Make 2027 build

.github/workflows/build.yml

@@ -45,10 +45,9 @@ jobs:
   #         fetch-depth: 0
   #     - name: Fetch tags
   #       run: git fetch --tags --force
-  #     - name: Install Java 17
-  #       uses: actions/setup-java@v5
+  #     - uses: actions/setup-java@v5
   #       with:
-  #         java-version: 17
+  #         java-version: 21
   #         distribution: temurin
   #     - name: Install SystemCore Toolchain
   #       run: ./gradlew installSystemCoreToolchain
@@ -104,10 +103,9 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - name: Install pnpm
         uses: pnpm/action-setup@v5
@@ -145,10 +143,9 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - name: Install pnpm
         uses: pnpm/action-setup@v5
@@ -198,10 +195,9 @@ jobs:
         with:
           fetch-depth: 0
 
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
 
       # grab all tags
@@ -240,10 +236,9 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
@@ -265,13 +260,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2025-24.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
             artifact-name: SystemCore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
+          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
@@ -347,10 +342,9 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - name: Install pnpm
         uses: pnpm/action-setup@v5
@@ -431,15 +425,16 @@ jobs:
             artifact-name: photonvision-*-winx64.jar
           - os: macos-latest
             artifact-name: photonvision-*-macarm64.jar
+          - os: ubuntu-24.04-arm
+            artifact-name: photonvision-*-linuxarm64.jar
 
 
     runs-on: ${{ matrix.os }}
 
     steps:
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - uses: actions/download-artifact@v8
         with:

.github/workflows/dependency-submission.yml

@@ -13,10 +13,9 @@ jobs:
     steps:
     - name: Checkout sources
       uses: actions/checkout@v6
-    - name: Setup Java
-      uses: actions/setup-java@v5
+    - uses: actions/setup-java@v5
       with:
         distribution: 'temurin'
-        java-version: 17
+        java-version: 21
     - name: Generate and submit dependency graph
       uses: gradle/actions/dependency-submission@v5

.github/workflows/lint-format.yml

@@ -61,7 +61,7 @@ jobs:
           fetch-depth: 0
       - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - run: |
           set +e

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

@@ -60,10 +60,9 @@ jobs:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v5
+    - uses: actions/setup-java@v5
       with:
-        java-version: 17
+        java-version: 21
         distribution: temurin
     - name: Build javadocs/doxygen
       run: |

build.gradle

@@ -4,12 +4,13 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
     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 'org.wpilib.NativeUtils' version '2027.4.1' apply false
+    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
+    id 'org.photonvision.tools.WpilibTools' version '3.0.0-photon'
+    id 'com.google.protobuf' version '0.9.5' apply false
     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.gradleup.shadow' version '9.0.0' apply false
     id "com.github.node-gradle.node" version "7.0.1" apply false
 }
 
@@ -33,16 +34,20 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2027.0.0-alpha-3-203-g0001ddc7e"
+    wpilibVersion = "2027.0.0-alpha-4"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
+    ejmlVersion = "0.43.1";
+    jacksonVersion = "2.15.2";
+    quickbufVersion = "1.3.3";
+
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2026.0.0"
     rknnVersion = "dev-v2026.0.1-1-g89b2888"
     rubikVersion = "dev-v2026.0.1-4-g13d6279"
-    frcYear = "2027_alpha1"
-    mrcalVersion = "dev-v2026.0.0-1-g239d80e";
+    frcYear = "2027_alpha4"
+    mrcalVersion = "v2027.0.1";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
@@ -95,7 +100,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion = '8.14.3'
+    gradleVersion = '9.2.0'
 }
 
 ext.getCurrentArch = {

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.2.0-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

photon-core/build.gradle

@@ -6,7 +6,7 @@ ext.licenseFile = file("$rootDir/LICENSE")
 ext.externalLicensesFolder = file("$rootDir/ExternalLicenses")
 apply from: "${rootDir}/shared/common.gradle"
 
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+wpilibTools.deps.wpilibVersion = wpilibVersion
 
 def nativeConfigName = 'wpilibNatives'
 configurations {
@@ -28,7 +28,7 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("cscore")
     wpilibNatives wpilibTools.deps.wpilib("apriltag")
     wpilibNatives wpilibTools.deps.wpilib("hal")
-    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
+    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, openCVversion)
 
     // These stay as implementation dependencies since they don't have native code that gets packaged
     implementation 'org.zeroturnaround:zt-zip:1.14'

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

@@ -35,6 +35,8 @@
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.JacksonUtils;
+import org.wpilib.driverstation.Alert;
+import org.wpilib.driverstation.Alert.Level;
 import org.wpilib.networktables.LogMessage;
 import org.wpilib.networktables.MultiSubscriber;
 import org.wpilib.networktables.NetworkTable;
@@ -43,8 +45,6 @@
 import org.wpilib.networktables.NetworkTableInstance;
 import org.wpilib.networktables.StringSubscriber;
 import org.wpilib.smartdashboard.SmartDashboard;
-import org.wpilib.util.Alert;
-import org.wpilib.util.Alert.AlertType;
 import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 import org.wpilib.vision.camera.CameraServerJNI;
 
@@ -66,9 +66,9 @@ public class NetworkTablesManager {
             new MultiSubscriber(ntInstance, new String[] {kRootTableName + "/" + kCoprocTableName + "/"});
 
     // Creating the alert up here since it should be persistent
-    private final Alert conflictAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert conflictAlert = new Alert("PhotonAlerts", "", Level.WARNING);
 
-    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", Level.WARNING);
 
     public boolean conflictingHostname = false;
     public String conflictingCameras = "";

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -36,7 +36,6 @@
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
-import org.photonvision.common.util.TimedTaskManager;
 import org.wpilib.networktables.IntegerPublisher;
 import org.wpilib.networktables.IntegerSubscriber;
 

photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java

@@ -35,30 +35,8 @@
 public class OsImageData {
     private static final Logger logger = new Logger(OsImageData.class, LogGroup.General);
 
-    private static Path imageVersionFile = Path.of("/opt/photonvision/image-version");
     private static Path imageMetadataFile = Path.of("/opt/photonvision/image-version.json");
 
-    /**
-     * The OS image version string, if available. This is legacy, use {@link ImageMetadata}.
-     * Deprecated for removal in 2027.
-     */
-    @Deprecated public static final Optional<String> IMAGE_VERSION = getImageVersion();
-
-    private static Optional<String> getImageVersion() {
-        if (!imageVersionFile.toFile().exists()) {
-            logger.warn("Photon cannot locate base OS image version at " + imageVersionFile.toString());
-            return Optional.empty();
-        }
-
-        try {
-            return Optional.of(Files.readString(imageVersionFile).strip());
-        } catch (IOException e) {
-            logger.error("Couldn't read image-version file", e);
-        }
-
-        return Optional.empty();
-    }
-
     public static final Optional<ImageMetadata> IMAGE_METADATA = getImageMetadata();
 
     public static record ImageMetadata(

photon-core/src/main/java/org/photonvision/common/util/TestUtils.java

@@ -28,6 +28,7 @@
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
+import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.math.util.Units;
 

photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java

@@ -21,6 +21,7 @@
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import java.awt.Color;
 import java.nio.file.Path;
 import java.util.Arrays;
 import java.util.List;
@@ -29,6 +30,10 @@
 import org.opencv.core.Mat;
 import org.opencv.core.Point;
 import org.opencv.core.Point3;
+import org.opencv.core.Scalar;
+import org.opencv.imgcodecs.Imgcodecs;
+import org.opencv.imgproc.Imgproc;
+import org.photonvision.common.util.ColorHelper;
 import org.wpilib.math.geometry.Pose3d;
 
 // Ignore the previous calibration data that was stored in the json file.

photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java

@@ -23,7 +23,6 @@
 import org.photonvision.jni.CscoreExtras;
 import org.photonvision.vision.opencv.CVMat;
 import org.photonvision.vision.processes.VisionSourceSettables;
-import org.wpilib.networktables.BooleanSubscriber;
 import org.wpilib.util.PixelFormat;
 import org.wpilib.util.RawFrame;
 import org.wpilib.vision.camera.CvSink;
@@ -81,7 +80,7 @@ public CapturedFrame getInputMat() {
         if (m_blockForFrames) {
             // We allocate memory so we don't fill a Mat in use by another thread (memory model is easier)
             var mat = new CVMat();
-            // This is from wpi::util::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
+            // This is from wpi::nt::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
             // Hal::initialize was called
             // TODO - under the hood, this incurs an extra copy. We should avoid this, if we
             // can.
@@ -106,7 +105,7 @@ public CapturedFrame getInputMat() {
                     cameraMode.width * 3,
                     PixelFormat.kBGR);
 
-            // This is from wpi::util::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
+            // This is from wpi::nt::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
             // Hal::initialize was called
             long captureTimeUs =
                     CscoreExtras.grabRawSinkFrameTimeoutLastTime(

photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java

@@ -209,7 +209,7 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
                         camToTag =
                                 new Transform3d(
                                         camToTag.getTranslation(),
-                                        new Rotation3d(0, Math.PI, 0).plus(camToTag.getRotation()));
+                                        new Rotation3d(0, Math.PI, 0).rotateBy(camToTag.getRotation()));
                         tagPoseEstimate = new AprilTagPoseEstimate(camToTag, camToTag, 0, 0);
                     }
                 }

photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java

@@ -104,7 +104,7 @@ public void release() {
     }
 
     /**
-     * Get the latency between now (wpi::util::Now) and the time at which the image was captured.
+     * Get the latency between now (wpi::nt::Now) and the time at which the image was captured.
      * FOOTGUN: the latency is relative to the time at which this method is called. Waiting to call
      * this method will change the latency this method returns.
      */

photon-docs/build.gradle

@@ -119,7 +119,7 @@ task generateJavaDocs(type: Javadoc) {
     source exportedProjects.collect { project(it).sourceSets.main.allJava }
     classpath = files(exportedProjects.collect { project(it).sourceSets.main.compileClasspath })
 
-    options.links "https://docs.oracle.com/en/java/javase/17/docs/api/", "https://github.wpilib.org/allwpilib/docs/release/java/"
+    options.links "https://docs.oracle.com/en/java/javase/21/docs/api/", "https://github.wpilib.org/allwpilib/docs/release/java/"
     options.addStringOption("tag", "pre:a:Pre-Condition")
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)

photon-lib/build.gradle

@@ -353,7 +353,7 @@ publishing {
 }
 
 // setup wpilib bundled native libs
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+wpilibTools.deps.wpilibVersion = wpilibVersion
 
 def nativeConfigName = 'wpilibNatives'
 def nativeConfig = configurations.create(nativeConfigName)
@@ -375,4 +375,4 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, openCVversion)