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New template-syncing Action
 new file: .github/workflows/create-dependabot-labels.yaml modified: .github/workflows/sync-template-updates.yaml deleted: .github/workflows/template-sync.yml modified: src/main/java/frc/robot/generated/TunerConstants.java
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‎.github/workflows/create-dependabot-labels.yaml‎

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name: "Ensure Dependabot Labels Exist"
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on:
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push:
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branches: [main]
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paths:
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- '.github/dependabot.yml'
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workflow_dispatch:
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jobs:
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create-labels:
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runs-on: ubuntu-latest
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permissions:
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issues: write # Needed to create labels via API
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steps:
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- name: Create labels for Dependabot PRs
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uses: actions/github-script@v7
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with:
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script: |
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const labels = [
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{ name: "github_actions", color: "BFFFD1", description: "Updates to GitHub Actions workflows" },
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{ name: "gradle dependencies", color: "02303A", description: "Gradle dependency updates" },
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];
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for (const label of labels) {
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try {
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await github.rest.issues.getLabel({
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owner: context.repo.owner,
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repo: context.repo.repo,
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name: label.name,
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});
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core.info(`✅ Label '${label.name}' already exists.`);
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} catch (error) {
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if (error.status === 404) {
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await github.rest.issues.createLabel({
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owner: context.repo.owner,
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repo: context.repo.repo,
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name: label.name,
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color: label.color,
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description: label.description,
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});
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core.info(`🎨 Created label '${label.name}'.`);
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} else {
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throw error;
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}
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}
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}

‎.github/workflows/sync-template-updates.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -1,8 +1,10 @@
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name: Sync Template Updates
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name: "Sync with Az-RBSI Template"
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on:
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# cronjob trigger
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schedule:
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- cron: '0 0 * * *' # Runs daily at midnight UTC
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- cron: "30 04 * * 1"
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# manual trigger
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workflow_dispatch:
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permissions:
@@ -12,13 +14,21 @@ permissions:
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jobs:
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sync-template:
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runs-on: ubuntu-latest
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env:
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GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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steps:
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# -------------------------------
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# Step 1: Checkout repository
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# -------------------------------
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- name: Checkout repository
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uses: actions/checkout@v5
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with:
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fetch-depth: 0
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fetch-depth: 0 # Full history needed for cherry-picking
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# -------------------------------
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# Step 2: Read template origin info
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# -------------------------------
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- name: Read template origin
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id: template
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run: |
@@ -28,68 +38,178 @@ jobs:
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exit 0
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fi
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template_repo=$(sed -n 's/^Template: //p' TEMPLATE_ORIGIN.txt)
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template_branch=$(sed -n 's/^Template Branch: //p' TEMPLATE_ORIGIN.txt)
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template_commit=$(sed -n 's/^Template Commit: //p' TEMPLATE_ORIGIN.txt)
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template_repo=$(sed -n 's/^Template: //p' TEMPLATE_ORIGIN.txt | tr -d '[:space:]')
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last_applied_commit=$(sed -n 's/^Template Commit: //p' TEMPLATE_ORIGIN.txt | tr -d '[:space:]')
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echo "Template repo: $template_repo"
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echo "Template branch: $template_branch"
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echo "Template commit: $template_commit"
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# Skip if placeholder values
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if [ "$template_repo" = "none" ] || [ "$template_branch" = "none" ] || [ "$template_commit" = "none" ]; then
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echo "Repository was not created from a template. Skipping sync."
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if [ "$template_repo" = "none" ] || [ "$last_applied_commit" = "none" ]; then
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echo "Repository is not from a template. Skipping sync."
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echo "skip_sync=true" >> $GITHUB_OUTPUT
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exit 0
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fi
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# Get default branch of template repo dynamically
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template_branch=$(gh repo view "$template_repo" --json defaultBranchRef --jq '.defaultBranchRef.name')
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echo "skip_sync=false" >> $GITHUB_OUTPUT
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echo "template_repo=$template_repo" >> $GITHUB_OUTPUT
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echo "template_branch=$template_branch" >> $GITHUB_OUTPUT
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echo "template_commit=$template_commit" >> $GITHUB_OUTPUT
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echo "last_applied_commit=$last_applied_commit" >> $GITHUB_OUTPUT
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# -------------------------------
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# Step 3: Install GitHub CLI and jq
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# -------------------------------
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- name: Install GitHub CLI
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if: steps.template.outputs.skip_sync == 'false'
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run: sudo apt-get install -y gh jq
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run: sudo apt-get update && sudo apt-get install -y gh jq
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- name: Fetch commits from template since last sync
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# -------------------------------
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# Step 4: Add template repo as remote and fetch commits
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# -------------------------------
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- name: Add template repo as remote and fetch
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if: steps.template.outputs.skip_sync == 'false'
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id: commits
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run: |
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# Get the list of commits from template repo that are not yet in this repo
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commits=$(gh api repos/${{ steps.template.outputs.template_repo }}/commits --jq '.[] | .sha' | tac)
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echo "$commits" > template_commits.txt
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echo "Commits to consider:"
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cat template_commits.txt
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echo "commits=$(cat template_commits.txt)" >> $GITHUB_OUTPUT
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- name: Cherry-pick commits and create PR
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git remote add template_repo https://github.com/${{ steps.template.outputs.template_repo }}.git
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git fetch template_repo ${{ steps.template.outputs.template_branch }}
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# -------------------------------
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# Step 5: Get new commits from template (only non-merge)
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# -------------------------------
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- name: Get new commits from template
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if: steps.template.outputs.skip_sync == 'false'
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id: commits
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run: |
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last_commit=${{ steps.template.outputs.last_applied_commit }}
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branch=${{ steps.template.outputs.template_branch }}
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# List commits after last applied commit, oldest first
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all_commits=$(git rev-list --reverse ${last_commit}..template_repo/${branch} || true)
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all_commits=$(echo "$all_commits" | grep -v "^$last_commit$" || true)
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# Filter out merge commits (those with >1 parent)
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non_merge_commits=""
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for sha in $all_commits; do
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parent_count=$(git rev-list --parents -n 1 "$sha" | wc -w)
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if [ "$parent_count" -le 2 ]; then
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non_merge_commits+="$sha"$'\n'
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fi
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done
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non_merge_commits=$(echo "$non_merge_commits" | grep -v '^$' || true)
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commit_count=$(echo "$non_merge_commits" | grep -c . || true)
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echo "commit_count=$commit_count" >> $GITHUB_OUTPUT
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if [ -z "$non_merge_commits" ]; then
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echo "No new template commits to cherry-pick."
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else
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echo "Non-merge commits to cherry-pick:"
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echo "$non_merge_commits"
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fi
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echo "new_commits<<EOF" >> $GITHUB_OUTPUT
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echo "$non_merge_commits" >> $GITHUB_OUTPUT
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echo "EOF" >> $GITHUB_OUTPUT
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# -------------------------------
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# Step 6: Cherry-pick commits, squash, and create/update PR
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# -------------------------------
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- name: Cherry-pick commits, squash, and create/update PR
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if: steps.template.outputs.skip_sync == 'false' && steps.commits.outputs.new_commits != ''
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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run: |
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set -e
71121
git config user.name "github-actions[bot]"
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git config user.email "github-actions[bot]@users.noreply.github.com"
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branch_name="template-sync-$(date +%Y%m%d%H%M%S)"
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git checkout -b "$branch_name"
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pr_message="Template Sync Commit Summary:\n\n"
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branch_name="template-sync"
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target_branch=$(gh repo view $GITHUB_REPOSITORY --json defaultBranchRef --jq '.defaultBranchRef.name')
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sync_date=$(date -u +"%Y-%m-%d")
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# Ensure branch exists or create new
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if git ls-remote --exit-code --heads origin "$branch_name"; then
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git fetch origin "$branch_name"
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git checkout "$branch_name"
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git pull origin "$branch_name"
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else
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git checkout -b "$branch_name" origin/"$target_branch" || git checkout -b "$branch_name"
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fi
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# Reset to target branch to avoid conflicts
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git fetch origin "$target_branch"
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git reset --hard origin/"$target_branch"
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141+
# Initialize commit summary
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commit_summary=""
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newest_commit=""
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commit_list=$(echo "${{ steps.commits.outputs.new_commits }}" | tr -d '\r')
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79-
while read commit_sha; do
80-
# Skip empty lines
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# Cherry-pick each commit safely
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while IFS= read -r commit_sha; do
81148
[ -z "$commit_sha" ] && continue
82-
echo "Cherry-picking $commit_sha"
83-
git cherry-pick "$commit_sha" || git cherry-pick --abort
84-
pr_message="$pr_message- $commit_sha\n"
85-
done < template_commits.txt
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87-
git push origin "$branch_name"
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89-
# Create PR
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gh pr create \
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--title "Sync Template Updates" \
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--body "$pr_message" \
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--base main \
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--head "$branch_name" \
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--label "template-sync"
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150+
short_sha=$(git rev-parse --short=7 "$commit_sha")
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commit_msg=$(git log -1 --pretty=%B "$commit_sha")
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first_line=${commit_msg%%$'\n'*}
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# Add only once to the summary
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commit_summary+="- $short_sha: $first_line"$'\n'
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# Cherry-pick without committing yet
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git cherry-pick --no-commit "$commit_sha"
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newest_commit="$commit_sha"
160+
done <<< "$commit_list"
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# Squash all cherry-picked commits into a single commit
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git commit -m "Template Sync Updates"$'\n\n'"$commit_summary"
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# Update TEMPLATE_ORIGIN.txt
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if [ -n "$newest_commit" ]; then
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echo -e "Template: ${{ steps.template.outputs.template_repo }}\nTemplate Branch: ${{ steps.template.outputs.template_branch }}\nTemplate Commit: $newest_commit" > TEMPLATE_ORIGIN.txt
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git add TEMPLATE_ORIGIN.txt
169+
git commit --amend --no-edit
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fi
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# Push changes
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git push origin "$branch_name" -f
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# Ensure template-sync label exists
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if ! gh label list | grep -q "^template-sync"; then
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gh label create template-sync --color BC8F8F --description "Updates synced from template repository"
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fi
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180+
# Build PR title with date and non-merge commit count
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pr_count="${{ steps.commits.outputs.commit_count }}"
182+
[ -z "$pr_count" ] && pr_count=0
183+
plural="s"
184+
[ "$pr_count" -eq 1 ] && plural=""
185+
pr_title="Sync Template Updates ($pr_count commit$plural, $sync_date)"
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# Build PR body with summary + source info
188+
pr_body=$(printf "Template Sync Commit Summary:\n\n%s\n_Synced from:_ [%s](https://github.com/%s/tree/%s) at commit \`%s\`" \
189+
"$commit_summary" \
190+
"${{ steps.template.outputs.template_repo }}" \
191+
"${{ steps.template.outputs.template_repo }}" \
192+
"${{ steps.template.outputs.template_branch }}" \
193+
"$newest_commit")
194+
195+
existing_pr=$(gh pr list --head "$branch_name" --state open --json number --jq '.[0].number')
196+
197+
if [ -n "$existing_pr" ]; then
198+
echo "Updating existing PR #$existing_pr"
199+
printf "%s" "$pr_body" | gh pr edit "$existing_pr" --title "$pr_title" --body-file - --add-label "template-sync"
200+
else
201+
echo "Creating a new PR"
202+
printf "%s" "$pr_body" | gh pr create \
203+
--title "$pr_title" \
204+
--body-file - \
205+
--base "$target_branch" \
206+
--head "$branch_name" \
207+
--label "template-sync"
208+
fi
209+
210+
# -------------------------------
211+
# Step 7: No new commits
212+
# -------------------------------
213+
- name: No new commits
214+
if: steps.template.outputs.skip_sync == 'false' && steps.commits.outputs.new_commits == ''
215+
run: echo "No new template commits to sync. Exiting."

‎.github/workflows/template-sync.yml‎

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This file was deleted.

‎src/main/java/frc/robot/generated/TunerConstants.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -291,9 +291,9 @@ public TunerSwerveDrivetrain(
291291
* @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set
292292
* to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
293293
* @param odometryStandardDeviation The standard deviation for odometry calculation in the form
294-
* [x, y, theta]ᵀ, with units in meters and radians
294+
* [x, y, theta]T, with units in meters and radians
295295
* @param visionStandardDeviation The standard deviation for vision calculation in the form [x,
296-
* y, theta]ᵀ, with units in meters and radians
296+
* y, theta]T, with units in meters and radians
297297
* @param modules Constants for each specific module
298298
*/
299299
public TunerSwerveDrivetrain(

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