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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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23
shared/common.gradle
View File

@@ -3,16 +3,15 @@ apply plugin: "java"
apply plugin: "jacoco"
java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
toolchain {
languageVersion = JavaLanguageVersion.of(21)
}
sourceCompatibility = JavaVersion.VERSION_21
targetCompatibility = JavaVersion.VERSION_21
}
wpilibTools.deps.wpilibVersion = wpilibVersion
// Tell gradlerio what version of things to use (that we care about)
// See: https://github.com/wpilibsuite/GradleRIO/blob/main/src/main/java/edu/wpi/first/gradlerio/wpi/WPIVersionsExtension.java
wpi.getVersions().getOpencvVersion().convention(openCVversion);
wpi.getVersions().getWpilibVersion().convention(wpilibVersion);
dependencies {
implementation project(':photon-targeting')
@@ -33,14 +32,14 @@ dependencies {
implementation "org.wpilib.wpilibj:wpilibj-java:$wpilibVersion"
implementation "org.wpilib.apriltag:apriltag-java:$wpilibVersion"
implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, wpi.versions.opencvVersion.get())
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, openCVversion)
implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: jacksonVersion
implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
implementation group: "org.ejml", name: "ejml-simple", version: ejmlVersion
implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: quickbufVersion;
implementation "commons-io:commons-io:2.11.0"
implementation "commons-cli:commons-cli:1.5.0"

22
shared/javacommon.gradle
View File

@@ -4,8 +4,11 @@ apply plugin: 'jacoco'
apply plugin: 'com.google.protobuf'
java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
toolchain {
languageVersion = JavaLanguageVersion.of(21)
}
sourceCompatibility = JavaVersion.VERSION_21
targetCompatibility = JavaVersion.VERSION_21
}
def baseArtifactId = nativeName
@@ -126,7 +129,7 @@ test {
finalizedBy jacocoTestReport
}
wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
wpilibTools.deps.wpilibVersion = wpilibVersion
dependencies {
if(project.hasProperty('includePhotonTargeting')) {
@@ -144,19 +147,20 @@ dependencies {
implementation "org.wpilib.wpilibj:wpilibj-java:$wpilibVersion"
implementation "org.wpilib.apriltag:apriltag-java:$wpilibVersion"
implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, wpi.versions.opencvVersion.get())
implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, openCVversion)
implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: wpi.versions.jacksonVersion.get()
implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: jacksonVersion
implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
implementation group: "org.ejml", name: "ejml-simple", version: wpi.versions.ejmlVersion.get()
implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: wpi.versions.quickbufVersion.get();
implementation group: "org.ejml", name: "ejml-simple", version: ejmlVersion
implementation group: "us.hebi.quickbuf", name: "quickbuf-runtime", version: quickbufVersion;
testImplementation(platform('org.junit:junit-bom:5.11.4'))
testImplementation 'org.junit.jupiter:junit-jupiter-api'
testImplementation 'org.junit.jupiter:junit-jupiter-params'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
}
jacoco {