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

.github/workflows/choreolib.yml

@@ -8,15 +8,11 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-24.04
-            artifact-name: Athena
-            build-options: -Ponlylinuxathena
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: Systemcore
+            build-options: -Ponlylinuxsystemcore
 
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
-            artifact-name: Linux-arm32
-            build-options: -Ponlylinuxarm32
-
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Linux-arm64
             build-options: -Ponlylinuxarm64
 
@@ -39,6 +35,11 @@ jobs:
         run: |
           git config --global --add safe.directory /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}
 
+      - uses: actions/setup-java@v5
+        with:
+          distribution: "temurin"
+          java-version: 25
+
       - name: Set version (release)
         if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
         working-directory: choreolib
@@ -96,7 +97,7 @@ jobs:
       - uses: actions/setup-java@v5
         with:
           distribution: "temurin"
-          java-version: 17
+          java-version: 25
 
       # 6/27/25: an Actions issue makes GITHUB_REF unset on Windows
       - name: Set version (Windows release)
@@ -115,7 +116,7 @@ jobs:
 
       - name: Build with Gradle
         working-directory: choreolib
-        run: ./gradlew build ${{ matrix.build-options }}
+        run: ./gradlew build -Pbuildalldesktop ${{ matrix.build-options }}
 
       - name: Build with Gradle (release)
         if: github.repository_owner == 'SleipnirGroup' && startsWith(github.ref, 'refs/tags/v')
@@ -130,20 +131,6 @@ jobs:
           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
     runs-on: ubuntu-slim

.github/workflows/docs.yml

@@ -39,7 +39,7 @@ jobs:
       - uses: actions/setup-java@v5
         with:
           distribution: "temurin"
-          java-version: 17
+          java-version: 25
 
       - name: Copy API docs
         run: ./make-docs.sh

.github/workflows/lint-format.yml

@@ -25,7 +25,7 @@ jobs:
       - uses: actions/setup-java@v5
         with:
           distribution: "temurin"
-          java-version: 21
+          java-version: 25
 
       - name: Make GCC 14 the default toolchain (Linux)
         run: |

choreolib/build.gradle

@@ -1,28 +1,30 @@
-import edu.wpi.first.toolchain.*
+import org.wpilib.toolchain.*
 
 plugins {
     id 'cpp'
     id 'java'
     id 'java-library'
     id 'google-test'
-    id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
-    id 'edu.wpi.first.NativeUtils' version '2026.0.1'
-    id 'edu.wpi.first.GradleJni' version '1.1.0'
-    id 'edu.wpi.first.GradleVsCode' version '2.1.0'
-    id 'com.diffplug.spotless' version '8.0.0'
+    id 'org.wpilib.WPILibRepositoriesPlugin' version '2027.0.0'
+    id 'org.wpilib.NativeUtils' version '2027.7.1'
+    id 'org.wpilib.GradleJni' version '2027.0.0'
+    id 'org.wpilib.GradleVsCode' version '2027.0.0'
+    id 'com.diffplug.spotless' version '8.4.0'
     id 'jacoco'
 }
 
+ext.wpilibVersion = "2027.+"
 ext.getCurrentArch = {
     return NativePlatforms.desktop
 }
 
 def systemArch = getCurrentArch()
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_25
+    targetCompatibility = JavaVersion.VERSION_25
 }
+var javaVersion = "25"
 
 repositories {
     mavenCentral()
@@ -32,20 +34,22 @@ if (project.hasProperty('releaseMode')) {
 } else {
     wpilibRepositories.addAllDevelopmentRepositories(project)
 }
+wpilibRepositories.use2027Repos()
 
 // Apply C++ configuration
 apply from: 'config.gradle'
 
 // Apply Java configuration
 dependencies {
-    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2026.1.1'
-    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2026.1.1'
-    implementation 'edu.wpi.first.wpimath:wpimath-java:2026.1.1'
-    implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2026.1.1'
-    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2026.1.1'
-    implementation 'edu.wpi.first.ntcore:ntcore-java:2026.1.1'
-    implementation 'edu.wpi.first.ntcore:ntcore-cpp:2026.1.1'
-    implementation 'edu.wpi.first.hal:hal-java:2026.1.1'
+    implementation 'org.wpilib.wpilibj:wpilibj-java:2027.+'
+    implementation 'org.wpilib.wpiutil:wpiutil-java:2027.+'
+    implementation 'org.wpilib.wpimath:wpimath-java:2027.+'
+    implementation 'org.wpilib:commands3-java:2027.+'
+    implementation 'org.wpilib:annotations-java:2027.+'
+    implementation 'org.wpilib.wpiunits:wpiunits-java:2027.+'
+    implementation 'org.wpilib.ntcore:ntcore-java:2027.+'
+    implementation 'org.wpilib.ntcore:ntcore-cpp:2027.+'
+    implementation 'org.wpilib.hal:hal-java:2027.+'
 
     api "com.fasterxml.jackson.core:jackson-annotations:2.19.2"
     api "com.fasterxml.jackson.core:jackson-core:2.19.2"
@@ -54,9 +58,9 @@ dependencies {
     implementation 'com.google.code.gson:gson:2.13.1'
 
     // This is needed to use wpilibj Filesystem class
-    testImplementation 'edu.wpi.first.cscore:cscore-java:2026.1.1'
-    testImplementation 'edu.wpi.first.cameraserver:cameraserver-java:2026.1.1'
-    testImplementation 'edu.wpi.first.hal:hal-java:2026.1.1'
+    testImplementation 'org.wpilib.cscore:cscore-java:2027.+'
+    testImplementation 'org.wpilib.cameraserver:cameraserver-java:2027.+'
+    testImplementation 'org.wpilib.hal:hal-java:2027.+'
 
     testImplementation 'us.hebi.quickbuf:quickbuf-runtime:1.4'
 
@@ -73,11 +77,11 @@ test {
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
     testLogging {
         events "failed"
-        exceptionFormat = "full"
+        exceptionFormat "full"
     }
 }
 
-if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64') || project.hasProperty('onlywindowsarm64')) {
+if (project.hasProperty('onlylinuxarm64') || project.hasProperty('onlywindowsarm64') || project.hasProperty('onlylinuxsystemcore')) {
     test.enabled = false
 }
 
@@ -141,7 +145,7 @@ model {
                 }
             }
 
-            nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "wpilib_shared", "googletest_static")
 
             binaries.all {
                 def arch = it.targetPlatform.name
@@ -195,7 +199,7 @@ spotless {
 }
 
 javadoc {
-    options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
+    options.links("https://docs.oracle.com/en/java/javase/${javaVersion}/docs/api/")
     options.links("https://github.wpilib.org/allwpilib/docs/release/java/")
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
@@ -228,10 +232,18 @@ test {
     testLogging.showStandardStreams = true
 
     finalizedBy jacocoTestReport
+
+    // For reflective access to continuation classes in unit tests
+    jvmArgs += [
+        "--add-opens",
+        "java.base/jdk.internal.vm=ALL-UNNAMED",
+        "--add-opens",
+        "java.base/java.lang=ALL-UNNAMED",
+    ]
 }
 
 apply from: 'publish.gradle'
 
 wrapper {
-    gradleVersion = '8.14.3'
+    gradleVersion '9.4.1'
 }

choreolib/config.gradle

@@ -1,15 +1,14 @@
 import org.gradle.internal.os.OperatingSystem
 
 nativeUtils.addWpiNativeUtils()
-nativeUtils.withCrossRoboRIO()
-nativeUtils.withCrossLinuxArm32()
+nativeUtils.withCrossSystemCore()
 nativeUtils.withCrossLinuxArm64()
 
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = "2026.1.1"
-            niLibVersion = "2026.1.0"
+            wpiVersion = wpilibVersion
+            opencvVersion = "4.13.0-3"
         }
     }
 }
@@ -19,11 +18,6 @@ nativeUtils.wpi.addWarningsAsErrors()
 
 nativeUtils.setSinglePrintPerPlatform()
 
-nativeUtils.wpi.addVendorDeps()
-nativeUtils.wpi.getVendorDeps().loadAll()
-nativeUtils.wpi.getVendorDeps().getNativeVendor().initializeNativeDependencies()
-nativeUtils.wpi.getVendorDeps().addVendorReposToMaven(false)
-
 model {
     components {
         all {
@@ -33,7 +27,6 @@ model {
     binaries {
         withType(NativeBinarySpec).all {
             nativeUtils.usePlatformArguments(it)
-            nativeUtils.wpi.getVendorDeps().getNativeVendor().cpp(it)
         }
     }
 }

choreolib/gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME