Update for 2025 firmware (#9)

* Update for 2025 firmware

* Update to 2025

* Update actions version

* Update actions version

.github/workflows/ci.yml

@@ -27,7 +27,7 @@ jobs:
           git config --global --add safe.directory /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}
       - name: Build with Gradle
         run: ./gradlew build --max-workers 1 ${{ matrix.build-options }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -60,7 +60,7 @@ jobs:
           architecture: ${{ matrix.architecture }}
       - name: Build with Gradle
         run: ./gradlew build -Pbuildalldesktop
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -73,7 +73,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
@@ -85,7 +85,7 @@ jobs:
       - name: Combine
         run: ./gradlew publish -Pthirdparty
         working-directory: combiner
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: Maven
           path: ~/releases/maven/development/

README.md

@@ -14,7 +14,9 @@ By default, this project builds against the latest WPILib development build. To
 
 ## Data Format
 
-### Revision 2
+### Revision 2/3
+
+Revision 2 = 2024, Revision 3 = 2025 (no model frames)
 
 - "Raw/Persistent"
   - Buffer Length, Not Published (uint32)

URCL.json

@@ -1,25 +1,25 @@
 {
     "fileName": "URCL.json",
     "name": "URCL",
-    "version": "2024.1.0",
-    "frcYear": "2024",
+    "version": "2025.0.0-beta-1",
+    "frcYear": "2025",
     "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c",
     "mavenUrls": [
-        "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/2024.1.0"
+        "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/2025.0.0-beta-1"
     ],
     "jsonUrl": "https://raw.githubusercontent.com/Mechanical-Advantage/URCL/maven/URCL.json",
     "javaDependencies": [
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-java",
-            "version": "2024.1.0"
+            "version": "2025.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-driver",
-            "version": "2024.1.0",
+            "version": "2025.0.0-beta-1",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -34,7 +34,7 @@
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-cpp",
-            "version": "2024.1.0",
+            "version": "2025.0.0-beta-1",
             "libName": "URCL",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -49,7 +49,7 @@
         {
             "groupId": "org.littletonrobotics.urcl",
             "artifactId": "URCL-driver",
-            "version": "2024.1.0",
+            "version": "2025.0.0-beta-1",
             "libName": "URCLDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -62,4 +62,4 @@
             ]
         }
     ]
-}
+}

build.gradle

@@ -2,7 +2,7 @@ plugins {
   id 'cpp'
   id 'java'
   id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-  id 'edu.wpi.first.NativeUtils' version '2024.6.1'
+  id 'edu.wpi.first.NativeUtils' version '2025.3.0'
   id 'edu.wpi.first.GradleJni' version '1.1.0'
   id 'edu.wpi.first.GradleVsCode' version '2.1.0'
 }
@@ -33,7 +33,6 @@ dependencies {
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"
-    // implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2'
 }
 
 // Set up exports properly
@@ -98,5 +97,5 @@ model {
 apply from: 'publish.gradle'
 
 wrapper {
-  gradleVersion '8.4'
+  gradleVersion '8.10.2'
 }

config.gradle

@@ -8,10 +8,8 @@ nativeUtils {
         configureDependencies {
             wpiVersion = "2025.+"
             opencvYear = "frc2024"
-            googleTestYear = "frc2024"
             niLibVersion = "2025.0.0"
-            opencvVersion = "4.8.0-2"
-            googleTestVersion = "1.14.0-1"
+            opencvVersion = "4.8.0-4"
         }
     }
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-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
 

publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2024.1.0'
+def pubVersion = '2025.0.0-beta-1'
 
 def outputsFolder = file("$buildDir/outputs")
 

src/main/driver/cpp/URCLDriver.cpp

@@ -21,20 +21,16 @@ extern "C" {
 constexpr HAL_CANManufacturer manufacturer = HAL_CAN_Man_kREV;
 constexpr HAL_CANDeviceType deviceType = HAL_CAN_Dev_kMotorController;
 
-constexpr int firmwareApi = 0x98;
+constexpr int firmwareApiClass = 9;
+constexpr int firmwareApiIndex = 8;
+constexpr int firmwareApi =
+    (firmwareApiClass & 0x3f) << 4 | (firmwareApiIndex & 0xf);
 constexpr int firmwareMessageId = ((deviceType & 0x1f) << 24) |
                                   ((manufacturer & 0xff) << 16) |
                                   ((firmwareApi & 0x3ff) << 6);
 constexpr int firmwareMessageIdMask = 0x1fffffc0;
 
-constexpr int modelApi =
-    0x300 | 155; // Parameter Access | Parameter Number (Device Model)
-constexpr int modelMessageId = ((deviceType & 0x1f) << 24) |
-                               ((manufacturer & 0xff) << 16) |
-                               ((modelApi & 0x3ff) << 6);
-constexpr int modelMessageIdMask = 0x1fffffc0;
-
-constexpr int periodicApiClass = 6; // Periodic Status
+constexpr int periodicApiClass = 46;
 constexpr int periodicMessageId = ((deviceType & 0x1f) << 24) |
                                   ((manufacturer & 0xff) << 16) |
                                   ((periodicApiClass & 0x3f) << 10);
@@ -46,14 +42,12 @@ char *periodicBuffer;
 int32_t halStatus;
 uint32_t timeOffsetMillis;
 uint32_t firmwareStreamHandle;
-uint32_t modelStreamHandle;
 uint32_t periodicStreamHandle;
 uint32_t persistentMessageCount = 0;
 
 uint32_t readCount = 0;
 uint64_t devicesFound = 0;
 uint64_t devicesFirmwareReceived = 0;
-uint64_t devicesModelReceived = 0;
 uint64_t devicesCANReady = 0;
 HAL_CANHandle devicesCANHandles[64];
 
@@ -68,9 +62,6 @@ void URCLDriver_start(void) {
   HAL_CAN_OpenStreamSession(&firmwareStreamHandle, firmwareMessageId,
                             firmwareMessageIdMask, maxPersistentMessages,
                             &halStatus);
-  HAL_CAN_OpenStreamSession(&modelStreamHandle, modelMessageId,
-                            modelMessageIdMask, maxPersistentMessages,
-                            &halStatus);
   HAL_CAN_OpenStreamSession(&periodicStreamHandle, periodicMessageId,
                             periodicMessageIdMask, maxPeriodicMessages,
                             &halStatus);
@@ -132,22 +123,16 @@ void URCLDriver_read(void) {
   if (readCount >= 20) {
     readCount = 0;
     uint64_t unknownFirmwareDevices = devicesFound & ~devicesFirmwareReceived;
-    uint64_t unknownModelDevices = devicesFound & ~devicesModelReceived;
     for (uint8_t i = 0; i < 64; i++) {
       bool unknownFirmware = (unknownFirmwareDevices >> i) & 1;
-      bool unknownModel = (unknownModelDevices >> i) & 1;
-      if ((unknownFirmware || unknownModel) &&
-          ((devicesCANReady >> i) & 1) == 0) {
+      if (unknownFirmware && ((devicesCANReady >> i) & 1) == 0) {
         devicesCANHandles[i] =
             HAL_InitializeCAN(manufacturer, i, deviceType, &halStatus);
         devicesCANReady |= (uint64_t)1 << i;
       }
       if (unknownFirmware) {
         HAL_WriteCANRTRFrame(devicesCANHandles[i], 0, firmwareApi, &halStatus);
       }
-      if (unknownModel) {
-        HAL_WriteCANRTRFrame(devicesCANHandles[i], 0, modelApi, &halStatus);
-      }
     }
   }
 
@@ -165,16 +150,6 @@ void URCLDriver_read(void) {
     devicesFirmwareReceived |= (uint64_t)1 << deviceId;
   }
 
-  // Read model messages
-  HAL_CAN_ReadStreamSession(modelStreamHandle, messages, maxPersistentMessages,
-                            &messageCount, &halStatus);
-  for (uint32_t i = 0; i < messageCount; i++) {
-    writeMessagePersistent(messages[i]);
-    uint8_t deviceId = messages[i].messageID & 0x3f;
-    devicesFound |= (uint64_t)1 << deviceId;
-    devicesModelReceived |= (uint64_t)1 << deviceId;
-  }
-
   // Read periodic messages
   HAL_CAN_ReadStreamSession(periodicStreamHandle, messages, maxPeriodicMessages,
                             &messageCount, &halStatus);

src/main/java/org/littletonrobotics/urcl/URCL.java

@@ -94,13 +94,13 @@ public static void start(Map<Integer, String> aliases) {
     // Start publishers
     persistentPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Persistent")
-        .publish("URCLr2_persistent");
+        .publish("URCLr3_persistent");
     periodicPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Periodic")
-        .publish("URCLr2_periodic");
+        .publish("URCLr3_periodic");
     aliasesPublisher = NetworkTableInstance.getDefault()
         .getRawTopic("/URCL/Raw/Aliases")
-        .publish("URCLr2_aliases");
+        .publish("URCLr3_aliases");
     notifier = new Notifier(() -> {
       var data = getData();
       persistentPublisher.set(data[0]);
@@ -137,9 +137,9 @@ public static void start(Map<Integer, String> aliases, DataLog log) {
     periodicBuffer.order(ByteOrder.LITTLE_ENDIAN);
 
     persistentLogEntry = new RawLogEntry(log, "URCL/Raw/Persistent", "",
-        "URCLr2_persistent");
-    periodicLogEntry = new RawLogEntry(log, "/URCL/Raw/Periodic", "", "URCLr2_periodic");
-    aliasLogEntry = new RawLogEntry(log, "/URCL/Raw/Aliases", "", "URCLr2_aliases");
+        "URCLr3_persistent");
+    periodicLogEntry = new RawLogEntry(log, "/URCL/Raw/Periodic", "", "URCLr3_periodic");
+    aliasLogEntry = new RawLogEntry(log, "/URCL/Raw/Aliases", "", "URCLr3_aliases");
     notifier = new Notifier(() -> {
       var data = getData();
       persistentLogEntry.update(data[0]);

src/main/native/cpp/URCL.cpp

@@ -79,13 +79,13 @@ void URCL::Start(std::map<int, std::string_view> aliases) {
   // Start publishers
   persistentPublisher = nt::NetworkTableInstance::GetDefault()
                             .GetRawTopic("/URCL/Raw/Persistent")
-                            .Publish("URCLr2_persistent");
+                            .Publish("URCLr3_persistent");
   periodicPublisher = nt::NetworkTableInstance::GetDefault()
                           .GetRawTopic("/URCL/Raw/Periodic")
-                          .Publish("URCLr2_periodic");
+                          .Publish("URCLr3_periodic");
   aliasesPublisher = nt::NetworkTableInstance::GetDefault()
                          .GetRawTopic("/URCL/Raw/Aliases")
-                         .Publish("URCLr2_aliases");
+                         .Publish("URCLr3_aliases");
 
   aliasesPublisher.Set(aliasesVector);
 
@@ -134,11 +134,11 @@ void URCL::Start(std::map<int, std::string_view> aliases,
   periodicBuffer = URCLDriver_getPeriodicBuffer();
 
   persistentLogEntry = wpi::log::RawLogEntry{log, "/URCL/Raw/Persistent", "",
-                                             "URCLr2_persistent"};
+                                             "URCLr3_persistent"};
   periodicLogEntry =
-      wpi::log::RawLogEntry{log, "/URCL/Raw/Periodic", "", "URCLr2_periodic"};
+      wpi::log::RawLogEntry{log, "/URCL/Raw/Periodic", "", "URCLr3_periodic"};
   aliasesLogEntry =
-      wpi::log::RawLogEntry{log, "/URCL/Raw/Aliases", "", "URCLr2_aliases"};
+      wpi::log::RawLogEntry{log, "/URCL/Raw/Aliases", "", "URCLr3_aliases"};
 
   aliasesLogEntry.Append(aliasesVector);