[choreolib] Full Java and C++ upgrade to WPILib 2027

.github/workflows/choreolib.yml

@@ -8,10 +8,6 @@ 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:bookworm-24.04
             artifact-name: Linux-arm32
             build-options: -Ponlylinuxarm32
@@ -24,7 +20,7 @@ jobs:
             artifact-name: Linux-x86_64
             build-options:
 
-    name: C++ and Java - ${{ matrix.artifact-name }}
+    name: "Build C++ and Java / ${{ matrix.artifact-name }}"
     runs-on: ubuntu-24.04
     container: ${{ matrix.container }}
     steps:
@@ -39,6 +35,10 @@ jobs:
         run: |
           git config --global --add safe.directory /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}
 
+      - name: Install SystemCore Toolchain
+        run: ./gradlew installSystemCoreToolchain
+        working-directory: choreolib
+
       - name: Set version (release)
         if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
         working-directory: choreolib
@@ -48,13 +48,13 @@ jobs:
         working-directory: choreolib
         run: ./gradlew build ${{ matrix.build-options }}
 
-      - name: Publish with Gradle (release)
+      - name: Build with Gradle (release)
         if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
         working-directory: choreolib
-        run: ./gradlew publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+        run: ./gradlew publish ${{ matrix.build-options }}
 
       - uses: actions/upload-artifact@v7
         with:
@@ -73,15 +73,15 @@ jobs:
             build-options:
 
           # FIXME: Link failure on commands library
-          # - os: windows-2025
+          # - os: windows-2022
           #   artifact-name: Windows-aarch64
           #   build-options: -Pbuildwinarm64 -Ponlywindowsarm64
 
-          - os: macos-15
+          - os: macOS-15
             artifact-name: macOS-universal
             build-options:
 
-    name: C++ and Java - ${{ matrix.artifact-name }}
+    name: "C++ and Java / ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
       - uses: actions/checkout@v6
@@ -96,11 +96,15 @@ jobs:
       - uses: actions/setup-java@v5
         with:
           distribution: "temurin"
-          java-version: 17
+          java-version: 25
+
+      - name: Install SystemCore Toolchain
+        run: ./gradlew installSystemCoreToolchain
+        working-directory: choreolib
 
       # 6/27/25: an Actions issue makes GITHUB_REF unset on Windows
       - name: Set version (Windows release)
-        if: runner.os == 'Windows' && github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
+        if: github.repository_owner == 'SleipnirGroup' && startsWith(matrix.os, 'windows') && startsWith(github.ref, 'refs/tags/v')
         run: |
           tag="${{ github.ref }}"
           sed -i "s/0.0.0/${tag##*v}/g" publish.gradle
@@ -109,7 +113,7 @@ jobs:
         working-directory: choreolib
 
       - name: Set version (macOS release)
-        if: runner.os == 'macOS' && github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
+        if: github.repository_owner == 'SleipnirGroup' && startsWith(matrix.os, 'macOS') && startsWith(github.ref, 'refs/tags/v')
         run: sed -i '' "s/0.0.0/${GITHUB_REF##*v}/g" publish.gradle
         working-directory: choreolib
 
@@ -120,32 +124,18 @@ jobs:
       - name: Build with Gradle (release)
         if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
         working-directory: choreolib
-        run: ./gradlew publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+        run: ./gradlew publish ${{ matrix.build-options }}
 
       - uses: actions/upload-artifact@v7
         with:
           name: ${{ matrix.artifact-name }}
           path: choreolib/build/allOutputs
 
-  vendordep:
-    name: Upload vendordep JSON
-    runs-on: ubuntu-slim
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          persist-credentials: false
-          token: ${{secrets.GITHUB_TOKEN}}
-
-      - uses: actions/upload-artifact@v7
-        with:
-          name: ChoreoLib-json
-          path: choreolib/ChoreoLib2026Beta.json
-
   build-python:
-    name: Python
+    name: "Build Python"
     runs-on: ubuntu-slim
     steps:
       - uses: actions/checkout@v6
@@ -166,28 +156,47 @@ jobs:
         working-directory: ./choreolib/py
       - run: pytest
         working-directory: ./choreolib/py
-      - run: mypy --pretty --show-column-numbers choreolib/py
 
       - uses: actions/upload-artifact@v7
         with:
           name: Python
           path: ./choreolib/py/dist
 
-  pypi-publish:
-    name: Upload release to PyPI
-    runs-on: ubuntu-24.04
-    needs: [build-python]
-    if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
-    environment:
-      name: pypi
-      url: https://pypi.org/p/sleipnirgroup-choreolib
-    permissions:
-      id-token: write
+  lint-python:
+    name: "Lint Python"
+    runs-on: ubuntu-slim
     steps:
-      - uses: actions/download-artifact@v8
+      - uses: actions/checkout@v6
         with:
-          path: dist
-          pattern: "Python"
-          merge-multiple: true
-      - name: Publish package distributions to PyPI
-        uses: pypa/gh-action-pypi-publish@release/v1
+          fetch-depth: 0
+          persist-credentials: false
+          token: ${{secrets.GITHUB_TOKEN}}
+
+      - uses: actions/setup-python@v6
+        with:
+          python-version: 3.12
+
+      - run: pip3 install mypy wpilib scipy scipy-stubs numpy
+
+      - run: mypy --pretty --show-column-numbers choreolib/py
+
+  # Removed until 2027 Python WPILib is available.
+
+  # pypi-publish:
+  #   name: Upload release to PyPI
+  #   runs-on: ubuntu-24.04
+  #   needs: [build-python]
+  #   if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
+  #   environment:
+  #     name: pypi
+  #     url: https://pypi.org/p/sleipnirgroup-choreolib
+  #   permissions:
+  #     id-token: write
+  #   steps:
+  #     - uses: actions/download-artifact@v4
+  #       with:
+  #         path: dist
+  #         pattern: "Python"
+  #         merge-multiple: true
+  #     - name: Publish package distributions to PyPI
+  #       uses: pypa/gh-action-pypi-publish@release/v1

.github/workflows/lint-format.yml

@@ -63,6 +63,10 @@ jobs:
 
       - run: pip3 install wpiformat==2025.79
 
+      - name: Install SystemCore Toolchain
+        run: ./gradlew installSystemCoreToolchain
+        working-directory: choreolib
+
       - run: pnpm run fmt
 
       - run: cargo clippy -- -D warnings
@@ -130,6 +134,10 @@ jobs:
 
       - run: pip3 install wpiformat==2025.79
 
+      - name: Install SystemCore Toolchain
+        run: ./gradlew installSystemCoreToolchain
+        working-directory: choreolib
+
       - name: Create compile_commands.json
         working-directory: choreolib
         run: |