merge upstream

Author: ryanshoff

.github/workflows/build.yml

@@ -48,13 +48,13 @@ jobs:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
-      - name: Install RoboRIO Toolchain
-        run: ./gradlew installRoboRioToolchain
       - name: Install Java 17
         uses: actions/setup-java@v4
         with:
           java-version: 17
           distribution: temurin
+      - name: Install RoboRIO Toolchain
+        run: ./gradlew installRoboRioToolchain
       # Need to publish to maven local first, so that C++ sim can pick it up
       # Still haven't figured out how to make the vendordep file be copied before trying to build examples
       - name: Publish photonlib to maven local
@@ -85,7 +85,7 @@ jobs:
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v4
         with:
           java-version: 17
           distribution: temurin
@@ -115,6 +115,10 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
+      - name: Install graphviz
+        run: |
+          sudo apt-get update
+          sudo apt-get -y install graphviz
       - name: Install dependencies
         working-directory: docs
         run: |
@@ -161,6 +165,7 @@ jobs:
       - run: |
           chmod +x gradlew
           ./gradlew photon-targeting:build photon-lib:build -i
+        name: Build with Gradle
       - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
         env:
@@ -283,6 +288,9 @@ jobs:
           java-version: 17
           distribution: temurin
           architecture: ${{ matrix.architecture }}
+      - name: Install Arm64 Toolchain
+        run: ./gradlew installArm64Toolchain
+        if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
       - run: |
           rm -rf photon-server/src/main/resources/web/*
           mkdir -p photon-server/src/main/resources/web/docs
@@ -301,7 +309,7 @@ jobs:
           path: photon-server/src/main/resources/web/docs
       - run: |
           chmod +x gradlew
-          ./gradlew photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
+          ./gradlew photon-targeting:jar photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
         if: ${{ (matrix.arch-override != 'none') }}
       - run: |
           chmod +x gradlew
@@ -311,6 +319,10 @@ jobs:
         with:
           name: jar-${{ matrix.artifact-name }}
           path: photon-server/build/libs
+      - uses: actions/upload-artifact@v4
+        with:
+          name: photon-targeting_jar-${{ matrix.artifact-name }}
+          path: photon-targeting/build/libs
 
   run-smoketest-native:
     needs: [build-package]
@@ -344,7 +356,7 @@ jobs:
       - run: |
           sudo apt-get update
           sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-latest' }}
+        if: ${{ (matrix.os) == 'ubuntu-22.04' }}
       # and actually run the jar
       - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
@@ -400,46 +412,46 @@ jobs:
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_limelight.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-4/photonvision_limelight3.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_limelight3.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5b
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5b.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5b.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5plus.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5plus.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
           - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5pro
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5pro.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5pro.img.xz
             cpu: cortex-a8
             image_additional_mb: 1024
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             artifact-name: LinuxArm64
             image_suffix: orangepi5max
             image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-6/photonvision_opi5max.img.xz

.github/workflows/lint-format.yml

@@ -57,13 +57,14 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
           java-version: 17
           distribution: temurin
       - run: |
           chmod +x gradlew
           ./gradlew spotlessCheck
+        name: Run spotless
 
   client-lint-format:
     name: "PhotonClient Lint and Formatting"

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

@@ -59,7 +59,7 @@ jobs:
     - name: Fetch tags
       run: git fetch --tags --force
     - name: Install Java 17
-      uses: actions/setup-java@v3
+      uses: actions/setup-java@v4
       with:
         java-version: 17
         distribution: temurin

.github/workflows/photonvision-docs.yml

@@ -26,6 +26,11 @@ jobs:
     - name: Install and upgrade pip
       run: python -m pip install --upgrade pip
 
+    - name: Install graphviz
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install graphviz
+
     - name: Install Python dependencies
       working-directory: docs
       run: |

.github/workflows/python.yml

@@ -21,7 +21,7 @@ on:
 
 jobs:
   buildAndDeploy:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
       - name: Checkout code

.readthedocs.yaml

@@ -9,6 +9,8 @@ build:
   os: ubuntu-22.04
   tools:
     python: "3.11"
+  apt_packages:
+    - graphviz
   jobs:
     post_checkout:
       # Cancel building pull requests when there aren't changed in the docs directory or YAML file.

README.md

@@ -23,28 +23,31 @@ If you are interested in contributing code or documentation to the project, plea
 
 ## Building
 
-Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html?highlight=npm%20install#compiling-instructions).
+Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
 
-You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/photonvision/build-instructions.html#running-examples).
+You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
 
 ## Gradle Arguments
 
 Note that these are case sensitive!
 
-* `-PArchOverride=foobar`: builds for a target system other than your current architecture. Valid overrides are:
-    * linuxathena
+* `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
+    * winx32
+    * winx64
+    * winarm64
+    * macx64
+    * macarm64
+    * linuxx64
     * linuxarm64
-    * arm64
-    * x86-64
-    * x86
+    * linuxathena
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
 - `-Pprofile`: enables JVM profiling
 
 If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
 
 ## Out-of-Source Dependencies
 
-PhotonVision uses the following additonal out-of-source repositories for building code.
+PhotonVision uses the following additional out-of-source repositories for building code.
 
 - Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
 - C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver

build.gradle

@@ -4,11 +4,10 @@ plugins {
     id "java"
     id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
-    id "edu.wpi.first.NativeUtils" version "2024.6.1" apply false
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
-    id 'com.google.protobuf' version '0.9.4' apply false
+    id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
 }
 
@@ -31,14 +30,15 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2024.3.2"
+    wpilibVersion = "2025.1.1-beta-1"
     wpimathVersion = wpilibVersion
-    openCVversion = "4.8.0-2"
+    openCVYear = "2024"
+    openCVversion = "4.8.0-4"
     joglVersion = "2.4.0"
     javalinVersion = "5.6.2"
     libcameraDriverVersion = "dev-v2023.1.0-14-g787ab59"
     rknnVersion = "dev-v2024.0.1-4-g0db16ac"
-    frcYear = "2024"
+    frcYear = "2025"
     mrcalVersion = "dev-v2024.0.0-24-gc1efcf0";
 
 

docs/source/conf.py

@@ -36,6 +36,8 @@
     "sphinxcontrib.ghcontributors",
     "sphinx_design",
     "myst_parser",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.graphviz",
 ]
 
 # Configure OpenGraph support

docs/source/docs/contributing/building-docs.md

@@ -26,7 +26,7 @@ The built documentation is located at `docs/build/html/index.html` relative to t
 
 ## Docs Builds on Pull Requests
 
-Pre-merge builds of docs can be found at: `https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html`. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to `https://photonvision-docs--325.org.readthedocs.build/en/325/index.html`. Additionally, the pull requrest will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder.
+Pre-merge builds of docs can be found at: `https://photonvision-docs--PRNUMBER.org.readthedocs.build/en/PRNUMBER/index.html`. These docs are republished on every commit to a pull request made to PhotonVision/photonvision-docs. For example, PR 325 would have pre-merge documentation published to `https://photonvision-docs--325.org.readthedocs.build/en/325/index.html`. Additionally, the pull request will have a link directly to the pre-release build of the docs. This build only runs when there is a change to files in the docs sub-folder.
 
 ## Style Guide