Make 2027 build (PhotonVision#2422)

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.

Author: samfreund

.github/workflows/build.yml

@@ -45,10 +45,9 @@ jobs:
   #         fetch-depth: 0
   #     - name: Fetch tags
   #       run: git fetch --tags --force
-  #     - name: Install Java 17
-  #       uses: actions/setup-java@v5
+  #     - uses: actions/setup-java@v5
   #       with:
-  #         java-version: 17
+  #         java-version: 21
   #         distribution: temurin
   #     - name: Install SystemCore Toolchain
   #       run: ./gradlew installSystemCoreToolchain
@@ -104,10 +103,9 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - name: Install pnpm
         uses: pnpm/action-setup@v5
@@ -145,10 +143,9 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - name: Install pnpm
         uses: pnpm/action-setup@v5
@@ -198,10 +195,9 @@ jobs:
         with:
           fetch-depth: 0
 
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
 
       # grab all tags
@@ -240,10 +236,9 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
@@ -265,13 +260,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2025-24.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
             artifact-name: SystemCore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
+          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
@@ -347,10 +342,9 @@ jobs:
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - name: Install pnpm
         uses: pnpm/action-setup@v5
@@ -431,15 +425,16 @@ jobs:
             artifact-name: photonvision-*-winx64.jar
           - os: macos-latest
             artifact-name: photonvision-*-macarm64.jar
+          - os: ubuntu-24.04-arm
+            artifact-name: photonvision-*-linuxarm64.jar
 
 
     runs-on: ${{ matrix.os }}
 
     steps:
-      - name: Install Java 17
-        uses: actions/setup-java@v5
+      - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - uses: actions/download-artifact@v8
         with:

.github/workflows/dependency-submission.yml

@@ -13,10 +13,9 @@ jobs:
     steps:
     - name: Checkout sources
       uses: actions/checkout@v6
-    - name: Setup Java
-      uses: actions/setup-java@v5
+    - uses: actions/setup-java@v5
       with:
         distribution: 'temurin'
-        java-version: 17
+        java-version: 21
     - name: Generate and submit dependency graph
       uses: gradle/actions/dependency-submission@v5

.github/workflows/lint-format.yml

@@ -61,7 +61,7 @@ jobs:
           fetch-depth: 0
       - uses: actions/setup-java@v5
         with:
-          java-version: 17
+          java-version: 21
           distribution: temurin
       - run: |
           set +e

.github/workflows/photon-api-docs.yml

@@ -60,10 +60,9 @@ jobs:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v5
+    - uses: actions/setup-java@v5
       with:
-        java-version: 17
+        java-version: 21
         distribution: temurin
     - name: Build javadocs/doxygen
       run: |

build.gradle

@@ -4,12 +4,13 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
     id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-2"
-    id 'org.photonvision.tools.WpilibTools' version '2.4.1-photon'
-    id 'com.google.protobuf' version '0.9.3' apply false
+    id 'org.wpilib.NativeUtils' version '2027.4.1' apply false
+    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
+    id 'org.photonvision.tools.WpilibTools' version '3.0.0-photon'
+    id 'com.google.protobuf' version '0.9.5' apply false
     id 'org.wpilib.GradleJni' version '2027.0.0'
     id "org.ysb33r.doxygen" version "2.0.0" apply false
-    id 'com.gradleup.shadow' version '8.3.4' apply false
+    id 'com.gradleup.shadow' version '9.0.0' apply false
     id "com.github.node-gradle.node" version "7.0.1" apply false
 }
 
@@ -33,16 +34,20 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2027.0.0-alpha-3-203-g0001ddc7e"
+    wpilibVersion = "2027.0.0-alpha-4"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
+    ejmlVersion = "0.43.1";
+    jacksonVersion = "2.15.2";
+    quickbufVersion = "1.3.3";
+
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2026.0.0"
     rknnVersion = "dev-v2026.0.1-1-g89b2888"
     rubikVersion = "dev-v2026.0.1-4-g13d6279"
-    frcYear = "2027_alpha1"
-    mrcalVersion = "dev-v2026.0.0-1-g239d80e";
+    frcYear = "2027_alpha4"
+    mrcalVersion = "v2027.0.1";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
@@ -95,7 +100,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion = '8.14.3'
+    gradleVersion = '9.2.0'
 }
 
 ext.getCurrentArch = {

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.2.0-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

photon-core/build.gradle

@@ -6,7 +6,7 @@ ext.licenseFile = file("$rootDir/LICENSE")
 ext.externalLicensesFolder = file("$rootDir/ExternalLicenses")
 apply from: "${rootDir}/shared/common.gradle"
 
-wpilibTools.deps.wpilibVersion = wpi.versions.wpilibVersion.get()
+wpilibTools.deps.wpilibVersion = wpilibVersion
 
 def nativeConfigName = 'wpilibNatives'
 configurations {
@@ -28,7 +28,7 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("cscore")
     wpilibNatives wpilibTools.deps.wpilib("apriltag")
     wpilibNatives wpilibTools.deps.wpilib("hal")
-    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
+    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, openCVversion)
 
     // These stay as implementation dependencies since they don't have native code that gets packaged
     implementation 'org.zeroturnaround:zt-zip:1.14'

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

@@ -35,6 +35,8 @@
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.TimedTaskManager;
 import org.photonvision.common.util.file.JacksonUtils;
+import org.wpilib.driverstation.Alert;
+import org.wpilib.driverstation.Alert.Level;
 import org.wpilib.networktables.LogMessage;
 import org.wpilib.networktables.MultiSubscriber;
 import org.wpilib.networktables.NetworkTable;
@@ -43,8 +45,6 @@
 import org.wpilib.networktables.NetworkTableInstance;
 import org.wpilib.networktables.StringSubscriber;
 import org.wpilib.smartdashboard.SmartDashboard;
-import org.wpilib.util.Alert;
-import org.wpilib.util.Alert.AlertType;
 import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 import org.wpilib.vision.camera.CameraServerJNI;
 
@@ -66,9 +66,9 @@ public class NetworkTablesManager {
             new MultiSubscriber(ntInstance, new String[] {kRootTableName + "/" + kCoprocTableName + "/"});
 
     // Creating the alert up here since it should be persistent
-    private final Alert conflictAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert conflictAlert = new Alert("PhotonAlerts", "", Level.MEDIUM);
 
-    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", AlertType.kWarning);
+    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", Level.MEDIUM);
 
     public boolean conflictingHostname = false;
     public String conflictingCameras = "";

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -36,7 +36,6 @@
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ShellExec;
-import org.photonvision.common.util.TimedTaskManager;
 import org.wpilib.networktables.IntegerPublisher;
 import org.wpilib.networktables.IntegerSubscriber;
 

photon-core/src/main/java/org/photonvision/common/hardware/OsImageData.java

@@ -35,30 +35,8 @@
 public class OsImageData {
     private static final Logger logger = new Logger(OsImageData.class, LogGroup.General);
 
-    private static Path imageVersionFile = Path.of("/opt/photonvision/image-version");
     private static Path imageMetadataFile = Path.of("/opt/photonvision/image-version.json");
 
-    /**
-     * The OS image version string, if available. This is legacy, use {@link ImageMetadata}.
-     * Deprecated for removal in 2027.
-     */
-    @Deprecated public static final Optional<String> IMAGE_VERSION = getImageVersion();
-
-    private static Optional<String> getImageVersion() {
-        if (!imageVersionFile.toFile().exists()) {
-            logger.warn("Photon cannot locate base OS image version at " + imageVersionFile.toString());
-            return Optional.empty();
-        }
-
-        try {
-            return Optional.of(Files.readString(imageVersionFile).strip());
-        } catch (IOException e) {
-            logger.error("Couldn't read image-version file", e);
-        }
-
-        return Optional.empty();
-    }
-
     public static final Optional<ImageMetadata> IMAGE_METADATA = getImageMetadata();
 
     public static record ImageMetadata(