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Make 2027 build (#2422)

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This PR updates everything for 2027. This includes removing GradleRIO, simplifying our wpilib version defintion, updating APIs, updating to Java 21, and more.

Note that photonlibpy is failing because robotpy has not been fully updated yet. Examples are omitted because they need to be updated for our new PhotonPoseEstimator API and still need some changes from WPILIB. photonlib windows build is failing because we're waiting for some upstream changes. Finally, images are failing since they don't have Java 21 yet.
This commit is contained in:
Sam Freund
2026-04-11 12:14:42 -05:00
committed by samfreund
parent 4412df1516
commit 68fc1e7129
111 changed files with 630 additions and 578 deletions
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27
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
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@@ -34,6 +34,7 @@ import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import java.io.IOException;
import java.util.Arrays;
import java.util.List;
import java.util.Objects;
import java.util.Optional;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterEach;
@@ -56,6 +57,7 @@ import org.wpilib.hardware.hal.HAL;
import org.wpilib.math.geometry.Rotation2d;
import org.wpilib.networktables.NetworkTableInstance;
import org.wpilib.networktables.NetworkTablesJNI;
import org.wpilib.simulation.AlertSim;
import org.wpilib.simulation.SimHooks;
import org.wpilib.smartdashboard.SmartDashboard;
import org.wpilib.system.DataLogManager;
@@ -322,13 +324,16 @@ class PhotonCameraTest {
// WHEN we update the camera
camera.getAllUnreadResults();
// AND we tick SmartDashboard
SmartDashboard.updateValues();
// TODO: change to getActive once that exists
String[] alertsText =
Arrays.stream(AlertSim.getAll())
.filter(it -> it.isActive())
.map(it -> it.text)
.toArray(String[]::new);
// The alert state will be set (hard-coded here)
assertTrue(
Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
.anyMatch(it -> it.equals(disconnectedCameraString)));
Arrays.stream(alertsText).anyMatch(it -> Objects.equals(it, disconnectedCameraString)));
Thread.sleep(20);
}
@@ -351,16 +356,18 @@ class PhotonCameraTest {
// WHEN we update the camera
camera.getAllUnreadResults();
// AND we tick SmartDashboard
SmartDashboard.updateValues();
// TODO: change to getActive once that exists
String[] alertsText =
Arrays.stream(AlertSim.getAll())
.filter(it -> it.isActive())
.map(it -> it.text)
.toArray(String[]::new);
// THEN the camera isn't disconnected
assertTrue(
Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
.noneMatch(it -> it.equals(disconnectedCameraString)));
assertTrue(Arrays.stream(alertsText).noneMatch(it -> it.equals(disconnectedCameraString)));
// AND the alert string looks like a timesync warning
assertTrue(
Arrays.stream(SmartDashboard.getStringArray("PhotonAlerts/warnings", new String[0]))
Arrays.stream(alertsText)
.filter(it -> it.contains("is not connected to the TimeSyncServer"))
.count()
== 1);