7 changed files with 40 additions and 138 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@ -8,20 +8,20 @@ jobs:
      fail-fast: false
      matrix:
        include:
-          - container: wpilib/roborio-cross-ubuntu:2025-22.04
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
            artifact-name: Athena
            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
            artifact-name: Arm32
            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
            artifact-name: Arm64
            build-options: "-Ponlylinuxarm64"
          - container: wpilib/ubuntu-base:22.04
            artifact-name: Linux
            build-options: ""
    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
    container: ${{ matrix.container }}
    steps:
      - uses: actions/checkout@v4
@ -40,7 +40,7 @@ jobs:

  build-host:
    env: 
-      MACOSX_DEPLOYMENT_TARGET: 13.3
+      MACOSX_DEPLOYMENT_TARGET: 13
    strategy:
      fail-fast: false
      matrix:
@ -50,7 +50,7 @@ jobs:
            architecture: x64
          - os: macos-14
            artifact-name: macOS
-            architecture: aarch64
+            architecture: x64
    name: "Build - ${{ matrix.artifact-name }}"
    runs-on: ${{ matrix.os }}
    steps:
@ -74,7 +74,7 @@ jobs:
  combine:
    name: Combine
    needs: [build-docker, build-host]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
--- a/ExampleVendorJson.json
+++ b/ExampleVendorJson.json
@ -1,7 +1,7 @@
 {
    "fileName": "ExampleVendorJson.json",
    "name": "ExampleVendorDep",
-    "version": "${version}",
+    "version": "0.0.1",
    "frcYear": "2025",
    "uuid": "Generate A Unique GUID https://guidgenerator.com/online-guid-generator.aspx and insert it here", This line is to purposely make this fail to parse
    "mavenUrls": [
@ -10,20 +10,21 @@
    "jsonUrl": "InsertSomeUrlHere",
    "javaDependencies": [
        {
-            "groupId": "${groupId}",
-            "artifactId": "${artifactId}-java",
-            "version": "${version}"
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-java",
+            "version": "0.0.1"
        }
    ],
    "jniDependencies": [
        {
-            "groupId": "${groupId}",
-            "artifactId": "${artifactId}-driver",
-            "version": "${version}",
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-driver",
+            "version": "0.0.1",
            "skipInvalidPlatforms": true,
            "isJar": false,
            "validPlatforms": [
                "windowsx86-64",
+                "windowsx86",
                "linuxarm64",
                "linuxx86-64",
                "linuxathena",
@ -34,15 +35,16 @@
    ],
    "cppDependencies": [
        {
-            "groupId": "${groupId}",
-            "artifactId": "${artifactId}-cpp",
-            "version": "${version}",
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-cpp",
+            "version": "0.0.1",
            "libName": "Vendor",
            "headerClassifier": "headers",
            "sharedLibrary": false,
            "skipInvalidPlatforms": true,
            "binaryPlatforms": [
                "windowsx86-64",
+                "windowsx86",
                "linuxarm64",
                "linuxx86-64",
                "linuxathena",
@ -51,15 +53,16 @@
            ]
        },
        {
-            "groupId": "${groupId}",
-            "artifactId": "${artifactId}-driver",
-            "version": "${version}",
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-driver",
+            "version": "0.0.1",
            "libName": "VendorDriver",
            "headerClassifier": "headers",
            "sharedLibrary": false,
            "skipInvalidPlatforms": true,
            "binaryPlatforms": [
                "windowsx86-64",
+                "windowsx86",
                "linuxarm64",
                "linuxx86-64",
                "linuxathena",
--- a/build.gradle
+++ b/build.gradle
@ -1,18 +1,13 @@
-import edu.wpi.first.toolchain.*
-
 plugins {
  id 'cpp'
  id 'java'
  id 'google-test'
-  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
-  id 'edu.wpi.first.NativeUtils' version '2025.9.0'
+  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
+  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'
 }

-// WPILib Version
-ext.wpilibVersion = "2025.+"
-
 repositories {
  mavenCentral()
 }
@ -26,55 +21,25 @@ java {
  sourceCompatibility = JavaVersion.VERSION_17
  targetCompatibility = JavaVersion.VERSION_17
 }
-var javaVersion = "17"

 // Apply C++ configuration
 apply from: 'config.gradle'

 // Apply Java configuration
 dependencies {
-    implementation "edu.wpi.first.cscore:cscore-java:$wpilibVersion"
-    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
-    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
-    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
-    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
-    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
-    implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpilibVersion"
-    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
+    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:2.15.2"
    implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
    implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
-    implementation 'edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-2'
-
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
-}
-
-// Set up java tests
-test {
-    useJUnitPlatform()
-    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
-    testLogging {
-        events "failed"
-        exceptionFormat "full"
-    }
-}
-
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64') || project.hasProperty('onlywindowsarm64') || project.hasProperty('onlylinuxsystemcore')) {
-    test.enabled = false
-}
-
-tasks.withType(JavaCompile) {
-    options.compilerArgs.add '-XDstringConcat=inline'
-    options.encoding = 'UTF-8'
-}
-
-// Setup Javadocs to link back to WPILib docs
-javadoc {
-    options {
-        links "https://docs.oracle.com/en/java/javase/$javaVersion/docs/api/", 'https://github.wpilib.org/allwpilib/docs/release/java/'
-    }
+    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-4'
 }

 // Set up exports properly
@ -92,12 +57,6 @@ nativeUtils {
  }
 }

-ext.getCurrentArch = {
-    return NativePlatforms.desktop
-}
-
-def systemArch = getCurrentArch()
-
 model {
  components {
    Vendor(NativeLibrarySpec) {
@ -151,15 +110,6 @@ model {

        binaries.all {
          lib library: 'VendorDriver', linkage: 'shared'
-
-          def arch = it.targetPlatform.name
-          if (systemArch == arch && it.buildType.name == 'debug') {
-            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
-            test.dependsOn it.tasks.install
-            test.systemProperty 'java.library.path', filePath
-            test.environment 'LD_LIBRARY_PATH', filePath
-            test.workingDir filePath
-          }
        }

        nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
@ -172,6 +122,7 @@ model {
                include '**/*.cpp'
            }
        }
+
        nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
    }
  }
@ -180,5 +131,5 @@ model {
 apply from: 'publish.gradle'

 wrapper {
-  gradleVersion '8.11'
+  gradleVersion '8.10.2'
 }
--- a/config.gradle
+++ b/config.gradle
@ -8,10 +8,10 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
    wpi {
        configureDependencies {
-            wpiVersion = wpilibVersion
-            opencvYear = "frc2025"
+            wpiVersion = "2025.+"
+            opencvYear = "frc2024"
            niLibVersion = "2025.0.0"
-            opencvVersion = "4.10.0-2"
+            opencvVersion = "4.8.0-4"
        }
    }
 }
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
--- a/publish.gradle
+++ b/publish.gradle
@ -1,12 +1,7 @@
-import org.apache.tools.ant.filters.FixCrLfFilter
-import org.apache.tools.ant.filters.ReplaceTokens
-
 apply plugin: 'maven-publish'

 ext.licenseFile = files("$rootDir/LICENSE.txt")

-def templateVendorFile = "ExampleVendorJson.json"
-
 def pubVersion = '0.0.1'

 def outputsFolder = file("$buildDir/outputs")
@ -132,32 +127,6 @@ task outputJavadocJar(type: Jar, dependsOn: javadoc) {
    from javadoc.destinationDir
 }

-// Apply template variables from the vendordep file.
-// Replaces ${VARIABLE} with VARIABLE: value in expand()
-task vendordepJson() {
-    description = 'Builds the vendordep json file.'
-    group = 'Build'
-    outputs.file("$buildDir/repos/$templateVendorFile")
-
-    copy {
-        from templateVendorFile
-        into "$buildDir/repos/"
-        expand(version: pubVersion,
-                groupId: artifactGroupId,
-                artifactId: baseArtifactId)
-    }
-}
-
-task vendordepJsonZip(type: Zip) {
-    destinationDirectory = outputsFolder
-    archiveBaseName = "vendordepJson"
-
-    from("$buildDir/repos/$templateVendorFile") {
-        into '/'
-    }
-    dependsOn vendordepJson
-}
-
 artifacts {
    archives sourcesJar
    archives javadocJar
@ -169,12 +138,10 @@ artifacts {
 addTaskToCopyAllOutputs(outputSourcesJar)
 addTaskToCopyAllOutputs(outputJavadocJar)
 addTaskToCopyAllOutputs(outputJar)
-addTaskToCopyAllOutputs(vendordepJsonZip)

 build.dependsOn outputSourcesJar
 build.dependsOn outputJavadocJar
 build.dependsOn outputJar
-build.dependsOn vendordepJsonZip

 libraryBuild.dependsOn build

@ -233,14 +200,6 @@ model {
                groupId artifactGroupId
                version pubVersion
            }
-
-            vendordep(MavenPublication) {
-                artifact vendordepJsonZip
-
-                artifactId = "${baseArtifactId}-vendordep"
-                groupId artifactGroupId
-                version pubVersion
-            }
        }
    }
 }
--- a/src/test/java/com/vendor/jni/VendorJNITest.java
+++ b/src/test/java/com/vendor/jni/VendorJNITest.java
@ -1,11 +0,0 @@
-package com.vendor.jni;
-
-import org.junit.jupiter.api.Test;
-
-public class VendorJNITest {
-  @Test
-  void jniLinkTest() {
-    // Test to verify that the JNI test link works correctly.
-    VendorJNI.initialize();
-  }
-}