.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:

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}",
+            "groupId": "com.vendor.frc",
-            "artifactId": "${artifactId}-java",
+            "artifactId": "Vendor-java",
-            "version": "${version}"
+            "version": "0.0.1"
         }
     ],
     "jniDependencies": [
         {
-            "groupId": "${groupId}",
+            "groupId": "com.vendor.frc",
-            "artifactId": "${artifactId}-driver",
+            "artifactId": "Vendor-driver",
-            "version": "${version}",
+            "version": "0.0.1",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
+                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",
@@ -34,15 +35,16 @@
     ],
     "cppDependencies": [
         {
-            "groupId": "${groupId}",
+            "groupId": "com.vendor.frc",
-            "artifactId": "${artifactId}-cpp",
+            "artifactId": "Vendor-cpp",
-            "version": "${version}",
+            "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": "${groupId}",
+            "groupId": "com.vendor.frc",
-            "artifactId": "${artifactId}-driver",
+            "artifactId": "Vendor-driver",
-            "version": "${version}",
+            "version": "0.0.1",
             "libName": "VendorDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
             "skipInvalidPlatforms": true,
             "binaryPlatforms": [
                 "windowsx86-64",
+                "windowsx86",
                 "linuxarm64",
                 "linuxx86-64",
                 "linuxathena",

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.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-  id 'edu.wpi.first.NativeUtils' version '2025.9.0'
+  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'
 }
 
-// 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:$wpilibVersion"
+    implementation 'edu.wpi.first.cscore:cscore-java:2025.+'
-    implementation "edu.wpi.first.cameraserver:cameraserver-java:$wpilibVersion"
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2025.+'
-    implementation "edu.wpi.first.ntcore:ntcore-java:$wpilibVersion"
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2025.+'
-    implementation "edu.wpi.first.wpilibj:wpilibj-java:$wpilibVersion"
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2025.+'
-    implementation "edu.wpi.first.wpiutil:wpiutil-java:$wpilibVersion"
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2025.+'
-    implementation "edu.wpi.first.wpimath:wpimath-java:$wpilibVersion"
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2025.+'
-    implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpilibVersion"
+    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
-    implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
+    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'
+    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-4'
-
-    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/'
-    }
 }
 
 // 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'
 }

config.gradle

@@ -8,10 +8,10 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = wpilibVersion
+            wpiVersion = "2025.+"
-            opencvYear = "frc2025"
+            opencvYear = "frc2024"
             niLibVersion = "2025.0.0"
-            opencvVersion = "4.10.0-2"
+            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-8.11-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

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
-            }
         }
     }
 }

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();
-  }
-}