Bump to WPILib 2025 Beta 1 & remove C++ protobuf (#1484)

Remove C++ protobuf support until
https://github.com/wpilibsuite/allwpilib/issues/7250 is addressed.
Developers should upgrade to wpilib vscode 2025 beta 1.

---------

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2024",
+    "projectYear": "2025",
     "teamNumber": 5
 }

photonlib-cpp-examples/poseest/build.gradle

@@ -1,9 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
-
-    id "com.dorongold.task-tree" version "2.1.0"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 repositories {
@@ -11,9 +9,10 @@ repositories {
     jcenter()
 }
 
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2024.3.2"
-wpi.versions.wpimathVersion = "2024.3.2"
+wpi.maven.useLocal = false
+wpi.maven.useDevelopment = false
+wpi.versions.wpilibVersion = "2025.1.1-beta-1"
+wpi.versions.wpimathVersion = "2025.1.1-beta-1"
 
 apply from: "${rootDir}/../shared/examples_common.gradle"
 

photonlib-cpp-examples/poseest/settings.gradle

@@ -1,13 +1,13 @@
 import org.gradle.internal.os.OperatingSystem
 
-rootProject.name = 'aimattarget'
+rootProject.name = 'poseest'
 
 pluginManagement {
     repositories {
         mavenLocal()
         jcenter()
         gradlePluginPortal()
-        String frcYear = '2024'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp

@@ -44,20 +44,22 @@ SwerveDriveSim::SwerveDriveSim(
     : SwerveDriveSim(
           frc::LinearSystem<2, 1, 2>{
               (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -driveFF.kV.to<double>() / driveFF.kA.to<double>())
+               -driveFF.GetKv().to<double>() / driveFF.GetKa().to<double>())
                   .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / driveFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / driveFF.GetKa().to<double>()},
               (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
               Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          driveFF.kS, driveMotor, driveGearing, driveWheelRadius,
+          driveFF.GetKs(), driveMotor, driveGearing, driveWheelRadius,
           frc::LinearSystem<2, 1, 2>{
               (Eigen::MatrixXd(2, 2) << 0.0, 1.0, 0.0,
-               -steerFF.kV.to<double>() / steerFF.kA.to<double>())
+               -steerFF.GetKv().to<double>() / steerFF.GetKa().to<double>())
                   .finished(),
-              Eigen::Matrix<double, 2, 1>{0.0, 1.0 / steerFF.kA.to<double>()},
+              Eigen::Matrix<double, 2, 1>{0.0,
+                                          1.0 / steerFF.GetKa().to<double>()},
               (Eigen::MatrixXd(2, 2) << 1.0, 0.0, 0.0, 1.0).finished(),
               Eigen::Matrix<double, 2, 1>{0.0, 0.0}},
-          steerFF.kS, steerMotor, steerGearing, kinematics) {}
+          steerFF.GetKs(), steerMotor, steerGearing, kinematics) {}
 
 SwerveDriveSim::SwerveDriveSim(
     const frc::LinearSystem<2, 1, 2>& drivePlant, units::volt_t driveKs,

photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp

@@ -64,12 +64,11 @@ void SwerveModule::Periodic() {
   driveMotor.SetVoltage(driveFF + drivePID);
 }
 
-void SwerveModule::SetDesiredState(const frc::SwerveModuleState& newState,
+void SwerveModule::SetDesiredState(frc::SwerveModuleState newState,
                                    bool shouldBeOpenLoop, bool steerInPlace) {
   frc::Rotation2d currentRotation = GetAbsoluteHeading();
-  frc::SwerveModuleState optimizedState =
-      frc::SwerveModuleState::Optimize(newState, currentRotation);
-  desiredState = optimizedState;
+  newState.Optimize(currentRotation);
+  desiredState = newState;
 }
 
 frc::Rotation2d SwerveModule::GetAbsoluteHeading() const {

photonlib-cpp-examples/poseest/src/main/include/Constants.h

@@ -31,21 +31,26 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/geometry/Transform3d.h>
 #include <frc/geometry/Translation2d.h>
+#include <units/acceleration.h>
+#include <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
 #include <units/length.h>
+#include <units/velocity.h>
 
 namespace constants {
 namespace Vision {
 inline constexpr std::string_view kCameraName{"YOUR CAMERA NAME"};
 inline const frc::Transform3d kRobotToCam{
     frc::Translation3d{0.5_m, 0.0_m, 0.5_m},
-    frc::Rotation3d{0_rad, 0_rad, 0_rad}};
+    frc::Rotation3d{0_rad, -30_deg, 0_rad}};
 inline const frc::AprilTagFieldLayout kTagLayout{
-    frc::LoadAprilTagLayoutField(frc::AprilTagField::k2024Crescendo)};
+    frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2024Crescendo)};
 
 inline const Eigen::Matrix<double, 3, 1> kSingleTagStdDevs{4, 4, 8};
 inline const Eigen::Matrix<double, 3, 1> kMultiTagStdDevs{0.5, 0.5, 1};
 }  // namespace Vision
 namespace Swerve {
+using namespace units;
 
 inline constexpr units::meter_t kTrackWidth{18.5_in};
 inline constexpr units::meter_t kTrackLength{18.5_in};
@@ -73,6 +78,8 @@ inline constexpr double kSteerKP = 20.0;
 inline constexpr double kSteerKI = 0.0;
 inline constexpr double kSteerKD = 0.25;
 
+using namespace units;
+
 inline const frc::SimpleMotorFeedforward<units::meters> kDriveFF{
     0.25_V, 2.5_V / 1_mps, 0.3_V / 1_mps_sq};
 

photonlib-cpp-examples/poseest/src/main/include/subsystems/GamepieceLauncher.h

@@ -58,7 +58,7 @@ class GamepieceLauncher {
   frc::LinearSystem<1, 1, 1> m_plant{frc::LinearSystemId::FlywheelSystem(
       m_gearbox, kFlywheelMomentOfInertia, 1.0)};
 
-  frc::sim::FlywheelSim launcherSim{m_plant, m_gearbox, 1.0};
+  frc::sim::FlywheelSim launcherSim{m_plant, m_gearbox};
 
   void simulationInit();  // Method to initialize simulation components
 };

photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveModule.h

@@ -38,8 +38,8 @@ class SwerveModule {
  public:
   explicit SwerveModule(const constants::Swerve::ModuleConstants& consts);
   void Periodic();
-  void SetDesiredState(const frc::SwerveModuleState& newState,
-                       bool shouldBeOpenLoop, bool steerInPlace);
+  void SetDesiredState(frc::SwerveModuleState newState, bool shouldBeOpenLoop,
+                       bool steerInPlace);
   frc::Rotation2d GetAbsoluteHeading() const;
   frc::SwerveModuleState GetState() const;
   frc::SwerveModulePosition GetPosition() const;