Update to WPILib 2025.1.1-beta-1 (#103)

* Update to WPILib 2025.1.1-beta-1

* Fix methods using `WPI_String`

* Fix Java 17 build

* Attempt to fix Windows

* Update vendordep year

* Fix segfault

* Add logging for comms disable count

.bazelrc

@@ -2,7 +2,10 @@ try-import %workspace%/user.bazelrc
 
 build --enable_platform_specific_config
 build --enable_runfiles
-build --java_language_version=11
+build --java_language_version=17
+build --java_runtime_version=17
+build --tool_java_language_version=17
+build --tool_java_runtime_version=17
 build --spawn_strategy=local # This disables sandboxing, which is a stopgap instead of using SandboxFS (we'd like to do this eventually, WPILib toolchain doesn't like the symlink tree)
 build --incompatible_enable_cc_toolchain_resolution # Enables the new toolchain identification feature which uses platforms to find the right cc toolchain
 
@@ -17,6 +20,6 @@ build:athena --cxxopt=-std=c++20 --cxxopt=-pedantic-errors
 build:athena --platform_suffix=_athena
 build:linux --cxxopt=-std=c++20 --cxxopt=-pedantic-errors
 build:macos --cxxopt=-std=c++20 --cxxopt=-pedantic-errors
-build:windows --cxxopt=/std:c++20
+build:windows --cxxopt=/std:c++20 --cxxopt=/utf-8
 
 test --test_output=all # Show stdout for any tests that do not pass

.github/workflows/build.yml

@@ -17,7 +17,7 @@ jobs:
         uses: actions/setup-java@v3
         with:
           distribution: "temurin"
-          java-version: "11"
+          java-version: "17"
       - name: "Build all"
         run: bazelisk build --config=athena --verbose_failures ...
       - name: "Release: Get version number"
@@ -149,9 +149,9 @@ jobs:
       - name: 'Release: Upload "junction/shims/wpilib" to GitHub'
         if: github.event_name == 'release'
         run: bazelisk run --define "maven_repo=https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit" --define "maven_user=Mechanical-Advantage" --define "maven_password=${{ secrets.GITHUB_TOKEN }}" --define "publishing_version=${{ steps.get_version.outputs.version-without-v }}" //junction/shims/wpilib:wpilib-export.publish
-      
+
       # Upload local repo
-      - name: 'Release: Upload local repo'
+      - name: "Release: Upload local repo"
         uses: actions/upload-artifact@v3
         if: github.event_name == 'release'
         with:
@@ -163,25 +163,25 @@ jobs:
       matrix:
         host:
           - {
-              os: macos-12, 
-              displayName: "macOS", 
+              os: macos-12,
+              displayName: "macOS",
               classifier: "osxuniversal",
               mavenLocal: "file://$HOME/maven_offline",
-              mavenLocalUpload: "~/maven_offline"
+              mavenLocalUpload: "~/maven_offline",
             }
           - {
               os: ubuntu-22.04,
               displayName: "Linux",
               classifier: "linuxx86-64",
               mavenLocal: "file://$HOME/maven_offline",
-              mavenLocalUpload: "~/maven_offline"
+              mavenLocalUpload: "~/maven_offline",
             }
           - {
               os: windows-2019,
               displayName: "Windows",
               classifier: "windowsx86-64",
               mavenLocal: "file://%userprofile%\\maven_offline",
-              mavenLocalUpload: "%userprofile%/maven_offline"
+              mavenLocalUpload: "%userprofile%/maven_offline",
             }
 
     name: Build for ${{ matrix.host.displayName }}
@@ -195,7 +195,7 @@ jobs:
         uses: actions/setup-java@v3
         with:
           distribution: "temurin"
-          java-version: "11"
+          java-version: "17"
       - name: "Build all"
         run: bazelisk build --verbose_failures ...
       - name: "Test all"
@@ -229,7 +229,7 @@ jobs:
         run: python3 build_tools/repo/publish_zip.py --url https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit --group_id org.littletonrobotics.akit.conduit --artifact_id conduit-wpilibio --version ${{ steps.get_version.outputs.version-without-v }} --classifier ${{ matrix.host.classifier }} --file_path bazel-bin/conduit/wpilibio/wpilibio-${{ steps.get_version.outputs.version-without-v }}-${{ matrix.host.classifier }}.zip --username Mechanical-Advantage --access_token ${{ secrets.GITHUB_TOKEN }}
 
       # Upload local repo
-      - name: 'Release: Upload local repo'
+      - name: "Release: Upload local repo"
         uses: actions/upload-artifact@v3
         if: github.event_name == 'release'
         with:
@@ -283,4 +283,4 @@ jobs:
           upload_url: ${{ steps.get_release_info.outputs.upload_url }}
           asset_path: maven_offline.zip
           asset_name: maven_offline.zip
-          asset_content_type: application/zip
+          asset_content_type: application/zip

build_tools/repo/vendordep/vendordep_top.tpl

@@ -3,7 +3,7 @@
     "name": "{name}",
     "version": "{version}",
     "uuid": "{uuid}",
-    "frcYear": "2024",
+    "frcYear": "2025",
     "mavenUrls": [],
     "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
     "javaDependencies": [{javaDependencies}    ],

conduit/api/src/org/littletonrobotics/conduit/ConduitApi.java

@@ -245,6 +245,10 @@ public boolean getBrownedOut() {
     return sys.brownedOut() != 0;
   }
 
+  public int getCommsDisableCount() {
+    return sys.commsDisableCount();
+  }
+
   public boolean getRSLState() {
     return sys.rslState() != 0;
   }

conduit/conduit_schema.fbs

@@ -70,6 +70,7 @@ struct SystemData {
     fpga_button:int32;
     system_active:int32;
     browned_out:int32;
+    comms_disable_count:int32;
     rsl_state:int32;
     system_time_valid:int32;
     voltage_vin:float64;

conduit/wpilibio/src/system_reader.cc

@@ -37,24 +37,25 @@ void SystemReader::read(schema::SystemData* system_buf) {
     system_buf->mutate_fpga_version(HAL_GetFPGAVersion(&status));
     system_buf->mutate_fpga_revision(HAL_GetFPGARevision(&status));
 
-    char serialNum[9];
-    size_t serialNumLen = HAL_GetSerialNumber(serialNum, sizeof(serialNum));
-    system_buf->mutate_serial_number_size(serialNumLen);
-    std::memcpy(system_buf->mutable_serial_number()->Data(), serialNum,
-                system_buf->serial_number()->size());
-
-    char comments[65];
-    size_t commentsLen = HAL_GetComments(comments, sizeof(comments));
-    system_buf->mutate_comments_size(commentsLen);
-    std::memcpy(system_buf->mutable_comments()->Data(), comments,
-                system_buf->comments()->size());
+    WPI_String serialNum;
+    HAL_GetSerialNumber(&serialNum);
+    system_buf->mutate_serial_number_size(serialNum.len);
+    std::memcpy(system_buf->mutable_serial_number()->Data(), serialNum.str,
+                serialNum.len);
+
+    WPI_String comments;
+    HAL_GetComments(&comments);
+    system_buf->mutate_comments_size(comments.len);
+    std::memcpy(system_buf->mutable_comments()->Data(), comments.str,
+                comments.len);
 
     system_buf->mutate_team_number(HAL_GetTeamNumber());
   }
 
   system_buf->mutate_fpga_button(HAL_GetFPGAButton(&status));
   system_buf->mutate_system_active(HAL_GetSystemActive(&status));
   system_buf->mutate_browned_out(HAL_GetBrownedOut(&status));
+  system_buf->mutate_comms_disable_count(HAL_GetCommsDisableCount(&status));
   system_buf->mutate_rsl_state(HAL_GetRSLState(&status));
   if (cycleCount % 50 == 0) {
     // This read takes longer
@@ -91,8 +92,9 @@ void SystemReader::read(schema::SystemData* system_buf) {
     uint32_t tx_full_count = 0;
     uint32_t receive_error_count = 0;
     uint32_t transmit_error_count = 0;
-    HAL_CAN_GetCANStatus(&percent_bus_utilization, &bus_off_count, &tx_full_count,
-                        &receive_error_count, &transmit_error_count, &status);
+    HAL_CAN_GetCANStatus(&percent_bus_utilization, &bus_off_count,
+                         &tx_full_count, &receive_error_count,
+                         &transmit_error_count, &status);
 
     system_buf->mutable_can_status().mutate_percent_bus_utilization(
         percent_bus_utilization);