Bump to WPILib 2025 Beta 1 & remove C++ protobuf (#1484)

Remove C++ protobuf support until wpilibsuite/allwpilib#7250 is addressed. Developers should upgrade to wpilib vscode 2025 beta 1. --------- Co-authored-by: Matt <[email protected]>
PhotonVision · Oct 31, 2024 · 937bafa · 937bafa
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Showing 67 changed files with 185 additions and 824 deletions.
diff --git a/.github/workflows/build.yml b/.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
@@ -344,7 +344,7 @@ 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' }}
@@ -439,7 +439,7 @@ jobs:
             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

diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -57,7 +57,7 @@ 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

diff --git a/.github/workflows/photon-code-docs.yml b/.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

diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
@@ -21,7 +21,7 @@ on:
 
 jobs:
   buildAndDeploy:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
 
     steps:
       - name: Checkout code

diff --git a/build.gradle b/build.gradle
@@ -5,9 +5,9 @@ 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 "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'
 }
 
@@ -30,14 +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";
 
 

diff --git a/photon-client/src/components/settings/NetworkingCard.vue b/photon-client/src/components/settings/NetworkingCard.vue
@@ -17,10 +17,10 @@ const resetTempSettingsStruct = () => {
 const settingsValid = ref(true);
 
 const isValidNetworkTablesIP = (v: string | undefined): boolean => {
-  // Check if it is a valid team number between 1-9999
-  const teamNumberRegex = /^[1-9][0-9]{0,3}$/;
+  // Check if it is a valid team number between 1-99999 (5 digits)
+  const teamNumberRegex = /^[1-9][0-9]{0,4}$/;
   // Check if it is a team number longer than 5 digits
-  const badTeamNumberRegex = /^[0-9]{5,}$/;
+  const badTeamNumberRegex = /^[0-9]{6,}$/;
 
   if (v === undefined) return false;
   if (teamNumberRegex.test(v)) return true;

diff --git a/photon-core/build.gradle b/photon-core/build.gradle
@@ -24,7 +24,7 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
 
 dependencies {
     // JOGL stuff (currently we only distribute for aarch64, which is Pi 4)

diff --git a/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java b/photon-core/src/main/java/org/photonvision/common/util/TestUtils.java
@@ -19,11 +19,17 @@
 
 import com.fasterxml.jackson.databind.ObjectMapper;
 import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.cscore.CameraServerCvJNI;
 import edu.wpi.first.cscore.CameraServerJNI;
+import edu.wpi.first.cscore.OpenCvLoader;
 import edu.wpi.first.hal.JNIWrapper;
-import edu.wpi.first.math.WPIMathJNI;
 import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.jni.ArmFeedforwardJNI;
+import edu.wpi.first.math.jni.DAREJNI;
+import edu.wpi.first.math.jni.EigenJNI;
+import edu.wpi.first.math.jni.Ellipse2dJNI;
+import edu.wpi.first.math.jni.Pose3dJNI;
+import edu.wpi.first.math.jni.StateSpaceUtilJNI;
+import edu.wpi.first.math.jni.TrajectoryUtilJNI;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.net.WPINetJNI;
 import edu.wpi.first.networktables.NetworkTablesJNI;
@@ -46,23 +52,21 @@ public static boolean loadLibraries() {
 
         NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
         WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
-        WPIMathJNI.Helper.setExtractOnStaticLoad(false);
         CameraServerJNI.Helper.setExtractOnStaticLoad(false);
-        CameraServerCvJNI.Helper.setExtractOnStaticLoad(false);
-        // OpenCvLoader.Helper.setExtractOnStaticLoad(false);
+        OpenCvLoader.Helper.setExtractOnStaticLoad(false);
         JNIWrapper.Helper.setExtractOnStaticLoad(false);
         WPINetJNI.Helper.setExtractOnStaticLoad(false);
         AprilTagJNI.Helper.setExtractOnStaticLoad(false);
 
         // wpimathjni is a bit odd, it's all in the wpimathjni shared lib, but the java side stuff has
         // been split.
-        // ArmFeedforwardJNI.Helper.setExtractOnStaticLoad(false);
-        // DAREJNI.Helper.setExtractOnStaticLoad(false);
-        // EigenJNI.Helper.setExtractOnStaticLoad(false);
-        // Ellipse2dJNI.Helper.setExtractOnStaticLoad(false);
-        // Pose3dJNI.Helper.setExtractOnStaticLoad(false);
-        // StateSpaceUtilJNI.Helper.setExtractOnStaticLoad(false);
-        // TrajectoryUtilJNI.Helper.setExtractOnStaticLoad(false);
+        ArmFeedforwardJNI.Helper.setExtractOnStaticLoad(false);
+        DAREJNI.Helper.setExtractOnStaticLoad(false);
+        EigenJNI.Helper.setExtractOnStaticLoad(false);
+        Ellipse2dJNI.Helper.setExtractOnStaticLoad(false);
+        Pose3dJNI.Helper.setExtractOnStaticLoad(false);
+        StateSpaceUtilJNI.Helper.setExtractOnStaticLoad(false);
+        TrajectoryUtilJNI.Helper.setExtractOnStaticLoad(false);
 
         try {
             CombinedRuntimeLoader.loadLibraries(
@@ -72,10 +76,11 @@ public static boolean loadLibraries() {
                     "ntcorejni",
                     "wpinetjni",
                     "wpiHaljni",
-                    Core.NATIVE_LIBRARY_NAME,
                     "cscorejni",
                     "apriltagjni");
 
+            CombinedRuntimeLoader.loadLibraries(TestUtils.class, Core.NATIVE_LIBRARY_NAME);
+
             has_loaded = true;
         } catch (IOException e) {
             e.printStackTrace();

diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
@@ -338,4 +338,4 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + wpi.frcYear.get(), wpi.versions.opencvVersion.get())
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, wpi.versions.opencvVersion.get())
diff --git a/photon-lib/src/test/java/org/photonvision/OpenCVTest.java b/photon-lib/src/test/java/org/photonvision/OpenCVTest.java
@@ -26,18 +26,19 @@
 
 import static org.junit.jupiter.api.Assertions.*;
 
-import edu.wpi.first.cscore.CameraServerCvJNI;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.CombinedRuntimeLoader;
 import java.io.IOException;
 import java.util.List;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
+import org.opencv.core.Core;
 import org.photonvision.estimation.CameraTargetRelation;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
@@ -77,7 +78,7 @@ public static void assertSame(Transform3d trf1, Transform3d trf2) {
 
     @BeforeAll
     public static void setUp() throws IOException {
-        CameraServerCvJNI.forceLoad();
+        CombinedRuntimeLoader.loadLibraries(OpenCVTest.class, Core.NATIVE_LIBRARY_NAME);
 
         // NT live for debug purposes
         NetworkTableInstance.getDefault().startServer();

diff --git a/...n-targeting/src/main/java/org/photonvision/targeting/proto/MultiTargetPNPResultProto.java b/...n-targeting/src/main/java/org/photonvision/targeting/proto/MultiTargetPNPResultProto.java
@@ -37,11 +37,6 @@ public Descriptor getDescriptor() {
         return ProtobufMultiTargetPNPResult.getDescriptor();
     }
 
-    @Override
-    public Protobuf<?, ?>[] getNested() {
-        return new Protobuf<?, ?>[] {PnpResult.proto};
-    }
-
     @Override
     public ProtobufMultiTargetPNPResult createMessage() {
         return ProtobufMultiTargetPNPResult.newInstance();

diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/proto/PNPResultProto.java b/photon-targeting/src/main/java/org/photonvision/targeting/proto/PNPResultProto.java
@@ -34,11 +34,6 @@ public Descriptor getDescriptor() {
         return ProtobufPNPResult.getDescriptor();
     }
 
-    @Override
-    public Protobuf<?, ?>[] getNested() {
-        return new Protobuf<?, ?>[] {Transform3d.proto};
-    }
-
     @Override
     public ProtobufPNPResult createMessage() {
         return ProtobufPNPResult.newInstance();

diff --git a/...n-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java b/...n-targeting/src/main/java/org/photonvision/targeting/proto/PhotonPipelineResultProto.java
@@ -37,11 +37,6 @@ public Descriptor getDescriptor() {
         return ProtobufPhotonPipelineResult.getDescriptor();
     }
 
-    @Override
-    public Protobuf<?, ?>[] getNested() {
-        return new Protobuf<?, ?>[] {PhotonTrackedTarget.proto, MultiTargetPNPResult.proto};
-    }
-
     @Override
     public ProtobufPhotonPipelineResult createMessage() {
         return ProtobufPhotonPipelineResult.newInstance();

diff --git a/...on-targeting/src/main/java/org/photonvision/targeting/proto/PhotonTrackedTargetProto.java b/...on-targeting/src/main/java/org/photonvision/targeting/proto/PhotonTrackedTargetProto.java
@@ -39,11 +39,6 @@ public Descriptor getDescriptor() {
         return ProtobufPhotonTrackedTarget.getDescriptor();
     }
 
-    @Override
-    public Protobuf<?, ?>[] getNested() {
-        return new Protobuf<?, ?>[] {Transform3d.proto, TargetCorner.proto};
-    }
-
     @Override
     public ProtobufPhotonTrackedTarget createMessage() {
         return ProtobufPhotonTrackedTarget.newInstance();

diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/MultiTargetPNPResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/MultiTargetPNPResultProto.cpp
diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/proto/PNPResultProto.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/proto/PNPResultProto.cpp