Beta 1

.github/workflows/build-all-parallel.yml

@@ -76,7 +76,7 @@ jobs:
     runs-on: ubuntu-latest
 
     # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
 
     steps:
     - uses: actions/checkout@v3

build_all_frc_projects.ps1

@@ -1,9 +1,9 @@
-$Depth = 2
+$Depth = 1
 $Levels = '/*' * $Depth
 
 $ErrorActionPreference = "Stop"
 
-Get-ChildItem -Directory "./$Levels" |
+Get-ChildItem -Directory "./$Levels" -Exclude ".github" |
     ForEach-Object {
         Push-Location $_.FullName
         echo "Building example $_"

cpp/BasicLatencyCompensation/.gitignore

@@ -158,5 +158,15 @@ gradle-app.setting
 .settings/
 bin/
 
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
 # Simulation GUI and other tools window save file
 *-window.json

cpp/BasicLatencyCompensation/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2023",
+    "projectYear": "2024beta",
     "teamNumber": 7762
 }

cpp/BasicLatencyCompensation/WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2021 FIRST and other WPILib contributors
+Copyright (c) 2009-2023 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

cpp/BasicLatencyCompensation/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.3"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

cpp/BasicLatencyCompensation/gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

cpp/BasicLatencyCompensation/gradlew

@@ -55,7 +55,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,13 +80,11 @@ do
     esac
 done
 
-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
-
-APP_NAME="Gradle"
+# This is normally unused
+# shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
-
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+# 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
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -133,22 +131,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -193,11 +198,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
-#     shell script including quotes and variable substitutions, so put them in
-#     double quotes to make sure that they get re-expanded; and
-#   * put everything else in single quotes, so that it's not re-expanded.
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

cpp/BasicLatencyCompensation/gradlew.bat

@@ -26,6 +26,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 

cpp/BasicLatencyCompensation/settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -25,3 +25,6 @@ pluginManagement {
         }
     }
 }
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

cpp/BasicLatencyCompensation/vendordeps/Phoenix6.json

@@ -1,25 +1,32 @@
 {
     "fileName": "Phoenix6.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "23.2.2",
-    "frcYear": 2023,
+    "version": "24.0.0-beta-1",
+    "frcYear": 2024,
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
         "https://maven.ctr-electronics.com/release/"
     ],
-    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2023-latest.json",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a",
+            "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+            "offlineFileName": "Phoenix6And5.json"
+        }
+    ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "23.2.2"
+            "version": "24.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -32,7 +39,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -45,7 +52,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -58,7 +65,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -71,7 +78,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -84,7 +91,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -97,7 +104,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +117,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -123,7 +130,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -136,7 +143,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -151,7 +158,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -166,7 +173,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -181,7 +188,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -196,7 +203,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -211,7 +218,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +233,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -241,7 +248,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +263,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -271,7 +278,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -286,7 +293,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -301,7 +308,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -316,7 +323,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "23.2.2",
+            "version": "24.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,