Whattime refactor (accidentally includes driver control changes as well)

.vscode/launch.json

@@ -9,13 +9,35 @@
       "name": "Main",
       "request": "launch",
       "mainClass": "frc.robot.Main",
-      "projectName": "roomba"
+      "projectName": "roomba",
+      "env": {
+        "GLFW_PLATFORM": "x11",
+        "LIBGL_ALWAYS_SOFTWARE": "1",
+        "LIBGL_DRI3_DISABLE": "1",
+        "__GLX_VENDOR_LIBRARY_NAME": "mesa",
+        "MESA_LOADER_DRIVER_OVERRIDE": "llvmpipe",
+        "GALLIUM_DRIVER": "llvmpipe",
+        "HALSIM_EXTENSIONS": "${workspaceFolder}/build/jni/release/libhalsim_gui.so",
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
     },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true
+      "desktop": true,
+      "env": {
+        "GLFW_PLATFORM": "x11",
+        "LIBGL_ALWAYS_SOFTWARE": "1",
+        "LIBGL_DRI3_DISABLE": "1",
+        "__GLX_VENDOR_LIBRARY_NAME": "mesa",
+        "MESA_LOADER_DRIVER_OVERRIDE": "llvmpipe",
+        "GALLIUM_DRIVER": "llvmpipe",
+        "HALSIM_EXTENSIONS": "${workspaceFolder}/build/jni/release/libhalsim_gui.so",
+        "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
+        "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+      }
     },
     {
       "type": "wpilib",

.vscode/settings.json

@@ -27,6 +27,8 @@
   ],
   "java.test.defaultConfig": "WPIlibUnitTests",
   "java.import.gradle.annotationProcessing.enabled": false,
+  "wpilib.skipSelectSimulateExtension": true,
+  "wpilib.selectDefaultSimulateExtension": true,
   "java.completion.favoriteStaticMembers": [
     "org.junit.Assert.*",
     "org.junit.Assume.*",
@@ -57,5 +59,6 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
-  "java.dependency.enableDependencyCheckup": false
+  "java.dependency.enableDependencyCheckup": false,
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx4G -Xms100m -Xlog:disable"
 }

README.md

@@ -30,3 +30,13 @@ git fetch --prune && git branch -vv | grep ': gone]' | awk '{print $1}' | xargs
 ![GitHub Release](https://img.shields.io/github/v/release/robohornets/WhatTime)
 
 [https://github.com/robohornets/WhatTime](https://github.com/robohornets/WhatTime)
+
+# QuestNav
+![GitHub Release](https://img.shields.io/github/v/release/QuestNav/QuestNav)
+
+[https://github.com/QuestNav/QuestNav/releases](https://github.com/QuestNav/QuestNav/releases)
+
+# AdvantageKit
+![GitHub Release](https://img.shields.io/github/v/release/Mechanical-Advantage/AdvantageKit)
+
+[https://github.com/Mechanical-Advantage/AdvantageKit/releases](https://github.com/Mechanical-Advantage/AdvantageKit/releases)

build.gradle

@@ -88,6 +88,106 @@ test {
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
+def simSoftwareGl = (project.findProperty("simSoftwareGl") ?: System.getenv("SIM_SOFTWARE_GL"))?.toString()?.toBoolean()
+def simGlxVendor = (project.findProperty("simGlxVendor") ?: System.getenv("SIM_GLX_VENDOR"))?.toString()
+def waylandSession = System.getenv("WAYLAND_DISPLAY") != null
+
+tasks.withType(JavaExec).configureEach {
+    if (!name.startsWith("simulate")) {
+        return
+    }
+
+    doFirst {
+        // Hyprland/Wayland sessions are more reliable when GLFW targets Xwayland.
+        if (waylandSession && !environment.containsKey("GLFW_PLATFORM")) {
+            environment("GLFW_PLATFORM", "x11")
+        }
+
+        if (simSoftwareGl) {
+            environment("LIBGL_ALWAYS_SOFTWARE", "1")
+        }
+
+        environment("LIBGL_DRI3_DISABLE", "1")
+        environment("__GLX_VENDOR_LIBRARY_NAME", "mesa")
+        environment("MESA_LOADER_DRIVER_OVERRIDE", "llvmpipe")
+        environment("GALLIUM_DRIVER", "llvmpipe")
+
+        if (simGlxVendor) {
+            environment("__GLX_VENDOR_LIBRARY_NAME", simGlxVendor)
+        }
+
+        // Remove empty path entries (e.g. trailing ':') that can break extension loading.
+        def rawExtensions = (environment["HALSIM_EXTENSIONS"] ?: System.getenv("HALSIM_EXTENSIONS") ?: "").toString()
+        def cleanedExtensions = rawExtensions.split(":").findAll { !it.trim().isEmpty() }.join(":")
+        if (rawExtensions != cleanedExtensions) {
+            environment("HALSIM_EXTENSIONS", cleanedExtensions)
+        }
+    }
+}
+
+def patchWpilibJavaSimJson = { File jsonFile ->
+    if (!jsonFile.exists()) {
+        return
+    }
+
+    def parsed = new groovy.json.JsonSlurper().parseText(jsonFile.text)
+    if (!(parsed instanceof List)) {
+        return
+    }
+
+    parsed.each { entry ->
+        if (!(entry instanceof Map)) {
+            return
+        }
+
+        if (!(entry.environment instanceof Map)) {
+            entry.environment = [:]
+        }
+
+        // Force X11-backed GLFW on Hyprland/Wayland.
+        if (waylandSession) {
+            entry.environment["GLFW_PLATFORM"] = "x11"
+        }
+
+        // Software rendering avoids broken GLX context creation on this Hyprland setup.
+        entry.environment["LIBGL_ALWAYS_SOFTWARE"] = "1"
+        entry.environment["LIBGL_DRI3_DISABLE"] = "1"
+        entry.environment["__GLX_VENDOR_LIBRARY_NAME"] = "mesa"
+        entry.environment["MESA_LOADER_DRIVER_OVERRIDE"] = "llvmpipe"
+        entry.environment["GALLIUM_DRIVER"] = "llvmpipe"
+
+        if (simGlxVendor) {
+            entry.environment["__GLX_VENDOR_LIBRARY_NAME"] = simGlxVendor
+        }
+
+        def enabledExtensions = []
+        if (entry.extensions instanceof List) {
+            enabledExtensions = entry.extensions
+                .findAll { it instanceof Map && it.defaultEnabled && it.libName }
+                .collect { it.libName.toString() }
+        }
+
+        if (!enabledExtensions.isEmpty()) {
+            // Override WPILib extension launcher value to avoid trailing path delimiters.
+            entry.environment["HALSIM_EXTENSIONS"] = enabledExtensions.join(":")
+        }
+    }
+
+    jsonFile.text = groovy.json.JsonOutput.prettyPrint(groovy.json.JsonOutput.toJson(parsed)) + System.lineSeparator()
+}
+
+tasks.matching { it.name == "simulateExternalJavaRelease" }.configureEach {
+    doLast {
+        patchWpilibJavaSimJson(file("$buildDir/sim/release_java.json"))
+    }
+}
+
+tasks.matching { it.name == "simulateExternalJavaDebug" }.configureEach {
+    doLast {
+        patchWpilibJavaSimJson(file("$buildDir/sim/debug_java.json"))
+    }
+}
+
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib
 // knows where to look for our Robot Class.
@@ -119,4 +219,4 @@ gversion {
     dateFormat   = "yyyy-MM-dd HH:mm:ss z"
     timeZone     = "America/Chicago"
     indent       = "    "
-}
+}

simgui-ds.json

@@ -102,5 +102,6 @@
     {
       "guid": "Keyboard2"
     }
-  ]
+  ],
+  "zeroDisconnectedJoysticks": false
 }

src/main/deploy/pathplanner/autos/Neutral Auto 1.auto

@@ -0,0 +1,62 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "IntakeDown"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Neutral Auto 1 - Part 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Neutral Auto 1 - Part 2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": null
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ShootAutoFuel"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "AgitateAutoFuel"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "RunAllFeederIn"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Neutral Auto 2.auto

@@ -0,0 +1,12 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": []
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}