024.1.1-beta-3/wpimath-cpp-2024.1.1-beta-3-headers.zip"] ) http_archive( @@ -403,8 +403,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "4315c1befac0e0b9990c4ea2808447eeb2837f2eba911061960234a33061b737", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/2024.1.1-beta-2/wpimath-cpp-2024.1.1-beta-2-linuxathena.zip"] + sha256 = "e6af3f11d04fd24f535078bc7a06a9227b517751a0ae5f21fee825f09210657a", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/2024.1.1-beta-3/wpimath-cpp-2024.1.1-beta-3-linuxathena.zip"] ) http_archive( @@ -428,8 +428,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - sha256 = "b34749c6ecd547628bb70736647b1c775b1579a614a069e5f6ebac63046a2b4f", - urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/2024.1.1-beta-2/wpimath-cpp-2024.1.1-beta-2-linuxx86-64.zip"] + sha256 = "6a30250e9cfe09347ba09a2f2b736b3c1fded2a6b1cc01a77289cb1d0e8805a4", + urls = ["https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/2024.1.1-beta-3/wpimath-cpp-2024.1.1-beta-3-linuxx86-64.zip"] ) http_archive( @@ -453,8 +453,8 @@ filegroup( visibility = ["@//third_party/wpilib:__pkg__"], ) """, - 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