Upgrade to wpilib alpha-5 by samfreund · Pull Request #2434 · PhotonVision/photonvision

samfreund · 2026-04-13T18:10:15Z

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Copilot

Pull request overview

Updates PhotonVision’s build + source to match API changes in a newer WPILib (alpha-5 per PR title), including timestamp/pixel format enum renames and an added JSON-B dependency.

Changes:

Bump WPILib/NativeUtils versions and update year labeling in Gradle configuration.
Replace deprecated WPILib APIs (FPGA timestamp/time, PixelFormat, NT event enums, MatchType enum values) across Java/C++/Python and docs/tests.
Add io.avaje:avaje-jsonb as a shared dependency.

Reviewed changes

Copilot reviewed 26 out of 27 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
shared/javacommon.gradle	Adds avaje-jsonb dependency to shared Java common deps.
shared/common.gradle	Adds avaje-jsonb dependency to shared deps used across projects.
photon-targeting/src/test/java/jni/CscoreExtrasTest.java	Updates cscore PixelFormat enum names in tests.
photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp	Adjusts Sleipnir ExitStatus value to match updated API.
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java	Updates Timer API usage in tests.
photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h	Updates Timer API usage for sim buffers.
photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp	Updates PixelFormat enum name in sim output.
photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp	Updates monotonic time APIs for timestamps, heartbeat, and version checks.
photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java	Updates Timer API usage for sim buffers.
photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java	Updates PixelFormat + monotonic time APIs in simulation.
photon-lib/src/main/java/org/photonvision/PhotonCamera.java	Updates Timer API usage for warnings, heartbeat, and version checks.
photon-lib/py/photonlibpy/timesync/timeSyncServer.py	Switches default time provider to monotonic timestamp API.
photon-lib/py/photonlibpy/simulation/visionSystemSim.py	Switches sim timestamps to monotonic timestamp API.
photon-lib/py/photonlibpy/simulation/photonCameraSim.py	Updates sim timestamps and PixelFormat enum names.
photon-lib/py/photonlibpy/photonCamera.py	Updates timestamp sources to monotonic time APIs.
photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java	Uses monotonic timestamp for FPS calculations.
photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java	Updates PixelFormat enum name.
photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java	Updates PixelFormat enum name.
photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java	Updates MatchType enum value name.
photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java	Updates PixelFormat enum name.
photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java	Updates PixelFormat enum name in filtering logic.
photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java	Updates PixelFormat enum name in file source mode.
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java	Updates NT logging + event Kind enum names.
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDriverStation.java	Updates NT event Kind enum names.
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java	Updates NT event Kind enum names.
docs/source/docs/contributing/design-descriptions/e2e-latency.md	Updates Timer API in documentation snippet.
build.gradle	Updates NativeUtils version, wpilibVersion/frcYear, and adds avajeJsonbVersion.

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Copilot · 2026-04-14T23:02:29Z

    def getRobotToCamera(
        self,
        cameraSim: PhotonCameraSim,
-        time: seconds = wpilib.Timer.getFPGATimestamp(),
+        time: seconds = wpilib.Timer.getMonotonicTimestamp(),
    ) -> Transform3d | None:


These methods use a call to wpilib.Timer.getMonotonicTimestamp() as a default argument. In Python, default argument expressions are evaluated once at function definition time, so calls that omit time will use a stale timestamp. Use time: seconds | None = None (or similar) and assign time = wpilib.Timer.getMonotonicTimestamp() inside the method when it is None.

Copilot · 2026-04-14T23:02:29Z

    def getCameraPose(
        self,
        cameraSim: PhotonCameraSim,
-        time: seconds = wpilib.Timer.getFPGATimestamp(),
+        time: seconds = wpilib.Timer.getMonotonicTimestamp(),
    ) -> Pose3d | None:


getCameraPose() also uses wpilib.Timer.getMonotonicTimestamp() as a default argument, which is evaluated only once when the function is defined. This will return incorrect results when callers omit time. Prefer a None default and compute the timestamp at call time.

Copilot · 2026-04-14T23:02:29Z

    def getRobotPose(
-        self, timestamp: seconds = wpilib.Timer.getFPGATimestamp()
+        self, timestamp: seconds = wpilib.Timer.getMonotonicTimestamp()
    ) -> Pose3d | None:


getRobotPose() uses wpilib.Timer.getMonotonicTimestamp() as a default argument, which is evaluated at import/definition time rather than call time. This makes getRobotPose() return a pose for an effectively fixed timestamp unless the caller explicitly passes one. Use a None default and compute the current time inside the function when omitted.

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

samfreund · 2026-04-23T05:50:54Z

I think the errors we're currently seeing stem from avaje being funky and doing stuff, more investigation to come.

Copilot

Pull request overview

Copilot reviewed 33 out of 34 changed files in this pull request and generated 6 comments.

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Copilot · 2026-04-23T22:48:18Z

  if (field2points.cols() != (nTags * 4) ||
      point_observations.cols() != (nTags * 4)) {
    if constexpr (VERBOSE) fmt::println("Got unexpected num cols!");
    // TODO find a new error code
-    return wpi::util::unexpected{
-        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
+    return wpi::util::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
  }


This branch is returning slp::ExitStatus::NONFINITE_INITIAL_GUESS when the observation matrices have the wrong dimensions. That status doesn't match the actual failure mode (invalid input dimensions) and can mislead downstream diagnostics/telemetry. Prefer a dedicated/accurate error code (or propagate an explicit input-validation error) rather than reusing a numerical failure status.

Copilot · 2026-04-23T22:48:18Z

  auto problemOpt = createProblem(nTags, heading_free);
  if (!problemOpt) {
-    return wpi::util::unexpected{
-        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
+    return wpi::util::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
  }


createProblem() failing maps to NONFINITE_INITIAL_GUESS, which again doesn't reflect the real error (problem construction failed, likely unsupported tag count / config). Returning a more representative status (or logging the specific reason) will make failures much easier to debug.

Copilot · 2026-04-23T22:48:19Z

+            .configure(SerializationFeature.FAIL_ON_SELF_REFERENCES, false)
+            .configure(SerializationFeature.WRITE_SELF_REFERENCES_AS_NULL, true)


Disabling FAIL_ON_SELF_REFERENCES and enabling WRITE_SELF_REFERENCES_AS_NULL in the shared ObjectMapper can silently drop data when a config object accidentally becomes cyclic (it will serialize to null instead of failing fast). Since this mapper is used for writing persistent configuration, consider fixing the underlying self-reference (or applying a targeted Jackson annotation/serializer for the specific type) rather than globally masking it.

Suggested change

.configure(SerializationFeature.FAIL_ON_SELF_REFERENCES, false)

.configure(SerializationFeature.WRITE_SELF_REFERENCES_AS_NULL, true)

samfreund force-pushed the alpha-5 branch from 42ae121 to f1561c2 Compare April 13, 2026 18:13

github-actions Bot added documentation Anything relating to https://docs.photonvision.org photonlib Things related to the PhotonVision library backend Things relating to photon-core and photon-server labels Apr 13, 2026

samfreund force-pushed the alpha-5 branch 4 times, most recently from 5c982c1 to b6376cc Compare April 14, 2026 18:39

srimanachanta requested changes Apr 14, 2026

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Comment thread ...-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java Outdated

samfreund force-pushed the alpha-5 branch from ed4f22c to 00b1066 Compare April 14, 2026 21:50

samfreund requested a review from Copilot April 14, 2026 22:59

Copilot started reviewing on behalf of samfreund April 14, 2026 22:59 View session

Copilot AI reviewed Apr 14, 2026

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srimanachanta self-requested a review April 15, 2026 21:26

samfreund force-pushed the alpha-5 branch 2 times, most recently from fed9faf to 40e5d2e Compare April 23, 2026 03:10

samfreund force-pushed the alpha-5 branch 2 times, most recently from 114d043 to 5ada78b Compare April 23, 2026 04:57

samfreund added 12 commits April 23, 2026 00:14

start upgrading to alpha 5

cba14f5

thanks tyler

a64b729

fpgatimestamp --> monotonic

7728fd9

update pixel format

7c4e875

whee it works

03d1998

fix a bit

f25e900

oops, missed that

2c7c3b8

caps

0fc5720

lint

c2f6228

gah

9481160

alpha 5

441906a

avaje json

6fbac66

samfreund and others added 4 commits April 23, 2026 00:14

fix migration

5dc9556

bigger is better right?

c94643a

fix driverstation flatten

f987272

Oopsies, flipped a size check

cdbdbde

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

samfreund force-pushed the alpha-5 branch 3 times, most recently from 0c53539 to 84b269a Compare April 23, 2026 05:24

uncomment

7e6ff6c

samfreund force-pushed the alpha-5 branch from 84b269a to 7e6ff6c Compare April 23, 2026 05:25

samfreund requested a review from Copilot April 23, 2026 22:42

Copilot started reviewing on behalf of samfreund April 23, 2026 22:43 View session

Copilot AI reviewed Apr 23, 2026

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samfreund force-pushed the alpha-5 branch from e1300f9 to 7e6ff6c Compare April 24, 2026 02:20

samfreund added 2 commits April 27, 2026 12:54

alpha 5

e39345e

rerun cause wpilib be sliding

15196ff

samfreund force-pushed the alpha-5 branch from b3dc7d4 to 15196ff Compare April 28, 2026 22:49

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Upgrade to wpilib alpha-5#2434

Upgrade to wpilib alpha-5#2434
samfreund wants to merge 19 commits intoPhotonVision:2027from
samfreund:alpha-5

samfreund commented Apr 13, 2026 •

edited

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		.configure(SerializationFeature.FAIL_ON_SELF_REFERENCES, false)
		.configure(SerializationFeature.WRITE_SELF_REFERENCES_AS_NULL, true)

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samfreund commented Apr 13, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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samfreund commented Apr 13, 2026 •

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