Bump wpilib to 2026 beta

.vscode/settings.json

@@ -1,5 +1,8 @@
 {
     "python.testing.unittestEnabled": false,
     "python.testing.pytestEnabled": true,
-    "python.testing.cwd": "photon-lib/py"
+    "python.testing.cwd": "photon-lib/py",
+    "files.associations": {
+        "bitset": "cpp"
+    }
 }

build.gradle

@@ -4,7 +4,7 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "6.24.0"
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
     id 'edu.wpi.first.WpilibTools' version '1.3.0'
     id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
@@ -32,7 +32,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.3.2"
+    wpilibVersion = "2026.1.1-beta-1"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"

docs/source/docs/advanced-installation/sw_install/windows-pc.md

@@ -12,7 +12,7 @@ Bonjour provides more stable networking when using Windows PCs. Install [Bonjour
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.3.2) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
+PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/2026.1.1-beta-1) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`:
 
 ```
 > ./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk"

photon-lib/py/setup.py

@@ -61,11 +61,11 @@
     version=versionString,
     install_requires=[
         "numpy~=2.1",
-        "wpilib<2026,>=2025.3.2",
-        "robotpy-wpimath<2026,>=2025.3.2",
-        "robotpy-apriltag<2026,>=2025.3.2",
-        "robotpy-cscore<2026,>=2025.3.2",
-        "pyntcore<2026,>=2025.3.2",
+        "wpilib==2026.1.1-beta-1",
+        "robotpy-wpimath==2026.1.1-beta-1",
+        "robotpy-apriltag==2026.1.1-beta-1",
+        "robotpy-cscore==2026.1.1-beta-1",
+        "pyntcore==2026.1.1-beta-1",
         "opencv-python;platform_machine!='roborio'",
     ],
     description=descriptionStr,

photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp

@@ -156,8 +156,7 @@ struct ProblemState {
 #undef MAKE_ARGV
 };
 
-wpi::expected<constrained_solvepnp::RobotStateMat,
-              sleipnir::SolverExitCondition>
+wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
 constrained_solvepnp::do_optimization(
     bool heading_free, int nTags,
     constrained_solvepnp::CameraCalibration cameraCal,
@@ -173,7 +172,7 @@ constrained_solvepnp::do_optimization(
     if constexpr (VERBOSE) fmt::println("Got unexpected num cols!");
     // TODO find a new error code
     return wpi::unexpected{
-        sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints};
+        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
   }
 
   // rescale observations to homogenous pixel coordinates
@@ -203,7 +202,7 @@ constrained_solvepnp::do_optimization(
   auto problemOpt = createProblem(nTags, heading_free);
   if (!problemOpt) {
     return wpi::unexpected{
-        sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints};
+        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
   }
 
   ProblemState<3> pState{robot2camera,     field2points, point_observations,
@@ -233,7 +232,7 @@ constrained_solvepnp::do_optimization(
 
     // Check for diverging iterates
     if (x.template lpNorm<Eigen::Infinity>() > 1e20 || !x.allFinite()) {
-      return wpi::unexpected{sleipnir::SolverExitCondition::kDivergingIterates};
+      return wpi::unexpected{slp::ExitStatus::DIVERGING_ITERATES};
     }
 
     GradMat g = pState.calculateGradJ(x);
@@ -254,7 +253,7 @@ constrained_solvepnp::do_optimization(
     auto H_ldlt = H.ldlt();
     if (H_ldlt.info() != Eigen::Success) {
       std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl;
-      return wpi::unexpected{sleipnir::SolverExitCondition::kLocallyInfeasible};
+      return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
     }
 
     // Make sure H is positive definite (all eigenvalues are > 0)
@@ -278,8 +277,7 @@ constrained_solvepnp::do_optimization(
 
         if (H_ldlt.info() != Eigen::Success) {
           std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl;
-          return wpi::unexpected{
-              sleipnir::SolverExitCondition::kLocallyInfeasible};
+          return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
         }
 
         // If our eigenvalues aren't positive definite, pick a new δ for next
@@ -289,8 +287,7 @@ constrained_solvepnp::do_optimization(
 
           // If the Hessian perturbation is too high, report failure
           if (δ > 1e20) {
-            return wpi::unexpected{
-                sleipnir::SolverExitCondition::kLocallyInfeasible};
+            return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
           }
         } else {
           // Done!
@@ -301,8 +298,7 @@ constrained_solvepnp::do_optimization(
       }
 
       if (i_reg == MAX_REG_STEPS) {
-        return wpi::unexpected{
-            sleipnir::SolverExitCondition::kLocallyInfeasible};
+        return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
       }
     } else {
       // std::printf("Already regularized\n");
@@ -345,8 +341,7 @@ constrained_solvepnp::do_optimization(
 
         // If our step size shrank too much, report local infesibility
         if (alpha < α_min_frac * γConstraint) {
-          return wpi::unexpected{
-              sleipnir::SolverExitCondition::kLocallyInfeasible};
+          return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
         }
       }
     }

photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp

@@ -191,9 +191,8 @@ std::optional<photon::PnpResult> EstimateRobotPoseConstrainedSolvePNP(
       guess2.X().value(), guess2.Y().value(),
       guess2.Rotation().Radians().value()};
 
-  wpi::expected<constrained_solvepnp::RobotStateMat,
-                sleipnir::SolverExitCondition>
-      result = constrained_solvepnp::do_optimization(
+  wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus> result =
+      constrained_solvepnp::do_optimization(
           headingFree, knownTags.size(), cameraCal, robotToCamera, guessMat,
           field2points, pointObservations, gyroTheta.Radians().value(),
           gyroErrorScaleFac);

photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <sleipnir/optimization/SolverExitCondition.hpp>
+#include <sleipnir/optimization/solver/exit_status.hpp>
 #include <wpi/expected>
 
 namespace constrained_solvepnp {
@@ -40,7 +40,7 @@ using RobotStateMat = Eigen::Matrix<casadi_real, 3, 1>;
  * to this. The number of columns in field2points and point_observations just be
  * exactly 4x nTags.
  */
-wpi::expected<RobotStateMat, sleipnir::SolverExitCondition> do_optimization(
+wpi::expected<RobotStateMat, slp::ExitStatus> do_optimization(
     bool heading_free, int nTags, CameraCalibration cameraCal,
     // Note that casadi is column major, apparently
     Eigen::Matrix<casadi_real, 4, 4, Eigen::ColMajor> robot2camera,

photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp

@@ -84,9 +84,8 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization
   std::cout << "observations:\n" << pointObservationsMat << std::endl;
 #endif
 
-  wpi::expected<constrained_solvepnp::RobotStateMat,
-                sleipnir::SolverExitCondition>
-      result = constrained_solvepnp::do_optimization(
+  wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus> result =
+      constrained_solvepnp::do_optimization(
           headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat,
           field2pointsMat, pointObservationsMat, gyro_θ, gyro_error_scale_fac);
 

photonlib-cpp-examples/aimandrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.3.2"
-wpi.versions.wpimathVersion = "2025.3.2"
+wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1-beta-1"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

photonlib-cpp-examples/aimattarget/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.3.2"
-wpi.versions.wpimathVersion = "2025.3.2"
+wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1-beta-1"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

photonlib-cpp-examples/poseest/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2025.3.2"
-wpi.versions.wpimathVersion = "2025.3.2"
+wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1-beta-1"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.

photonlib-java-examples/aimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -13,8 +13,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.3.2"
-wpi.versions.wpimathVersion = "2025.3.2"
+wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1-beta-1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_17
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.3.2"
-wpi.versions.wpimathVersion = "2025.3.2"
+wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1-beta-1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

photonlib-java-examples/poseest/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_17
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2025.3.2"
-wpi.versions.wpimathVersion = "2025.3.2"
+wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1-beta-1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

photonlib-python-examples/aimandrange/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2025.3.2"
+robotpy_version = "2026.1.1-beta-1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]

photonlib-python-examples/aimattarget/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2025.3.2"
+robotpy_version = "2026.1.1-beta-1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]

photonlib-python-examples/poseest/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2025.3.2"
+robotpy_version = "2026.1.1-beta-1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]