Upgrade to wpilib alpha-5

.github/workflows/python.yml

@@ -12,134 +12,134 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-#  build-py:
-#    runs-on: ubuntu-24.04
-#
-#    steps:
-#      - name: Checkout code
-#        uses: actions/checkout@v6
-#        with:
-#          fetch-depth: 0
-#
-#      - name: Set up Python
-#        uses: actions/setup-python@v6
-#        with:
-#          python-version: 3.14
-#
-#      - name: Install dependencies
-#        run: |
-#          python -m pip install --upgrade pip
-#          pip install setuptools wheel
-#
-#      - name: Build wheel
-#        working-directory: ./photon-lib/py
-#        run: python setup.py sdist bdist_wheel
-#
-#      - name: Upload artifacts
-#        uses: actions/upload-artifact@v7
-#        with:
-#          name: dist
-#          path: ./photon-lib/py/dist/
-#
-#  test-py:
-#    needs: build-py
-#    runs-on: ubuntu-24.04
-#
-#    steps:
-#      - name: Checkout code
-#        uses: actions/checkout@v6
-#        with:
-#          fetch-depth: 0
-#
-#      - name: Set up Python
-#        uses: actions/setup-python@v6
-#        with:
-#          python-version: 3.14
-#
-#      - name: Install dependencies
-#        run: |
-#          python -m pip install --upgrade pip
-#          pip install pytest mypy
-#
-#      - name: Download artifacts
-#        uses: actions/download-artifact@v8
-#        with:
-#          name: dist
-#          path: dist/
-#
-#      - name: Install package
-#        shell: bash
-#        run: pip install --no-cache-dir dist/*.whl
-#
-#      - name: Run Unit Tests
-#        shell: bash
-#        run: pytest --import-mode=importlib photon-lib/py/test/
-#
-#      - name: Run mypy type checking
-#        run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
-#
-#  build-python-examples:
-#    needs: build-py
-#    strategy:
-#      matrix:
-#        os: [ubuntu-24.04, windows-2022, macos-14]
-#    runs-on: ${{ matrix.os }}
-#
-#    steps:
-#
-#      - name: Checkout code
-#        uses: actions/checkout@v6
-#        with:
-#          fetch-depth: 0
-#
-#      - name: Set up Python
-#        uses: actions/setup-python@v6
-#        with:
-#          python-version: 3.14
-#
-#      - name: Install dependencies
-#        run: |
-#          python -m pip install --upgrade pip
-#
-#      - name: Download artifacts
-#        uses: actions/download-artifact@v8
-#        with:
-#          name: dist
-#          path: ./photon-lib/py/dist/
-#
-#      - name: Install PhotonLibPy package
-#        working-directory: ./photon-lib/py
-#        shell: bash
-#        run: |
-#            pip install --no-cache-dir dist/*.whl
-#
-#      - name: Build Python examples
-#        working-directory: photonlib-python-examples
-#        shell: bash
-#        run: |
-#          for folder in */;
-#          do
-#            echo $folder
-#            ./run.sh $folder
-#          done
-#
-#  deploy:
-#    needs: [test-py, build-python-examples]
-#    runs-on: ubuntu-24.04
-#    # Only upload on tags
-#    if: startsWith(github.ref, 'refs/tags/v')
-#
-#    steps:
-#      - name: Download artifacts
-#        uses: actions/download-artifact@v8
-#        with:
-#          name: dist
-#          path: dist/
-#
-#      - name: Publish package distributions to PyPI
-#        uses: pypa/gh-action-pypi-publish@release/v1
-#        with:
-#          packages-dir: ./dist/
-#
-#    permissions:
-#      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+  build-py:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install setuptools wheel
+
+      - name: Build wheel
+        working-directory: ./photon-lib/py
+        run: python setup.py sdist bdist_wheel
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v7
+        with:
+          name: dist
+          path: ./photon-lib/py/dist/
+
+  test-py:
+    needs: build-py
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest mypy
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+
+      - name: Install package
+        shell: bash
+        run: pip install --no-cache-dir dist/*.whl
+
+      - name: Run Unit Tests
+        shell: bash
+        run: pytest --import-mode=importlib photon-lib/py/test/
+
+      - name: Run mypy type checking
+        run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+
+  build-python-examples:
+    needs: build-py
+    strategy:
+      matrix:
+        os: [ubuntu-24.04, windows-2022, macos-14]
+    runs-on: ${{ matrix.os }}
+
+    steps:
+
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: ./photon-lib/py/dist/
+
+      - name: Install PhotonLibPy package
+        working-directory: ./photon-lib/py
+        shell: bash
+        run: |
+            pip install --no-cache-dir dist/*.whl
+
+      - name: Build Python examples
+        working-directory: photonlib-python-examples
+        shell: bash
+        run: |
+          for folder in */;
+          do
+            echo $folder
+            ./run.sh $folder
+          done
+
+  deploy:
+    needs: [test-py, build-python-examples]
+    runs-on: ubuntu-24.04
+    # Only upload on tags
+    if: startsWith(github.ref, 'refs/tags/v')
+
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+
+      - name: Publish package distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: ./dist/
+
+    permissions:
+      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

build.gradle

@@ -4,7 +4,7 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
     id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id 'org.wpilib.NativeUtils' version '2027.4.1' apply false
+    id 'org.wpilib.NativeUtils' version '2027.5.1' apply false
     id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
     id 'org.photonvision.tools.WpilibTools' version '3.0.0-photon'
     id 'com.google.protobuf' version '0.9.5' apply false
@@ -34,20 +34,21 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2027.0.0-alpha-4"
+    wpilibVersion = "2027.0.0-alpha-5"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
     ejmlVersion = "0.43.1";
     jacksonVersion = "2.15.2";
+    avajeJsonbVersion = "3.11";
     quickbufVersion = "1.3.3";
     jacocoVersion = "0.8.14";
 
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2026.0.0"
     rknnVersion = "dev-v2026.0.1-1-g89b2888"
     rubikVersion = "dev-v2026.0.1-4-g13d6279"
-    frcYear = "2027_alpha4"
+    frcYear = "2027_alpha5"
     mrcalVersion = "v2027.0.1";
 
     pubVersion = versionString

docs/source/docs/contributing/design-descriptions/e2e-latency.md

@@ -79,9 +79,9 @@ public class Robot extends TimedRobot {
                 camera.getAllUnreadResults();
             }
 
-            var t1 = Timer.getFPGATimestamp();
+            var t1 = Timer.getMonotonicTimestamp();
             light.set(true);
-            var t2 = Timer.getFPGATimestamp();
+            var t2 = Timer.getMonotonicTimestamp();
 
 
             for (int i = 0; i < 100; i++) {

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java

@@ -36,7 +36,7 @@ public NTDataChangeListener(
         this.instance = instance;
         listenerID =
                 this.instance.addListener(
-                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.kValueAll), dataChangeConsumer);
+                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.VALUE_ALL), dataChangeConsumer);
     }
 
     public void remove() {

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDriverStation.java

@@ -68,9 +68,9 @@ public NTDriverStation(NetworkTableInstance inst) {
 
         fmsTable.addListener(
                 "FMSControlData",
-                EnumSet.of(Kind.kValueAll),
+                EnumSet.of(Kind.VALUE_ALL),
                 (table, key, event) -> {
-                    if (event.is(Kind.kValueAll) && event.valueData.value.isInteger()) {
+                    if (event.is(Kind.VALUE_ALL) && event.valueData.value.isInteger()) {
                         // Logger totally isnt thread safe but whatevs
                         var word = NTDriverStation.getControlWord(event.valueData.value.getInteger());
 

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java

@@ -85,11 +85,11 @@ public class NetworkTablesManager {
 
     private NetworkTablesManager() {
         ntInstance.addLogger(
-                LogMessage.kInfo, LogMessage.kCritical, this::logNtMessage); // to hide error messages
+                LogMessage.INFO, LogMessage.CRITICAL, this::logNtMessage); // to hide error messages
         ntInstance.addConnectionListener(true, this::checkNtConnectState); // to hide error messages
 
         ntInstance.addListener(
-                m_fieldLayoutSubscriber, EnumSet.of(Kind.kValueAll), this::onFieldLayoutChanged);
+                m_fieldLayoutSubscriber, EnumSet.of(Kind.VALUE_ALL), this::onFieldLayoutChanged);
 
         ntDriverStation = new NTDriverStation(this.getNTInst());
 
@@ -126,16 +126,16 @@ public void setMismatchAlert(boolean on, String message) {
     private void logNtMessage(NetworkTableEvent event) {
         String levelmsg = "DEBUG";
         LogLevel pvlevel = LogLevel.DEBUG;
-        if (event.logMessage.level >= LogMessage.kCritical) {
+        if (event.logMessage.level >= LogMessage.CRITICAL) {
             pvlevel = LogLevel.ERROR;
             levelmsg = "CRITICAL";
-        } else if (event.logMessage.level >= LogMessage.kError) {
+        } else if (event.logMessage.level >= LogMessage.ERROR) {
             pvlevel = LogLevel.ERROR;
             levelmsg = "ERROR";
-        } else if (event.logMessage.level >= LogMessage.kWarning) {
+        } else if (event.logMessage.level >= LogMessage.WARNING) {
             pvlevel = LogLevel.WARN;
             levelmsg = "WARNING";
-        } else if (event.logMessage.level >= LogMessage.kInfo) {
+        } else if (event.logMessage.level >= LogMessage.INFO) {
             pvlevel = LogLevel.INFO;
             levelmsg = "INFO";
         }
@@ -156,8 +156,8 @@ private void logNtMessage(NetworkTableEvent event) {
     }
 
     public void checkNtConnectState(NetworkTableEvent event) {
-        var isConnEvent = event.is(Kind.kConnected);
-        var isDisconnEvent = event.is(Kind.kDisconnected);
+        var isConnEvent = event.is(Kind.CONNECTED);
+        var isDisconnEvent = event.is(Kind.DISCONNECTED);
 
         if (isDisconnEvent) {
             var msg =

photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java

@@ -108,7 +108,7 @@ public static class FileSourceSettables extends VisionSourceSettables {
             this.frameStaticProperties = frameStaticProperties;
             videoMode =
                     new VideoMode(
-                            PixelFormat.kMJPEG,
+                            PixelFormat.MJPEG,
                             frameStaticProperties.imageWidth,
                             frameStaticProperties.imageHeight,
                             30);

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java

@@ -291,8 +291,8 @@ private void cacheVideoModes() {
         try {
             for (VideoMode videoMode : camera.enumerateVideoModes()) {
                 // Filter grey modes
-                if (videoMode.pixelFormat == PixelFormat.kGray
-                        || videoMode.pixelFormat == PixelFormat.kUnknown) {
+                if (videoMode.pixelFormat == PixelFormat.GRAY
+                        || videoMode.pixelFormat == PixelFormat.UNKNOWN) {
                     continue;
                 }