Update to 2025 Beta

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 '2024.7.0'
+  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'
 }
@@ -24,14 +24,14 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.cscore:cscore-java:2024.+'
-    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2024.+'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.+'
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.+'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2024.+'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2024.+'
-    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2024.+'
-    implementation 'edu.wpi.first.hal:hal-java:2024.+'
+    implementation 'edu.wpi.first.cscore:cscore-java:2025.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2025.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.+'
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2025.+'
+    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
+    implementation 'edu.wpi.first.hal:hal-java:2025.+'
     implementation "org.ejml:ejml-simple:0.43.1"
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
     implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
@@ -49,7 +49,7 @@ nativeUtils {
 
   nativeDependencyContainer {
     libgrapplefrcdriver(getNativeDependencyTypeClass('WPISharedMavenDependency')) {
-      version = "2024.3.1"
+      version = "2025.0.0"
       groupId = "au.grapplerobotics"
       artifactId = "libgrapplefrcdriver"
       ext = "zip"

config.gradle

@@ -8,10 +8,10 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2024.+"
-            opencvYear = "frc2024"
-            googleTestYear = "frc2024"
-            niLibVersion = "2024.2.1"
+            wpiVersion = "2025.+"
+            opencvYear = "frc2025"
+            googleTestYear = "frc2025"
+            niLibVersion = "2025.0.0"
             opencvVersion = "4.8.0-2"
             googleTestVersion = "1.14.0-1"
         }

depjson/libgrapplefrc2025.json

@@ -0,0 +1,72 @@
+{
+    "fileName": "libgrapplefrc2024.json",
+    "name": "libgrapplefrc",
+    "version": "2025.0.0",
+    "frcYear": "2024",
+    "uuid": "8ef3423d-9532-4665-8339-206dae1d7168",
+    "mavenUrls": [ "https://storage.googleapis.com/grapple-frc-maven" ],
+    "jsonUrl": "https://storage.googleapis.com/grapple-frc-maven/libgrapplefrc2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "au.grapplerobotics",
+            "artifactId": "libgrapplefrcjava",
+            "version": "2025.0.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "au.grapplerobotics",
+            "artifactId": "libgrapplefrcdriver",
+            "version": "2025.0.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "au.grapplerobotics",
+            "artifactId": "libgrapplefrccpp",
+            "version": "2025.0.0",
+            "libName": "grapplefrc",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "au.grapplerobotics",
+            "artifactId": "libgrapplefrcdriver",
+            "version": "2025.0.0",
+            "libName": "grapplefrcdriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}

grapplefrcdriver/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "grapplefrcdriver"
-version = "2024.3.1"
+version = "2025.0.0"
 edition = "2021"
 
 include = [

grapplefrcdriver/build.py

@@ -6,7 +6,7 @@
 NEW_PATH = os.getenv("PATH") + ";" + os.path.expanduser("~/.gradle/toolchains/frc/2024/roborio/bin")
 
 # TODO: Load from cargo metadata
-VERSION = "2024.3.1"
+VERSION = "2025.0.0"
 
 def run(*cmd):
   env = os.environ.copy()

publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2024.3.1'
+def pubVersion = '2025.0.0'
 
 def outputsFolder = file("$buildDir/outputs")
 

src/main/java/au/grapplerobotics/GrappleJNI.java

@@ -1,16 +1,12 @@
 package au.grapplerobotics;
 
-import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.lang.ref.Cleaner;
 
-import edu.wpi.first.util.RuntimeLoader;
-
 public class GrappleJNI {
   public static final Cleaner cleaner = Cleaner.create();
 
   static boolean libraryLoaded = false;
-  static RuntimeLoader<GrappleJNI> loader = null;
 
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
@@ -27,10 +23,11 @@ public static void setExtractOnStaticLoad(boolean load) {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        // RuntimeLoader.loadLibrary("grapplefrcdriver");
-        loader = new RuntimeLoader<>("grapplefrcdriver", RuntimeLoader.getDefaultExtractionRoot(), GrappleJNI.class);
-        loader.loadLibrary();
-      } catch (IOException ex) {
+        System.loadLibrary("grapplefrcdriver");
+        // // RuntimeLoader.loadLibrary("grapplefrcdriver");
+        // loader = new RuntimeLoader<>("grapplefrcdriver", RuntimeLoader.getDefaultExtractionRoot(), GrappleJNI.class);
+        // loader.loadLibrary();
+      } catch (UnsatisfiedLinkError ex) {
         ex.printStackTrace();
         System.exit(1);
       }
@@ -40,15 +37,15 @@ public static void setExtractOnStaticLoad(boolean load) {
 
   /**
    * Force load the library.
-   * @throws java.io.IOException thrown if the native library cannot be found
+   * @throws java.lang.UnsatisfiedLinkError thrown if the native library cannot be found
    */
-  public static synchronized void forceLoad() throws IOException {
+  public static synchronized void forceLoad() throws UnsatisfiedLinkError {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("grapplefrcdriver", RuntimeLoader.getDefaultExtractionRoot(), GrappleJNI.class);
-    loader.loadLibrary();
-    // RuntimeLoader.loadLibrary("grapplefrcdriver");
+    // loader = new RuntimeLoader<>("grapplefrcdriver", RuntimeLoader.getDefaultExtractionRoot(), GrappleJNI.class);
+    // loader.loadLibrary();
+    System.loadLibrary("grapplefrcdriver");
     libraryLoaded = true;
   }
 }

src/main/java/au/grapplerobotics/LaserCan.java

@@ -1,6 +1,5 @@
 package au.grapplerobotics;
 
-import java.io.IOException;
 import java.lang.AutoCloseable;
 import java.lang.ref.Cleaner;
 
@@ -167,7 +166,7 @@ public void run() {
   public LaserCan(int can_id) {
     try {
       GrappleJNI.forceLoad();
-    } catch (IOException e) {
+    } catch (UnsatisfiedLinkError e) {
       e.printStackTrace();
       System.exit(1);
     }

src/main/java/au/grapplerobotics/MitoCANdria.java

@@ -1,6 +1,5 @@
 package au.grapplerobotics;
 
-import java.io.IOException;
 import java.lang.AutoCloseable;
 import java.lang.ref.Cleaner;
 
@@ -45,7 +44,7 @@ public void run() {
   public MitoCANdria(int can_id) {
     try {
       GrappleJNI.forceLoad();
-    } catch (IOException e) {
+    } catch (UnsatisfiedLinkError e) {
       e.printStackTrace();
       System.exit(1);
     }