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Upgrade to 2027 alpha

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This commit is contained in:
Gold856
2025-06-17 19:09:09 -04:00
committed by samfreund
parent 68bdb38a3d
commit ed1b31cb7f
28 changed files with 137 additions and 143 deletions
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10
.github/workflows/build.yml vendored
View File

@@ -51,11 +51,11 @@ jobs:
with:
java-version: 17
distribution: temurin
- name: Install RoboRIO Toolchain
run: ./gradlew installRoboRioToolchain
- name: Install SystemCore Toolchain
run: ./gradlew installSystemCoreToolchain
- name: Delete duplicate toolchains
run: |
find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
find ~/.gradle/cache/ -name *bookworm* -exec rm -rf {} +
du -h . | sort -h
if: matrix.os == 'ubuntu-24.04'
# Download prebuilt photonlib artifacts
@@ -253,7 +253,7 @@ jobs:
name: Publish
env:
ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
if: github.event_name == 'push' && github.repository_owner == 'photonvision'
if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main'
# Copy artifacts to build/outputs/maven
- run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
- uses: actions/upload-artifact@v6
@@ -291,7 +291,7 @@ jobs:
run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
env:
ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
if: github.event_name == 'push' && github.repository_owner == 'photonvision'
if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main'
# Copy artifacts to build/outputs/maven
- run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
- uses: actions/upload-artifact@v6

2
README.md
View File

@@ -45,7 +45,7 @@ Note that these are case sensitive!
- `-Pprofile`: enables JVM profiling
- `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`
## Out-of-Source Dependencies

9
build.gradle
View File

@@ -3,8 +3,8 @@ import edu.wpi.first.toolchain.*
plugins {
id "cpp"
id "com.diffplug.spotless" version "8.1.0"
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2025.0"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
id 'org.photonvision.tools.WpilibTools' version '2.4.1-photon'
id 'com.google.protobuf' version '0.9.3' apply false
id 'edu.wpi.first.GradleJni' version '1.1.0'
@@ -21,6 +21,7 @@ allprojects {
maven { url = "https://maven.photonvision.org/releases" }
maven { url = "https://maven.photonvision.org/snapshots" }
}
wpilibRepositories.use2027Repos()
wpilibRepositories.addAllReleaseRepositories(it)
wpilibRepositories.addAllDevelopmentRepositories(it)
}
@@ -32,7 +33,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
apply from: "versioningHelper.gradle"
ext {
wpilibVersion = "2026.2.1"
wpilibVersion = "2027.0.0-alpha-1"
wpimathVersion = wpilibVersion
openCVYear = "2025"
openCVversion = "4.10.0-3"
@@ -40,7 +41,7 @@ ext {
libcameraDriverVersion = "v2026.0.0"
rknnVersion = "dev-v2026.0.1-1-g89b2888"
rubikVersion = "dev-v2026.0.1-4-g13d6279"
frcYear = "2026"
frcYear = "2027_alpha1"
mrcalVersion = "dev-v2026.0.0-1-g239d80e";
pubVersion = versionString

1
photon-core/build.gradle
View File

@@ -23,6 +23,7 @@ dependencies {
wpilibNatives wpilibTools.deps.wpilib("wpimath")
wpilibNatives wpilibTools.deps.wpilib("wpinet")
wpilibNatives wpilibTools.deps.wpilib("wpiutil")
wpilibNatives wpilibTools.deps.wpilib("datalog")
wpilibNatives wpilibTools.deps.wpilib("ntcore")
wpilibNatives wpilibTools.deps.wpilib("cscore")
wpilibNatives wpilibTools.deps.wpilib("apriltag")

2
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
View File

@@ -358,7 +358,7 @@ public class NetworkTablesManager {
ntInstance.stopClient();
String hostname = config.shouldManage ? config.hostname : CameraServerJNI.getHostname();
logger.debug("Starting NT Client with hostname: " + hostname);
ntInstance.startClient4(hostname);
ntInstance.startClient(hostname);
try {
int t = Integer.parseInt(config.ntServerAddress);
if (!m_isRetryingConnection) logger.info("Starting NT Client, server team is " + t);

2
photon-lib/build.gradle
View File

@@ -90,6 +90,7 @@ model {
}
}
nativeUtils.useRequiredLibrary(it, "datalog_shared")
nativeUtils.useRequiredLibrary(it, "cscore_shared")
nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
@@ -369,6 +370,7 @@ dependencies {
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("datalog")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")

3
photon-lib/src/main/java/org/photonvision/PhotonCamera.java
View File

@@ -24,7 +24,6 @@
package org.photonvision;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.Matrix;
@@ -176,8 +175,8 @@ public class PhotonCamera implements AutoCloseable {
new MultiSubscriber(
instance, new String[] {"/photonvision/"}, PubSubOption.topicsOnly(true));
HAL.report(tResourceType.kResourceType_PhotonCamera, InstanceCount);
InstanceCount++;
HAL.reportUsage("PhotonVision/PhotonCamera", InstanceCount, "");
// HACK - start a TimeSyncServer, if we haven't yet.
TimeSyncSingleton.load();

3
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
View File

@@ -26,7 +26,6 @@ package org.photonvision;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.cscore.OpenCvLoader;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Pair;
@@ -184,8 +183,8 @@ public class PhotonPoseEstimator {
OpenCvLoader.forceStaticLoad();
}
HAL.report(tResourceType.kResourceType_PhotonPoseEstimator, InstanceCount);
InstanceCount++;
HAL.reportUsage("PhotonVision/PhotonPoseEstimator", InstanceCount, "");
}
/** Invalidates the pose cache. */

2
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
View File

@@ -166,8 +166,8 @@ PhotonCamera::PhotonCamera(nt::NetworkTableInstance instance,
frc::Alert::AlertType::kWarning),
timesyncAlert(PHOTON_ALERT_GROUP, "", frc::Alert::AlertType::kWarning) {
verifyDependencies();
HAL_Report(HALUsageReporting::kResourceType_PhotonCamera, InstanceCount);
InstanceCount++;
HAL_ReportUsage("PhotonVision/PhotonCamera", InstanceCount, "");
// The Robot class is actually created here:
// https://github.com/wpilibsuite/allwpilib/blob/811b1309683e930a1ce69fae818f943ff161b7a5/wpilibc/src/main/native/include/frc/RobotBase.h#L33

3
photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
View File

@@ -86,9 +86,8 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
referencePose(frc::Pose3d()),
poseCacheTimestamp(-1_s),
headingBuffer(frc::TimeInterpolatableBuffer<frc::Rotation2d>(1_s)) {
HAL_Report(HALUsageReporting::kResourceType_PhotonPoseEstimator,
InstanceCount);
InstanceCount++;
HAL_ReportUsage("PhotonVision/PhotonPoseEstimator", InstanceCount, "");
}
void PhotonPoseEstimator::SetMultiTagFallbackStrategy(PoseStrategy strategy) {

4
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
View File

@@ -253,14 +253,14 @@ class PhotonCameraTest {
if (i == coprocStart || i == coprocRestart) {
coprocNt.setServer("127.0.0.1", 5940);
coprocNt.startClient4("testClient");
coprocNt.startClient("testClient");
// PhotonCamera makes a server by default - connect to it
tspClient = new TimeSyncClient("127.0.0.1", 5810, 0.5);
}
if (i == robotStart || i == robotRestart) {
robotNt.startServer("networktables_random.json", "", 5941, 5940);
robotNt.startServer("networktables_random.json", "", 5940);
}
Thread.sleep(100);

4
photon-targeting/build.gradle
View File

@@ -55,6 +55,7 @@ model {
}
nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
nativeUtils.useRequiredLibrary(it, "datalog_shared")
nativeUtils.useRequiredLibrary(it, "wpimath_shared")
nativeUtils.useRequiredLibrary(it, "wpinet_shared")
nativeUtils.useRequiredLibrary(it, "ntcore_shared")
@@ -83,6 +84,7 @@ model {
}
nativeUtils.useRequiredLibrary(it, "wpiutil_shared")
nativeUtils.useRequiredLibrary(it, "datalog_shared")
nativeUtils.useRequiredLibrary(it, "wpimath_shared")
nativeUtils.useRequiredLibrary(it, "wpinet_shared")
nativeUtils.useRequiredLibrary(it, "ntcore_shared")
@@ -120,6 +122,7 @@ model {
nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared")
nativeUtils.useRequiredLibrary(it, "googletest_static")
nativeUtils.useRequiredLibrary(it, "datalog_shared")
nativeUtils.useRequiredLibrary(it, "apriltag_shared")
nativeUtils.useRequiredLibrary(it, "cscore_shared")
nativeUtils.useRequiredLibrary(it, "opencv_shared")
@@ -179,6 +182,7 @@ def nativeTasks = wpilibTools.createExtractionTasks {
nativeTasks.addToSourceSetResources(sourceSets.test)
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("datalog")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpimath")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")

4
photon-targeting/src/main/native/jni/FileLoggerExtrasJNI.cpp
View File

@@ -19,7 +19,7 @@
#include <string>
#include <vector>
#include <wpi/FileLogger.h>
#include <wpi/datalog/FileLogger.h>
#include "jni_utils.h"
#include "org_photonvision_jni_QueuedFileLogger.h"
@@ -30,7 +30,7 @@ struct QueuedFileLogger {
std::mutex m_mutex;
wpi::FileLogger logger;
wpi::log::FileLogger logger;
explicit QueuedFileLogger(std::string_view file)
: logger{file, std::bind(&QueuedFileLogger::callback, this,

25
photonlib-cpp-examples/aimandrange/build.gradle
View File

@@ -1,7 +1,7 @@
plugins {
id "cpp"
id "google-test-test-suite"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
}
repositories {
@@ -11,14 +11,13 @@ repositories {
wpi.maven.useLocal = false
wpi.maven.useDevelopment = false
wpi.versions.wpilibVersion = "2026.2.1"
wpi.versions.wpimathVersion = "2026.2.1"
wpi.versions.wpilibVersion = "2027.0.+"
// Define my targets (RoboRIO) and artifacts (deployable files)
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roborio(getTargetTypeClass('RoboRIO')) {
systemcore(getTargetTypeClass('SystemCore')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
@@ -36,8 +35,8 @@ deploy {
// Static files artifact
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
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on SystemCore that no
// longer exist in deploy directory of this project
}
}
@@ -45,7 +44,7 @@ deploy {
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
def deployArtifact = deploy.targets.systemcore.artifacts.frcCpp
// Set this to true to enable desktop support.
def includeDesktopSupport = true
@@ -61,15 +60,7 @@ wpi.sim.addDriverstation()
model {
components {
frcUserProgram(NativeExecutableSpec) {
// We don't need to build for roborio -- if we do, we need to install
// a roborio toolchain every time we build in CI
// Ideally, we'd be able to set the roborio toolchain as optional, but
// I can't figure out how to set that environment variable from build.gradle
// (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
// for now, commented out
// targetPlatform wpi.platforms.roborio
targetPlatform wpi.platforms.systemcore
if (includeDesktopSupport) {
targetPlatform wpi.platforms.desktop
}

10
photonlib-cpp-examples/aimandrange/settings.gradle
View File

@@ -3,9 +3,8 @@ import org.gradle.internal.os.OperatingSystem
pluginManagement {
repositories {
mavenLocal()
jcenter()
gradlePluginPortal()
String frcYear = '2026'
String frcYear = '2027_alpha1'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
@@ -21,8 +20,11 @@ pluginManagement {
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
name 'frcHome'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

25
photonlib-cpp-examples/aimattarget/build.gradle
View File

@@ -1,7 +1,7 @@
plugins {
id "cpp"
id "google-test-test-suite"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
}
repositories {
@@ -11,14 +11,13 @@ repositories {
wpi.maven.useLocal = false
wpi.maven.useDevelopment = false
wpi.versions.wpilibVersion = "2026.2.1"
wpi.versions.wpimathVersion = "2026.2.1"
wpi.versions.wpilibVersion = "2027.0.+"
// Define my targets (RoboRIO) and artifacts (deployable files)
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roborio(getTargetTypeClass('RoboRIO')) {
systemcore(getTargetTypeClass('SystemCore')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
@@ -36,8 +35,8 @@ deploy {
// Static files artifact
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
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on SystemCore that no
// longer exist in deploy directory of this project
}
}
@@ -45,7 +44,7 @@ deploy {
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
def deployArtifact = deploy.targets.systemcore.artifacts.frcCpp
// Set this to true to enable desktop support.
def includeDesktopSupport = true
@@ -61,15 +60,7 @@ wpi.sim.addDriverstation()
model {
components {
frcUserProgram(NativeExecutableSpec) {
// We don't need to build for roborio -- if we do, we need to install
// a roborio toolchain every time we build in CI
// Ideally, we'd be able to set the roborio toolchain as optional, but
// I can't figure out how to set that environment variable from build.gradle
// (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
// for now, commented out
// targetPlatform wpi.platforms.roborio
targetPlatform wpi.platforms.systemcore
if (includeDesktopSupport) {
targetPlatform wpi.platforms.desktop
}

10
photonlib-cpp-examples/aimattarget/settings.gradle
View File

@@ -3,9 +3,8 @@ import org.gradle.internal.os.OperatingSystem
pluginManagement {
repositories {
mavenLocal()
jcenter()
gradlePluginPortal()
String frcYear = '2026'
String frcYear = '2027_alpha1'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
@@ -21,8 +20,11 @@ pluginManagement {
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
name 'frcHome'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

25
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 "2026.2.1"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
}
repositories {
@@ -11,14 +11,13 @@ repositories {
wpi.maven.useLocal = false
wpi.maven.useDevelopment = false
wpi.versions.wpilibVersion = "2026.2.1"
wpi.versions.wpimathVersion = "2026.2.1"
wpi.versions.wpilibVersion = "2027.0.+"
// Define my targets (RoboRIO) and artifacts (deployable files)
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roborio(getTargetTypeClass('RoboRIO')) {
systemcore(getTargetTypeClass('SystemCore')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
@@ -36,8 +35,8 @@ deploy {
// Static files artifact
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
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on SystemCore that no
// longer exist in deploy directory of this project
}
}
@@ -45,7 +44,7 @@ deploy {
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcCpp
def deployArtifact = deploy.targets.systemcore.artifacts.frcCpp
// Set this to true to enable desktop support.
def includeDesktopSupport = true
@@ -61,15 +60,7 @@ wpi.sim.addDriverstation()
model {
components {
frcUserProgram(NativeExecutableSpec) {
// We don't need to build for roborio -- if we do, we need to install
// a roborio toolchain every time we build in CI
// Ideally, we'd be able to set the roborio toolchain as optional, but
// I can't figure out how to set that environment variable from build.gradle
// (see https://github.com/wpilibsuite/native-utils/blob/2917c69fb5094e36d499c465f047dab81c68446c/ToolchainPlugin/src/main/java/edu/wpi/first/toolchain/ToolchainGraphBuildService.java#L71)
// for now, commented out
// targetPlatform wpi.platforms.roborio
targetPlatform wpi.platforms.systemcore
if (includeDesktopSupport) {
targetPlatform wpi.platforms.desktop
}

10
photonlib-cpp-examples/poseest/settings.gradle
View File

@@ -3,9 +3,8 @@ import org.gradle.internal.os.OperatingSystem
pluginManagement {
repositories {
mavenLocal()
jcenter()
gradlePluginPortal()
String frcYear = '2026'
String frcYear = '2027_alpha1'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
@@ -21,8 +20,11 @@ pluginManagement {
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
name 'frcHome'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

32
photonlib-java-examples/aimandrange/build.gradle
View File

@@ -1,10 +1,12 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
}
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
}
def ROBOT_MAIN_CLASS = "frc.robot.Main"
@@ -13,20 +15,18 @@ repositories {
}
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2026.2.1"
wpi.versions.wpimathVersion = "2026.2.1"
wpi.versions.wpilibVersion = "2027.0.+"
// Define my targets (RoboRIO) and artifacts (deployable files)
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roborio(getTargetTypeClass('RoboRIO')) {
systemcore(getTargetTypeClass('SystemCore')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
// want to store a team number in this file.
team = project.frc.getTeamOrDefault(4512)
team = project.frc.getTeamOrDefault(5940)
debug = project.frc.getDebugOrDefault(false)
artifacts {
@@ -39,8 +39,8 @@ deploy {
// Static files artifact
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
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on systemcore that no
// longer exist in deploy directory of this project
}
}
@@ -48,7 +48,7 @@ deploy {
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
def deployArtifact = deploy.targets.systemcore.artifacts.frcJava
// Set to true to use debug for all targets including JNI, which will drastically impact
// performance.
@@ -64,11 +64,11 @@ dependencies {
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)

9
photonlib-java-examples/aimandrange/settings.gradle
View File

@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
String frcYear = '2026'
String frcYear = '2027_alpha1'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
@@ -20,8 +20,11 @@ pluginManagement {
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
name 'frcHome'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

32
photonlib-java-examples/aimattarget/build.gradle
View File

@@ -1,28 +1,28 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
}
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
}
def ROBOT_MAIN_CLASS = "frc.robot.Main"
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2026.2.1"
wpi.versions.wpimathVersion = "2026.2.1"
wpi.versions.wpilibVersion = "2027.0.+"
// Define my targets (RoboRIO) and artifacts (deployable files)
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roborio(getTargetTypeClass('RoboRIO')) {
systemcore(getTargetTypeClass('SystemCore')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
// want to store a team number in this file.
team = project.frc.getTeamOrDefault(1736)
team = project.frc.getTeamOrDefault(5940)
debug = project.frc.getDebugOrDefault(false)
artifacts {
@@ -35,8 +35,8 @@ deploy {
// Static files artifact
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
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on systemcore that no
// longer exist in deploy directory of this project
}
}
@@ -44,7 +44,7 @@ deploy {
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
def deployArtifact = deploy.targets.systemcore.artifacts.frcJava
// Set to true to use debug for all targets including JNI, which will drastically impact
// performance.
@@ -60,11 +60,11 @@ dependencies {
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)

9
photonlib-java-examples/aimattarget/settings.gradle
View File

@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
String frcYear = '2026'
String frcYear = '2027_alpha1'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
@@ -20,8 +20,11 @@ pluginManagement {
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
name 'frcHome'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

32
photonlib-java-examples/poseest/build.gradle
View File

@@ -1,28 +1,28 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2026.2.1"
id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-1"
}
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
java {
sourceCompatibility = JavaVersion.VERSION_17
targetCompatibility = JavaVersion.VERSION_17
}
def ROBOT_MAIN_CLASS = "frc.robot.Main"
wpi.maven.useDevelopment = true
wpi.versions.wpilibVersion = "2026.2.1"
wpi.versions.wpimathVersion = "2026.2.1"
wpi.versions.wpilibVersion = "2027.0.+"
// Define my targets (RoboRIO) and artifacts (deployable files)
// Define my targets (SystemCore) and artifacts (deployable files)
// This is added by GradleRIO's backing project DeployUtils.
deploy {
targets {
roborio(getTargetTypeClass('RoboRIO')) {
systemcore(getTargetTypeClass('SystemCore')) {
// Team number is loaded either from the .wpilib/wpilib_preferences.json
// or from command line. If not found an exception will be thrown.
// You can use getTeamOrDefault(team) instead of getTeamNumber if you
// want to store a team number in this file.
team = project.frc.getTeamOrDefault(4512)
team = project.frc.getTeamOrDefault(5940)
debug = project.frc.getDebugOrDefault(false)
artifacts {
@@ -35,8 +35,8 @@ deploy {
// Static files artifact
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
directory = '/home/systemcore/deploy'
deleteOldFiles = false // Change to true to delete files on systemcore that no
// longer exist in deploy directory of this project
}
}
@@ -44,7 +44,7 @@ deploy {
}
}
def deployArtifact = deploy.targets.roborio.artifacts.frcJava
def deployArtifact = deploy.targets.systemcore.artifacts.frcJava
// Set to true to use debug for all targets including JNI, which will drastically impact
// performance.
@@ -60,11 +60,11 @@ dependencies {
implementation wpi.java.deps.wpilib()
implementation wpi.java.vendor.java()
roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)

9
photonlib-java-examples/poseest/settings.gradle
View File

@@ -4,7 +4,7 @@ pluginManagement {
repositories {
mavenLocal()
gradlePluginPortal()
String frcYear = '2026'
String frcYear = '2027_alpha1'
File frcHome
if (OperatingSystem.current().isWindows()) {
String publicFolder = System.getenv('PUBLIC')
@@ -20,8 +20,11 @@ pluginManagement {
}
def frcHomeMaven = new File(frcHome, 'maven')
maven {
name 'frcHome'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
Properties props = System.getProperties();
props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");

1
shared/common.gradle
View File

@@ -24,6 +24,7 @@ dependencies {
implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0'
implementation wpilibTools.deps.wpilibJava("wpiutil")
implementation wpilibTools.deps.wpilibJava("datalog")
implementation wpilibTools.deps.wpilibJava("cameraserver")
implementation wpilibTools.deps.wpilibJava("cscore")
implementation wpilibTools.deps.wpilibJava("wpinet")

1
shared/config.gradle
View File

@@ -1,6 +1,5 @@
// Configure Native-Utils WPI Plugin
nativeUtils.addWpiNativeUtils()
nativeUtils.withCrossRoboRIO()
nativeUtils.withCrossLinuxArm32()
nativeUtils.withCrossLinuxArm64()

1
shared/javacommon.gradle
View File

@@ -134,6 +134,7 @@ dependencies {
}
implementation wpilibTools.deps.wpilibJava("wpiutil")
implementation wpilibTools.deps.wpilibJava("datalog")
implementation wpilibTools.deps.wpilibJava("cameraserver")
implementation wpilibTools.deps.wpilibJava("cscore")
implementation wpilibTools.deps.wpilibJava("wpinet")