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Code Issues Packages Projects Releases Wiki Activity

Update to 2026 (#2288)

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This commit is contained in:
Sam Freund
2026-01-12 16:00:11 -06:00
committed by GitHub
parent e088050902
commit 3b57125d96
53 changed files with 444 additions and 237 deletions
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2
.github/workflows/build.yml vendored
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@@ -169,7 +169,7 @@ jobs:
- uses: actions/checkout@v6
- uses: actions/setup-python@v6
with:
python-version: '3.12'
python-version: 3.14
- name: Install graphviz
run: |
sudo apt-get update

4
.github/workflows/lint-format.yml vendored
View File

@@ -26,10 +26,10 @@ jobs:
git fetch --prune --unshallow
git checkout -b pr
git branch -f main origin/main
- name: Set up Python 3.12
- name: Set up Python
uses: actions/setup-python@v6
with:
python-version: 3.12
python-version: 3.14
- name: Install wpiformat
run: pip3 install wpiformat==2025.79
- name: Run

2
.github/workflows/photonvision-rtd.yml vendored
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@@ -21,7 +21,7 @@ jobs:
- uses: actions/setup-python@v6
with:
python-version: '3.12'
python-version: 3.14
- name: Install and upgrade pip
run: python -m pip install --upgrade pip

37
.github/workflows/python.yml vendored
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@@ -24,7 +24,7 @@ jobs:
- name: Set up Python
uses: actions/setup-python@v6
with:
python-version: 3.12
python-version: 3.14
- name: Install dependencies
run: |
@@ -76,49 +76,30 @@ jobs:
- name: Set up Python
uses: actions/setup-python@v6
with:
python-version: 3.12
python-version: 3.14
- name: Install dependencies
run: |
python -m pip install --upgrade pip
pip install setuptools wheel pytest mypy numpy wpilib pyntcore opencv-python robotpy==2026.1.1b1 pyfrc
pip install setuptools wheel pytest mypy
- name: Build wheel
working-directory: ./photon-lib/py
run: python setup.py sdist bdist_wheel
- name: Run Unit Tests (Unix)
- name: Build and configure PhotonLibPy
working-directory: ./photon-lib/py
if: runner.os != 'Windows'
run: |
pip install --no-cache-dir dist/*.whl
pytest
- name: Run Unit Tests (Windows)
working-directory: ./photon-lib/py
if: runner.os == 'Windows'
shell: cmd
run: |
for %%f in (dist/*.whl) do (
echo installing dist/%%f
pip install --no-cache-dir dist/%%f
)
pytest
- name: Build and configure PhotonLibPy (bash)
working-directory: ./photon-lib/py
if: runner.os != 'Windows'
shell: bash
run: |
./buildAndTest.sh
./enableUsingDevBuilds.sh
- name: Build and configure PhotonLibPy (pwsh)
- name: Run Unit Tests
working-directory: ./photon-lib/py
if: runner.os == 'Windows'
shell: bash
run: |
./buildandTest.bat
./enableUsingDevBuilds.bat
pip install --no-cache-dir dist/*.whl
pytest
- name: Run mypy type checking
run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib

2
.python-version
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@@ -1 +1 @@
3.11
3.14

18
build.gradle
View File

@@ -2,10 +2,10 @@ import edu.wpi.first.toolchain.*
plugins {
id "cpp"
id "com.diffplug.spotless" version "6.24.0"
id "com.diffplug.spotless" version "8.1.0"
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id 'org.photonvision.tools.WpilibTools' version '2.2.0-photon'
id "edu.wpi.first.GradleRIO" version "2026.1.1"
id 'org.photonvision.tools.WpilibTools' version '2.3.3-photon'
id 'com.google.protobuf' version '0.9.3' apply false
id 'edu.wpi.first.GradleJni' version '1.1.0'
id "org.ysb33r.doxygen" version "2.0.0" apply false
@@ -32,16 +32,16 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
apply from: "versioningHelper.gradle"
ext {
wpilibVersion = "2026.1.1-beta-1"
wpilibVersion = "2026.1.1"
wpimathVersion = wpilibVersion
openCVYear = "2025"
openCVversion = "4.10.0-3"
javalinVersion = "6.7.0"
libcameraDriverVersion = "dev-v2025.0.4-3-g95e2b38"
rknnVersion = "dev-v2025.0.0-7-g83c1bf3"
rubikVersion = "dev-v2025.1.0-7-g39588a8"
frcYear = "2026beta"
mrcalVersion = "dev-v2025.0.0-6-g475031a";
libcameraDriverVersion = "v2026.0.0"
rknnVersion = "v2026.0.1"
rubikVersion = "v2026.0.1"
frcYear = "2026"
mrcalVersion = "v2026.0.0";
pubVersion = versionString
isDev = pubVersion.startsWith("dev")

3
docs/requirements.txt
View File

@@ -21,7 +21,6 @@ mdurl==0.1.2
myst-parser==4.0.1
packaging==25.0
pbr==6.1.1
pipreqs==0.5.0
Pygments==2.19.1
PyYAML==6.0.2
requests==2.32.4
@@ -54,6 +53,6 @@ stevedore==5.4.1
typing_extensions==4.13.2
urllib3==2.5.0
uvicorn==0.34.2
watchfiles==1.0.5
watchfiles==1.1.1
websockets==15.0.1
yarg==0.1.9

2
docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md
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@@ -23,7 +23,7 @@ AprilTag pipelines come with reasonable defaults to get you up and running with
Target families are defined by two numbers (before and after the h). The first number is the number of bits the tag is able to encode (which means more tags are available in the respective family) and the second is the hamming distance. Hamming distance describes the ability for error correction while identifying tag ids. A high hamming distance generally means that it will be easier for a tag to be identified even if there are errors. However, as hamming distance increases, the number of available tags decreases.
The 2025 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/main/tag36h11).
The 2026 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/2bc821edb4eb7b408d13c6a590d326d8a9ec98f3/tag36h11).
### Decimate

2
docs/source/docs/apriltag-pipelines/about-apriltags.md
View File

@@ -10,5 +10,5 @@ AprilTags are a common type of visual fiducial marker. Visual fiducial markers a
A more technical explanation can be found in the [WPILib documentation](https://docs.wpilib.org/en/latest/docs/software/vision-processing/apriltag/apriltag-intro.html).
:::{note}
You can get FIRST's [official PDF of the targets used in 2025 here](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf).
You can get FIRST's [official PDF of the targets used in 2026 here](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf).
:::

4
docs/source/docs/apriltag-pipelines/multitag.md
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@@ -7,7 +7,7 @@ MultiTag requires an accurate field layout JSON to be uploaded! Differences betw
:::
:::{warning}
For the 2025 Reefscape Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
For the 2026 Rebuilt Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
:::
## Enabling MultiTag
@@ -66,7 +66,7 @@ The returned field to camera transform is a transform from the fixed field origi
## Updating the Field Layout
PhotonVision ships by default with the [2025 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
PhotonVision ships by default with the [2026 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
```{image} images/field-layout.png
:alt: The currently saved field layout in the Photon UI

2
docs/source/docs/examples/aimingatatarget.md
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@@ -7,7 +7,7 @@ The following example is from the PhotonLib example repository ([Java](https://g
- A Robot
- A camera mounted rigidly to the robot's frame, centered and pointed forward.
- A coprocessor running PhotonVision with an AprilTag or ArUco 2D Pipeline.
- [A printout of AprilTag 7](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf), mounted on a rigid and flat surface.
- [A printout of AprilTag 7](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf), mounted on a rigid and flat surface.
## Code

2
photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
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@@ -158,7 +158,7 @@ public class PipelineManager {
case CAL_3D_INDEX -> calibration3dPipeline;
case DRIVERMODE_INDEX -> driverModePipeline;
case FOCUS_INDEX -> focusPipeline;
// Just return the current user pipeline, we're not on a built-in one
// Just return the current user pipeline, we're not on a built-in one
default -> currentUserPipeline;
};
}

12
photon-lib/py/setup.py
View File

@@ -60,12 +60,12 @@ setup(
package_data={"photonlibpy": ["py.typed"]},
version=versionString,
install_requires=[
"numpy~=2.1",
"wpilib==2026.1.1b1",
"robotpy-wpimath==2026.1.1b1",
"robotpy-apriltag==2026.1.1b1",
"robotpy-cscore==2026.1.1b1",
"pyntcore==2026.1.1b1",
"numpy~=2.4",
"wpilib==2026.1.1",
"robotpy-wpimath==2026.1.1",
"robotpy-apriltag==2026.1.1",
"robotpy-cscore==2026.1.1",
"pyntcore==2026.1.1",
"opencv-python;platform_machine!='roborio'",
],
description=descriptionStr,

2
photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java
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@@ -63,6 +63,8 @@ public class EstimatedRobotPose {
*
* @param estimatedPose estimated pose
* @param timestampSeconds timestamp of the estimate
* @param targetsUsed targets used to compute the pose
* @param strategy the strategy used to compute the pose
*/
public EstimatedRobotPose(
Pose3d estimatedPose,

2
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
View File

@@ -581,7 +581,7 @@ public class RequestHandler {
case "YOLOv5" -> NeuralNetworkModelManager.Version.YOLOV5;
case "YOLOv8" -> NeuralNetworkModelManager.Version.YOLOV8;
case "YOLO11" -> NeuralNetworkModelManager.Version.YOLOV11;
// Add more versions as necessary for new models
// Add more versions as necessary for new models
default -> {
ctx.status(400);
ctx.result("The provided version was not valid");

2
photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json
View File

@@ -1,6 +1,6 @@
{
"enableCppIntellisense": true,
"currentLanguage": "cpp",
"projectYear": "2026beta",
"projectYear": "2026",
"teamNumber": 5
}

8
photonlib-cpp-examples/aimandrange/build.gradle
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@@ -1,7 +1,7 @@
plugins {
id "cpp"
id "google-test-test-suite"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
}
repositories {
@@ -11,8 +11,8 @@ repositories {
wpi.maven.useLocal = false
wpi.maven.useDevelopment = false
wpi.versions.wpilibVersion = "2026.1.1-beta-1"
wpi.versions.wpimathVersion = "2026.1.1-beta-1"
wpi.versions.wpilibVersion = "2026.1.1"
wpi.versions.wpimathVersion = "2026.1.1"
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
@@ -37,6 +37,8 @@ deploy {
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
deleteOldFiles = false // Change to true to delete files on roboRIO that no
// longer exist in deploy directory of this project
}
}
}

2
photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json
View File

@@ -1,6 +1,6 @@
{
"enableCppIntellisense": true,
"currentLanguage": "cpp",
"projectYear": "2026beta",
"projectYear": "2026",
"teamNumber": 5
}

8
photonlib-cpp-examples/aimattarget/build.gradle
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@@ -1,7 +1,7 @@
plugins {
id "cpp"
id "google-test-test-suite"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
}
repositories {
@@ -11,8 +11,8 @@ repositories {
wpi.maven.useLocal = false
wpi.maven.useDevelopment = false
wpi.versions.wpilibVersion = "2026.1.1-beta-1"
wpi.versions.wpimathVersion = "2026.1.1-beta-1"
wpi.versions.wpilibVersion = "2026.1.1"
wpi.versions.wpimathVersion = "2026.1.1"
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
@@ -37,6 +37,8 @@ deploy {
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
deleteOldFiles = false // Change to true to delete files on roboRIO that no
// longer exist in deploy directory of this project
}
}
}

2
photonlib-cpp-examples/build.gradle
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@@ -1,5 +1,5 @@
plugins {
id "com.diffplug.spotless" version "6.1.2"
id "com.diffplug.spotless" version "8.1.0"
}
allprojects {

BIN
photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.jar vendored
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Binary file not shown.

6
photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties vendored
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@@ -1,7 +1,7 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
distributionPath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
zipStorePath=wrapper/dists

89
photonlib-cpp-examples/gradlew vendored
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@@ -1,7 +1,7 @@
#!/bin/sh
#
# Copyright <EFBFBD> 2015-2021 the original authors.
# Copyright © 2015-2021 the original authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -15,7 +15,53 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
# Gradle start up script for POSIX generated by Gradle.
#
# Important for running:
#
# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
# noncompliant, but you have some other compliant shell such as ksh or
# bash, then to run this script, type that shell name before the whole
# command line, like:
#
# ksh Gradle
#
# Busybox and similar reduced shells will NOT work, because this script
# requires all of these POSIX shell features:
# * functions;
# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
# * compound commands having a testable exit status, especially «case»;
# * various built-in commands including «command», «set», and «ulimit».
#
# Important for patching:
#
# (2) This script targets any POSIX shell, so it avoids extensions provided
# by Bash, Ksh, etc; in particular arrays are avoided.
#
# The "traditional" practice of packing multiple parameters into a
# space-separated string is a well documented source of bugs and security
# problems, so this is (mostly) avoided, by progressively accumulating
# options in "$@", and eventually passing that to Java.
#
# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
# see the in-line comments for details.
#
# There are tweaks for specific operating systems such as AIX, CygWin,
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
#
##############################################################################
# Attempt to set APP_HOME
@@ -36,14 +82,12 @@ do
esac
done
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
APP_NAME="Gradle"
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -90,22 +134,29 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -150,11 +201,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \
@@ -162,6 +217,12 @@ set -- \
org.gradle.wrapper.GradleWrapperMain \
"$@"
# Stop when "xargs" is not available.
if ! command -v xargs >/dev/null 2>&1
then
die "xargs is not available"
fi
# Use "xargs" to parse quoted args.
#
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.

37
photonlib-cpp-examples/gradlew.bat vendored
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@@ -13,8 +13,10 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@rem SPDX-License-Identifier: Apache-2.0
@rem
@if "%DEBUG%" == "" @echo off
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@rem
@rem Gradle startup script for Windows
@@ -25,7 +27,8 @@
if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%" == "" set DIRNAME=.
if "%DIRNAME%"=="" set DIRNAME=.
@rem This is normally unused
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if "%ERRORLEVEL%" == "0" goto execute
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -75,13 +78,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
:end
@rem End local scope for the variables with windows NT shell
if "%ERRORLEVEL%"=="0" goto mainEnd
if %ERRORLEVEL% equ 0 goto mainEnd
:fail
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
rem the _cmd.exe /c_ return code!
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
exit /b 1
set EXIT_CODE=%ERRORLEVEL%
if %EXIT_CODE% equ 0 set EXIT_CODE=1
if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
exit /b %EXIT_CODE%
:mainEnd
if "%OS%"=="Windows_NT" endlocal

2
photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json
View File

@@ -1,6 +1,6 @@
{
"enableCppIntellisense": true,
"currentLanguage": "cpp",
"projectYear": "2026beta",
"projectYear": "2026",
"teamNumber": 5
}

8
photonlib-cpp-examples/poseest/build.gradle
View File

@@ -1,7 +1,7 @@
plugins {
id "cpp"
id "google-test-test-suite"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
}
repositories {
@@ -11,8 +11,8 @@ repositories {
wpi.maven.useLocal = false
wpi.maven.useDevelopment = false
wpi.versions.wpilibVersion = "2026.1.1-beta-1"
wpi.versions.wpimathVersion = "2026.1.1-beta-1"
wpi.versions.wpilibVersion = "2026.1.1"
wpi.versions.wpimathVersion = "2026.1.1"
// Define my targets (RoboRIO) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
@@ -37,6 +37,8 @@ deploy {
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
deleteOldFiles = false // Change to true to delete files on roboRIO that no
// longer exist in deploy directory of this project
}
}
}

2
photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json
View File

@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2026beta",
"projectYear": "2026",
"teamNumber": 4512
}

23
photonlib-java-examples/aimandrange/build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
}
sourceCompatibility = JavaVersion.VERSION_17
@@ -13,8 +13,8 @@ repositories {
}
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2026.1.1-beta-1"
wpi.versions.wpimathVersion = "2026.1.1-beta-1"
wpi.versions.wpilibVersion = "2026.1.1"
wpi.versions.wpimathVersion = "2026.1.1"
// Define my targets (RoboRIO) and artifacts (deployable files)
@@ -40,6 +40,8 @@ deploy {
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
deleteOldFiles = false // Change to true to delete files on roboRIO that no
// longer exist in deploy directory of this project
}
}
}
@@ -48,7 +50,8 @@ deploy {
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
// Set to true to use debug for JNI.
// Set to true to use debug for all targets including JNI, which will drastically impact
// performance.
wpi.java.debugJni = false
// Set this to true to enable desktop support.
@@ -57,6 +60,7 @@ def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 5.
dependencies {
annotationProcessor wpi.java.deps.wpilibAnnotations()
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
@@ -74,7 +78,13 @@ dependencies {
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
simulationRelease wpi.sim.enableRelease()
testImplementation 'junit:junit:4.13.1'
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
}
test {
useJUnitPlatform()
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
}
// Simulation configuration (e.g. environment variables).
@@ -90,6 +100,9 @@ jar {
it.isDirectory() ? it : zipTree(it)
}
}
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

BIN
photonlib-java-examples/aimandrange/gradle/wrapper/gradle-wrapper.jar vendored
View File

Binary file not shown.

4
photonlib-java-examples/aimandrange/gradle/wrapper/gradle-wrapper.properties vendored
View File

@@ -1,5 +1,7 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists

39
photonlib-java-examples/aimandrange/gradlew vendored
View File

@@ -15,6 +15,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
@@ -55,7 +57,7 @@
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,14 +82,12 @@ do
esac
done
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
APP_NAME="Gradle"
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -134,22 +134,29 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -194,11 +201,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \

23
photonlib-java-examples/aimandrange/gradlew.bat vendored
View File

@@ -13,6 +13,8 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@rem SPDX-License-Identifier: Apache-2.0
@rem
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%"=="" set DIRNAME=.
@rem This is normally unused
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@@ -42,11 +45,11 @@ set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail

2
photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json
View File

@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2026beta",
"projectYear": "2026",
"teamNumber": 4512
}

23
photonlib-java-examples/aimattarget/build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
}
sourceCompatibility = JavaVersion.VERSION_17
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_17
def ROBOT_MAIN_CLASS = "frc.robot.Main"
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2026.1.1-beta-1"
wpi.versions.wpimathVersion = "2026.1.1-beta-1"
wpi.versions.wpilibVersion = "2026.1.1"
wpi.versions.wpimathVersion = "2026.1.1"
// Define my targets (RoboRIO) and artifacts (deployable files)
@@ -36,6 +36,8 @@ deploy {
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
deleteOldFiles = false // Change to true to delete files on roboRIO that no
// longer exist in deploy directory of this project
}
}
}
@@ -44,7 +46,8 @@ deploy {
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
// Set to true to use debug for JNI.
// Set to true to use debug for all targets including JNI, which will drastically impact
// performance.
wpi.java.debugJni = false
// Set this to true to enable desktop support.
@@ -53,6 +56,7 @@ def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 5.
dependencies {
annotationProcessor wpi.java.deps.wpilibAnnotations()
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
@@ -70,7 +74,13 @@ dependencies {
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
simulationRelease wpi.sim.enableRelease()
testImplementation 'junit:junit:4.13.1'
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
}
test {
useJUnitPlatform()
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
}
// Simulation configuration (e.g. environment variables).
@@ -86,6 +96,9 @@ jar {
it.isDirectory() ? it : zipTree(it)
}
}
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

BIN
photonlib-java-examples/aimattarget/gradle/wrapper/gradle-wrapper.jar vendored
View File

Binary file not shown.

4
photonlib-java-examples/aimattarget/gradle/wrapper/gradle-wrapper.properties vendored
View File

@@ -1,5 +1,7 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists

39
photonlib-java-examples/aimattarget/gradlew vendored
View File

@@ -15,6 +15,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
@@ -55,7 +57,7 @@
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,14 +82,12 @@ do
esac
done
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
APP_NAME="Gradle"
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -134,22 +134,29 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -194,11 +201,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \

23
photonlib-java-examples/aimattarget/gradlew.bat vendored
View File

@@ -13,6 +13,8 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@rem SPDX-License-Identifier: Apache-2.0
@rem
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%"=="" set DIRNAME=.
@rem This is normally unused
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@@ -42,11 +45,11 @@ set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail

8
photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java
View File

@@ -24,12 +24,12 @@
package frc.robot;
import static org.junit.Assert.fail;
import static org.junit.jupiter.api.Assertions.fail;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation2d;
import java.util.List;
import org.junit.Test;
import org.junit.jupiter.api.Test;
import org.photonvision.PhotonCamera;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.SimCameraProperties;
@@ -37,14 +37,14 @@ import org.photonvision.timesync.TimeSyncSingleton;
public class JniLoadTest {
@Test
public void smoketestTimeSync() {
void smoketestTimeSync() {
if (!TimeSyncSingleton.load()) {
fail("Could not load TimeSync JNI????????");
}
}
@Test
public void smoketestPhotonCameraSim() {
void smoketestPhotonCameraSim() {
// This will trigger a force load of OpenCV internally - good to smoketest
var camera = new PhotonCamera("Hellowo");
var cameraProp = new SimCameraProperties();

2
photonlib-java-examples/build.gradle
View File

@@ -1,5 +1,5 @@
plugins {
id "com.diffplug.spotless" version "6.1.2"
id "com.diffplug.spotless" version "8.1.0"
}
allprojects {

BIN
photonlib-java-examples/gradle/wrapper/gradle-wrapper.jar vendored
View File

Binary file not shown.

6
photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties vendored
View File

@@ -1,7 +1,7 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
distributionPath=wrapper/dists
distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists
zipStorePath=wrapper/dists

89
photonlib-java-examples/gradlew vendored
View File

@@ -1,7 +1,7 @@
#!/bin/sh
#
# Copyright <EFBFBD> 2015-2021 the original authors.
# Copyright © 2015-2021 the original authors.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
@@ -15,7 +15,53 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
# Gradle start up script for POSIX generated by Gradle.
#
# Important for running:
#
# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
# noncompliant, but you have some other compliant shell such as ksh or
# bash, then to run this script, type that shell name before the whole
# command line, like:
#
# ksh Gradle
#
# Busybox and similar reduced shells will NOT work, because this script
# requires all of these POSIX shell features:
# * functions;
# * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
# «${var#prefix}», «${var%suffix}», and «$( cmd )»;
# * compound commands having a testable exit status, especially «case»;
# * various built-in commands including «command», «set», and «ulimit».
#
# Important for patching:
#
# (2) This script targets any POSIX shell, so it avoids extensions provided
# by Bash, Ksh, etc; in particular arrays are avoided.
#
# The "traditional" practice of packing multiple parameters into a
# space-separated string is a well documented source of bugs and security
# problems, so this is (mostly) avoided, by progressively accumulating
# options in "$@", and eventually passing that to Java.
#
# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
# see the in-line comments for details.
#
# There are tweaks for specific operating systems such as AIX, CygWin,
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
#
##############################################################################
# Attempt to set APP_HOME
@@ -36,14 +82,12 @@ do
esac
done
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
APP_NAME="Gradle"
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -90,22 +134,29 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -150,11 +201,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \
@@ -162,6 +217,12 @@ set -- \
org.gradle.wrapper.GradleWrapperMain \
"$@"
# Stop when "xargs" is not available.
if ! command -v xargs >/dev/null 2>&1
then
die "xargs is not available"
fi
# Use "xargs" to parse quoted args.
#
# With -n1 it outputs one arg per line, with the quotes and backslashes removed.

37
photonlib-java-examples/gradlew.bat vendored
View File

@@ -13,8 +13,10 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@rem SPDX-License-Identifier: Apache-2.0
@rem
@if "%DEBUG%" == "" @echo off
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@rem
@rem Gradle startup script for Windows
@@ -25,7 +27,8 @@
if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%" == "" set DIRNAME=.
if "%DIRNAME%"=="" set DIRNAME=.
@rem This is normally unused
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome
set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if "%ERRORLEVEL%" == "0" goto execute
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -75,13 +78,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
:end
@rem End local scope for the variables with windows NT shell
if "%ERRORLEVEL%"=="0" goto mainEnd
if %ERRORLEVEL% equ 0 goto mainEnd
:fail
rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
rem the _cmd.exe /c_ return code!
if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
exit /b 1
set EXIT_CODE=%ERRORLEVEL%
if %EXIT_CODE% equ 0 set EXIT_CODE=1
if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
exit /b %EXIT_CODE%
:mainEnd
if "%OS%"=="Windows_NT" endlocal

2
photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json
View File

@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2026beta",
"projectYear": "2026",
"teamNumber": 4512
}

23
photonlib-java-examples/poseest/build.gradle
View File

@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
id "edu.wpi.first.GradleRIO" version "2026.1.1"
}
sourceCompatibility = JavaVersion.VERSION_17
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_17
def ROBOT_MAIN_CLASS = "frc.robot.Main"
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2026.1.1-beta-1"
wpi.versions.wpimathVersion = "2026.1.1-beta-1"
wpi.versions.wpilibVersion = "2026.1.1"
wpi.versions.wpimathVersion = "2026.1.1"
// Define my targets (RoboRIO) and artifacts (deployable files)
@@ -36,6 +36,8 @@ deploy {
frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
files = project.fileTree('src/main/deploy')
directory = '/home/lvuser/deploy'
deleteOldFiles = false // Change to true to delete files on roboRIO that no
// longer exist in deploy directory of this project
}
}
}
@@ -44,7 +46,8 @@ deploy {
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
// Set to true to use debug for JNI.
// Set to true to use debug for all targets including JNI, which will drastically impact
// performance.
wpi.java.debugJni = false
// Set this to true to enable desktop support.
@@ -53,6 +56,7 @@ def includeDesktopSupport = true
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 5.
dependencies {
annotationProcessor wpi.java.deps.wpilibAnnotations()
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
@@ -70,7 +74,13 @@ dependencies {
nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
simulationRelease wpi.sim.enableRelease()
testImplementation 'junit:junit:4.13.1'
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
}
test {
useJUnitPlatform()
systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
}
// Simulation configuration (e.g. environment variables).
@@ -86,6 +96,9 @@ jar {
it.isDirectory() ? it : zipTree(it)
}
}
from('src') { into 'backup/src' }
from('vendordeps') { into 'backup/vendordeps' }
from('build.gradle') { into 'backup' }
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

BIN
photonlib-java-examples/poseest/gradle/wrapper/gradle-wrapper.jar vendored
View File

Binary file not shown.

4
photonlib-java-examples/poseest/gradle/wrapper/gradle-wrapper.properties vendored
View File

@@ -1,5 +1,7 @@
distributionBase=GRADLE_USER_HOME
distributionPath=permwrapper/dists
distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
networkTimeout=10000
validateDistributionUrl=true
zipStoreBase=GRADLE_USER_HOME
zipStorePath=permwrapper/dists

39
photonlib-java-examples/poseest/gradlew vendored
View File

@@ -15,6 +15,8 @@
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0
#
##############################################################################
#
@@ -55,7 +57,7 @@
# Darwin, MinGW, and NonStop.
#
# (3) This script is generated from the Groovy template
# https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
# within the Gradle project.
#
# You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,14 +82,12 @@ do
esac
done
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
APP_NAME="Gradle"
# This is normally unused
# shellcheck disable=SC2034
APP_BASE_NAME=${0##*/}
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
' "$PWD" ) || exit
# Use the maximum available, or set MAX_FD != -1 to use that value.
MAX_FD=maximum
@@ -134,22 +134,29 @@ location of your Java installation."
fi
else
JAVACMD=java
which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
if ! command -v java >/dev/null 2>&1
then
die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
Please set the JAVA_HOME variable in your environment to match the
location of your Java installation."
fi
fi
# Increase the maximum file descriptors if we can.
if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
case $MAX_FD in #(
max*)
# In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
MAX_FD=$( ulimit -H -n ) ||
warn "Could not query maximum file descriptor limit"
esac
case $MAX_FD in #(
'' | soft) :;; #(
*)
# In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
# shellcheck disable=SC2039,SC3045
ulimit -n "$MAX_FD" ||
warn "Could not set maximum file descriptor limit to $MAX_FD"
esac
@@ -194,11 +201,15 @@ if "$cygwin" || "$msys" ; then
done
fi
# Collect all arguments for the java command;
# * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
# shell script including quotes and variable substitutions, so put them in
# double quotes to make sure that they get re-expanded; and
# * put everything else in single quotes, so that it's not re-expanded.
# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
# Collect all arguments for the java command:
# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
# and any embedded shellness will be escaped.
# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
# treated as '${Hostname}' itself on the command line.
set -- \
"-Dorg.gradle.appname=$APP_BASE_NAME" \

23
photonlib-java-examples/poseest/gradlew.bat vendored
View File

@@ -13,6 +13,8 @@
@rem See the License for the specific language governing permissions and
@rem limitations under the License.
@rem
@rem SPDX-License-Identifier: Apache-2.0
@rem
@if "%DEBUG%"=="" @echo off
@rem ##########################################################################
@@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal
set DIRNAME=%~dp0
if "%DIRNAME%"=="" set DIRNAME=.
@rem This is normally unused
set APP_BASE_NAME=%~n0
set APP_HOME=%DIRNAME%
@@ -42,11 +45,11 @@ set JAVA_EXE=java.exe
%JAVA_EXE% -version >NUL 2>&1
if %ERRORLEVEL% equ 0 goto execute
echo.
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
if exist "%JAVA_EXE%" goto execute
echo.
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
echo.
echo Please set the JAVA_HOME variable in your environment to match the
echo location of your Java installation.
echo. 1>&2
echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
echo. 1>&2
echo Please set the JAVA_HOME variable in your environment to match the 1>&2
echo location of your Java installation. 1>&2
goto fail

2
photonlib-python-examples/aimandrange/pyproject.toml
View File

@@ -6,7 +6,7 @@
[tool.robotpy]
# Version of robotpy this project depends on
robotpy_version = "2026.1.1b1"
robotpy_version = "2026.1.1"
# Which extra RobotPy components should be installed
# -> equivalent to `pip install robotpy[extra1, ...]

2
photonlib-python-examples/aimattarget/pyproject.toml
View File

@@ -6,7 +6,7 @@
[tool.robotpy]
# Version of robotpy this project depends on
robotpy_version = "2026.1.1b1"
robotpy_version = "2026.1.1"
# Which extra RobotPy components should be installed
# -> equivalent to `pip install robotpy[extra1, ...]

2
photonlib-python-examples/poseest/pyproject.toml
View File

@@ -6,7 +6,7 @@
[tool.robotpy]
# Version of robotpy this project depends on
robotpy_version = "2026.1.1b1"
robotpy_version = "2026.1.1"
# Which extra RobotPy components should be installed
# -> equivalent to `pip install robotpy[extra1, ...]