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

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()
+    }
+}