FRC-Athena

Vendordep URLs

Athena vendordeps (install these from WPILib vendordep manager):

• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-Core.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-CTRE.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-REV.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-PhotonVision.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-Limelight.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-HeliOS.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-Pathplanner.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-Choreo.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/FRC6390-Athena-Studica.json
• https://raw.githubusercontent.com/FRC-6390/FRC-Athena/refs/heads/main/vendordeps/Studica-2026.0.0.json

External vendordeps required by Athena modules:

• https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json
• https://software-metadata.revrobotics.com/REVLib-2026.json
• https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json
• https://raw.githubusercontent.com/Prometheus-Dynamics/PDLib/refs/heads/main/vendordeps/PDLib-2026.json
• https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json
• https://choreo.autos/lib/ChoreoLib2026.json

First-Time Toolchain Setup (Docker + Rust)

This section is for Athena maintainers and contributors who build/publish ARCP JNI natives (athena-arcp-java).

If you only consume released Athena vendordeps in a robot project, you can skip this section.

1) Install Docker

Recommended path for cross-target JNI bundles is Dockerized cross-build.

• Linux: install Docker Engine from official docs for your distro: https://docs.docker.com/engine/install/
• macOS/Windows: install Docker Desktop: https://docs.docker.com/desktop/

Linux post-install (so docker runs without sudo):

sudo usermod -aG docker $USER
newgrp docker

Verify:

docker --version
docker run --rm hello-world
docker info

Windows troubleshooting:

• If you see failed to connect to Docker API at npipe:////./pipe/..., Docker Desktop is installed but the engine is not running/reachable.
• Start Docker Desktop and wait until it reports "Engine running", then retry.
• ARCP host mode on supported Linux/Windows hosts now uses Docker by default.
• If you need host-native ARCP JNI build, disable Docker cross-build:
  • ./gradlew :athena-arcp-java:prepareArcpNativeResources -ParcpNativeMode=host -ParcpUseDockerCross=false

2) Install Rust (rustup, cargo, rustc)

Install Rust via rustup:

• macOS/Linux:

curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh

• Windows (PowerShell):

winget install Rustlang.Rustup

Restart terminal, then verify:

rustup --version
rustc --version
cargo --version
rustup default stable

3) Install Required Rust Targets

ARCP vendor JNI matrix uses these targets:

• armv7-unknown-linux-gnueabihf
• x86_64-unknown-linux-gnu
• aarch64-unknown-linux-gnu
• x86_64-pc-windows-gnu

Install all required targets:

rustup target add \
  armv7-unknown-linux-gnueabihf \
  x86_64-unknown-linux-gnu \
  aarch64-unknown-linux-gnu \
  x86_64-pc-windows-gnu

Verify installed targets:

rustup target list --installed

4) Build Path You Should Use

Recommended (Docker cross-build):

./gradlew :athena-arcp-java:prepareArcpNativeResources -ParcpNativeMode=vendor -ParcpUseDockerCross=true

Native cross-build (without Docker) requires additional linker toolchains:

• armv7-unknown-linux-gnueabihf -> arm-linux-gnueabihf-gcc
• aarch64-unknown-linux-gnu -> aarch64-linux-gnu-gcc
• x86_64-pc-windows-gnu -> x86_64-w64-mingw32-gcc (for direct GNU Windows target builds)

Windows host note: without Docker cross-build, the Windows JNI target falls back to x86_64-pc-windows-msvc and still stages to native/windows-x86_64/arcp_jni.dll.

Host-mode build (Docker by default on supported Linux/Windows hosts):

./gradlew :athena-arcp-java:prepareArcpNativeResources -ParcpNativeMode=host

Force host-native build (no Docker):

./gradlew :athena-arcp-java:prepareArcpNativeResources -ParcpNativeMode=host -ParcpUseDockerCross=false

Blank WPILib Project Setup (Required Gradle Changes)

Minimum required for most teams:

Full guide:

• docs/core/wpilib-project-setup.md

• Install Athena vendordep(s).

• Keep WPILib executable/fat-jar wiring for rio deploy (especially if you edit jar):

def ROBOT_MAIN_CLASS = "frc.robot.Main"
def deployArtifact = deploy.targets.roborio.artifacts.frcJava

jar {
    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
    from sourceSets.main.allSource
    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
    duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

deployArtifact.jarTask = jar
wpi.java.configureExecutableTasks(jar)

Only if using Athena State DSL/compiler-plugin features:

• add Athena maven to pluginManagement.repositories in settings.gradle
• add athena-plugin classpath + apply plugin: "ca.frc6390.athena.plugin" in build.gradle

Build Commands

Build changed Athena modules and downstream dependents (default build behavior):

./gradlew build

Run the changed-module task directly:

./gradlew buildChangedModules

Build changed modules from a specific git base:

./gradlew buildChangedModules -PchangedSince=origin/main

Force build all Athena modules:

./gradlew buildAllModules

Force all modules through root build:

./gradlew build -PbuildAllModules=true

Build each module directly (per dependency module):

./gradlew :athena-core:build
./gradlew :athena-ctre:build
./gradlew :athena-rev:build
./gradlew :athena-photonvision:build
./gradlew :athena-limelight:build
./gradlew :athena-helios:build
./gradlew :athena-pathplanner:build
./gradlew :athena-choreo:build
./gradlew :athena-studica:build

Publish all modules locally to WPILib:

./gradlew publish -PpublishMode=local

Publish all modules online:

./gradlew publish -PpublishMode=online

Publish a single module locally:

./gradlew :athena-core:publishToMavenLocal
./gradlew :athena-ctre:publishToMavenLocal
./gradlew :athena-rev:publishToMavenLocal
./gradlew :athena-photonvision:publishToMavenLocal
./gradlew :athena-limelight:publishToMavenLocal
./gradlew :athena-helios:publishToMavenLocal
./gradlew :athena-pathplanner:publishToMavenLocal
./gradlew :athena-choreo:publishToMavenLocal
./gradlew :athena-studica:publishToMavenLocal

Set explicit version/FRC year during build or publish:

./gradlew build -Pversion="2026.1.99" -PfrcYear="2026"
./gradlew publish -PpublishMode=local -Pversion="2026.1.99" -PfrcYear="2026"

Online publish credentials:

export MAVEN_USERNAME=<username>
export MAVEN_PASSWORD=<token-or-password>
./gradlew publish -PpublishMode=online