From bc1bd33d71601212aa7b01b7011633a66db322e7 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sat, 3 Jan 2026 00:04:53 -0600
Subject: [PATCH 01/14] bump actions for node 24

---
 .github/workflows/build.yml                 | 68 +++++++++++----------
 .github/workflows/dependency-submission.yml | 22 +++++++
 .github/workflows/labeler.yml               |  2 +-
 .github/workflows/lint-format.yml           | 18 +++---
 .github/workflows/photon-api-docs.yml       | 16 ++---
 .github/workflows/photonvision-rtd.yml      |  4 +-
 .github/workflows/python.yml                |  6 +-
 .github/workflows/website.yml               |  8 +--
 8 files changed, 84 insertions(+), 60 deletions(-)
 create mode 100644 .github/workflows/dependency-submission.yml

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index e8d7a65269..1cb36f7ea3 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -18,8 +18,8 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
   build-examples:
 
     strategy:
@@ -41,13 +41,13 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -99,13 +99,13 @@ jobs:
     steps:
       # Checkout code.
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -114,7 +114,7 @@ jobs:
         with:
           version: 10
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
       - name: Setup tests
@@ -127,7 +127,7 @@ jobs:
       - name: Run Playwright tests
         working-directory: photon-client
         run: pnpm test
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         if: ${{ !cancelled() }}
         with:
           name: playwright-report
@@ -140,13 +140,13 @@ jobs:
     steps:
       # Checkout code.
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -155,7 +155,7 @@ jobs:
         with:
           version: 10
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
       - name: Gradle Build
@@ -166,8 +166,8 @@ jobs:
     name: "Build Offline Docs"
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
+      - uses: actions/checkout@v6
+      - uses: actions/setup-python@v6
         with:
           python-version: '3.12'
       - name: Install graphviz
@@ -184,7 +184,7 @@ jobs:
         working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: built-docs
           path: docs/build/html
@@ -194,12 +194,12 @@ jobs:
     runs-on: ubuntu-24.04
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -214,7 +214,7 @@ jobs:
           mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json
 
       # Upload it here so it shows up in releases
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: photonlib-vendor-json
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
@@ -239,11 +239,11 @@ jobs:
     runs-on: ${{ matrix.os }}
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -258,7 +258,7 @@ jobs:
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -283,7 +283,7 @@ jobs:
     name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Config Git
@@ -299,7 +299,7 @@ jobs:
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -309,7 +309,7 @@ jobs:
     needs: [build-photonlib-docker, build-photonlib-host]
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - run: git fetch --tags --force
@@ -324,7 +324,7 @@ jobs:
         name: ZIP stuff up
         working-directory: output
       - run: ls output
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: photonlib-offline
           path: output/*.zip
@@ -361,11 +361,11 @@ jobs:
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -375,7 +375,7 @@ jobs:
         with:
           version: 10
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
           cache: pnpm
@@ -391,11 +391,11 @@ jobs:
         if: ${{ (matrix.arch-override != 'none') }}
       - run: ./gradlew photon-server:shadowJar
         if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: jar-${{ matrix.artifact-name }}
           path: photon-server/build/libs
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: photon-targeting_jar-${{ matrix.artifact-name }}
           path: photon-targeting/build/libs
@@ -420,7 +420,7 @@ jobs:
 
     steps:
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -525,7 +525,7 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - uses: actions/download-artifact@v7
@@ -566,13 +566,15 @@ jobs:
           sudo mv ${imagedir}/* ${tardir}/
           sudo tar -I 'xz -T0' -cf ${new_image_name}.tar.xz ${tardir} --checkpoint=10000 --checkpoint-action=echo='%T'
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         name: Upload image
         with:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
 
   matrix-checker:
+    # This job always runs last to set the overall result based on the matrix jobs. If any matrix job failed, this job will fail.
+    # This makes it so that we don't need to add each matrix job individually to CI checks.
     runs-on: ubuntu-latest
     needs: [build-image]
     if: always()
@@ -621,7 +623,7 @@ jobs:
             **/photonlib*.zip
         if: github.event_name == 'push'
       - name: Create Vendor JSON Repo PR
-        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
         with:
           repo: PhotonVision/vendor-json-repo
           token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
diff --git a/.github/workflows/dependency-submission.yml b/.github/workflows/dependency-submission.yml
new file mode 100644
index 0000000000..7a7c477cac
--- /dev/null
+++ b/.github/workflows/dependency-submission.yml
@@ -0,0 +1,22 @@
+name: Dependency Submission
+
+on:
+  push:
+    branches: [ 'main' ]
+
+permissions:
+  contents: write
+
+jobs:
+  dependency-submission:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout sources
+      uses: actions/checkout@v6
+    - name: Setup Java
+      uses: actions/setup-java@v5
+      with:
+        distribution: 'temurin'
+        java-version: 17
+    - name: Generate and submit dependency graph
+      uses: gradle/actions/dependency-submission@v5
diff --git a/.github/workflows/labeler.yml b/.github/workflows/labeler.yml
index 526323cea6..a5c1c251cb 100644
--- a/.github/workflows/labeler.yml
+++ b/.github/workflows/labeler.yml
@@ -9,6 +9,6 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/labeler@v5
+      - uses: actions/labeler@v6
         with:
           sync-labels: true
diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
index 56462d3982..aa9ec28ea1 100644
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -14,20 +14,20 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.12
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: 3.12
       - name: Install wpiformat
@@ -46,7 +46,7 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
@@ -56,10 +56,10 @@ jobs:
     needs: [validation]
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -79,13 +79,13 @@ jobs:
         working-directory: photon-client
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install pnpm
         uses: pnpm/action-setup@v4
         with:
           version: 10
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
           cache: pnpm
diff --git a/.github/workflows/photon-api-docs.yml b/.github/workflows/photon-api-docs.yml
index e31d2d2429..9a98af8694 100644
--- a/.github/workflows/photon-api-docs.yml
+++ b/.github/workflows/photon-api-docs.yml
@@ -20,8 +20,8 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
   build_demo:
     name: Build PhotonClient Demo
     defaults:
@@ -29,13 +29,13 @@ jobs:
         working-directory: photon-client
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install pnpm
         uses: pnpm/action-setup@v4
         with:
           version: 10
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
           cache: pnpm
@@ -44,7 +44,7 @@ jobs:
         run: pnpm i --frozen-lockfile
       - name: Build Production Client
         run: pnpm run build-demo
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: built-demo
           path: photon-client/dist/
@@ -55,13 +55,13 @@ jobs:
     runs-on: "ubuntu-24.04"
     steps:
     - name: Checkout code
-      uses: actions/checkout@v4
+      uses: actions/checkout@v6
       with:
         fetch-depth: 0
     - name: Fetch tags
       run: git fetch --tags --force
     - name: Install Java 17
-      uses: actions/setup-java@v4
+      uses: actions/setup-java@v5
       with:
         java-version: 17
         distribution: temurin
@@ -69,7 +69,7 @@ jobs:
       run: |
         chmod +x gradlew
         ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
-    - uses: actions/upload-artifact@v4
+    - uses: actions/upload-artifact@v6
       with:
         name: docs-java-cpp
         path: photon-docs/build/docs
diff --git a/.github/workflows/photonvision-rtd.yml b/.github/workflows/photonvision-rtd.yml
index cafd6b2f96..c4fb5c71c5 100644
--- a/.github/workflows/photonvision-rtd.yml
+++ b/.github/workflows/photonvision-rtd.yml
@@ -17,9 +17,9 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
-    - uses: actions/setup-python@v5
+    - uses: actions/setup-python@v6
       with:
         python-version: '3.12'
 
diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
index bb5618e8d2..b59d25a315 100644
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -17,12 +17,12 @@ jobs:
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: 3.12
 
@@ -50,7 +50,7 @@ jobs:
             mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@master
+        uses: actions/upload-artifact@v6
         with:
           name: dist
           path: ./photon-lib/py/dist/
diff --git a/.github/workflows/website.yml b/.github/workflows/website.yml
index d22898140d..e91edab796 100644
--- a/.github/workflows/website.yml
+++ b/.github/workflows/website.yml
@@ -9,13 +9,13 @@ jobs:
     name: Build and Sync Files
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install pnpm
         uses: pnpm/action-setup@v4
         with:
           version: 10
       - name: Setup Node
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
           cache: pnpm
@@ -39,13 +39,13 @@ jobs:
     name: Check Formatting
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install pnpm
         uses: pnpm/action-setup@v4
         with:
           version: 10
       - name: Setup Node
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 22
           cache: pnpm

From fce0384ab969abafdbb6633c57d23f7e0c052a14 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 15:22:58 -0600
Subject: [PATCH 02/14] split packages by OS

---
 .github/workflows/build.yml | 59 ++++++++++++++++++++++++++-----------
 1 file changed, 41 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 1cb36f7ea3..f1ba4a4f41 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -30,7 +30,7 @@ jobs:
             architecture: x64
             artifact-name: Win64
           - os: macos-14
-            architecture: aarch64
+            architecture: arm64
             artifact-name: macOS
           - os: ubuntu-24.04
             artifact-name: Linux
@@ -329,25 +329,13 @@ jobs:
           name: photonlib-offline
           path: output/*.zip
 
-  build-package:
+  build-package-linux:
     needs: [build-gradle, build-offline-docs]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: winx64
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: macx64
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
           - os: ubuntu-24.04
             artifact-name: Linux
             architecture: x64
@@ -360,7 +348,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
 
-    steps:
+    steps: &build-package-steps
       - uses: actions/checkout@v6
         with:
           fetch-depth: 0
@@ -400,8 +388,42 @@ jobs:
           name: photon-targeting_jar-${{ matrix.artifact-name }}
           path: photon-targeting/build/libs
 
+  build-package-macos:
+    needs: [build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: arm64
+            arch-override: macarm64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: *build-package-steps
+
+  build-package-windows:
+    needs: [build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            architecture: x64
+            arch-override: winx64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: *build-package-steps
+
   run-smoketest-native:
-    needs: [build-package]
+    needs: [build-package-linux, build-package-macos, build-package-windows]
 
     strategy:
       fail-fast: false
@@ -433,7 +455,7 @@ jobs:
         if: ${{ (matrix.os) == 'windows-latest' }}
 
   build-image:
-    needs: [build-package]
+    needs: [build-package-linux]
 
     strategy:
       fail-fast: false
@@ -582,7 +604,8 @@ jobs:
       - run: ${{!contains(needs.*.result, 'failure')}}
 
   release:
-    needs: [build-photonlib-vendorjson, build-package, build-image, combine]
+    # Require smoketest-native so that if those fail, we don't release broken artifacts
+    needs: [build-photonlib-vendorjson, build-image, combine, build-package-linux, build-package-macos, build-package-windows, run-smoketest-native]
     if: github.ref == ('refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) && github.repository == 'PhotonVision/photonvision'
     runs-on: ubuntu-24.04
     steps:

From 9b398b6549cf9c3c9e58859425b7d19db4ff3814 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 15:32:16 -0600
Subject: [PATCH 03/14] remove unnecessary needs

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f1ba4a4f41..c5b62a21dd 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -37,7 +37,7 @@ jobs:
 
     name: "Photonlib - Build Examples - ${{ matrix.os }}"
     runs-on: ${{ matrix.os }}
-    needs: [validation, build-photonlib-host, build-photonlib-docker]
+    needs: [build-photonlib-host, build-photonlib-docker]
 
     steps:
       - name: Checkout code

From d3223473dd4448a9ef0896ae3ca84a79239f915c Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 15:51:01 -0600
Subject: [PATCH 04/14] rename to match prior checks

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index c5b62a21dd..a84b1e31e3 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -396,7 +396,7 @@ jobs:
       matrix:
         include:
           - os: macos-latest
-            artifact-name: macOS
+            artifact-name: macOSArm
             architecture: arm64
             arch-override: macarm64
 

From ce2479171cd698b479a083a4d31a1e21a155c64d Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 16:16:27 -0600
Subject: [PATCH 05/14] add macOS x64 back in

---
 .github/workflows/build.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index a84b1e31e3..faadf2cf2a 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -399,6 +399,10 @@ jobs:
             artifact-name: macOSArm
             architecture: arm64
             arch-override: macarm64
+          - os: macos-latest
+            artifact-name: macOS
+            architecture: x64
+            arch-override: macx64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"

From f94e3ad19bea29128b1417ddfa6da5685704004e Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 17:48:43 -0600
Subject: [PATCH 06/14] bump macOS target

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index faadf2cf2a..06fa4fc1ba 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -221,7 +221,7 @@ jobs:
 
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 13
+      MACOSX_DEPLOYMENT_TARGET: 14
     strategy:
       fail-fast: false
       matrix:

From a376ce7c8c5c404169a721df6afe75b58e554afc Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 17:57:33 -0600
Subject: [PATCH 07/14] try building examples w/ photonlib

---
 .github/workflows/build.yml | 167 +++++++++++++++++++++---------------
 1 file changed, 96 insertions(+), 71 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 06fa4fc1ba..0f1a1ef647 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -20,78 +20,80 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - uses: gradle/actions/wrapper-validation@v5
-  build-examples:
 
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            architecture: x64
-            artifact-name: Win64
-          - os: macos-14
-            architecture: arm64
-            artifact-name: macOS
-          - os: ubuntu-24.04
-            artifact-name: Linux
-
-    name: "Photonlib - Build Examples - ${{ matrix.os }}"
-    runs-on: ${{ matrix.os }}
-    needs: [build-photonlib-host, build-photonlib-docker]
+  # build-examples:
+
+  #   strategy:
+  #     fail-fast: false
+  #     matrix:
+  #       include:
+  #         - os: windows-2022
+  #           architecture: x64
+  #           artifact-name: Win64
+  #         - os: macos-14
+  #           architecture: arm64
+  #           artifact-name: macOS
+  #         - os: ubuntu-24.04
+  #           artifact-name: Linux
+
+  #   name: "Photonlib - Build Examples - ${{ matrix.os }}"
+  #   runs-on: ${{ matrix.os }}
+  #   needs: [build-photonlib-host, build-photonlib-docker]
+
+  #   steps:
+  #     - name: Checkout code
+  #       uses: actions/checkout@v6
+  #       with:
+  #         fetch-depth: 0
+  #     - name: Fetch tags
+  #       run: git fetch --tags --force
+  #     - name: Install Java 17
+  #       uses: actions/setup-java@v5
+  #       with:
+  #         java-version: 17
+  #         distribution: temurin
+  #     - name: Install RoboRIO Toolchain
+  #       run: ./gradlew installRoboRioToolchain
+  #     - name: Delete duplicate toolchains
+  #       run: |
+  #         find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+  #         du -h . | sort -h
+  #       if: matrix.os == 'ubuntu-24.04'
+  #     # Download prebuilt photonlib artifacts
+  #     - uses: actions/download-artifact@v4
+  #       with:
+  #         name: maven-${{ matrix.artifact-name }}
+  #     - uses: actions/download-artifact@v4
+  #       with:
+  #         name: maven-Athena
+  #     - name: Move to maven local
+  #       run: |
+  #         mkdir -p ~/.m2/repository/
+  #         mv maven/org ~/.m2/repository/
+  #     - name: Copy vendordeps
+  #       shell: bash
+  #       run: |
+  #         for vendordep_folder in photonlib-*-examples/*/; do
+  #         # Remove trailing slash for cross-platform compatibility
+  #           vendordep_folder="${vendordep_folder%/}"
+
+  #           # Filter for projects only
+  #           if [ -e "$vendordep_folder/build.gradle" ]; then
+  #             mkdir -p "$vendordep_folder/vendordeps/"
+  #             cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
+  #           fi
+  #         done
+  #     - name: Build Java examples
+  #       working-directory: photonlib-java-examples
+  #       run: |
+  #         ./gradlew build
+  #         ./gradlew clean
+  #     - name: Build C++ examples
+  #       working-directory: photonlib-cpp-examples
+  #       run: |
+  #         ./gradlew build
+  #         ./gradlew clean
 
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
-      - name: Install Java 17
-        uses: actions/setup-java@v5
-        with:
-          java-version: 17
-          distribution: temurin
-      - name: Install RoboRIO Toolchain
-        run: ./gradlew installRoboRioToolchain
-      - name: Delete duplicate toolchains
-        run: |
-          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
-          du -h . | sort -h
-        if: matrix.os == 'ubuntu-24.04'
-      # Download prebuilt photonlib artifacts
-      - uses: actions/download-artifact@v4
-        with:
-          name: maven-${{ matrix.artifact-name }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: maven-Athena
-      - name: Move to maven local
-        run: |
-          mkdir -p ~/.m2/repository/
-          mv maven/org ~/.m2/repository/
-      - name: Copy vendordeps
-        shell: bash
-        run: |
-          for vendordep_folder in photonlib-*-examples/*/; do
-          # Remove trailing slash for cross-platform compatibility
-            vendordep_folder="${vendordep_folder%/}"
-
-            # Filter for projects only
-            if [ -e "$vendordep_folder/build.gradle" ]; then
-              mkdir -p "$vendordep_folder/vendordeps/"
-              cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
-            fi
-          done
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          ./gradlew build
-          ./gradlew clean
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          ./gradlew build
-          ./gradlew clean
   playwright-tests:
     name: "Playwright E2E tests"
     runs-on: ubuntu-24.04
@@ -257,11 +259,34 @@ jobs:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
-      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts -x check
       - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
+      - name: Install RoboRIO Toolchain
+        run: ./gradlew installRoboRioToolchain
+      - name: Delete duplicate toolchains
+        if: matrix.os == 'ubuntu-24.04'
+        run: |
+          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+          du -h . | sort -h
+        # Need to publish to maven local first, so that C++ sim can pick it up
+      - name: Publish photonlib to maven local
+        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
+      - name: Clean so we don't run out of memory
+        run: ./gradlew clean
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          ./gradlew build
+          ./gradlew clean
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          ./gradlew build
+          ./gradlew clean
+
 
   build-photonlib-docker:
     strategy:

From 7128f7f1f20fee9d79e7e54dbfda6556a7b535c6 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 22:12:03 -0600
Subject: [PATCH 08/14] bump image version to 2026.1.0

---
 .github/workflows/build.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 0f1a1ef647..a557268b53 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.0.6
+  IMAGE_VERSION: v2026.1
 
 jobs:
 
@@ -274,8 +274,8 @@ jobs:
         # Need to publish to maven local first, so that C++ sim can pick it up
       - name: Publish photonlib to maven local
         run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
-      - name: Clean so we don't run out of memory
-        run: ./gradlew clean
+      # - name: Clean so we don't run out of memory
+      #   run: ./gradlew clean
       - name: Build Java examples
         working-directory: photonlib-java-examples
         run: |

From 9a9ffc9335a332490b02116eff9979760377ed4f Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Sun, 4 Jan 2026 23:29:37 -0600
Subject: [PATCH 09/14] bah CI

---
 .github/workflows/build.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index a557268b53..6487592840 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -10,7 +10,7 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  IMAGE_VERSION: v2026.1
+  IMAGE_VERSION: v2026.1.0
 
 jobs:
 

From c5bd462f06d0045f3e978550d144a20b47833b97 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Tue, 6 Jan 2026 22:58:39 -0600
Subject: [PATCH 10/14] remove third-party action

---
 .github/workflows/python.yml | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
index b59d25a315..cb4b8c3011 100644
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -43,11 +43,8 @@ jobs:
             pytest
 
       - name: Run mypy type checking
-        uses: liskin/gh-problem-matcher-wrap@v3
-        with:
-          linters: mypy
-          run: |
-            mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+        run: |
+          mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
 
       - name: Upload artifacts
         uses: actions/upload-artifact@v6

From 7c9152418cd4e1d39c929153ad5f8ead8b2f8308 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Tue, 6 Jan 2026 23:22:34 -0600
Subject: [PATCH 11/14] undo combining photonlib example builds

---
 .github/workflows/build.yml | 167 ++++++++++++++++--------------------
 1 file changed, 72 insertions(+), 95 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6487592840..e956e975c5 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -21,78 +21,78 @@ jobs:
       - uses: actions/checkout@v6
       - uses: gradle/actions/wrapper-validation@v5
 
-  # build-examples:
-
-  #   strategy:
-  #     fail-fast: false
-  #     matrix:
-  #       include:
-  #         - os: windows-2022
-  #           architecture: x64
-  #           artifact-name: Win64
-  #         - os: macos-14
-  #           architecture: arm64
-  #           artifact-name: macOS
-  #         - os: ubuntu-24.04
-  #           artifact-name: Linux
-
-  #   name: "Photonlib - Build Examples - ${{ matrix.os }}"
-  #   runs-on: ${{ matrix.os }}
-  #   needs: [build-photonlib-host, build-photonlib-docker]
-
-  #   steps:
-  #     - name: Checkout code
-  #       uses: actions/checkout@v6
-  #       with:
-  #         fetch-depth: 0
-  #     - name: Fetch tags
-  #       run: git fetch --tags --force
-  #     - name: Install Java 17
-  #       uses: actions/setup-java@v5
-  #       with:
-  #         java-version: 17
-  #         distribution: temurin
-  #     - name: Install RoboRIO Toolchain
-  #       run: ./gradlew installRoboRioToolchain
-  #     - name: Delete duplicate toolchains
-  #       run: |
-  #         find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
-  #         du -h . | sort -h
-  #       if: matrix.os == 'ubuntu-24.04'
-  #     # Download prebuilt photonlib artifacts
-  #     - uses: actions/download-artifact@v4
-  #       with:
-  #         name: maven-${{ matrix.artifact-name }}
-  #     - uses: actions/download-artifact@v4
-  #       with:
-  #         name: maven-Athena
-  #     - name: Move to maven local
-  #       run: |
-  #         mkdir -p ~/.m2/repository/
-  #         mv maven/org ~/.m2/repository/
-  #     - name: Copy vendordeps
-  #       shell: bash
-  #       run: |
-  #         for vendordep_folder in photonlib-*-examples/*/; do
-  #         # Remove trailing slash for cross-platform compatibility
-  #           vendordep_folder="${vendordep_folder%/}"
-
-  #           # Filter for projects only
-  #           if [ -e "$vendordep_folder/build.gradle" ]; then
-  #             mkdir -p "$vendordep_folder/vendordeps/"
-  #             cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
-  #           fi
-  #         done
-  #     - name: Build Java examples
-  #       working-directory: photonlib-java-examples
-  #       run: |
-  #         ./gradlew build
-  #         ./gradlew clean
-  #     - name: Build C++ examples
-  #       working-directory: photonlib-cpp-examples
-  #       run: |
-  #         ./gradlew build
-  #         ./gradlew clean
+  build-examples:
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            architecture: x64
+            artifact-name: Win64
+          - os: macos-14
+            architecture: arm64
+            artifact-name: macOS
+          - os: ubuntu-24.04
+            artifact-name: Linux
+
+    name: "Photonlib - Build Examples - ${{ matrix.os }}"
+    runs-on: ${{ matrix.os }}
+    needs: [build-photonlib-host, build-photonlib-docker]
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v5
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Install RoboRIO Toolchain
+        run: ./gradlew installRoboRioToolchain
+      - name: Delete duplicate toolchains
+        run: |
+          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+          du -h . | sort -h
+        if: matrix.os == 'ubuntu-24.04'
+      # Download prebuilt photonlib artifacts
+      - uses: actions/download-artifact@v4
+        with:
+          name: maven-${{ matrix.artifact-name }}
+      - uses: actions/download-artifact@v4
+        with:
+          name: maven-Athena
+      - name: Move to maven local
+        run: |
+          mkdir -p ~/.m2/repository/
+          mv maven/org ~/.m2/repository/
+      - name: Copy vendordeps
+        shell: bash
+        run: |
+          for vendordep_folder in photonlib-*-examples/*/; do
+          # Remove trailing slash for cross-platform compatibility
+            vendordep_folder="${vendordep_folder%/}"
+
+            # Filter for projects only
+            if [ -e "$vendordep_folder/build.gradle" ]; then
+              mkdir -p "$vendordep_folder/vendordeps/"
+              cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
+            fi
+          done
+      - name: Build Java examples
+        working-directory: photonlib-java-examples
+        run: |
+          ./gradlew build
+          ./gradlew clean
+      - name: Build C++ examples
+        working-directory: photonlib-cpp-examples
+        run: |
+          ./gradlew build
+          ./gradlew clean
 
   playwright-tests:
     name: "Playwright E2E tests"
@@ -264,29 +264,6 @@ jobs:
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
-      - name: Install RoboRIO Toolchain
-        run: ./gradlew installRoboRioToolchain
-      - name: Delete duplicate toolchains
-        if: matrix.os == 'ubuntu-24.04'
-        run: |
-          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
-          du -h . | sort -h
-        # Need to publish to maven local first, so that C++ sim can pick it up
-      - name: Publish photonlib to maven local
-        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
-      # - name: Clean so we don't run out of memory
-      #   run: ./gradlew clean
-      - name: Build Java examples
-        working-directory: photonlib-java-examples
-        run: |
-          ./gradlew build
-          ./gradlew clean
-      - name: Build C++ examples
-        working-directory: photonlib-cpp-examples
-        run: |
-          ./gradlew build
-          ./gradlew clean
-
 
   build-photonlib-docker:
     strategy:

From 600fb997456807d8b80b87be2d579e6f068ba412 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Wed, 7 Jan 2026 00:35:32 -0600
Subject: [PATCH 12/14] cleanup photonlib build

---
 .github/workflows/build.yml | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index e956e975c5..849df8836d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -222,18 +222,14 @@ jobs:
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
 
   build-photonlib-host:
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 14
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-2022
             artifact-name: Win64
-            architecture: x64
-          - os: macos-14
+          - os: macos-26
             artifact-name: macOS
-            architecture: aarch64
           - os: ubuntu-24.04
             artifact-name: Linux
 
@@ -249,7 +245,6 @@ jobs:
         with:
           java-version: 17
           distribution: temurin
-          architecture: ${{ matrix.architecture }}
       - run: git fetch --tags --force
       - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle

From ea7ed7f9c2240815ed4cad0b1547303952cc43ee Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Wed, 7 Jan 2026 00:41:15 -0600
Subject: [PATCH 13/14] kill it with hammers (architecture field)

---
 .github/workflows/build.yml | 13 ++-----------
 1 file changed, 2 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 849df8836d..03075ebfbf 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -28,10 +28,8 @@ jobs:
       matrix:
         include:
           - os: windows-2022
-            architecture: x64
             artifact-name: Win64
           - os: macos-14
-            architecture: arm64
             artifact-name: macOS
           - os: ubuntu-24.04
             artifact-name: Linux
@@ -60,10 +58,10 @@ jobs:
           du -h . | sort -h
         if: matrix.os == 'ubuntu-24.04'
       # Download prebuilt photonlib artifacts
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           name: maven-${{ matrix.artifact-name }}
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           name: maven-Athena
       - name: Move to maven local
@@ -335,11 +333,9 @@ jobs:
         include:
           - os: ubuntu-24.04
             artifact-name: Linux
-            architecture: x64
             arch-override: linuxx64
           - os: ubuntu-24.04
             artifact-name: LinuxArm64
-            architecture: x64
             arch-override: linuxarm64
 
     runs-on: ${{ matrix.os }}
@@ -354,7 +350,6 @@ jobs:
         with:
           java-version: 17
           distribution: temurin
-          architecture: ${{ matrix.architecture }}
       - name: Install pnpm
         uses: pnpm/action-setup@v4
         with:
@@ -394,11 +389,9 @@ jobs:
         include:
           - os: macos-latest
             artifact-name: macOSArm
-            architecture: arm64
             arch-override: macarm64
           - os: macos-latest
             artifact-name: macOS
-            architecture: x64
             arch-override: macx64
 
     runs-on: ${{ matrix.os }}
@@ -415,7 +408,6 @@ jobs:
         include:
           - os: windows-latest
             artifact-name: Win64
-            architecture: x64
             arch-override: winx64
 
     runs-on: ${{ matrix.os }}
@@ -437,7 +429,6 @@ jobs:
             artifact-name: jar-Win64
           - os: macos-latest
             artifact-name: jar-macOS
-            architecture: x64
 
     runs-on: ${{ matrix.os }}
 

From bc31c5bc3bc6c10853c24b091d59c9e8995ff8e9 Mon Sep 17 00:00:00 2001
From: samfreund <samf.236@proton.me>
Date: Wed, 7 Jan 2026 15:31:28 -0600
Subject: [PATCH 14/14] resolve comments

---
 .github/workflows/build.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 03075ebfbf..14a162b68e 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -220,6 +220,8 @@ jobs:
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
 
   build-photonlib-host:
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 14
     strategy:
       fail-fast: false
       matrix:
@@ -252,7 +254,7 @@ jobs:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
-      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts -x check
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
       - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}