Update to match new WPILib organization

Author: Gold856

build.gradle

@@ -1,13 +1,13 @@
-import edu.wpi.first.toolchain.*
+import org.wpilib.toolchain.*
 
 plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2025.0"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    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 'edu.wpi.first.GradleJni' version '1.1.0'
+    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.github.node-gradle.node" version "7.0.1" apply false
@@ -33,7 +33,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2027.0.0-alpha-2"
+    wpilibVersion = "2027.0.0-alpha-3-203-g0001ddc7e"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"

docs/source/docs/apriltag-pipelines/multitag.md

@@ -46,7 +46,7 @@ This multi-target pose estimate can be accessed using PhotonLib. We suggest usin
       {
         auto multiTagResult = result.MultiTagResult();
         if (multiTagResult.has_value()) {
-          frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
+          wpi::math::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
         }
       }
 

docs/source/docs/programming/photonlib/driver-mode-pipeline-index.md

@@ -60,7 +60,7 @@ You can also get the pipeline latency from a pipeline result using the `getLaten
    .. code-block:: c++
 
       // Get the pipeline latency.
-      units::second_t latency = result.GetLatency();
+      wpi::units::second_t latency = result.GetLatency();
 
    .. code-block:: python
 

docs/source/docs/programming/photonlib/getting-target-data.md

@@ -107,7 +107,7 @@ You can get a list of tracked targets using the `getTargets()`/`GetTargets()` (J
    .. code-block:: c++
 
       // Get a list of currently tracked targets.
-      wpi::ArrayRef<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
+      std::span<photonlib::PhotonTrackedTarget> targets = result.GetTargets();
 
    .. code-block:: python
 
@@ -166,8 +166,8 @@ You can get the {ref}`best target <docs/reflectiveAndShape/contour-filtering:Con
       double pitch = target.GetPitch();
       double area = target.GetArea();
       double skew = target.GetSkew();
-      frc::Transform2d pose = target.GetCameraToTarget();
-      wpi::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
+      wpi::math::Transform2d pose = target.GetCameraToTarget();
+      wpi::util::SmallVector<std::pair<double, double>, 4> corners = target.GetCorners();
 
    .. code-block:: python
 
@@ -206,8 +206,8 @@ All of the data above (**except skew**) is available when using AprilTags.
       // Get information from target.
       int targetID = target.GetFiducialId();
       double poseAmbiguity = target.GetPoseAmbiguity();
-      frc::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
-      frc::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
+      wpi::math::Transform3d bestCameraToTarget = target.getBestCameraToTarget();
+      wpi::math::Transform3d alternateCameraToTarget = target.getAlternateCameraToTarget();
 
    .. code-block:: python
 

docs/source/docs/programming/photonlib/using-target-data.md

@@ -38,8 +38,8 @@ You can get your robot's `Pose2D` on the field using various camera data, target
    .. code-block:: c++
 
       // Calculate robot's field relative pose
-      frc::Pose2D robotPose = photonlib::EstimateFieldToRobot(
-        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, frc::Rotation2d(units::degree_t(-target.GetYaw())), frc::Rotation2d(units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
+      wpi::math::Pose2d robotPose = photonlib::EstimateFieldToRobot(
+        kCameraHeight, kTargetHeight, kCameraPitch, kTargetPitch, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())), wpi::math::Rotation2d(wpi::units::degree_t(gyro.GetRotation2d)), targetPose, cameraToRobot);
 
    .. code-block:: python
 
@@ -106,8 +106,8 @@ You can get a [translation](https://docs.wpilib.org/en/latest/docs/software/adva
    .. code-block:: c++
 
       // Calculate a translation from the camera to the target.
-      frc::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
-        distance, frc::Rotation2d(units::degree_t(-target.GetYaw())));
+      wpi::math::Translation2d translation = photonlib::PhotonUtils::EstimateCameraToTargetTranslation(
+        distance, wpi::math::Rotation2d(wpi::units::degree_t(-target.GetYaw())));
 
    .. code-block:: python
 

docs/source/docs/quick-start/networking.md

@@ -81,7 +81,7 @@ If you would like to access your Ethernet-connected vision device from a compute
 
     .. code-block:: c++
 
-        wpi::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
+        wpi::net::PortForwarder::GetInstance().Add(5800, "photonvision.local", 5800);
 
     .. code-block:: python
 

photon-core/src/main/java/org/photonvision/common/configuration/CameraConfiguration.java

@@ -20,7 +20,6 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.cscore.UsbCameraInfo;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.UUID;
@@ -35,6 +34,7 @@
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.PipelineManager;
+import org.wpilib.vision.camera.UsbCameraInfo;
 
 public class CameraConfiguration {
     private static final Logger logger = new Logger(CameraConfiguration.class, LogGroup.Camera);

photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java

@@ -18,8 +18,6 @@
 package org.photonvision.common.configuration;
 
 import com.fasterxml.jackson.core.JsonProcessingException;
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
 import java.io.File;
 import java.io.IOException;
 import java.io.UncheckedIOException;
@@ -40,6 +38,8 @@
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
 import org.photonvision.vision.processes.VisionSource;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.vision.apriltag.AprilTagFields;
 import org.zeroturnaround.zip.ZipUtil;
 
 class LegacyConfigProvider extends ConfigProvider {

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -17,11 +17,11 @@
 
 package org.photonvision.common.configuration;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import java.util.Collection;
 import java.util.HashMap;
 import java.util.List;
 import org.photonvision.vision.processes.VisionSource;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 
 public class PhotonConfiguration {
     private final HardwareConfig hardwareConfig;

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -17,9 +17,6 @@
 
 package org.photonvision.common.configuration;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
-import edu.wpi.first.apriltag.AprilTagFields;
-import edu.wpi.first.cscore.UsbCameraInfo;
 import java.io.File;
 import java.io.IOException;
 import java.io.UncheckedIOException;
@@ -40,6 +37,9 @@
 import org.photonvision.common.util.file.JacksonUtils;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
+import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.vision.apriltag.AprilTagFields;
+import org.wpilib.vision.camera.UsbCameraInfo;
 
 /**
  * Saves settings in a SQLite database file (called photon.sqlite).