Merge remote-tracking branch 'upstream/main' into merge-official

Author: BrianWeiss1

.gitattributes

@@ -35,3 +35,6 @@
 *.so binary
 *.dll binary
 *.webp binary
+
+# autogenerated constrained solve pnp code
+photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/**/* linguist-generated

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,6 +22,7 @@ If applicable, add screenshots to help explain your problem. Additionally, provi
 
 **Platform:**
  - Hardware Platform (ex. Raspberry Pi 4, Windows x64):
+   - How is it powered? (ex. Zinc-V, Pololu Buck Converter, Battery Bank):
  - Network Configuration (Connection between the Radio and any devices in between, such as a Network Switch):
  - PhotonVision Version:
  - Browser (with Version) (Chrome, Edge, Firefox, etc.):

.github/ISSUE_TEMPLATE/docs_issue.md

@@ -0,0 +1,17 @@
+---
+name: Documentation Request
+about: Something needs to be documented/updated in the documentation
+title: ''
+labels: documentation
+assignees: ''
+
+---
+
+**Are you requesting documentation for a new feature, or updated documentation for an old feature?**
+Put the feature you are requesting documentation for here, along with whether the documentation is stale and needs to be updated, or whether the documentation does not exist, and needs to be created.
+
+**Where is it?**
+Put the location of the documentation that needs to be updated here.  If you're requesting documenation for a new feature, put where you think it should go.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/labeler.yml

@@ -0,0 +1,17 @@
+"backend":
+  - all:
+      - changed-files:
+          - any-glob-to-any-file: [photon-core/**, photon-server/**]
+          - all-globs-to-all-files: "!photon-server/src/main/resources/web/index.html"
+"documentation":
+  - changed-files:
+      - any-glob-to-any-file: [docs/**, photon-docs/**]
+"frontend":
+  - changed-files:
+      - any-glob-to-any-file: photon-client/**
+"photonlib":
+  - changed-files:
+      - any-glob-to-any-file: photon-lib*/**
+"website":
+  - changed-files:
+      - any-glob-to-any-file: website/**

.github/pull_request_template.md

@@ -0,0 +1,18 @@
+## Description
+
+<!-- What changed? Why? (the code + comments should speak for itself on the "how") -->
+
+<!-- Fun screenshots or a cool video or something are super helpful as well. If this touches platform-specific behavior, this is where test evidence should be collected. -->
+
+<!-- Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`. -->
+
+## Meta
+
+Merge checklist:
+- [ ] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes
+- [ ] The description documents the _what_ and _why_
+- [ ] If this PR changes behavior or adds a feature, user documentation is updated
+- [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
+- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
+- [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
+- [ ] If this PR addresses a bug, a regression test for it is added

.github/workflows/build.yml

@@ -3,18 +3,21 @@ name: Build
 on:
   # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ main ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ main ]
-  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
 jobs:
+
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
   build-client:
     name: "PhotonClient Build"
     defaults:
@@ -23,14 +26,20 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: 18
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
-        run: npm ci
+        run: pnpm i --frozen-lockfile
       - name: Build Production Client
-        run: npm run build
+        run: pnpm run build
       - uses: actions/upload-artifact@v4
         with:
           name: built-client
@@ -49,6 +58,7 @@ jobs:
 
     name: "Photonlib - Build Examples - ${{ matrix.os }}"
     runs-on: ${{ matrix.os }}
+    needs: [validation]
 
     steps:
       - name: Checkout code
@@ -76,6 +86,7 @@ jobs:
   build-gradle:
     name: "Gradle Build"
     runs-on: ubuntu-22.04
+    needs: [validation]
     steps:
       # Checkout code.
       - name: Checkout code
@@ -94,17 +105,9 @@ jobs:
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests
-        run: ./gradlew testHeadless -i --stacktrace
+        run: ./gradlew testHeadless --stacktrace
       - name: Gradle Coverage
         run: ./gradlew jacocoTestReport
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v4
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v4
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
   build-offline-docs:
     name: "Build Offline Docs"
     runs-on: ubuntu-22.04
@@ -135,6 +138,7 @@ jobs:
   build-photonlib-vendorjson:
     name: "Build Vendor JSON"
     runs-on: ubuntu-22.04
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -179,6 +183,7 @@ jobs:
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -190,7 +195,7 @@ jobs:
           distribution: temurin
           architecture: ${{ matrix.architecture }}
       - run: git fetch --tags --force
-      - run: ./gradlew photon-targeting:build photon-lib:build -i
+      - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle
       - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
@@ -222,6 +227,7 @@ jobs:
     runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -231,7 +237,7 @@ jobs:
           git config --global --add safe.directory /__w/photonvision/photonvision
       - name: Build PhotonLib
         # We don't need to run tests, since we specify only non-native platforms
-        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
+        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
       - name: Publish
         run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
@@ -524,7 +530,7 @@ jobs:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
   release:
-    needs: [build-package, build-image, combine]
+    needs: [build-photonlib-vendorjson, build-package, build-image, combine]
     runs-on: ubuntu-22.04
     steps:
       # Download all fat JARs
@@ -557,7 +563,8 @@ jobs:
           rm: true
           files: |
             **/*.xz
-            **/*.jar
+            **/*linux*.jar
+            **/*win*.jar
             **/photonlib*.json
             **/photonlib*.zip
         if: github.event_name == 'push'
@@ -581,18 +588,12 @@ jobs:
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-  dispatch:
-    name: dispatch
-    needs: [build-photonlib-vendorjson, release]
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: peter-evans/repository-dispatch@v3
-        if: |
-          github.repository == 'PhotonVision/photonvision' &&
-          startsWith(github.ref, 'refs/tags/v')
+      - name: Create Vendor JSON Repo PR
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
         with:
+          repo: PhotonVision/vendor-json-repo
           token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
-          repository: PhotonVision/vendor-json-repo
-          event-type: tag
-          client-payload: '{"run_id": "${{ github.run_id }}", "package_version": "${{ github.ref_name }}"}'
+          vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
+          pr_title: Update photonlib to ${{ github.ref_name }}
+          pr_branch: photonlib-${{ github.ref_name }}
+        if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')

.github/workflows/cut-new-tag.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v5
+        with:
+          sync-labels: true

.github/workflows/labeler.yml

@@ -3,18 +3,19 @@ name: Lint and Format
 on:
   # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ main ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ main ]
-  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-22.04
@@ -30,7 +31,7 @@ jobs:
         with:
           python-version: 3.11
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        run: pip3 install wpiformat==2025.34
       - name: Run
         run: wpiformat
       - name: Check output
@@ -45,6 +46,7 @@ jobs:
         if: ${{ failure() }}
   javaformat:
     name: "Java Formatting"
+    needs: [validation]
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
@@ -65,16 +67,22 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: 18
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
-        run: npm ci
+        run: pnpm i --frozen-lockfile
       - name: Check Linting
-        run: npm run lint-ci
+        run: pnpm run lint-ci
       - name: Check Formatting
-        run: npm run format-ci
+        run: pnpm run format-ci
   server-index:
     name: "Check server index.html not changed"
     runs-on: ubuntu-22.04