Bump wpilib versions to 2024 beta 1 (#947)

2026-06-19 00:41:41 +00:00 · 2023-10-15 12:17:40 -04:00
parent 82e3da622f
commit 9991f8670c
52 changed files with 125 additions and 115 deletions
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -106,14 +106,14 @@ jobs:
        run: |
          chmod +x gradlew
          ./gradlew copyPhotonlib -x check
-          ./gradlew buildAllExamples -x check --max-workers 2
+          ./gradlew build -x check --max-workers 2

      - name: Build C++ examples
        working-directory: photonlib-cpp-examples
        run: |
          chmod +x gradlew
          ./gradlew copyPhotonlib -x check
-          ./gradlew buildAllExamples -x check --max-workers 2
+          ./gradlew build -x check --max-workers 2
  photon-build-all:
    # The type of runner that the job will run on.
    runs-on: ubuntu-22.04
@@ -225,6 +225,7 @@ jobs:
        include:
          - os: windows-2022
            artifact-name: Win64
+            architecture: x64
          # Mac builds are broken due to opencv class loading issues -- disable for now
          # - os: macos-11
          #   artifact-name: macOS
@@ -255,7 +256,7 @@ jobs:
      fail-fast: false
      matrix:
        include:
-          - container: wpilib/roborio-cross-ubuntu:2023-22.04
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
            artifact-name: Athena
          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
            artifact-name: Raspbian
--- a/build.gradle
+++ b/build.gradle
@@ -2,12 +2,12 @@ plugins {
    id "com.diffplug.spotless" version "6.19.0"
    id "com.github.johnrengelman.shadow" version "7.1.2"
    id "com.github.node-gradle.node" version "3.1.1" apply false
-    id "edu.wpi.first.GradleJni" version "1.0.0"
-    id "edu.wpi.first.GradleVsCode" version "1.1.0"
-    id "edu.wpi.first.NativeUtils" version "2023.11.1" apply false
+    id "edu.wpi.first.GradleJni" version "1.1.0"
+    id "edu.wpi.first.GradleVsCode" version "1.3.0"
+    id "edu.wpi.first.NativeUtils" version "2024.2.0" apply false
    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
    id "org.hidetake.ssh" version "2.10.1"
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }

 import org.gradle.api.internal.artifacts.dependencies.DefaultExternalModuleDependency;
@@ -26,10 +26,12 @@ allprojects {
 apply from: "versioningHelper.gradle"

 ext {
-    wpilibVersion = "2023.4.2"
-    opencvVersion = "4.6.0-4"
+    wpilibVersion = "2024.1.1-beta-1"
+    openCVversion = "4.8.0-1"
    joglVersion = "2.4.0-rc-20200307"
    javalinVersion = "5.6.2"
+    frcYear = "2024"
+
    pubVersion = versionString
    isDev = pubVersion.startsWith("dev")

@@ -61,3 +63,7 @@ spotless {
        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
    }
 }
+
+wrapper {
+    gradleVersion '8.3'
+}
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
--- a/3
+++ b/3
@@ -36,7 +36,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -1,5 +1,5 @@
 plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }

 import java.nio.file.Path
--- a/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
+++ b/photon-core/src/main/java/org/photonvision/vision/aruco/ArucoDetectorParams.java
@@ -17,10 +17,9 @@

 package org.photonvision.vision.aruco;

-import org.opencv.aruco.Aruco;
-import org.opencv.aruco.ArucoDetector;
-import org.opencv.aruco.DetectorParameters;
-import org.opencv.aruco.Dictionary;
+import org.opencv.objdetect.ArucoDetector;
+import org.opencv.objdetect.DetectorParameters;
+import org.opencv.objdetect.Objdetect;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

@@ -31,7 +30,7 @@ public class ArucoDetectorParams {
    private int m_iterations = -1;
    private double m_accuracy = -1;

-    DetectorParameters parameters = DetectorParameters.create();
+    DetectorParameters parameters = new DetectorParameters();
    ArucoDetector detector;

    public ArucoDetectorParams() {
@@ -39,7 +38,9 @@ public class ArucoDetectorParams {
        setCornerAccuracy(25);
        setCornerRefinementMaxIterations(100);

-        detector = new ArucoDetector(Dictionary.get(Aruco.DICT_APRILTAG_16h5), parameters);
+        detector =
+                new ArucoDetector(
+                        Objdetect.getPredefinedDictionary(Objdetect.DICT_APRILTAG_16h5), parameters);
    }

    public void setDecimation(float decimate) {
@@ -56,7 +57,7 @@ public class ArucoDetectorParams {
    public void setCornerRefinementMaxIterations(int iters) {
        if (iters == m_iterations || iters <= 0) return;

-        parameters.set_cornerRefinementMethod(Aruco.CORNER_REFINE_SUBPIX);
+        parameters.set_cornerRefinementMethod(Objdetect.CORNER_REFINE_SUBPIX);
        parameters.set_cornerRefinementMaxIterations(iters); // 200

        m_iterations = iters;
--- a/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
+++ b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
@@ -24,8 +24,8 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
 import java.util.ArrayList;
 import org.opencv.aruco.Aruco;
-import org.opencv.aruco.ArucoDetector;
 import org.opencv.core.Mat;
+import org.opencv.objdetect.ArucoDetector;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipe.java
@@ -19,8 +19,8 @@ package org.photonvision.vision.pipe.impl;

 import edu.wpi.first.math.util.Units;
 import java.util.List;
-import org.opencv.aruco.DetectorParameters;
 import org.opencv.core.Mat;
+import org.opencv.objdetect.DetectorParameters;
 import org.photonvision.vision.aruco.ArucoDetectionResult;
 import org.photonvision.vision.aruco.PhotonArucoDetector;
 import org.photonvision.vision.pipe.CVPipe;
@@ -45,6 +45,6 @@ public class ArucoDetectionPipe
    }

    public DetectorParameters getParameters() {
-        return params == null ? null : params.detectorParams.get_params();
+        return params == null ? null : params.detectorParams.getDetectorParameters();
    }
 }
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/ArucoDetectionPipeParams.java
@@ -18,7 +18,7 @@
 package org.photonvision.vision.pipe.impl;

 import java.util.Objects;
-import org.opencv.aruco.ArucoDetector;
+import org.opencv.objdetect.ArucoDetector;
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;

 public class ArucoDetectionPipeParams {
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -1,5 +1,5 @@
 plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }

 import java.nio.file.Path
@@ -50,10 +50,10 @@ dependencies {
    implementation "com.fasterxml.jackson.core:jackson-core:2.12.4"
    implementation "com.fasterxml.jackson.core:jackson-databind:2.12.4"

-    implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:$opencvVersion"
-    implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-jni:$opencvVersion:$jniPlatform"
+    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:$openCVversion"
+    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-jni:$openCVversion:$jniPlatform"

-    implementation "org.ejml:ejml-simple:0.41"
+    implementation "org.ejml:ejml-simple:0.42"

    // Junit
    testImplementation wpilibTools.deps.wpilibJava("cscore")
@@ -126,7 +126,9 @@ task generateVendorJson() {
        if (photonlibFileOutput.exists()) {
            photonlibFileOutput.delete()
        }
-        def read = photonlibFileInput.text.replace('${photon_version}', pubVersion)
+        def read = photonlibFileInput.text
+            .replace('${photon_version}', pubVersion)
+            .replace('${frc_year}', frcYear)
        photonlibFileOutput.write(read)
    }

--- a/photon-lib/publish.gradle
+++ b/photon-lib/publish.gradle
@@ -37,8 +37,8 @@ copyAllOutputs.dependsOn outputVersions

 ext.addTaskToCopyAllOutputs = { task ->
    copyAllOutputs.dependsOn task
-    copyAllOutputs.inputs.file task.archivePath
-    copyAllOutputs.from task.archivePath
+    copyAllOutputs.inputs.file task.archiveFile
+    copyAllOutputs.from task.archiveFile
 }

 def artifactGroupId = 'org.photonvision'
@@ -49,7 +49,7 @@ def javaBaseName = "_GROUP_org_photonvision_photonlib_ID_${baseArtifactId}-java_
 task cppHeadersZip(type: Zip) {
    destinationDirectory = outputsFolder
    archiveBaseName = zipBaseName
-    classifier = "headers"
+    archiveClassifier = "headers"

    from(licenseFile) {
        into '/'
@@ -67,7 +67,7 @@ task cppHeadersZip(type: Zip) {
 task cppSourcesZip(type: Zip) {
    destinationDirectory = outputsFolder
    archiveBaseName = zipBaseName
-    classifier = "sources"
+    archiveClassifier = "sources"

    from(licenseFile) {
        into '/'
@@ -84,12 +84,12 @@ build.dependsOn cppSourcesZip
 addTaskToCopyAllOutputs(cppSourcesZip)

 task sourcesJar(type: Jar, dependsOn: classes) {
-    classifier = 'sources'
+    archiveClassifier = 'sources'
    from sourceSets.main.allSource
 }

 task javadocJar(type: Jar, dependsOn: javadoc) {
-    classifier = 'javadoc'
+    archiveClassifier = 'javadoc'
    from javadoc.destinationDir
 }

@@ -102,14 +102,14 @@ task outputJar(type: Jar, dependsOn: classes) {
 task outputSourcesJar(type: Jar, dependsOn: classes) {
    archiveBaseName = javaBaseName
    destinationDirectory = outputsFolder
-    classifier = 'sources'
+    archiveClassifier = 'sources'
    from sourceSets.main.allSource
 }

 task outputJavadocJar(type: Jar, dependsOn: javadoc) {
    archiveBaseName = javaBaseName
    destinationDirectory = outputsFolder
-    classifier = 'javadoc'
+    archiveClassifier = 'javadoc'
    from javadoc.destinationDir
 }

@@ -198,5 +198,10 @@ model {
    }
 }

+// So I don't actually know the _right_ way to tell gradle that the vendordep json publish requires generation first, so we're doing this
+getTasksByName("publishVendorjsonPublicationToMavenLocal", false).each {
+    it.mustRunAfter generateVendorJson
+}
+
 publishToMavenLocal.dependsOn libraryBuild
 publish.dependsOn libraryBuild
--- a/photon-lib/src/generate/photonlib.json.in
+++ b/photon-lib/src/generate/photonlib.json.in
@@ -2,7 +2,8 @@
  "fileName": "photonlib.json",
  "name": "photonlib",
  "version": "${photon_version}",
-  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "frcYear": "${frc_year}",
  "mavenUrls": [
    "https://maven.photonvision.org/repository/internal",
    "https://maven.photonvision.org/repository/snapshots"
--- a/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
@@ -33,6 +33,7 @@
 #include <utility>
 #include <vector>

+#include <Eigen/Core>
 #include <frc/Errors.h>
 #include <frc/geometry/Pose3d.h>
 #include <frc/geometry/Rotation3d.h>
@@ -337,21 +338,17 @@ frc::Pose3d detail::ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec) {
  R = R.t();                  // rotation of inverse
  cv::Mat tvecI = -R * tvec;  // translation of inverse

-  Vectord<3> tv;
+  Eigen::Matrix<double, 3, 1> tv;
  tv[0] = +tvecI.at<double>(2, 0);
  tv[1] = -tvecI.at<double>(0, 0);
  tv[2] = -tvecI.at<double>(1, 0);
-  Vectord<3> rv;
+  Eigen::Matrix<double, 3, 1> rv;
  rv[0] = +rvec.at<double>(2, 0);
  rv[1] = -rvec.at<double>(0, 0);
  rv[2] = +rvec.at<double>(1, 0);

  return Pose3d(Translation3d(meter_t{tv[0]}, meter_t{tv[1]}, meter_t{tv[2]}),
-                Rotation3d(
-                    // radian_t{rv[0]},
-                    // radian_t{rv[1]},
-                    // radian_t{rv[2]}
-                    rv, radian_t{rv.norm()}));
+                Rotation3d(rv));
 }

 std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagPnpStrategy(
--- a/photon-server/build.gradle
+++ b/photon-server/build.gradle
@@ -1,5 +1,5 @@
 plugins {
-    id 'edu.wpi.first.WpilibTools' version '1.0.0'
+    id 'edu.wpi.first.WpilibTools' version '1.1.0'
 }

 apply plugin: "application"
--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -4,7 +4,7 @@ apply from: "${rootDir}/shared/common.gradle"

 dependencies {
    implementation wpilibTools.deps.wpilibJava("wpimath")
-    implementation "org.ejml:ejml-simple:0.41"
+    implementation "org.ejml:ejml-simple:0.42"

    // Junit
    testImplementation("org.junit.jupiter:junit-jupiter-api:5.8.2")
--- a/photonlib-cpp-examples/aimandrange/build.gradle
+++ b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"

    id "com.dorongold.task-tree" version "2.1.0"
 }
--- a/photonlib-cpp-examples/aimandrange/gradlew
+++ b/photonlib-cpp-examples/aimandrange/gradlew
@@ -80,7 +80,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-cpp-examples/aimandrange/settings.gradle
+++ b/photonlib-cpp-examples/aimandrange/settings.gradle
@@ -7,7 +7,7 @@ pluginManagement {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
@@ -53,11 +53,11 @@ class Robot : public frc::TimedRobot {
  // PID constants should be tuned per robot
  const double LINEAR_P = 0.1;
  const double LINEAR_D = 0.0;
-  frc2::PIDController forwardController{LINEAR_P, 0.0, LINEAR_D};
+  frc::PIDController forwardController{LINEAR_P, 0.0, LINEAR_D};

  const double ANGULAR_P = 0.1;
  const double ANGULAR_D = 0.0;
-  frc2::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};
+  frc::PIDController turnController{ANGULAR_P, 0.0, ANGULAR_D};

  // Change this to match the name of your camera
  photonlib::PhotonCamera camera{"photonvision"};
--- a/photonlib-cpp-examples/aimattarget/build.gradle
+++ b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"

    id "com.dorongold.task-tree" version "2.1.0"
 }
--- a/photonlib-cpp-examples/aimattarget/gradlew
+++ b/photonlib-cpp-examples/aimattarget/gradlew
@@ -80,7 +80,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-cpp-examples/aimattarget/settings.gradle
+++ b/photonlib-cpp-examples/aimattarget/settings.gradle
@@ -7,7 +7,7 @@ pluginManagement {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
+++ b/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
@@ -42,7 +42,7 @@ class Robot : public frc::TimedRobot {
  // Change this to match the name of your camera
  photonlib::PhotonCamera camera{"photonvision"};
  // PID constants should be tuned per robot
-  frc2::PIDController controller{.1, 0, 0};
+  frc::PIDController controller{.1, 0, 0};

  frc::XboxController xboxController{0};

--- a/photonlib-cpp-examples/apriltagExample/build.gradle
+++ b/photonlib-cpp-examples/apriltagExample/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"

    id "com.dorongold.task-tree" version "2.1.0"
 }
--- a/photonlib-cpp-examples/apriltagExample/gradlew
+++ b/photonlib-cpp-examples/apriltagExample/gradlew
@@ -80,7 +80,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-cpp-examples/apriltagExample/settings.gradle
+++ b/photonlib-cpp-examples/apriltagExample/settings.gradle
@@ -7,7 +7,7 @@ pluginManagement {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/apriltagExample/src/main/include/Drivetrain.h
+++ b/photonlib-cpp-examples/apriltagExample/src/main/include/Drivetrain.h
@@ -109,8 +109,8 @@ class Drivetrain {
  frc::Encoder m_leftEncoder{0, 1};
  frc::Encoder m_rightEncoder{2, 3};

-  frc2::PIDController m_leftPIDController{8.5, 0.0, 0.0};
-  frc2::PIDController m_rightPIDController{8.5, 0.0, 0.0};
+  frc::PIDController m_leftPIDController{8.5, 0.0, 0.0};
+  frc::PIDController m_rightPIDController{8.5, 0.0, 0.0};

  frc::AnalogGyro m_gyro{0};

--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -28,10 +28,3 @@ spotless {
 }

 apply from: "examples.gradle"
-
-// Task that depends on the build task for every example
-task buildAllExamples { task ->
-    exampleFolderNames.each { line ->
-        task.dependsOn(line + ":build")
-    }
-}
--- a/photonlib-cpp-examples/getinrange/build.gradle
+++ b/photonlib-cpp-examples/getinrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"

    id "com.dorongold.task-tree" version "2.1.0"
 }
--- a/photonlib-cpp-examples/getinrange/gradlew
+++ b/photonlib-cpp-examples/getinrange/gradlew
@@ -80,7 +80,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-cpp-examples/getinrange/settings.gradle
+++ b/photonlib-cpp-examples/getinrange/settings.gradle
@@ -7,7 +7,7 @@ pluginManagement {
        mavenLocal()
        jcenter()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-cpp-examples/getinrange/src/main/include/Robot.h
+++ b/photonlib-cpp-examples/getinrange/src/main/include/Robot.h
@@ -53,7 +53,7 @@ class Robot : public frc::TimedRobot {
  // PID constants should be tuned per robot
  const double P_GAIN = 0.1;
  const double D_GAIN = 0.0;
-  frc2::PIDController controller{P_GAIN, 0.0, D_GAIN};
+  frc::PIDController controller{P_GAIN, 0.0, D_GAIN};

  // Change this to match the name of your camera
  photonlib::PhotonCamera camera{"photonvision"};
--- a/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
--- a/photonlib-cpp-examples/gradlew
+++ b/photonlib-cpp-examples/gradlew
@@ -36,7 +36,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-java-examples/aimandrange/build.gradle
+++ b/photonlib-java-examples/aimandrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
--- a/photonlib-java-examples/aimandrange/settings.gradle
+++ b/photonlib-java-examples/aimandrange/settings.gradle
@@ -6,7 +6,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/aimattarget/build.gradle
+++ b/photonlib-java-examples/aimattarget/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
--- a/photonlib-java-examples/aimattarget/settings.gradle
+++ b/photonlib-java-examples/aimattarget/settings.gradle
@@ -6,7 +6,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -28,10 +28,3 @@ spotless {
        targetExclude("photon-lib/src/main/java/org/photonvision/PhotonVersion.java")
    }
 }
-
-// Task that depends on the build task for every example
-task buildAllExamples { task ->
-    exampleFolderNames.each { line ->
-        task.dependsOn(line + ":build")
-    }
-}
--- a/photonlib-java-examples/getinrange/build.gradle
+++ b/photonlib-java-examples/getinrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
--- a/photonlib-java-examples/getinrange/settings.gradle
+++ b/photonlib-java-examples/getinrange/settings.gradle
@@ -6,7 +6,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
--- a/photonlib-java-examples/gradlew
+++ b/photonlib-java-examples/gradlew
@@ -36,7 +36,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-java-examples/simaimandrange/build.gradle
+++ b/photonlib-java-examples/simaimandrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
--- a/photonlib-java-examples/simaimandrange/settings.gradle
+++ b/photonlib-java-examples/simaimandrange/settings.gradle
@@ -6,7 +6,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/swervedriveposeestsim/build.gradle
+++ b/photonlib-java-examples/swervedriveposeestsim/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2024.1.1-beta-1"
 }

 sourceCompatibility = JavaVersion.VERSION_11
--- a/photonlib-java-examples/swervedriveposeestsim/gradle/wrapper/gradle-wrapper.properties
+++ b/photonlib-java-examples/swervedriveposeestsim/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-7.5.1-bin.zip
+distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.3-bin\.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists
--- a/photonlib-java-examples/swervedriveposeestsim/gradlew
+++ b/photonlib-java-examples/swervedriveposeestsim/gradlew
@@ -80,7 +80,8 @@ do
    esac
 done

-APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
+# 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"
 APP_BASE_NAME=${0##*/}
--- a/photonlib-java-examples/swervedriveposeestsim/settings.gradle
+++ b/photonlib-java-examples/swervedriveposeestsim/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
    repositories {
        mavenLocal()
        gradlePluginPortal()
-        String frcYear = '2023'
+        String frcYear = '2024'
        File frcHome
        if (OperatingSystem.current().isWindows()) {
            String publicFolder = System.getenv('PUBLIC')
--- a/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Constants.java
+++ b/photonlib-java-examples/swervedriveposeestsim/src/main/java/frc/robot/Constants.java
@@ -36,7 +36,6 @@ import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.util.Units;
-import java.io.IOException;

 public class Constants {
    public static class Vision {
@@ -46,16 +45,8 @@ public class Constants {
                new Transform3d(new Translation3d(0.5, 0.0, 0.5), new Rotation3d(0, 0, 0));

        // The layout of the AprilTags on the field
-        public static final AprilTagFieldLayout kTagLayout;
-
-        static {
-            try {
-                kTagLayout = AprilTagFields.kDefaultField.loadAprilTagLayoutField();
-            } catch (IOException e) {
-                e.printStackTrace();
-                throw new RuntimeException(e);
-            }
-        }
+        public static final AprilTagFieldLayout kTagLayout =
+                AprilTagFields.kDefaultField.loadAprilTagLayoutField();

        // The standard deviations of our vision estimated poses, which affect correction rate
        // (Fake values. Experiment and determine estimation noise on an actual robot.)
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -36,10 +36,10 @@ dependencies {
    implementation wpilibTools.deps.wpilibJava("hal")
    implementation wpilibTools.deps.wpilibJava("wpilibj")

-    implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-java:$opencvVersion"
-    implementation "edu.wpi.first.thirdparty.frc2023.opencv:opencv-jni:$opencvVersion:$jniPlatform"
+    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:$openCVversion"
+    implementation "edu.wpi.first.thirdparty.frc2024.opencv:opencv-jni:$openCVversion:$jniPlatform"

-    implementation "org.ejml:ejml-simple:0.41"
+    implementation "org.ejml:ejml-simple:0.42"

    // test stuff
    testImplementation("org.junit.jupiter:junit-jupiter:5.8.2")
@@ -51,6 +51,7 @@ test {
        events "passed", "skipped", "failed", "standardOut", "standardError"
    }
    workingDir = new File("${rootDir}")
+    finalizedBy jacocoTestReport
 }

 task testHeadless(type: Test) {
@@ -67,11 +68,19 @@ task generateJavaDocs(type: Javadoc) {
    destinationDir = file("${projectDir}/build/docs")
 }

+
+jacoco {
+    toolVersion = "0.8.9"
+    reportsDirectory = layout.buildDirectory.dir('customJacocoReportDir')
+}
+
 jacocoTestReport {
-//    dependsOn testHeadless // Tests are required to run before generating the report
+    dependsOn testHeadless

    reports {
-        xml.enabled true
+        xml.required = true
+        csv.required = false
+        html.outputLocation = layout.buildDirectory.dir('jacocoHtml')
    }

    afterEvaluate {
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -6,11 +6,14 @@ nativeUtils.withCrossLinuxArm64()

 // Configure WPI dependencies.
 nativeUtils.wpi.configureDependencies {
+    opencvYear = 'frc2024'
+    googleTestYear = "frc2023"
+
    wpiVersion = wpilibVersion
    wpimathVersion = wpilibVersion
-    niLibVersion = "2023.3.0"
-    opencvVersion = "4.6.0-4"
-    googleTestVersion = "1.12.1-1"
+    niLibVersion = "2024.1.1"
+    opencvVersion = openCVversion
+    googleTestVersion = "1.12.1-2"
    imguiVersion = "1.86-1"
 }

@@ -91,7 +94,7 @@ ext.createComponentZipTasks = { components, names, base, type, project, func ->
        def task = project.tasks.create(base + "-${key}", type) {
            description = 'Creates component archive for platform ' + key
            destinationDirectory = outputsFolder
-            classifier = key
+            archiveClassifier = key
            archiveBaseName = '_M_' + base
            duplicatesStrategy = 'exclude'

@@ -125,7 +128,7 @@ ext.createAllCombined = { list, name, base, type, project ->

        list.each {
            if (it.name.endsWith('debug')) return
-            from project.zipTree(it.archivePath)
+            from project.zipTree(it.archiveFile)
            dependsOn it
        }
    }