Serve denial page on SystemCore

.github/workflows/build.yml

@@ -20,48 +20,48 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: gradle/actions/wrapper-validation@v4
-  build-examples:
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            architecture: x64
-          - os: macos-14
-            architecture: aarch64
-          - os: ubuntu-22.04
-
-    name: "Photonlib - Build Examples - ${{ matrix.os }}"
-    runs-on: ${{ matrix.os }}
-    needs: [validation]
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - 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
-      - name: Publish photonlib to maven local
-        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: ./gradlew build
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: ./gradlew build
+  # build-examples:
+
+  #   strategy:
+  #     fail-fast: false
+  #     matrix:
+  #       include:
+  #         - os: windows-2022
+  #           architecture: x64
+  #         - os: macos-14
+  #           architecture: aarch64
+  #         - os: ubuntu-24.04
+
+  #   name: "Photonlib - Build Examples - ${{ matrix.os }}"
+  #   runs-on: ${{ matrix.os }}
+  #   needs: [validation]
+
+  #   steps:
+  #     - name: Checkout code
+  #       uses: actions/checkout@v4
+  #       with:
+  #         fetch-depth: 0
+  #     - name: Fetch tags
+  #       run: git fetch --tags --force
+  #     - name: Install Java 17
+  #       uses: actions/setup-java@v4
+  #       with:
+  #         java-version: 17
+  #         distribution: temurin
+  #     - name: Install SystemCore Toolchain
+  #       run: ./gradlew installSystemCoreToolchain
+  #     # Need to publish to maven local first, so that C++ sim can pick it up
+  #     - name: Publish photonlib to maven local
+  #       run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
+  #     - name: Build Java examples
+  #       working-directory: photonlib-java-examples
+  #       run: ./gradlew build
+  #     - name: Build C++ examples
+  #       working-directory: photonlib-cpp-examples
+  #       run: ./gradlew build
   build-gradle:
     name: "Gradle Build"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [validation]
     steps:
       # Checkout code.
@@ -85,7 +85,7 @@ jobs:
         with:
           node-version: 22
       - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+        run: sudo add-apt-repository -y -S 'deb http://security.ubuntu.com/ubuntu jammy main universe' && sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests
@@ -94,7 +94,7 @@ jobs:
         run: ./gradlew jacocoTestReport
   build-offline-docs:
     name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v5
@@ -121,7 +121,7 @@ jobs:
 
   build-photonlib-vendorjson:
     name: "Build Vendor JSON"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     needs: [validation]
     steps:
       - uses: actions/checkout@v4
@@ -162,7 +162,7 @@ jobs:
           - os: macos-14
             artifact-name: macOS
             architecture: aarch64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: Linux
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
@@ -185,7 +185,7 @@ jobs:
         name: Publish
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
       - uses: actions/upload-artifact@v4
@@ -198,17 +198,17 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-24.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/systemcore-cross-ubuntu:2025-24.04
+            artifact-name: SystemCore
+            build-options: "-Ponlylinuxsystemcore"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     container: ${{ matrix.container }}
     name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
     needs: [validation]
@@ -226,7 +226,7 @@ jobs:
         run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision' && github.ref == 'refs/heads/main'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
       - uses: actions/upload-artifact@v4
@@ -237,7 +237,7 @@ jobs:
   combine:
     name: Combine
     needs: [build-photonlib-docker, build-photonlib-host]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -278,11 +278,11 @@ jobs:
             artifact-name: macOSArm
             architecture: x64
             arch-override: macarm64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: Linux
             architecture: x64
             arch-override: linuxx64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
             architecture: x64
             arch-override: linuxarm64
@@ -337,7 +337,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: jar-Linux
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
           - os: windows-latest
@@ -360,6 +360,7 @@ jobs:
           name: ${{ matrix.artifact-name }}
       # On linux, install mrcal packages
       - run: |
+          sudo add-apt-repository -y -S 'deb http://security.ubuntu.com/ubuntu jammy main universe'
           sudo apt-get update
           sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
         if: ${{ (matrix.os) == 'ubuntu-24.04' }}
@@ -557,7 +558,7 @@ jobs:
           path: photonvision*.xz
   release:
     needs: [build-photonlib-vendorjson, build-package, build-image, build-rubik-image, combine]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       # Download all fat JARs
       - uses: actions/download-artifact@v4

.github/workflows/lint-format.yml

@@ -18,7 +18,7 @@ jobs:
       - uses: gradle/actions/wrapper-validation@v4
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: Fetch all history and metadata
@@ -47,7 +47,7 @@ jobs:
   javaformat:
     name: "Java Formatting"
     needs: [validation]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
         with:
@@ -64,7 +64,7 @@ jobs:
     defaults:
       run:
         working-directory: photon-client
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: Install pnpm

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

@@ -27,7 +27,7 @@ jobs:
     defaults:
       run:
         working-directory: photon-client
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
       - name: Install pnpm
@@ -52,7 +52,7 @@ jobs:
   run_java_cpp_docs:
     name: Build Java and C++ API Docs
     needs: [validation]
-    runs-on: "ubuntu-22.04"
+    runs-on: "ubuntu-24.04"
     steps:
     - name: Checkout code
       uses: actions/checkout@v4
@@ -77,7 +77,7 @@ jobs:
   publish_api_docs:
     name: Publish API Docs
     needs: [run_java_cpp_docs]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       # Download docs artifact
       - uses: actions/download-artifact@v4
@@ -104,7 +104,7 @@ jobs:
   publish_demo:
       name: Publish PhotonClient Demo
       needs: [build_demo]
-      runs-on: ubuntu-22.04
+      runs-on: ubuntu-24.04
       steps:
       - uses: actions/download-artifact@v4
         with:

.github/workflows/photonvision-rtd.yml

@@ -14,7 +14,7 @@ env:
 jobs:
   build:
     name: Build and Check Docs
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
 
     steps:
     - uses: actions/checkout@v4

.github/workflows/python.yml

@@ -13,7 +13,7 @@ concurrency:
 
 jobs:
   buildAndDeploy:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
 
     steps:
       - name: Checkout code

.gitignore

@@ -147,4 +147,4 @@ photon-server/src/main/resources/web/*
 node_modules
 dist
 components.d.ts
-photon-server/src/main/resources/web/index.html
+/workspace

.readthedocs.yaml

@@ -6,7 +6,7 @@ sphinx:
   fail_on_warning: true
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
     python: "3.11"
   apt_packages:

README.md

@@ -46,7 +46,7 @@ Note that these are case sensitive!
 - `-Pprofile`: enables JVM profiling
 - `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
 
-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`
+If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installSystemCoreToolchain`
 
 ## Out-of-Source Dependencies
 

build.gradle

@@ -3,8 +3,8 @@ import edu.wpi.first.toolchain.*
 plugins {
     id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
-    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2025.0"
+    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
@@ -21,6 +21,7 @@ allprojects {
         maven { url = "https://maven.photonvision.org/snapshots" }
         maven { url = "https://jogamp.org/deployment/maven/" }
     }
+    wpilibRepositories.use2027Repos()
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
 }
@@ -32,15 +33,15 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.3.2"
+    wpilibVersion = "2027.0.0-alpha-2"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2025.0.4"
     rknnVersion = "dev-v2025.0.0-5-g666c0c6"
     rubikVersion = "dev-v2025.1.0-8-g067a316"
-    frcYear = "2025"
+    frcYear = "2027_alpha1"
     mrcalVersion = "v2025.0.0";
 
 

docs/source/docs/hardware/selecting-hardware.md

@@ -10,7 +10,7 @@ In order to use PhotonVision, you need a coprocessor and a camera. This page dis
 
 ### Minimum System Requirements
 
-- Ubuntu 22.04 LTS or Windows 10/11
+- Ubuntu 24.04 LTS or Windows 10/11
   - We don't recommend using Windows for anything except testing out the system on a local machine.
 - CPU: ARM Cortex-A53 (the CPU on Raspberry Pi 3) or better
 - At least 8GB of storage

docs/source/docs/quick-start/common-setups.md

@@ -13,6 +13,11 @@ PhotonVision requires dedicated hardware, above and beyond a roboRIO. This page
 The Orange Pi 5 is the only currently supported device for object detection.
 :::
 
+## SystemCore Support
+
+The SystemCore is not supported by PhotonVision. PhotonVision is designed to utilize the entirety of the coprocessor's resources, and this could prove to be dangerous if attempted on the main robot controller.
+There are no current plans to support running on SystemCore alongside robot code, and any attempts to do so are entirely at your own risk and will require a separate fork of PhotonVision.
+
 ## SD Cards
 
 - 8GB or larger micro SD card

photon-core/build.gradle

@@ -22,6 +22,7 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("wpimath")
     wpilibNatives wpilibTools.deps.wpilib("wpinet")
     wpilibNatives wpilibTools.deps.wpilib("wpiutil")
+    wpilibNatives wpilibTools.deps.wpilib("datalog")
     wpilibNatives wpilibTools.deps.wpilib("ntcore")
     wpilibNatives wpilibTools.deps.wpilib("cscore")
     wpilibNatives wpilibTools.deps.wpilib("apriltag")

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -354,7 +354,7 @@ private void setClientMode(NetworkConfig config) {
         ntInstance.stopClient();
         String hostname = config.shouldManage ? config.hostname : CameraServerJNI.getHostname();
         logger.debug("Starting NT Client with hostname: " + hostname);
-        ntInstance.startClient4(hostname);
+        ntInstance.startClient(hostname);
         try {
             int t = Integer.parseInt(config.ntServerAddress);
             if (!m_isRetryingConnection) logger.info("Starting NT Client, server team is " + t);