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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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139
photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
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@@ -50,13 +50,14 @@ class VisionSystemSimTestWithParamsTest
public testing::WithParamInterface<wpi::units::degree_t> {};
class VisionSystemSimTestDistanceParamsTest
: public VisionSystemSimTest,
public testing::WithParamInterface<
std::tuple<wpi::units::foot_t, wpi::units::degree_t, wpi::units::foot_t>> {};
public testing::WithParamInterface<std::tuple<
wpi::units::foot_t, wpi::units::degree_t, wpi::units::foot_t>> {};
TEST_F(VisionSystemSimTest, TestVisibilityCupidShuffle) {
wpi::math::Pose3d targetPose{
wpi::math::Translation3d{15.98_m, 0_m, 2_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
photon::VisionSystemSim visionSysSim{"Test"};
photon::PhotonCamera camera{"camera"};
@@ -110,10 +111,11 @@ TEST_F(VisionSystemSimTest, TestVisibilityCupidShuffle) {
// Now walk it by yourself
visionSysSim.AdjustCamera(
&cameraSim, wpi::math::Transform3d{
wpi::math::Translation3d{},
wpi::math::Rotation3d{
0_deg, 0_deg, wpi::units::radian_t{std::numbers::pi}}});
&cameraSim,
wpi::math::Transform3d{
wpi::math::Translation3d{},
wpi::math::Rotation3d{0_deg, 0_deg,
wpi::units::radian_t{std::numbers::pi}}});
visionSysSim.Update(robotPose);
ASSERT_TRUE(camera.GetLatestResult().HasTargets());
}
@@ -122,20 +124,22 @@ TEST_F(VisionSystemSimTest, TestBunchaTargets) {
photon::VisionSystemSim visionSysSim{"Test"};
photon::PhotonCamera camera{"camera"};
photon::PhotonCameraSim cameraSim{&camera};
visionSysSim.AddCamera(&cameraSim, frc::Transform3d{});
cameraSim.prop.SetCalibration(640, 480, frc::Rotation2d{80_deg});
visionSysSim.AddCamera(&cameraSim, wpi::math::Transform3d{});
cameraSim.prop.SetCalibration(640, 480, wpi::math::Rotation2d{80_deg});
std::vector<photon::VisionTargetSim> targets;
for (int i = 0; i < 100; i++) {
targets.emplace_back(
frc::Pose3d{
frc::Translation3d{15.98_m + i * 0.1_m, 0_m, 1_m},
frc::Rotation3d{0_rad, 0_rad, units::radian_t{std::numbers::pi}}},
wpi::math::Pose3d{
wpi::math::Translation3d{15.98_m + i * 0.1_m, 0_m, 1_m},
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}},
photon::TargetModel{0.5_m, 0.5_m}, i);
}
visionSysSim.AddVisionTargets(targets);
frc::Pose2d robotPose{frc::Translation2d{5_m, 0_m}, frc::Rotation2d{5_deg}};
wpi::math::Pose2d robotPose{wpi::math::Translation2d{5_m, 0_m},
wpi::math::Rotation2d{5_deg}};
visionSysSim.Update(robotPose);
ASSERT_EQ(camera.GetLatestResult().targets.size(), 50u);
@@ -144,7 +148,8 @@ TEST_F(VisionSystemSimTest, TestBunchaTargets) {
TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
wpi::math::Pose3d targetPose{
wpi::math::Translation3d{15.98_m, 0_m, 1_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
photon::VisionSystemSim visionSysSim{"Test"};
photon::PhotonCamera camera{"camera"};
@@ -160,10 +165,11 @@ TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
ASSERT_TRUE(camera.GetLatestResult().HasTargets());
visionSysSim.AdjustCamera(
&cameraSim, wpi::math::Transform3d{
wpi::math::Translation3d{0_m, 0_m, 5000_m},
wpi::math::Rotation3d{
0_deg, 0_deg, wpi::units::radian_t{std::numbers::pi}}});
&cameraSim,
wpi::math::Transform3d{
wpi::math::Translation3d{0_m, 0_m, 5000_m},
wpi::math::Rotation3d{0_deg, 0_deg,
wpi::units::radian_t{std::numbers::pi}}});
visionSysSim.Update(robotPose);
ASSERT_FALSE(camera.GetLatestResult().HasTargets());
}
@@ -171,7 +177,8 @@ TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
TEST_F(VisionSystemSimTest, TestNotVisibleVert2) {
wpi::math::Pose3d targetPose{
wpi::math::Translation3d{15.98_m, 0_m, 2_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Transform3d robotToCamera{
wpi::math::Translation3d{0_m, 0_m, 1_m},
@@ -200,7 +207,8 @@ TEST_F(VisionSystemSimTest, TestNotVisibleVert2) {
TEST_F(VisionSystemSimTest, TestNotVisibleTargetSize) {
wpi::math::Pose3d targetPose{
wpi::math::Translation3d{15.98_m, 0_m, 1_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
photon::VisionSystemSim visionSysSim{"Test"};
photon::PhotonCamera camera{"camera"};
@@ -225,7 +233,8 @@ TEST_F(VisionSystemSimTest, TestNotVisibleTargetSize) {
TEST_F(VisionSystemSimTest, TestNotVisibleTooFarLeds) {
wpi::math::Pose3d targetPose{
wpi::math::Translation3d{15.98_m, 0_m, 1_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
photon::VisionSystemSim visionSysSim{"Test"};
photon::PhotonCamera camera{"camera"};
@@ -291,10 +300,10 @@ TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) {
robotPose = wpi::math::Pose2d{wpi::math::Translation2d{10_m, 0_m},
wpi::math::Rotation2d{-1 * GetParam()}};
visionSysSim.AdjustCamera(
&cameraSim,
wpi::math::Transform3d{
wpi::math::Translation3d{},
wpi::math::Rotation3d{0_rad, wpi::units::degree_t{GetParam()}, 0_rad}});
&cameraSim, wpi::math::Transform3d{
wpi::math::Translation3d{},
wpi::math::Rotation3d{
0_rad, wpi::units::degree_t{GetParam()}, 0_rad}});
visionSysSim.Update(robotPose);
const auto result = camera.GetLatestResult();
@@ -370,13 +379,16 @@ INSTANTIATE_TEST_SUITE_P(
TEST_F(VisionSystemSimTest, TestMultipleTargets) {
wpi::math::Pose3d targetPoseL{
wpi::math::Translation3d{15.98_m, 2_m, 0_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Pose3d targetPoseC{
wpi::math::Translation3d{15.98_m, 0_m, 0_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Pose3d targetPoseR{
wpi::math::Translation3d{15.98_m, -2_m, 0_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
photon::VisionSystemSim visionSysSim{"Test"};
photon::PhotonCamera camera{"camera"};
@@ -449,20 +461,20 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
std::vector<wpi::apriltag::AprilTag> tagList;
tagList.emplace_back(wpi::apriltag::AprilTag{
0,
wpi::math::Pose3d{12_m, 3_m, 1_m,
wpi::math::Rotation3d{
0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}}});
0, wpi::math::Pose3d{
12_m, 3_m, 1_m,
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}}});
tagList.emplace_back(wpi::apriltag::AprilTag{
1,
wpi::math::Pose3d{12_m, 1_m, -1_m,
wpi::math::Rotation3d{
0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}}});
1, wpi::math::Pose3d{
12_m, 1_m, -1_m,
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}}});
tagList.emplace_back(wpi::apriltag::AprilTag{
2,
wpi::math::Pose3d{11_m, 0_m, 2_m,
wpi::math::Rotation3d{
0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}}});
2, wpi::math::Pose3d{
11_m, 0_m, 2_m,
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}}});
wpi::units::meter_t fieldLength{54};
wpi::units::meter_t fieldWidth{27};
wpi::apriltag::AprilTagFieldLayout layout{tagList, fieldLength, fieldWidth};
@@ -488,8 +500,9 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
ASSERT_NEAR(5, pose.X().to<double>(), 0.01);
ASSERT_NEAR(1, pose.Y().to<double>(), 0.01);
ASSERT_NEAR(0, pose.Z().to<double>(), 0.01);
ASSERT_NEAR(wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>(),
pose.Rotation().Z().to<double>(), 0.01);
ASSERT_NEAR(
wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>(),
pose.Rotation().Z().to<double>(), 0.01);
visionSysSim.AddVisionTargets(
{photon::VisionTargetSim{tagList[1].pose, photon::kAprilTag16h5, 1}});
@@ -510,8 +523,9 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
ASSERT_NEAR(robotPose.X().to<double>(), pose2.X().to<double>(), 0.01);
ASSERT_NEAR(robotPose.Y().to<double>(), pose2.Y().to<double>(), 0.01);
ASSERT_NEAR(0, pose2.Z().to<double>(), 0.01);
ASSERT_NEAR(wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>(),
pose2.Rotation().Z().to<double>(), 0.01);
ASSERT_NEAR(
wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>(),
pose2.Rotation().Z().to<double>(), 0.01);
}
TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
@@ -528,20 +542,20 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
std::vector<wpi::apriltag::AprilTag> tagList;
tagList.emplace_back(wpi::apriltag::AprilTag{
0,
wpi::math::Pose3d{12_m, 3_m, 1_m,
wpi::math::Rotation3d{
0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}}});
0, wpi::math::Pose3d{
12_m, 3_m, 1_m,
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}}});
tagList.emplace_back(wpi::apriltag::AprilTag{
1,
wpi::math::Pose3d{12_m, 1_m, -1_m,
wpi::math::Rotation3d{
0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}}});
1, wpi::math::Pose3d{
12_m, 1_m, -1_m,
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}}});
tagList.emplace_back(wpi::apriltag::AprilTag{
2,
wpi::math::Pose3d{11_m, 0_m, 2_m,
wpi::math::Rotation3d{
0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}}});
2, wpi::math::Pose3d{
11_m, 0_m, 2_m,
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}}});
wpi::units::meter_t fieldLength{54};
wpi::units::meter_t fieldWidth{27};
wpi::apriltag::AprilTagFieldLayout layout{tagList, fieldLength, fieldWidth};
@@ -572,8 +586,9 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
ASSERT_NEAR(5, pose.X().to<double>(), 0.01);
ASSERT_NEAR(1, pose.Y().to<double>(), 0.01);
ASSERT_NEAR(0, pose.Z().to<double>(), 0.01);
ASSERT_NEAR(wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>(),
pose.Rotation().Z().to<double>(), 0.01);
ASSERT_NEAR(
wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>(),
pose.Rotation().Z().to<double>(), 0.01);
visionSysSim.AddVisionTargets(
{photon::VisionTargetSim{tagList[1].pose, photon::kAprilTag36h11, 1}});
@@ -595,8 +610,9 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
ASSERT_NEAR(robotPose.X().to<double>(), pose2.X().to<double>(), 0.01);
ASSERT_NEAR(robotPose.Y().to<double>(), pose2.Y().to<double>(), 0.01);
ASSERT_NEAR(0, pose2.Z().to<double>(), 0.01);
ASSERT_NEAR(wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>(),
pose2.Rotation().Z().to<double>(), 0.01);
ASSERT_NEAR(
wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>(),
pose2.Rotation().Z().to<double>(), 0.01);
}
TEST_F(VisionSystemSimTest, TestTagAmbiguity) {
@@ -609,7 +625,8 @@ TEST_F(VisionSystemSimTest, TestTagAmbiguity) {
wpi::math::Pose3d targetPose{
wpi::math::Translation3d{2_m, 0_m, 0_m},
wpi::math::Rotation3d{0_rad, 0_rad, wpi::units::radian_t{std::numbers::pi}}};
wpi::math::Rotation3d{0_rad, 0_rad,
wpi::units::radian_t{std::numbers::pi}}};
visionSysSim.AddVisionTargets(
{photon::VisionTargetSim{targetPose, photon::kAprilTag36h11, 3}});