[DRAFT] Add async command framework using Java 21 language features

.tool-versions

@@ -0,0 +1 @@
+java openjdk-21.0.2

build.gradle

@@ -22,7 +22,7 @@ plugins {
     id 'visual-studio'
     id 'net.ltgt.errorprone' version '3.1.0' apply false
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
-    id 'com.diffplug.spotless' version '6.20.0' apply false
+    id 'com.diffplug.spotless' version '6.25.0' apply false
     id 'com.github.spotbugs' version '6.0.2' apply false
     id 'com.google.protobuf' version '0.9.3' apply false
 }
@@ -114,8 +114,8 @@ subprojects {
 
     plugins.withType(JavaPlugin) {
         java {
-            sourceCompatibility = 11
-            targetCompatibility = 11
+            sourceCompatibility = 21
+            targetCompatibility = 21
         }
     }
 

cameraserver/src/main/java/edu/wpi/first/vision/VisionRunner.java

@@ -73,7 +73,7 @@ public VisionRunner(VideoSource videoSource, P pipeline, Listener<? super P> lis
   public void runOnce() {
     Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
 
-    if (id != null && Thread.currentThread().getId() == id) {
+    if (id != null && Thread.currentThread().threadId() == id) {
       throw new IllegalStateException(
           "VisionRunner.runOnce() cannot be called from the main robot thread");
     }
@@ -106,7 +106,7 @@ private void runOnceInternal() {
   public void runForever() {
     Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
 
-    if (id != null && Thread.currentThread().getId() == id) {
+    if (id != null && Thread.currentThread().threadId() == id) {
       throw new IllegalStateException(
           "VisionRunner.runForever() cannot be called from the main robot thread");
     }

commandsv3/CMakeLists.txt

@@ -0,0 +1,70 @@
+project(commandsv3)
+
+include(SubDirList)
+include(CompileWarnings)
+include(AddTest)
+
+if(WITH_JAVA)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    add_jar(
+        commandsv3_jar
+        ${JAVA_SOURCES}
+        INCLUDE_JARS
+            hal_jar
+            ntcore_jar
+            cscore_jar
+            cameraserver_jar
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            wpilibj_jar
+        OUTPUT_NAME commandsv3
+    )
+
+    install_jar(commandsv3_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(
+        TARGETS commandsv3_jar
+        FILE commandsv3_jar.cmake
+        DESTINATION share/commandsv3
+    )
+endif()
+
+if(WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB commandsv3_SOURCES src/main/java/edu/wpi/first/wpilibj/commandsv3/*.java)
+    file(
+        GLOB commandsv3_BUTTON_SOURCES
+        src/main/java/edu/wpi/first/wpilibj2/command/button*.java
+    )
+    add_jar(
+        commandsv3_src_jar
+        RESOURCES
+        NAMESPACE "edu/wpi/first/wpilibj/commandsv3" ${commandsv3_SOURCES}
+        NAMESPACE "edu/wpi/first/wpilibj/commandsv3/button" ${commandsv3_BUTTON_SOURCES}
+        OUTPUT_NAME commandsv3-sources
+    )
+
+    get_property(commandsv3_SRC_JAR_FILE TARGET commandsv3_src_jar PROPERTY JAR_FILE)
+    install(FILES ${commandsv3_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET commandsv3_src_jar PROPERTY FOLDER "java")
+endif()
+
+install(TARGETS commandsv3 EXPORT commandsv3)
+export(TARGETS commandsv3 FILE commandsv3.cmake NAMESPACE commandsv3::)
+
+configure_file(
+    commandsv3-config.cmake.in
+    ${WPILIB_BINARY_DIR}/commandsv3-config.cmake
+)
+install(
+    FILES ${WPILIB_BINARY_DIR}/commandsv3-config.cmake
+    DESTINATION share/commandsv3
+)
+install(EXPORT commandsv3 DESTINATION share/commandsv3)
+

commandsv3/CommandsV3.json

@@ -0,0 +1,18 @@
+{
+  "fileName": "CommandsV3.json",
+  "name": "Commands v3",
+  "version": "1.0.0",
+  "uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
+  "frcYear": "2024",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.commandsv3",
+      "artifactId": "commandsv3-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": []
+}

commandsv3/build.gradle

@@ -0,0 +1,47 @@
+ext {
+    useJava = true
+    useCpp = false
+    baseId = 'commandsv3'
+    groupId = 'edu.wpi.first.wpilibj'
+
+    nativeName = 'commandsv3'
+    devMain = ''
+}
+
+apply from: "${rootDir}/shared/java/javacommon.gradle"
+
+evaluationDependsOn(':wpiutil')
+evaluationDependsOn(':ntcore')
+evaluationDependsOn(':hal')
+evaluationDependsOn(':wpimath')
+evaluationDependsOn(':wpilibj')
+
+dependencies {
+    implementation project(':wpiutil')
+    implementation project(':wpinet')
+    implementation project(':ntcore')
+    implementation project(':hal')
+    implementation project(':wpimath')
+    implementation project(':wpilibj')
+    testImplementation 'org.mockito:mockito-core:4.1.0'
+}
+
+tasks.withType(Javadoc) {
+    options.addBooleanOption("-enable-preview", true)
+    options.addStringOption("-release", "21")
+}
+
+test {
+    testLogging {
+        outputs.upToDateWhen {false}
+        showStandardStreams = true
+    }
+    doFirst {
+        jvmArgs = [
+            '--add-opens',
+            'java.base/jdk.internal.vm=ALL-UNNAMED',
+            '--add-opens',
+            'java.base/java.lang=ALL-UNNAMED',
+        ]
+    }
+}