Upgrade dependencies for 2026

.github/workflows/lint-format.yml

@@ -14,15 +14,15 @@ jobs:
     name: "wpiformat"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - uses: actions/setup-python@v4
+      - uses: actions/setup-python@v6
         with:
-          python-version: 3.11
+          python-version: 3.14
       - name: Install wpiformat
         run: pip3 install wpiformat==2025.79
       - name: Run

.github/workflows/main.yml

@@ -32,7 +32,7 @@ jobs:
     name: "mrcal-jni - Build - ${{ matrix.arch-name }}"
 
     steps:
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
       with:
         submodules: 'true'
         fetch-depth: 0
@@ -92,7 +92,7 @@ jobs:
       - run: find
 
       # Push to dev release on pushes to master
-      - uses: pyTooling/Actions/releaser@r0
+      - uses: pyTooling/Actions/releaser@r6
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           tag: 'Dev'

.wpiformat

@@ -1,24 +1,8 @@
 cppHeaderFileInclude {
   \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
 }
 
 modifiableFileExclude {
-  \.jpg$
-  \.jpeg$
-  \.png$
-  \.gif$
-  \.so$
-  \.dll$
-  \.webp$
-  \.ico$
-  gradlew
   mrcal/
   libdogleg/
   vnlog/

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.18)
+cmake_minimum_required(VERSION 3.24)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 project(mrcal_jni LANGUAGES C CXX VERSION 1.0.0)
 
@@ -62,6 +62,13 @@ set(USE_LOCKING ON)
 set(USE_THREAD OFF)
 set(NOFORTRAN ON)
 
+# ARMv8 is what our coprocessors run, but not the CI machines. Ensure we don't accidentally include ARMv9 instructions
+if(
+    CMAKE_SYSTEM_PROCESSOR STREQUAL "ARM64"
+    AND CMAKE_SYSTEM_NAME STREQUAL "Linux"
+)
+    set(TARGET ARMV8)
+endif()
 # We need PIC for this to work as a shared library
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
@@ -83,28 +90,6 @@ if(NOT APPLE)
     elseif(TARGET OpenBLAS)
         set(OPENBLAS_TARGET OpenBLAS)
         message(STATUS "Using OpenBLAS target")
-    elseif(TARGET libopenblas)
-        set(OPENBLAS_TARGET libopenblas)
-        message(STATUS "Using libopenblas target")
-    else()
-        # Fallback: find the library file manually
-        find_library(
-            OPENBLAS_LIB
-            NAMES openblas libopenblas
-            PATHS
-                ${openblas_external_BINARY_DIR}
-                ${openblas_external_BINARY_DIR}/lib
-                ${openblas_external_BINARY_DIR}/lib/Release
-            NO_DEFAULT_PATH
-            REQUIRED
-        )
-        message(STATUS "Using OpenBLAS library file: ${OPENBLAS_LIB}")
-        add_library(openblas_imported STATIC IMPORTED)
-        set_target_properties(
-            openblas_imported
-            PROPERTIES IMPORTED_LOCATION ${OPENBLAS_LIB}
-        )
-        set(OPENBLAS_TARGET openblas_imported)
     endif()
 else()
     set(BLA_VENDOR Apple)
@@ -142,12 +127,7 @@ else()
 endif()
 
 # And pull in JNI
-find_package(JNI)
-if(JNI_FOUND)
-    # Fixes odd AWT dependency
-    set(JNI_INCLUDE_DIRS ${JAVA_INCLUDE_PATH} ${JAVA_INCLUDE_PATH2})
-    message(STATUS "JNI_INCLUDE_DIRS=${JNI_INCLUDE_DIRS}")
-endif()
+find_package(JNI REQUIRED COMPONENTS JVM)
 
 # headers and sources
 set(INCLUDE_HPP)

build.gradle

@@ -1,8 +1,8 @@
 plugins {
     id "java"
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id 'org.photonvision.tools.WpilibTools' version '2.3.1-photon'
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "com.diffplug.spotless" version "6.22.0"
+    id "com.diffplug.spotless" version "8.1.0"
 }
 
 allprojects {
@@ -24,8 +24,8 @@ ext {
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_11
-    targetCompatibility = JavaVersion.VERSION_11
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
 }
 
 dependencies {
@@ -57,10 +57,7 @@ test {
     useJUnitPlatform()
 }
 
-ext.nativeName = wpilibTools.platformMapper.wpilibClassifier
-    .replace('windows', 'windows/')
-    .replace('osx', 'osx/')
-    .replace('linux', 'linux/')
+def nativeName = wpilibTools.platformMapper.platformPath
 ext.outputsFolder = file("$buildDir/outputs")
 
 println("Building for $nativeName")

gradle/wrapper/gradle-wrapper.properties

@@ -1,7 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=permwrapper/dists
+zipStorePath=wrapper/dists

gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -84,7 +86,7 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -112,7 +114,7 @@ case "$( uname )" in                #(
   NONSTOP* )        nonstop=true ;;
 esac
 
-CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+CLASSPATH="\\\"\\\""
 
 
 # Determine the Java command to use to start the JVM.
@@ -203,15 +205,15 @@ fi
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Collect all arguments for the java command:
-#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
 #     and any embedded shellness will be escaped.
 #   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
 #     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
         -classpath "$CLASSPATH" \
-        org.gradle.wrapper.GradleWrapperMain \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
         "$@"
 
 # Stop when "xargs" is not available.

gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -43,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -57,22 +59,22 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
 
 goto fail
 
 :execute
 @rem Setup the command line
 
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+set CLASSPATH=
 
 
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
 
 :end
 @rem End local scope for the variables with windows NT shell

publish.gradle

@@ -25,14 +25,14 @@ publishing {
         mavenJava(MavenPublication) {
             groupId = artifactGroupId
             artifactId = "${baseArtifactId}-java"
-            version = pubVersion;// + "-" + nativeName;
+            version = pubVersion;
 
             from components.java
         }
         mavenJNI(MavenPublication) {
             groupId = artifactGroupId
             artifactId = "${baseArtifactId}-jni"
-            version = pubVersion;// + "-" + nativeName;
+            version = pubVersion;
 
             artifact nativeLibraryJar
         }

settings.gradle

@@ -0,0 +1,11 @@
+pluginManagement {
+    repositories {
+        maven { url = "https://frcmaven.wpi.edu/artifactory/ex-mvn/" }
+        mavenCentral()
+        gradlePluginPortal()
+        maven {
+            url = uri('https://maven.photonvision.org/releases')
+        }
+        mavenLocal()
+    }
+}