Downgrade to 2024 WPILib (#747)

.github/workflows/build-pplib-release.yaml

@@ -63,9 +63,9 @@ jobs:
           - os: windows-2022
             artifact-name: PPLib-Win64
             os-name: windows
-          - os: macos-14
-            artifact-name: PPLib-macOS
-            os-name: macos
+          # - os: macos-14
+          #   artifact-name: PPLib-macOS
+          #   os-name: macos
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:

.github/workflows/pplib-ci.yml

@@ -160,16 +160,18 @@ jobs:
           path: pathplannerlib/build/allOutputs
 
   build-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-2022
             artifact-name: PPLib-Win64
             os-name: windows
-          - os: macos-14
-            artifact-name: PPLib-macOS
-            os-name: macos
+          # - os: macos-14
+          #   artifact-name: PPLib-macOS
+          #   os-name: macos
     name: "[PPLib] Build - ${{ matrix.artifact-name }}"
     needs: [formatting, test]
     runs-on: ${{ matrix.os }}

pathplannerlib/build.gradle

@@ -3,7 +3,7 @@ plugins {
     id 'java'
     id 'google-test'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-    id 'edu.wpi.first.NativeUtils' version '2025.1.0'
+    id 'edu.wpi.first.NativeUtils' version '2024.7.2'
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode' version '2.1.0'
     id 'com.diffplug.spotless' version '6.11.0'
@@ -27,20 +27,20 @@ apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    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.wpilibNewCommands:wpilibNewCommands-java:2025.+'
-    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2025.+'
-    implementation 'edu.wpi.first.hal:hal-java:2025.+'
+    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.wpilibNewCommands:wpilibNewCommands-java:2024.+'
+    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2024.+'
+    implementation 'edu.wpi.first.hal:hal-java:2024.+'
     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.frc2024.opencv:opencv-java:4.8.0-4'
+    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'
 
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.9.0'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.9.0'

pathplannerlib/config.gradle

@@ -8,11 +8,11 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2025.+"
+            wpiVersion = "2024.+"
             opencvYear = "frc2024"
             googleTestYear = "frc2024"
             niLibVersion = "2024.2.1"
-            opencvVersion = "4.8.0-4"
+            opencvVersion = "4.8.0-2"
             googleTestVersion = "1.14.0-1"
         }
     }

pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathCommand.java

@@ -83,7 +83,7 @@ public FollowPathCommand(
       throw new IllegalArgumentException(
           "Events that are triggered during path following cannot require the drive subsystem");
     }
-    addRequirements(eventReqs);
+    addRequirements(eventReqs.toArray(new Subsystem[0]));
 
     this.path = this.originalPath;
     // Ensure the ideal trajectory is generated
@@ -207,8 +207,8 @@ public static Command warmupCommand() {
         new PathPlannerPath(
             bezierPoints,
             new PathConstraints(4.0, 4.0, 4.0, 4.0),
-            new IdealStartingState(0.0, Rotation2d.kZero),
-            new GoalEndState(0.0, Rotation2d.kCCW_90deg));
+            new IdealStartingState(0.0, new Rotation2d()),
+            new GoalEndState(0.0, Rotation2d.fromDegrees(90)));
 
     return new FollowPathCommand(
             path,

pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectory.java

@@ -201,7 +201,9 @@ private static void generateStates(
         state.pose =
             new Pose2d(
                 state.pose.getTranslation(),
-                path.isReversed() ? (state.heading.plus(Rotation2d.k180deg)) : state.heading);
+                path.isReversed()
+                    ? (state.heading.plus(Rotation2d.fromDegrees(180)))
+                    : state.heading);
       }
 
       if (i != 0) {
@@ -412,7 +414,7 @@ private static void reverseAccelPass(
 
         Translation2d forceVec =
             new Translation2d(
-                forceAtCarpet, state.moduleStates[m].fieldAngle.plus(Rotation2d.k180deg));
+                forceAtCarpet, state.moduleStates[m].fieldAngle.plus(Rotation2d.fromDegrees(180)));
 
         // Add the module force vector to the robot force vector
         linearForceVec = linearForceVec.plus(forceVec);

pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/PathPlannerTrajectoryState.java

@@ -16,19 +16,19 @@ public class PathPlannerTrajectoryState implements Interpolatable<PathPlannerTra
   /** Field-relative chassis speeds at this state */
   public ChassisSpeeds fieldSpeeds = new ChassisSpeeds();
   /** Field-relative robot pose at this state */
-  public Pose2d pose = Pose2d.kZero;
+  public Pose2d pose = new Pose2d();
   /** The linear velocity at this state in m/s */
   public double linearVelocity = 0.0;
   /** The torque current feedforward for each module's drive motor, in Amps. */
   public double[] driveMotorTorqueCurrent;
 
   // Values used only during generation, these will not be interpolated
   /** The field-relative heading, or direction of travel, at this state */
-  protected Rotation2d heading = Rotation2d.kZero;
+  protected Rotation2d heading = new Rotation2d();
   /** The distance between this state and the previous state */
   protected double deltaPos = 0.0;
   /** The difference in rotation between this state and the previous state */
-  protected Rotation2d deltaRot = Rotation2d.kZero;
+  protected Rotation2d deltaRot = new Rotation2d();
   /**
    * The {@link com.pathplanner.lib.trajectory.SwerveModuleTrajectoryState} states for this state
    */
@@ -85,11 +85,12 @@ public PathPlannerTrajectoryState reverse() {
     reversed.timeSeconds = timeSeconds;
     Translation2d reversedSpeeds =
         new Translation2d(fieldSpeeds.vxMetersPerSecond, fieldSpeeds.vyMetersPerSecond)
-            .rotateBy(Rotation2d.k180deg);
+            .rotateBy(Rotation2d.fromDegrees(180));
     reversed.fieldSpeeds =
         new ChassisSpeeds(
             reversedSpeeds.getX(), reversedSpeeds.getY(), fieldSpeeds.omegaRadiansPerSecond);
-    reversed.pose = new Pose2d(pose.getTranslation(), pose.getRotation().plus(Rotation2d.k180deg));
+    reversed.pose =
+        new Pose2d(pose.getTranslation(), pose.getRotation().plus(Rotation2d.fromDegrees(180)));
     reversed.linearVelocity = -linearVelocity;
     reversed.driveMotorTorqueCurrent = new double[driveMotorTorqueCurrent.length];
     for (int m = 0; m < driveMotorTorqueCurrent.length; m++) {

pathplannerlib/src/main/java/com/pathplanner/lib/trajectory/SwerveModuleTrajectoryState.java

@@ -7,9 +7,9 @@
 /** Extension of a SwerveModuleState to include its field-relative position and angle */
 public class SwerveModuleTrajectoryState extends SwerveModuleState {
   /** Field relative angle of the swerve module */
-  protected Rotation2d fieldAngle = Rotation2d.kZero;
+  protected Rotation2d fieldAngle = new Rotation2d();
   /** Position of this module on the field */
-  protected Translation2d fieldPos = Translation2d.kZero;
+  protected Translation2d fieldPos = new Translation2d();
   /** Difference in module position between this state and the previous state */
   protected double deltaPos = 0.0;
 }

pathplannerlib/src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp

@@ -19,13 +19,14 @@ PathPlannerAuto::PathPlannerAuto(std::string autoName) {
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/pathplanner/autos/" + autoName + ".auto";
 
-	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath);
+	std::error_code error_code;
+	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (!fileBuffer) {
+	if (!fileBuffer || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+	wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 	initFromJson(json);
 
 	AddRequirements(m_autoCommand->GetRequirements());
@@ -40,13 +41,14 @@ std::vector<std::shared_ptr<PathPlannerPath>> PathPlannerAuto::getPathGroupFromA
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/pathplanner/autos/" + autoName + ".auto";
 
-	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath);
+	std::error_code error_code;
+	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (!fileBuffer) {
+	if (!fileBuffer || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+	wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 	bool choreoAuto = json.contains("choreoAuto")
 			&& json.at("choreoAuto").get<bool>();
 

pathplannerlib/src/main/native/cpp/pathplanner/lib/config/RobotConfig.cpp

@@ -47,14 +47,15 @@ RobotConfig RobotConfig::fromGUISettings() {
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/pathplanner/settings.json";
 
-	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath);
+	std::error_code error_code;
+	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (!fileBuffer) {
+	if (!fileBuffer || error_code) {
 		throw FRC_MakeError(frc::err::Error,
 				"PathPlanner settings file could not be read");
 	}
 
-	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+	wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 
 	bool isHolonomic = json.at("holonomicMode").get<bool>();
 	units::kilogram_t mass { json.at("robotMass").get<double>() };

pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp

@@ -130,13 +130,14 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::fromPathFile(
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/pathplanner/paths/" + pathName + ".path";
 
-	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath);
+	std::error_code error_code;
+	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (!fileBuffer) {
+	if (!fileBuffer || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+	wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 
 	std::shared_ptr < PathPlannerPath > path = PathPlannerPath::fromJson(json);
 	PPLibTelemetry::registerHotReloadPath(pathName, path);
@@ -155,13 +156,14 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::fromChoreoTrajectory(
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/choreo/" + trajectoryName + ".traj";
 
-	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath);
+	std::error_code error_code;
+	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (!fileBuffer) {
+	if (!fileBuffer || error_code) {
 		throw std::runtime_error("Cannot open file: " + filePath);
 	}
 
-	wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+	wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 
 	std::vector < PathPlannerTrajectoryState > trajStates;
 	for (wpi::json::const_reference s : json.at("samples")) {

pathplannerlib/src/main/native/cpp/pathplanner/lib/pathfinding/LocalADStar.cpp

@@ -26,12 +26,12 @@ LocalADStar::LocalADStar() : fieldLength(16.54), fieldWidth(8.02), nodeSize(
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/pathplanner/navgrid.json";
 
-	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath);
+	std::error_code error_code;
+	auto fileBuffer = wpi::MemoryBuffer::GetFile(filePath, error_code);
 
-	if (fileBuffer) {
+	if (fileBuffer && !error_code) {
 		try {
-			wpi::json json = wpi::json::parse(
-					fileBuffer.value()->GetCharBuffer());
+			wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
 
 			nodeSize = json.at("nodeSizeMeters").get<double>();
 			wpi::json::const_reference grid = json.at("grid");

pathplannerlib/vendordeps/WPILibNewCommands.json

@@ -1,7 +1,7 @@
 {
     "fileName": "WPILibNewCommands.json",
     "name": "WPILib-New-Commands",
-    "version": "2025.+",
+    "version": "2024.+",
     "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
     "mavenUrls": [],
     "jsonUrl": "",
@@ -17,7 +17,7 @@
         {
             "groupId": "edu.wpi.first.wpilibNewCommands",
             "artifactId": "wpilibNewCommands-cpp",
-            "version": "2025.+",
+            "version": "2024.+",
             "libName": "wpilibNewCommands",
             "headerClassifier": "headers",
             "sourcesClassifier": "sources",