alpha 7 by samfreund · Pull Request #2566 · PhotonVision/photonvision

samfreund · 2026-07-21T06:50:29Z

No description provided.

samfreund · 2026-08-04T04:01:25Z


 env:
-  IMAGE_VERSION: v2027.1.1
+  IMAGE_VERSION: Dev


Uh yeah revert this

Signed-off-by: samfreund <samf.236@proton.me>

This reverts commit b111801.

Signed-off-by: samfreund <samf.236@proton.me>

Copilot

Pull request overview

This PR updates PhotonVision for the WPILib “alpha 7” ecosystem by migrating AprilTag field-layout usage from AprilTagFieldLayout to the newer Field API across C++, Java, Python, and the web UI, while also modernizing native test infrastructure and build dependencies to match the updated WPILib stack.

Changes:

Migrate field layout/tag types to Field/FieldTag across libraries, simulation, configuration, tests, and docs.
Switch native C++ tests from GoogleTest to Catch2 (plus updated test mains / HAL init patterns).
Update Gradle/build + CI plumbing for new WPILib artifacts (fields, mrclib) and related version bumps.

Reviewed changes

Copilot reviewed 115 out of 116 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
shared/javacommon.gradle	Add WPILib `fields` Java dependency.
shared/config.gradle	Pass `mrclibVersion` into nativeUtils dependency config.
shared/common.gradle	Add WPILib `fields` Java dependency.
photonlib-cpp-examples/poseest/src/test/cpp/main.cpp	Update HAL init call signature.
photonlib-cpp-examples/poseest/src/main/include/Vision.h	Remove redundant AprilTag layout include.
photonlib-cpp-examples/poseest/src/main/include/Constants.h	Remove redundant AprilTag layout include.
photonlib-cpp-examples/aimattarget/src/test/cpp/main.cpp	Update HAL init call signature.
photonlib-cpp-examples/aimattarget/src/main/include/VisionSim.h	Remove redundant AprilTag layout include.
photonlib-cpp-examples/aimattarget/src/main/include/Constants.h	Remove redundant AprilTag layout include.
photonlib-cpp-examples/aimandrange/src/test/cpp/main.cpp	Update HAL init call signature.
photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h	Remove redundant AprilTag layout include.
photonlib-cpp-examples/aimandrange/src/main/include/Constants.h	Remove redundant AprilTag layout include.
photon-targeting/src/test/native/cpp/PacketTest.cpp	Port tests from GoogleTest to Catch2.
photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp	Port tests from GoogleTest to Catch2.
photon-targeting/src/test/native/cpp/main.cpp	Replace GoogleTest runner with Catch2 runner + HAL gating for list commands.
photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp	Port test from GoogleTest to Catch2.
photon-targeting/src/test/java/net/TimeSyncTest.java	Update HAL init call signature.
photon-targeting/src/test/java/jni/FileLoggerTest.java	Update HAL init call signature.
photon-targeting/src/test/java/jni/CscoreExtrasTest.java	Update HAL init call signature.
photon-targeting/src/test/java/ConstrainedSolvepnpTest.java	Update HAL init call signature (and remove teardown).
photon-targeting/src/main/proto/photon.proto	Update proto import path for WPIMath geometry proto.
photon-targeting/src/main/native/jni/CscoreExtras.cpp	Switch error formatting from `fmt` to `std::format`.
photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp	Switch expected type to `std::expected`.
photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h	Switch printing from `fmt` to `wpi::util::println`.
photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h	Migrate API from AprilTag layout types to `wpi::fields::Field`.
photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h	Switch printing from `fmt` to `wpi::util::print`.
photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h	Switch `wpi::util::expected` to `std::expected`.
photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp	Migrate implementation to `Field`/`FieldTag` + `std::expected`.
photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp	Switch `fmt` prints/expected to WPILib print + `std::expected`.
photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp	Switch stderr logging from `fmt::print` to `wpi::util::print`.
photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp	Switch stderr logging from `fmt::print` to `wpi::util::print`.
photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java	Migrate Java estimation helpers from AprilTag layout types to `Field`.
photon-targeting/build.gradle	Add `fields`/`mrclib` native deps + switch tests to Catch2 + timeouts.
photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java	Update `Pair` import to new WPILib location.
photon-server/src/main/java/org/photonvision/Main.java	Update HAL init call signature.
photon-serde/templates/ThingTests.cpp.jinja	Switch generated C++ serde tests from GoogleTest to Catch2.
photon-serde-tests/build.gradle	Switch tests to Catch2 + add native `fields` deps.
photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp	Port tests to Catch2 + migrate layout types to `Field`.
photon-lib/src/test/native/cpp/VersionTest.cpp	Port test to Catch2.
photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp	Port test to Catch2.
photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp	Port tests to Catch2 + migrate layout types to `Field`.
photon-lib/src/test/native/cpp/PhotonCameraTest.cpp	Port tests to Catch2.
photon-lib/src/test/native/cpp/main.cpp	Replace GoogleTest runner with Catch2 runner + HAL gating for list commands.
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java	Migrate Java tests from AprilTag layout types to `Field` + HAL init update.
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java	Migrate Java tests from AprilTag layout types to `Field` + HAL init update.
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java	Update HAL init call signature.
photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h	Migrate `addAprilTags` to take `wpi::fields::Field`.
photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h	Update AprilTag image generator include/call.
photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h	Migrate sim camera layout storage/ctor defaults to `Field`.
photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h	Migrate pose estimator layout storage to `Field`.
photon-lib/src/main/native/include/photon/PhotonCamera.h	Update Alert include/type to new WPILib location.
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp	Migrate sim camera to `Field`/`FieldTag` defaults and usage.
photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp	Migrate internals to accept `Field`.
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp	Switch version-mismatch formatting from `fmt::format` to `std::format` and update Alert IDs.
photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java	Migrate simulation tag-layout input from AprilTag layout to `Field`.
photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java	Update AprilTag image generator usage.
photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java	Update `Pair` import to new WPILib location.
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java	Migrate sim camera tag layout to `Field` + defaults to `Fields.DEFAULT_FIELD`.
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java	Migrate pose estimator APIs from AprilTag layout to `Field` + update `Pair` import.
photon-lib/src/main/java/org/photonvision/PhotonCamera.java	Update Alert import + add Alert IDs.
photon-lib/py/test/visionSystemSim_test.py	Migrate RobotPy API usage to `robotpy_fields` + new method/property naming.
photon-lib/py/test/photonPoseEstimator_test.py	Migrate RobotPy API usage to `robotpy_fields` + new method/property naming.
photon-lib/py/test/photonlibpy_test.py	Update RobotPy NTCore API naming.
photon-lib/py/test/openCVHelp_test.py	Update RobotPy NTCore + wpimath property usage.
photon-lib/py/setup.py	Bump RobotPy alpha versions and add `robotpy-fields` dependency.
photon-lib/py/photonlibpy/timesync/timeSyncServer.py	Update RobotPy Timer API naming.
photon-lib/py/photonlibpy/simulation/visionTargetSim.py	Update wpimath Translation/Rotation property usage in comparisons.
photon-lib/py/photonlibpy/simulation/visionSystemSim.py	Migrate AprilTag layout type to `Field` + update RobotPy API naming.
photon-lib/py/photonlibpy/simulation/simCameraProperties.py	Update wpimath API naming/property access.
photon-lib/py/photonlibpy/simulation/photonCameraSim.py	Migrate AprilTag layout type to `Field` + update wpimath/Timer naming.
photon-lib/py/photonlibpy/photonPoseEstimator.py	Migrate AprilTag layout type to `Field` + update RobotPy API naming.
photon-lib/py/photonlibpy/photonCamera.py	Update NTCore/WPILib API naming and pubsub options.
photon-lib/py/photonlibpy/packet.py	Update WPILib error-reporting API naming + quaternion accessors.
photon-lib/py/photonlibpy/networktables/NTTopicSet.py	Update NTCore topic API naming + pubsub options field names.
photon-lib/py/photonlibpy/estimation/visionEstimation.py	Migrate AprilTag layout type to `Field` + update method naming.
photon-lib/py/photonlibpy/estimation/targetModel.py	Update wpimath Translation property usage (and planar detection).
photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py	Update wpimath rotate/relative API naming.
photon-lib/py/photonlibpy/estimation/openCVHelp.py	Update wpimath rotate/quaternion API naming + Translation property usage.
photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py	Update wpimath Translation property usage.
photon-lib/build.gradle	Add `fields`/`mrclib` native deps + switch tests to Catch2.
photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java	Ensure FMSInfo data is also published via NT for test realism + HAL init update.
photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java	Add tests for field-layout JSON migration + `Field` parsing.
photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java	Migrate pipe params from AprilTag layout to `Field`.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/common/logging/Logger.java	Update `Pair` import to new WPILib location.
photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java	Migrate stored UI settings layout type to `Field`.
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java	Update Alert usage + parse field layout as `Field` + tweak team server config.
photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java	Load/migrate legacy ATFL JSON to `Field` and persist migrated JSON back.
photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java	Migrate config storage field layout type to `Field`.
photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java	Migrate legacy config loader to `Field` defaults.
photon-core/src/main/java/org/photonvision/common/configuration/FieldLayoutMigration.java	Add JSON migration helper for legacy AprilTagFieldLayout -> Field.
photon-core/build.gradle	Add `fields` native dependency.
photon-client/tests/quirks.spec.ts	Reformat locators for readability.
photon-client/tests/input.spec.ts	Reformat locator + normalize selector quoting.
photon-client/src/types/WebsocketDataTypes.ts	Update websocket settings payload type to `Field`.
photon-client/src/types/PhotonTrackingTypes.ts	Replace AprilTagFieldLayout TS type with `Field`/dimensions/tags types.
photon-client/src/stores/settings/GeneralSettingsStore.ts	Update store field layout typing + assignment.
photon-client/src/components/settings/ApriltagControlCard.vue	Update UI field layout rendering for new `Field` shape + computed helpers.
gradle/wrapper/gradle-wrapper.properties	Bump Gradle wrapper to 9.4.1.
docs/source/docs/simulation/simulation-java.md	Update docs to `Field` API.
docs/source/docs/programming/photonlib/robot-pose-estimator.md	Update docs to `Field` API and links.
build.gradle	Update WPILib-related plugin versions + WPILib version strings + other dep bumps.
.github/workflows/python.yml	Minor checkout step simplification.
.github/workflows/photon-api-docs.yml	Minor checkout/tag-fetch step simplification.
.github/workflows/build.yml	Update runners/containers/tooling steps for new build environment.

Suppressed comments (1)

photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp:402

std::format is used here but this translation unit does not include <format>. This can be a hard compile error on some standard library implementations if <format> is not included explicitly.

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            cornersPlaner = True
            for corner in verts:
-                if abs(corner.X() < 1e-4):
+                if abs(corner.x < 1e-4):
                    cornersPlaner = False
            self.isPlanar = cornersPlaner


    public PhotonCameraSim(
            PhotonCamera camera,
            SimCameraProperties prop,
            double minTargetAreaPercent,
            double maxSightRangeMeters,
-            AprilTagFieldLayout tagLayout) {
+            Field tagLayout) {
        this(camera, prop);
        this.minTargetAreaPercent = minTargetAreaPercent;
        this.maxSightRangeMeters = maxSightRangeMeters;


Signed-off-by: samfreund <samf.236@proton.me>

github-actions Bot added the photonlib Things related to the PhotonVision library label Jul 21, 2026

samfreund mentioned this pull request Jul 21, 2026

Run tests on arm #2534

Draft

samfreund force-pushed the alpha-7 branch from 5e3ad48 to 5b9d9e0 Compare July 28, 2026 21:36

github-actions Bot added the backend Things relating to photon-core and photon-server label Jul 28, 2026

samfreund force-pushed the alpha-7 branch 7 times, most recently from 096280e to bf6bdb0 Compare July 30, 2026 05:50

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samfreund force-pushed the alpha-7 branch from 62c9061 to 78b004c Compare July 31, 2026 17:27

Gold856 mentioned this pull request Aug 1, 2026

Use Javalin SPA root config to enable use of HTML5 History #2572

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15 tasks

samfreund force-pushed the alpha-7 branch 7 times, most recently from 6ff2c64 to 486aae9 Compare August 4, 2026 03:58

samfreund commented Aug 4, 2026

View reviewed changes

github-actions Bot added documentation Anything relating to https://docs.photonvision.org frontend Having to do with PhotonClient and its related items labels Aug 4, 2026

samfreund added 6 commits August 4, 2026 16:42

bump gradle and wpilib version

6ca7746

fix geometry3d proto path

a1bd1a3

c++ 23 expected

f6778b8

swap from fmtlib to stdlib/wpi::util::print.hpp

ab7c075

upgrade gradle deps

cb4708d

gcc 16 babeeeeee

e46e8ca

Merge branch 'catch2' into alpha-7

81adc56

samfreund mentioned this pull request Aug 5, 2026

googletest --> catch2 #2579

Closed

15 tasks

samfreund force-pushed the alpha-7 branch from 7188f49 to 688586e Compare August 5, 2026 22:03

missed a merge

219df50

Signed-off-by: samfreund <samf.236@proton.me>

samfreund force-pushed the alpha-7 branch from 688586e to 219df50 Compare August 5, 2026 22:13

samfreund added 5 commits August 5, 2026 15:58

guess we need this too

704a7aa

Signed-off-by: samfreund <samf.236@proton.me>

new version

b38fc83

Signed-off-by: samfreund <samf.236@proton.me>

Revert "fix race thingy whatever"

4af5302

This reverts commit b111801.

Bump wpilib

ebcdd01

fix stuff

bd99629

Signed-off-by: samfreund <samf.236@proton.me>

samfreund requested a lite review from Copilot August 6, 2026 18:31

Copilot started reviewing on behalf of samfreund August 6, 2026 18:32 View session

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samfreund added 10 commits August 6, 2026 11:45

another migration comment

5da818a

Signed-off-by: samfreund <samf.236@proton.me>

bah CI

c35e679

new tag

9127ae6

Signed-off-by: samfreund <samf.236@proton.me>

bah CI

7a5b97d

Merge branch 'main' into alpha-7

b83c55b

bump

bdfb5b0

Signed-off-by: samfreund <samf.236@proton.me>

lint

ddc13f3

Signed-off-by: samfreund <samf.236@proton.me>

Merge branch 'main' into alpha-7

68dc7a6

lint

bb29909

Signed-off-by: samfreund <samf.236@proton.me>

Merge branch 'main' into alpha-7

e32e61c

samfreund added this to 2027 Release Aug 11, 2026

samfreund moved this to In progress in 2027 Release Aug 11, 2026

wpilib bump

193b07c

Signed-off-by: samfreund <samf.236@proton.me>

samfreund force-pushed the alpha-7 branch from a39b7bc to 193b07c Compare August 13, 2026 00:02

samfreund added 3 commits August 12, 2026 17:10

bah CI

5065a8e

bump wpilib version

5220ea1

Signed-off-by: samfreund <samf.236@proton.me>

wpilib bump

e5b0437

Signed-off-by: samfreund <samf.236@proton.me>

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alpha 7 - #2566

alpha 7#2566
samfreund wants to merge 78 commits into
PhotonVision:mainfrom
samfreund:alpha-7

samfreund commented Jul 21, 2026 •

edited

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samfreund commented Jul 21, 2026 •

edited

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