2027

.github/workflows/main.yml

@@ -17,9 +17,9 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             arch-name: linuxx86-64
-          - os: ubuntu-22.04-arm
+          - os: ubuntu-24.04-arm
             arch-name: linuxarm64
           - os: windows-latest
             arch-name: windowsx86-64
@@ -41,10 +41,9 @@ jobs:
       run: git fetch --tags --force
     - run: git describe --tags
 
-    - name: Install Java 17
-      uses: actions/setup-java@v5
+    - uses: actions/setup-java@v5
       with:
-        java-version: 17
+        java-version: 25
         distribution: temurin
 
     - name: Install deps (Linux)
@@ -74,16 +73,16 @@ jobs:
       name: Publish
       env:
         ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-      if: github.event_name == 'push'
+      if: github.event_name == 'push' || startsWith(github.ref, 'refs/tags/v')
 
-    - uses: actions/upload-artifact@v5
+    - uses: actions/upload-artifact@v7
       with:
         name: libmrcal-jar-${{ matrix.arch-name }}
         path: ${{ github.workspace }}/build/libs/*.jar
 
   release:
     needs: build-host
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       # Download literally every single artifact. This also downloads client and docs,
       # but the filtering below won't pick these up (I hope)

CMakeLists.txt

@@ -20,9 +20,8 @@ include(FetchContent)
 # OpenCV configuration
 # Keep this in sync with build.gradle and with
 # https://github.com/PhotonVision/photonvision/blob/main/build.gradle
-set(OPENCV_YEAR "frc2025")
-set(OPENCV_VERSION "4.10.0-3")
-set(WPIMATH_VERSION "2026.2.1")
+set(OPENCV_VERSION "2027-4.13.0-3")
+set(WPIMATH_VERSION "2027.0.0-alpha-5")
 
 # type can be "", "debug", "static", or "staticdebug"
 set(OPENCV_TYPE "")
@@ -32,15 +31,15 @@ message(STATUS "Using FRC OpenCV for architecture: ${OPENCV_ARCH}")
 FetchContent_Declare(
     opencv_lib
     URL
-        https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/${OPENCV_YEAR}/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-${OPENCV_ARCH}${OPENCV_TYPE}.zip
+        https://frcmaven.wpi.edu/artifactory/release/org/wpilib/thirdparty/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-${OPENCV_ARCH}${OPENCV_TYPE}.zip
 )
 FetchContent_MakeAvailable(opencv_lib)
 
 # download OpenCV headers
 FetchContent_Declare(
     opencv_header
     URL
-        https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/thirdparty/${OPENCV_YEAR}/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-headers.zip
+        https://frcmaven.wpi.edu/artifactory/release/org/wpilib/thirdparty/opencv/opencv-cpp/${OPENCV_VERSION}/opencv-cpp-${OPENCV_VERSION}-headers.zip
 )
 FetchContent_MakeAvailable(opencv_header)
 
@@ -58,7 +57,7 @@ message(STATUS "Using FRC OpenCV libraries: ${OPENCV_LIB_PATH}")
 FetchContent_Declare(
     wpimath_header
     URL
-        https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpimath/wpimath-cpp/${WPIMATH_VERSION}/wpimath-cpp-${WPIMATH_VERSION}-headers.zip
+        https://frcmaven.wpi.edu/artifactory/release-2027/org/wpilib/wpimath/wpimath-cpp/${WPIMATH_VERSION}/wpimath-cpp-${WPIMATH_VERSION}-headers.zip
 )
 FetchContent_MakeAvailable(wpimath_header)
 set(WPIMATH_INCLUDE_PATH ${wpimath_header_SOURCE_DIR})

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "java"
-    id 'org.photonvision.tools.WpilibTools' version '2.3.1-photon'
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
+    id 'org.photonvision.tools.WpilibTools' version '3.1.0-photon'
+    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
     id "com.diffplug.spotless" version "8.1.0"
 }
 
@@ -11,6 +11,7 @@ allprojects {
         mavenLocal()
         maven { url = "https://maven.photonvision.org/repository/internal/" }
     }
+    wpilibRepositories.use2027Repos()
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
 }
@@ -24,19 +25,22 @@ ext {
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_25
+    targetCompatibility = JavaVersion.VERSION_25
 }
 
+wpilibTools.deps.wpilibVersion = "2027.0.0-alpha-5"
+
 dependencies {
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc2025", "4.10.0-3")
+    implementation wpilibTools.deps.wpilibOpenCvJava("2027-4.13.0-3")
 
     // Junit
     testImplementation 'org.junit.jupiter:junit-jupiter:5.7.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
     implementation wpilibTools.deps.wpilibJava("wpimath")
     implementation wpilibTools.deps.wpilibJava("wpiunits")
+    // This is included for protobuf support
     implementation wpilibTools.deps.wpilibJava("wpiutil")
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/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

src/main/java/org/photonvision/mrcal/MrCalJNI.java

@@ -17,15 +17,15 @@
 
 package org.photonvision.mrcal;
 
-import edu.wpi.first.math.VecBuilder;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation3d;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import org.opencv.core.MatOfFloat;
 import org.opencv.core.MatOfPoint2f;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.linalg.VecBuilder;
 
 public class MrCalJNI {
     public static enum CameraLensModel {

versioningHelper.gradle

@@ -2,41 +2,35 @@ import java.nio.file.Path
 import java.time.LocalDateTime
 import java.time.format.DateTimeFormatter
 
-gradle.allprojects {
-    ext.getCurrentVersion = {
-        ->
-        def stdout = new ByteArrayOutputStream()
-        String tagIsh
-        try {
-            exec {
-                commandLine 'git', 'describe', '--tags', "--match=v*"
-                standardOutput = stdout
-            }
-            tagIsh = stdout.toString().trim().toLowerCase()
-        } catch (Exception e) {
-            tagIsh = "dev-Unknown"
-        }
-
-        // Dev tags: v2021.1.6-3-gf922466d
-        // We're specifically looking to capture the middle -3-
-        boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
-        if (isDev && !tagIsh.startsWith("dev-")) tagIsh = "dev-" + tagIsh
-        println("Picked up version: " + tagIsh)
-        return tagIsh
+ext.getCurrentVersion = {
+    String tagIsh = "dev-unknown"
+    try {
+        tagIsh = providers.exec {
+            commandLine 'git', 'describe', '--tags', '--match=v*'
+        }.standardOutput.asText.get().trim().toLowerCase()
+    } catch (Exception ignored) {
+        tagIsh = "dev-unknown"
     }
 
-    if (!ext.has("versionString")) {
-        ext.versionString = getCurrentVersion()
-    }
+    // Dev tags: v2021.1.6-3-gf922466d
+    // We're specifically looking to capture the middle -3-
+    boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
+    if (isDev && !tagIsh.startsWith("dev-")) tagIsh = "dev-" + tagIsh
+    println("Picked up version: " + tagIsh)
+    return tagIsh
+}
 
-    ext.writePhotonVersionFile = {File versionFileIn, Path path, String version ->
-        println("Writing " + version + " to " + path.toAbsolutePath().toString())
-        String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
-        File versionFileOut = new File(path.toAbsolutePath().toString())
-        versionFileOut.delete()
-        def read = versionFileIn.text.replace('${version}', version).replace('${date}', date)
-        if (!versionFileOut.parentFile.exists()) versionFileOut.parentFile.mkdirs()
-        if (!versionFileOut.exists()) versionFileOut.createNewFile()
-        versionFileOut.write(read)
-    }
+if (!ext.has("versionString")) {
+    ext.versionString = getCurrentVersion()
+}
+
+ext.writePhotonVersionFile = {File versionFileIn, Path path, String version ->
+    println("Writing " + version + " to " + path.toAbsolutePath().toString())
+    String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
+    File versionFileOut = new File(path.toAbsolutePath().toString())
+    versionFileOut.delete()
+    def read = versionFileIn.text.replace('${version}', version).replace('${date}', date)
+    if (!versionFileOut.parentFile.exists()) versionFileOut.parentFile.mkdirs()
+    if (!versionFileOut.exists()) versionFileOut.createNewFile()
+    versionFileOut.write(read)
 }