Upgrade actions to Node 24 and remove unneeded archival

.github/workflows/lint-format.yml

@@ -46,9 +46,9 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
-          name: wpiformat fixes
+          archive: false
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
   javaformat:
@@ -81,7 +81,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node.js

.github/workflows/photon-api-docs.yml

@@ -31,7 +31,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node.js
@@ -44,7 +44,7 @@ jobs:
         run: pnpm i --frozen-lockfile
       - name: Build Production Client
         run: pnpm run build-demo
-      - uses: actions/upload-artifact@v6
+      - uses: actions/upload-artifact@v7
         with:
           name: built-demo
           path: photon-client/dist/
@@ -69,7 +69,7 @@ jobs:
       run: |
         chmod +x gradlew
         ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
-    - uses: actions/upload-artifact@v6
+    - uses: actions/upload-artifact@v7
       with:
         name: docs-java-cpp
         path: photon-docs/build/docs
@@ -80,7 +80,7 @@ jobs:
     runs-on: ubuntu-24.04
     steps:
       # Download docs artifact
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           pattern: docs-*
       - run: find .
@@ -106,7 +106,7 @@ jobs:
       needs: [build_demo]
       runs-on: ubuntu-24.04
       steps:
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v8
         with:
           name: built-demo
       - run: find .

.github/workflows/python.yml

@@ -36,7 +36,7 @@ jobs:
         run: python setup.py sdist bdist_wheel
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v6
+        uses: actions/upload-artifact@v7
         with:
           name: dist
           path: ./photon-lib/py/dist/
@@ -62,7 +62,7 @@ jobs:
           pip install pytest mypy
 
       - name: Download artifacts
-        uses: actions/download-artifact@v6
+        uses: actions/download-artifact@v8
         with:
           name: dist
           path: dist/
@@ -102,7 +102,7 @@ jobs:
           python -m pip install --upgrade pip
 
       - name: Download artifacts
-        uses: actions/download-artifact@v6
+        uses: actions/download-artifact@v8
         with:
           name: dist
           path: ./photon-lib/py/dist/
@@ -131,7 +131,7 @@ jobs:
 
     steps:
       - name: Download artifacts
-        uses: actions/download-artifact@v6
+        uses: actions/download-artifact@v8
         with:
           name: dist
           path: dist/

.github/workflows/website.yml

@@ -11,7 +11,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node
@@ -41,7 +41,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - name: Install pnpm
-        uses: pnpm/action-setup@v4
+        uses: pnpm/action-setup@v5
         with:
           version: 10
       - name: Setup Node

.gitignore

@@ -161,3 +161,5 @@ photon-client/playwright/.auth/
 shell.nix
 flake.nix
 flake.lock
+
+/workspace

README.md

@@ -45,7 +45,7 @@ Note that these are case sensitive!
 - `-Pprofile`: enables JVM profiling
 - `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
 
-If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`
 
 ## Out-of-Source Dependencies
 

build.gradle

@@ -1,13 +1,13 @@
-import edu.wpi.first.toolchain.*
+import org.wpilib.toolchain.*
 
 plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-2"
     id 'org.photonvision.tools.WpilibTools' version '2.4.1-photon'
     id 'com.google.protobuf' version '0.9.3' apply false
-    id 'edu.wpi.first.GradleJni' version '1.1.0'
+    id 'org.wpilib.GradleJni' version '2027.0.0'
     id "org.ysb33r.doxygen" version "2.0.0" apply false
     id 'com.gradleup.shadow' version '8.3.4' apply false
     id "com.github.node-gradle.node" version "7.0.1" apply false
@@ -21,6 +21,7 @@ allprojects {
         maven { url = "https://maven.photonvision.org/releases" }
         maven { url = "https://maven.photonvision.org/snapshots" }
     }
+    wpilibRepositories.use2027Repos()
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
 }
@@ -32,15 +33,15 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2026.2.1"
+    wpilibVersion = "2027.0.0-alpha-3-203-g0001ddc7e"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2026.0.0"
     rknnVersion = "dev-v2026.0.1-1-g89b2888"
     rubikVersion = "dev-v2026.0.1-4-g13d6279"
-    frcYear = "2026"
+    frcYear = "2027_alpha1"
     mrcalVersion = "dev-v2026.0.0-1-g239d80e";
 
     pubVersion = versionString

docs/source/docs/apriltag-pipelines/multitag.md

@@ -46,7 +46,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
       {
         auto multiTagResult = result.MultiTagResult();
         if (multiTagResult.has_value()) {
-          frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
+          wpi::math::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
         }
       }
 

docs/source/docs/hardware/selecting-hardware.md

@@ -10,7 +10,7 @@ In order to use PhotonVision, you need a coprocessor and a camera. This page dis
 
 ### Minimum System Requirements
 
-- Ubuntu 22.04 LTS or Windows 10/11
+- Ubuntu 24.04 LTS or Windows 10/11
   - We don't recommend using Windows for anything except testing out the system on a local machine.
 - CPU: ARM Cortex-A53 (the CPU on Raspberry Pi 3) or better
 - At least 8GB of storage

docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md

@@ -60,7 +60,7 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
    .. code-block:: c++
 
       // Get the pipeline latency.
-      units::second_t latency = result.GetLatency();
+      wpi::units::second_t latency = result.GetLatency();
 
    .. code-block:: python
 

docs/source/docs/programming/photonlib/getting-target-data.md

@@ -107,7 +107,7 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
    .. code-block:: c++
 
       // Get a list of currently tracked targets.
-      wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
+      std::span<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
 
    .. code-block:: python
 
@@ -166,8 +166,8 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
       double pitch = target.GetPitch();
       double area = target.GetArea();
       double skew = target.GetSkew();
-      frc::Transform2d pose = target.GetCameraToTarget();
-      wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
+      wpi::math::Transform2d pose = target.GetCameraToTarget();
+      wpi::util::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
 
    .. code-block:: python
 
@@ -206,8 +206,8 @@ All of the data above (**except skew**) is available when using AprilTags.
       // Get information from target.
       int targetID = target.GetFiducialId();
       double poseAmbiguity = target.GetPoseAmbiguity();
-      frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
-      frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
+      wpi::math::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
+      wpi::math::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
 
    .. code-block:: python
 

docs/source/docs/programming/photonlib/using-target-data.md

@@ -38,8 +38,8 @@ You can get your robot's `Pose2D` on the field using various camera data, target
    .. code-block:: c++
 
       // Calculate robot's field relative pose
-      frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
-        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
+      wpi::math::Pose2d robotPose = photonlib::EstimateFieldToRobot(
+        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())), wpi::math::Rotation2d(wpi::units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
 
    .. code-block:: python
 
@@ -106,8 +106,8 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
    .. code-block:: c++
 
       // Calculate a translation from the camera to the target.
-      frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
-        distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
+      wpi::math::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
+        distance, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())));
 
    .. code-block:: python
 

docs/source/docs/quick-start/networking.md

@@ -81,7 +81,7 @@ If you would like to access your Ethernet-connected vision device from a compute
 
     .. code-block:: c++
 
-        wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
+        wpi::net::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
 
     .. code-block:: python
 

photon-core/build.gradle

@@ -23,6 +23,7 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("wpimath")
     wpilibNatives wpilibTools.deps.wpilib("wpinet")
     wpilibNatives wpilibTools.deps.wpilib("wpiutil")
+    wpilibNatives wpilibTools.deps.wpilib("datalog")
     wpilibNatives wpilibTools.deps.wpilib("ntcore")
     wpilibNatives wpilibTools.deps.wpilib("cscore")
     wpilibNatives wpilibTools.deps.wpilib("apriltag")

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -20,7 +20,6 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
@@ -35,6 +34,7 @@
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
+import org.wpilib.vision.camera.UsbCameraInfo;
 
 public class CameraConfiguration {
     private static final Logger logger = new Logger(CameraConfiguration.class, LogGroup.Camera);

photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java

@@ -18,8 +18,6 @@
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
 import java.io.UncheckedIOException;
@@ -40,6 +38,8 @@
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.VisionSource;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.vision.apriltag.AprilTagFields;
 import org.zeroturnaround.zip.ZipUtil;
 
 class LegacyConfigProvider extends ConfigProvider {

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -17,11 +17,11 @@
 
 package org.photonvision.common.configuration;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import java.util.Collection;
 import java.util.HashMap;
 import java.util.List;
 import org.photonvision.vision.processes.VisionSource;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 
 public class PhotonConfiguration {
     private final HardwareConfig hardwareConfig;

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -17,9 +17,6 @@
 
 package org.photonvision.common.configuration;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.cscore.UsbCameraInfo;
 import java.io.File;
 import java.io.IOException;
 import java.io.UncheckedIOException;
@@ -40,6 +37,9 @@
 import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.vision.apriltag.AprilTagFields;
+import org.wpilib.vision.camera.UsbCameraInfo;
 
 /**
  * Saves settings in a SQLite database file (called photon.sqlite).

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java

@@ -17,11 +17,11 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.networktables.NetworkTableEvent;
-import edu.wpi.first.networktables.NetworkTableInstance;
-import edu.wpi.first.networktables.Subscriber;
 import java.util.EnumSet;
 import java.util.function.Consumer;
+import org.wpilib.networktables.NetworkTableEvent;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.networktables.Subscriber;
 
 public class NTDataChangeListener {
     private final NetworkTableInstance instance;

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -17,10 +17,6 @@
 
 package org.photonvision.common.dataflow.networktables;
 
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.networktables.NetworkTable;
-import edu.wpi.first.networktables.NetworkTableEvent;
-import edu.wpi.first.networktables.NetworkTablesJNI;
 import java.util.List;
 import java.util.function.BooleanSupplier;
 import java.util.function.Consumer;
@@ -35,6 +31,10 @@
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.pipeline.result.CalibrationPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.networktables.NetworkTable;
+import org.wpilib.networktables.NetworkTableEvent;
+import org.wpilib.networktables.NetworkTablesJNI;
 
 public class NTDataPublisher implements CVPipelineResultConsumer {
     private final Logger logger = new Logger(NTDataPublisher.class, LogGroup.General);
@@ -177,7 +177,8 @@ public void accept(CVPipelineResult result) {
 
         var offset = NetworkTablesManager.getInstance().getOffset();
 
-        // Transform the metadata timestamps from the local nt::Now timebase to the Time Sync Server's
+        // Transform the metadata timestamps from the local wpi::nt::Now timebase to the Time Sync
+        // Server's
         // timebase
         var simplified =
                 new PhotonPipelineResult(