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Currently working, more or less, although tests need to be migrated so we don't use deprecated methods. |
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Pull request overview
Updates the project to build against the 2027 WPILib ecosystem by upgrading the Gradle toolchain, moving the Java baseline forward, and applying WPILib 2027 API/namespace changes across Java/C++/JNI and examples.
Changes:
- Upgrade Gradle wrappers/build tooling and update CI workflows to use Java 21.
- Bump WPILib/FRC “2027 alpha” versions in examples and build scripts, and switch core builds to Java 21 toolchains.
- Refactor code to match updated WPILib 2027 APIs (geometry rotation composition, Alert API, timestamp/time APIs, header renames, etc.).
Reviewed changes
Copilot reviewed 98 out of 110 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| versioningHelper.gradle | Modernizes git version detection and version file generation helper. |
| shared/javacommon.gradle | Moves shared Java configuration to Java 21 toolchain; updates dependency version sourcing and test runtime deps. |
| shared/common.gradle | Moves shared Java configuration to Java 21 toolchain; updates dependency version sourcing. |
| photonlib-java-examples/poseest/settings.gradle | Updates example FRC year identifier to 2027 alpha4. |
| photonlib-java-examples/poseest/gradle/wrapper/gradle-wrapper.properties | Bumps example Gradle wrapper to 9.2.0. |
| photonlib-java-examples/poseest/build.gradle | Pins WPILib version to 2027.0.0-alpha-4. |
| photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties | Bumps examples Gradle wrapper to 9.2.0. |
| photonlib-java-examples/aimattarget/settings.gradle | Updates example FRC year identifier to 2027 alpha4. |
| photonlib-java-examples/aimattarget/gradle/wrapper/gradle-wrapper.properties | Bumps example Gradle wrapper to 9.2.0. |
| photonlib-java-examples/aimattarget/build.gradle | Pins WPILib version to 2027.0.0-alpha-4. |
| photonlib-java-examples/aimandrange/settings.gradle | Updates example FRC year identifier to 2027 alpha4. |
| photonlib-java-examples/aimandrange/gradle/wrapper/gradle-wrapper.properties | Bumps example Gradle wrapper to 9.2.0. |
| photonlib-java-examples/aimandrange/build.gradle | Pins WPILib version to 2027.0.0-alpha-4. |
| photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDriveSim.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDrive.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/include/subsystems/GamepieceLauncher.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/include/Robot.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/include/Constants.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDrive.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/cpp/subsystems/GamepieceLauncher.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/poseest/settings.gradle | Updates example FRC year identifier to 2027 alpha4. |
| photonlib-cpp-examples/poseest/build.gradle | Pins WPILib version to 2027.0.0-alpha-4. |
| photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties | Bumps C++ examples Gradle wrapper to 9.2.0. |
| photonlib-cpp-examples/aimattarget/src/main/include/subsystems/SwerveDriveSim.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/src/main/include/subsystems/SwerveDrive.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/src/main/include/Constants.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDrive.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimattarget/settings.gradle | Updates example FRC year identifier to 2027 alpha4. |
| photonlib-cpp-examples/aimattarget/build.gradle | Pins WPILib version to 2027.0.0-alpha-4. |
| photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDriveSim.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/src/main/include/Constants.h | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp | Formatting/style adjustments for updated toolchains. |
| photonlib-cpp-examples/aimandrange/settings.gradle | Updates example FRC year identifier to 2027 alpha4. |
| photonlib-cpp-examples/aimandrange/build.gradle | Pins WPILib version to 2027.0.0-alpha-4. |
| photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp | Updates includes/time printing for WPILib 2027 headers/APIs. |
| photon-targeting/src/main/native/jni/CscoreExtras.cpp | Updates CSCore/WPIUtil headers for WPILib 2027. |
| photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp | Formatting tweaks; keeps JNI signature intact. |
| photon-targeting/src/main/native/include/photon/estimation/RotTrlTransform3d.h | Migrates rotation math to newer WPILib Rotation3d APIs. |
| photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h | Migrates rotation conversion logic to newer WPILib Rotation3d APIs. |
| photon-targeting/src/main/native/include/photon/estimation/CameraTargetRelation.h | Minor formatting adjustment. |
| photon-targeting/src/main/native/include/net/TimeSyncServer.h | Minor signature formatting adjustment. |
| photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp | Minor formatting adjustment. |
| photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp | Switches timing calls to NTCore time API; updates headers. |
| photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp | Header include cleanup/reordering; adds structs include. |
| photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp | Formatting adjustments; keeps behavior. |
| photon-targeting/src/main/java/org/photonvision/estimation/RotTrlTransform3d.java | Migrates rotation math to newer WPILib Rotation3d APIs. |
| photon-targeting/src/main/java/org/photonvision/estimation/OpenCVHelp.java | Migrates rotation conversion logic to newer WPILib Rotation3d APIs. |
| photon-targeting/src/main/java/org/photonvision/common/networktables/NTTopicSet.java | Updates PubSubOption usage to new constants. |
| photon-targeting/src/generated/main/native/include/photon/struct/PnpResultStruct.h | Updates WPILib geometry header include extension. |
| photon-targeting/src/generated/main/native/include/photon/struct/PhotonTrackedTargetStruct.h | Updates WPILib geometry header include extension. |
| photon-targeting/src/generated/main/native/include/photon/serde/PnpResultSerde.h | Updates WPILib geometry header include extension. |
| photon-targeting/src/generated/main/native/include/photon/serde/PhotonTrackedTargetSerde.h | Updates WPILib geometry header include extension. |
| photon-targeting/src/generated/main/java/org/photonvision/struct/TargetCornerSerde.java | Updates Struct import package for WPILib 2027. |
| photon-targeting/src/generated/main/java/org/photonvision/struct/PnpResultSerde.java | Updates Struct import package for WPILib 2027. |
| photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonTrackedTargetSerde.java | Updates Struct import package for WPILib 2027. |
| photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineResultSerde.java | Updates Struct import package for WPILib 2027. |
| photon-targeting/src/generated/main/java/org/photonvision/struct/PhotonPipelineMetadataSerde.java | Updates Struct import package for WPILib 2027. |
| photon-targeting/src/generated/main/java/org/photonvision/struct/MultiTargetPNPResultSerde.java | Updates Struct import package for WPILib 2027. |
| photon-targeting/build.gradle | Updates WPILib/OpenCV version wiring for native extraction deps. |
| photon-server/src/main/java/org/photonvision/Main.java | Removes legacy OS image version logging; adds Rotation2d usage import. |
| photon-server/build.gradle | Applies DeployUtils plugin and moves import statements to top. |
| photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp | Updates WPILib namespaces/types and formatting for WPILib 2027. |
| photon-lib/src/test/native/cpp/VersionTest.cpp | Updates print header/API usage to WPILib 2027. |
| photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp | Updates tests to newer pose-estimation API usage for constrained solvepnp. |
| photon-lib/src/test/native/cpp/LegacyPhotonPoseEstimatorTest.cpp | Updates includes/namespaces for WPILib 2027 headers. |
| photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java | Removes unused imports after WPILib API changes. |
| photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java | Updates alert assertions to use AlertSim instead of SmartDashboard arrays. |
| photon-lib/src/test/java/org/photonvision/OpenCVTest.java | Updates rotation diff calculation to relativeTo() API. |
| photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h | Updates CSCore include for WPILib 2027. |
| photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h | Minor formatting adjustments. |
| photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h | Switches timing to NTCore time API (wpi::nt::Now). |
| photon-lib/src/main/native/include/photon/PhotonUtils.h | Formatting adjustment. |
| photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h | Updates AprilTagFieldLayout type namespace for WPILib 2027. |
| photon-lib/src/main/native/include/photon/PhotonCamera.h | Updates Alert header/package and minor accessor formatting. |
| photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp | Updates Errors header include and formatting. |
| photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp | Switches timing and pixel format APIs for WPILib 2027. |
| photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp | Updates usage reporting and error-reporting calls for WPILib 2027. |
| photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp | Updates usage reporting include and Alert API level enum. |
| photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java | Updates confidence clamp implementation (currently introduces a build issue). |
| photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java | Updates HAL usage reporting and rotation composition semantics. |
| photon-lib/src/main/java/org/photonvision/PhotonCamera.java | Updates Alert API imports/options and PubSubOption constant usage. |
| photon-lib/py/photonlibpy/photonPoseEstimator.py | Updates HAL usage reporting call signature. |
| photon-lib/py/photonlibpy/photonCamera.py | Updates HAL usage reporting call signature. |
| photon-lib/build.gradle | Updates WPILib/OpenCV version wiring for native extraction deps. |
| photon-docs/build.gradle | Updates JavaDoc links to Java 21 docs. |
| photon-core/src/main/java/org/photonvision/vision/pipeline/result/CVPipelineResult.java | Updates latency doc comment to refer to new time API. |
| photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java | Updates rotation composition to rotateBy() API. |
| photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java | Updates time API references in comments; removes unused import. |
| photon-core/src/main/java/org/photonvision/vision/calibration/BoardObservation.java | Adds OpenCV drawing/color utilities for calibration visualization. |
| photon-core/src/main/java/org/photonvision/common/util/TestUtils.java | Adds Rotation2d import (supporting WPILib API changes). |
| photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java | Removes legacy IMAGE_VERSION file support in favor of JSON metadata. |
| photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java | Removes an unused import. |
| photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java | Migrates Alert API imports/types to new WPILib package/enum. |
| photon-core/build.gradle | Updates WPILib/OpenCV version wiring for native extraction deps. |
| gradle/wrapper/gradle-wrapper.properties | Bumps root Gradle wrapper to 9.2.0. |
| build.gradle | Updates WPILib versions, plugin versions, Gradle wrapper version, and adds explicit dependency versions. |
| .github/workflows/photon-api-docs.yml | Updates CI Java version to 21. |
| .github/workflows/lint-format.yml | Updates CI Java version to 21. |
| .github/workflows/dependency-submission.yml | Updates CI Java version to 21. |
| .github/workflows/build.yml | Updates CI Java version to 21 and updates container tags for 2027 toolchains. |
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Pull request overview
Copilot reviewed 99 out of 111 changed files in this pull request and generated 3 comments.
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Photonlib build on windows is failing cause windows is dumb, images are waiting on PhotonVision/photon-image-modifier#136 |
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robotpy is also waiting on robotpy being released |
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Pull request overview
Copilot reviewed 99 out of 111 changed files in this pull request and generated 1 comment.
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spacey-sooty
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Apr 11, 2026
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Apart from failing CI broadly seems good |
samfreund
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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.
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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.