Merge branch 'main' into add-troubleshooting-docs

Author: samfreund

.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/workflows/build.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: 18
+          node-version: 22
       - name: Install Dependencies
         run: npm ci
       - name: Build Production Client
@@ -557,7 +557,8 @@ jobs:
           rm: true
           files: |
             **/*.xz
-            **/*.jar
+            **/*linux*.jar
+            **/*win*.jar
             **/photonlib*.json
             **/photonlib*.zip
         if: github.event_name == 'push'

.github/workflows/lint-format.yml

@@ -68,7 +68,7 @@ jobs:
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: 18
+          node-version: 22
       - name: Install Dependencies
         run: npm ci
       - name: Check Linting

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

@@ -32,7 +32,7 @@ jobs:
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
-          node-version: 18
+          node-version: 22
       - name: Install Dependencies
         run: npm ci
       - name: Build Production Client

.gitignore

@@ -7,8 +7,7 @@ __pycache__/
 backend/settings/
 .vscode/
 # Docs
-source/_build
-source/docs/_build
+_build
 # Compiled class file
 *.class
 

build.gradle

@@ -37,7 +37,6 @@ ext {
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
-    joglVersion = "2.4.0"
     javalinVersion = "5.6.2"
     libcameraDriverVersion = "v2025.0.3"
     rknnVersion = "dev-v2025.0.0-1-g33b6263"

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

@@ -23,30 +23,41 @@ Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Ou
 By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation".
 :::
 
-This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()` (Java/C++).
+This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
 
 ```{eval-rst}
 .. tab-set-code::
 
     .. code-block:: Java
 
-        var result = camera.getLatestResult();
-        if (result.getMultiTagResult().estimatedPose.isPresent) {
-          Transform3d fieldToCamera = result.getMultiTagResult().estimatedPose.best;
+        var results = camera.getAllUnreadResults();
+        for (var result : results) {
+          var multiTagResult = result.getMultiTagResult();
+          if (multiTagResult.isPresent()) {
+            var fieldToCamera = multiTagResult.get().estimatedPose.best;
+          }
         }
 
 
     .. code-block:: C++
 
-        auto result = camera.GetLatestResult();
-        if (result.MultiTagResult().result.isPresent) {
-          frc::Transform3d fieldToCamera = result.MultiTagResult().result.best;
+      auto results = camera.GetAllUnreadResults();
+      for (auto &result : results)
+      {
+        auto multiTagResult = result.MultiTagResult();
+        if (multiTagResult.has_value()) {
+          frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
         }
+      }
 
-    .. code-block:: Python
 
-        # Coming Soon!
+    .. code-block:: Python
 
+      results = camera.getAllUnreadResults()
+      for result in results:
+          multitagResult = result.multitagResult
+          if multitagResult is not None:
+            fieldToCamera = multitagResult.estimatedPose.best
 ```
 
 :::{note}