SCRIPT namespace replacements

2026-06-22 01:11:42 +00:00 · 2025-11-07 20:00:05 -05:00
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
--- a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
@@ -17,7 +17,7 @@
 using namespace halsimgui;

 namespace {
-class AddressableLEDModel : public glass::LEDDisplayModel {
+class AddressableLEDModel : public wpi::glass::LEDDisplayModel {
 public:
  explicit AddressableLEDModel(int32_t channel) : m_channel{channel} {}

@@ -26,7 +26,7 @@ class AddressableLEDModel : public glass::LEDDisplayModel {
    return HALSIM_GetAddressableLEDInitialized(m_channel);
  }

-  std::span<const Data> GetData(wpi::SmallVectorImpl<Data>&) override {
+  std::span<const Data> GetData(wpi::util::SmallVectorImpl<Data>&) override {
    size_t length = HALSIM_GetAddressableLEDData(
        HALSIM_GetAddressableLEDStart(m_channel),
        HALSIM_GetAddressableLEDLength(m_channel), m_data);
@@ -39,7 +39,7 @@ class AddressableLEDModel : public glass::LEDDisplayModel {
  HAL_AddressableLEDData m_data[HAL_kAddressableLEDMaxLength];
 };

-class AddressableLEDsModel : public glass::LEDDisplaysModel {
+class AddressableLEDsModel : public wpi::glass::LEDDisplaysModel {
 public:
  AddressableLEDsModel() : m_models(HAL_GetNumAddressableLEDs()) {}

@@ -49,7 +49,7 @@ class AddressableLEDsModel : public glass::LEDDisplaysModel {
  size_t GetNumLEDDisplays() override { return m_models.size(); }

  void ForEachLEDDisplay(
-      wpi::function_ref<void(glass::LEDDisplayModel& model, int channel)> func)
+      wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model, int channel)> func)
      override;

 private:
@@ -83,7 +83,7 @@ bool AddressableLEDsModel::Exists() {
 }

 void AddressableLEDsModel::ForEachLEDDisplay(
-    wpi::function_ref<void(glass::LEDDisplayModel& model, int channel)> func) {
+    wpi::util::function_ref<void(wpi::glass::LEDDisplayModel& model, int channel)> func) {
  for (int i = 0; i < static_cast<int>(m_models.size()); ++i) {
    if (m_models[i]) {
      func(*m_models[i], i);
@@ -105,11 +105,11 @@ void AddressableLEDGui::Initialize() {
  HALSimGui::halProvider->Register(
      "Addressable LEDs", [] { return AddressableLEDsExists(); },
      [] { return std::make_unique<AddressableLEDsModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(290, 100);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayLEDDisplays(static_cast<AddressableLEDsModel*>(model));
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayLEDDisplays(static_cast<AddressableLEDsModel*>(model));
        });
      });
 }
--- a/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AnalogInputSimGui.cpp
@@ -20,7 +20,7 @@ using namespace halsimgui;
 namespace {
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(AnalogInVoltage, "AIn");

-class AnalogInputSimModel : public glass::AnalogInputModel {
+class AnalogInputSimModel : public wpi::glass::AnalogInputModel {
 public:
  explicit AnalogInputSimModel(int32_t index)
      : m_index{index}, m_voltageData{m_index} {}
@@ -37,7 +37,7 @@ class AnalogInputSimModel : public glass::AnalogInputModel {
    }
  }

-  glass::DoubleSource* GetVoltageData() override { return &m_voltageData; }
+  wpi::glass::DoubleSource* GetVoltageData() override { return &m_voltageData; }

  void SetVoltage(double val) override {
    HALSIM_SetAnalogInVoltage(m_index, val);
@@ -48,7 +48,7 @@ class AnalogInputSimModel : public glass::AnalogInputModel {
  AnalogInVoltageSource m_voltageData;
 };

-class AnalogInputsSimModel : public glass::AnalogInputsModel {
+class AnalogInputsSimModel : public wpi::glass::AnalogInputsModel {
 public:
  AnalogInputsSimModel() : m_models(HAL_GetNumAnalogInputs()) {}

@@ -57,7 +57,7 @@ class AnalogInputsSimModel : public glass::AnalogInputsModel {
  bool Exists() override { return true; }

  void ForEachAnalogInput(
-      wpi::function_ref<void(glass::AnalogInputModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model, int index)> func)
      override;

 private:
@@ -81,7 +81,7 @@ void AnalogInputsSimModel::Update() {
 }

 void AnalogInputsSimModel::ForEachAnalogInput(
-    wpi::function_ref<void(glass::AnalogInputModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::AnalogInputModel& model, int index)> func) {
  for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
       ++i) {
    if (auto model = m_models[i].get()) {
@@ -104,11 +104,11 @@ void AnalogInputSimGui::Initialize() {
  HALSimGui::halProvider->Register(
      "Analog Inputs", AnalogInputsAnyInitialized,
      [] { return std::make_unique<AnalogInputsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(640, 20);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayAnalogInputs(static_cast<AnalogInputsSimModel*>(model));
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayAnalogInputs(static_cast<AnalogInputsSimModel*>(model));
        });
      });
 }
--- a/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DIOSimGui.cpp
@@ -26,7 +26,7 @@ HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED(DIOValue, "DIO");
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DigitalPWMDutyCycle, "DPWM");
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(DutyCycleOutput, "DutyCycle");

-class DPWMSimModel : public glass::DPWMModel {
+class DPWMSimModel : public wpi::glass::DPWMModel {
 public:
  DPWMSimModel(int32_t index, int32_t dioChannel)
      : m_dioChannel{dioChannel}, m_index{index}, m_valueData{index} {}
@@ -43,7 +43,7 @@ class DPWMSimModel : public glass::DPWMModel {
    }
  }

-  glass::DoubleSource* GetValueData() override { return &m_valueData; }
+  wpi::glass::DoubleSource* GetValueData() override { return &m_valueData; }

  void SetValue(double val) override {
    HALSIM_SetDigitalPWMDutyCycle(m_index, val);
@@ -55,7 +55,7 @@ class DPWMSimModel : public glass::DPWMModel {
  DigitalPWMDutyCycleSource m_valueData;
 };

-class DutyCycleSimModel : public glass::DutyCycleModel {
+class DutyCycleSimModel : public wpi::glass::DutyCycleModel {
 public:
  explicit DutyCycleSimModel(int32_t index)
      : m_index{index}, m_valueData{index} {}
@@ -72,7 +72,7 @@ class DutyCycleSimModel : public glass::DutyCycleModel {
    }
  }

-  glass::DoubleSource* GetValueData() override { return &m_valueData; }
+  wpi::glass::DoubleSource* GetValueData() override { return &m_valueData; }

  void SetValue(double val) override {
    HALSIM_SetDutyCycleOutput(m_index, val);
@@ -83,7 +83,7 @@ class DutyCycleSimModel : public glass::DutyCycleModel {
  DutyCycleOutputSource m_valueData;
 };

-class DIOSimModel : public glass::DIOModel {
+class DIOSimModel : public wpi::glass::DIOModel {
 public:
  explicit DIOSimModel(int32_t channel)
      : m_channel{channel}, m_valueData{channel} {}
@@ -106,15 +106,15 @@ class DIOSimModel : public glass::DIOModel {

  DPWMSimModel* GetDPWM() override { return m_dpwmSource; }
  DutyCycleSimModel* GetDutyCycle() override { return m_dutyCycleSource; }
-  glass::EncoderModel* GetEncoder() override { return m_encoderSource; }
+  wpi::glass::EncoderModel* GetEncoder() override { return m_encoderSource; }

  void SetDPWM(DPWMSimModel* model) { m_dpwmSource = model; }
  void SetDutyCycle(DutyCycleSimModel* model) { m_dutyCycleSource = model; }
-  void SetEncoder(glass::EncoderModel* model) { m_encoderSource = model; }
+  void SetEncoder(wpi::glass::EncoderModel* model) { m_encoderSource = model; }

  bool IsInput() const override { return HALSIM_GetDIOIsInput(m_channel); }

-  glass::BooleanSource* GetValueData() override { return &m_valueData; }
+  wpi::glass::BooleanSource* GetValueData() override { return &m_valueData; }

  void SetValue(bool val) override { HALSIM_SetDIOValue(m_channel, val); }

@@ -123,10 +123,10 @@ class DIOSimModel : public glass::DIOModel {
  DIOValueSource m_valueData;
  DPWMSimModel* m_dpwmSource = nullptr;
  DutyCycleSimModel* m_dutyCycleSource = nullptr;
-  glass::EncoderModel* m_encoderSource = nullptr;
+  wpi::glass::EncoderModel* m_encoderSource = nullptr;
 };

-class DIOsSimModel : public glass::DIOsModel {
+class DIOsSimModel : public wpi::glass::DIOsModel {
 public:
  DIOsSimModel()
      : m_dioModels(HAL_GetNumDigitalChannels()),
@@ -138,7 +138,7 @@ class DIOsSimModel : public glass::DIOsModel {
  bool Exists() override { return true; }

  void ForEachDIO(
-      wpi::function_ref<void(glass::DIOModel& model, int index)> func) override;
+      wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)> func) override;

 private:
  // indexed by channel
@@ -210,7 +210,7 @@ void DIOsSimModel::Update() {
 }

 void DIOsSimModel::ForEachDIO(
-    wpi::function_ref<void(glass::DIOModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::DIOModel& model, int index)> func) {
  const int32_t numDIO = m_dioModels.size();
  for (int32_t i = 0; i < numDIO; ++i) {
    if (auto model = m_dioModels[i].get()) {
@@ -232,11 +232,11 @@ static bool DIOAnyInitialized() {
 void DIOSimGui::Initialize() {
  HALSimGui::halProvider->Register(
      "DIO", DIOAnyInitialized, [] { return std::make_unique<DIOsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(470, 20);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayDIOs(static_cast<DIOsSimModel*>(model),
                             HALSimGui::halProvider->AreOutputsEnabled());
        });
      });
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -94,7 +94,7 @@ class GlfwSystemJoystick : public SystemJoystick {

 class KeyboardJoystick : public SystemJoystick {
 public:
-  KeyboardJoystick(glass::Storage& storage, int index);
+  KeyboardJoystick(wpi::glass::Storage& storage, int index);

  void SettingsDisplay() override;
  void Update() override;
@@ -124,7 +124,7 @@ class KeyboardJoystick : public SystemJoystick {
  int& m_povCount;

  struct AxisConfig {
-    explicit AxisConfig(glass::Storage& storage);
+    explicit AxisConfig(wpi::glass::Storage& storage);

    int& incKey;
    int& decKey;
@@ -133,14 +133,14 @@ class KeyboardJoystick : public SystemJoystick {
    float& maxAbsValue;
  };

-  std::vector<std::unique_ptr<glass::Storage>>& m_axisStorage;
+  std::vector<std::unique_ptr<wpi::glass::Storage>>& m_axisStorage;
  std::vector<AxisConfig> m_axisConfig;

  static constexpr int kMaxButtonCount = 32;
  std::vector<int>& m_buttonKey;

  struct PovConfig {
-    explicit PovConfig(glass::Storage& storage);
+    explicit PovConfig(wpi::glass::Storage& storage);

    int& keyUp;
    int& keyUpRight;
@@ -152,21 +152,21 @@ class KeyboardJoystick : public SystemJoystick {
    int& keyUpLeft;
  };

-  std::vector<std::unique_ptr<glass::Storage>>& m_povStorage;
+  std::vector<std::unique_ptr<wpi::glass::Storage>>& m_povStorage;
  std::vector<PovConfig> m_povConfig;
 };

 class GlfwKeyboardJoystick : public KeyboardJoystick {
 public:
-  GlfwKeyboardJoystick(glass::Storage& storage, int index);
+  GlfwKeyboardJoystick(wpi::glass::Storage& storage, int index);

  const char* GetKeyName(int key) const override;
 };

 struct RobotJoystick {
-  explicit RobotJoystick(glass::Storage& storage);
+  explicit RobotJoystick(wpi::glass::Storage& storage);

-  glass::NameSetting name;
+  wpi::glass::NameSetting name;
  std::string& guid;
  const SystemJoystick* sys = nullptr;
  bool& useGamepad;  // = false;
@@ -197,11 +197,11 @@ class JoystickModel {
  int axisCount;
  int buttonCount;
  int povCount;
-  std::unique_ptr<glass::DoubleSource> axes[HAL_kMaxJoystickAxes];
+  std::unique_ptr<wpi::glass::DoubleSource> axes[HAL_kMaxJoystickAxes];
  // use pointer instead of unique_ptr to allow it to be passed directly
  // to DrawLEDSources()
-  glass::BooleanSource* buttons[32];
-  std::unique_ptr<glass::IntegerSource> povs[HAL_kMaxJoystickPOVs];
+  wpi::glass::BooleanSource* buttons[32];
+  std::unique_ptr<wpi::glass::IntegerSource> povs[HAL_kMaxJoystickPOVs];

 private:
  static void CallbackFunc(const char*, void* param, const HAL_Value*);
@@ -210,21 +210,21 @@ class JoystickModel {
  int32_t m_callback;
 };

-class FMSSimModel : public glass::FMSModel {
+class FMSSimModel : public wpi::glass::FMSModel {
 public:
  FMSSimModel();

-  glass::BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
-  glass::BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
-  glass::IntegerSource* GetAllianceStationIdData() override {
+  wpi::glass::BooleanSource* GetFmsAttachedData() override { return &m_fmsAttached; }
+  wpi::glass::BooleanSource* GetDsAttachedData() override { return &m_dsAttached; }
+  wpi::glass::IntegerSource* GetAllianceStationIdData() override {
    return &m_allianceStationId;
  }
-  glass::DoubleSource* GetMatchTimeData() override { return &m_matchTime; }
-  glass::BooleanSource* GetEStopData() override { return &m_estop; }
-  glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
-  glass::BooleanSource* GetTestData() override { return &m_test; }
-  glass::BooleanSource* GetAutonomousData() override { return &m_autonomous; }
-  glass::StringSource* GetGameSpecificMessageData() override {
+  wpi::glass::DoubleSource* GetMatchTimeData() override { return &m_matchTime; }
+  wpi::glass::BooleanSource* GetEStopData() override { return &m_estop; }
+  wpi::glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
+  wpi::glass::BooleanSource* GetTestData() override { return &m_test; }
+  wpi::glass::BooleanSource* GetAutonomousData() override { return &m_autonomous; }
+  wpi::glass::StringSource* GetGameSpecificMessageData() override {
    return &m_gameMessage;
  }

@@ -251,16 +251,16 @@ class FMSSimModel : public glass::FMSModel {
  bool IsReadOnly() override;

 private:
-  glass::BooleanSource m_fmsAttached{"FMS:FMSAttached"};
-  glass::BooleanSource m_dsAttached{"FMS:DSAttached"};
-  glass::IntegerSource m_allianceStationId{"FMS:AllianceStationID"};
-  glass::DoubleSource m_matchTime{"FMS:MatchTime"};
-  glass::BooleanSource m_estop{"FMS:EStop"};
-  glass::BooleanSource m_enabled{"FMS:RobotEnabled"};
-  glass::BooleanSource m_test{"FMS:TestMode"};
-  glass::BooleanSource m_autonomous{"FMS:AutonomousMode"};
+  wpi::glass::BooleanSource m_fmsAttached{"FMS:FMSAttached"};
+  wpi::glass::BooleanSource m_dsAttached{"FMS:DSAttached"};
+  wpi::glass::IntegerSource m_allianceStationId{"FMS:AllianceStationID"};
+  wpi::glass::DoubleSource m_matchTime{"FMS:MatchTime"};
+  wpi::glass::BooleanSource m_estop{"FMS:EStop"};
+  wpi::glass::BooleanSource m_enabled{"FMS:RobotEnabled"};
+  wpi::glass::BooleanSource m_test{"FMS:TestMode"};
+  wpi::glass::BooleanSource m_autonomous{"FMS:AutonomousMode"};
  double m_startMatchTime = -1.0;
-  glass::StringSource m_gameMessage{"FMS:GameSpecificMessage"};
+  wpi::glass::StringSource m_gameMessage{"FMS:GameSpecificMessage"};
 };

 }  // namespace
@@ -296,7 +296,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
  HALSIM_GetJoystickAxes(index, &halAxes);
  axisCount = static_cast<uint8_t>(16 - std::countl_zero(halAxes.available));
  for (int i = 0; i < axisCount; ++i) {
-    axes[i] = std::make_unique<glass::DoubleSource>(
+    axes[i] = std::make_unique<wpi::glass::DoubleSource>(
        fmt::format("Joystick[{}] Axis[{}]", index, i));
  }

@@ -305,7 +305,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
  buttonCount =
      static_cast<uint8_t>(64 - std::countl_zero(halButtons.available));
  for (int i = 0; i < buttonCount; ++i) {
-    buttons[i] = new glass::BooleanSource(
+    buttons[i] = new wpi::glass::BooleanSource(
        fmt::format("Joystick[{}] Button[{}]", index, i + 1));
  }
  for (int i = buttonCount; i < 64; ++i) {
@@ -316,7 +316,7 @@ JoystickModel::JoystickModel(int index) : m_index{index} {
  HALSIM_GetJoystickPOVs(index, &halPOVs);
  povCount = static_cast<uint8_t>(8 - std::countl_zero(halPOVs.available));
  for (int i = 0; i < povCount; ++i) {
-    povs[i] = std::make_unique<glass::IntegerSource>(
+    povs[i] = std::make_unique<wpi::glass::IntegerSource>(
        fmt::format("Joystick[{}] POV [{}]", index, i));
  }

@@ -468,7 +468,7 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
  }
 }

-KeyboardJoystick::AxisConfig::AxisConfig(glass::Storage& storage)
+KeyboardJoystick::AxisConfig::AxisConfig(wpi::glass::Storage& storage)
    : incKey{storage.GetInt("incKey", -1)},
      decKey{storage.GetInt("decKey", -1)},
      keyRate{storage.GetFloat("keyRate", 0.05f)},
@@ -483,7 +483,7 @@ KeyboardJoystick::AxisConfig::AxisConfig(glass::Storage& storage)
  }
 }

-KeyboardJoystick::PovConfig::PovConfig(glass::Storage& storage)
+KeyboardJoystick::PovConfig::PovConfig(wpi::glass::Storage& storage)
    : keyUp{storage.GetInt("keyUp", -1)},
      keyUpRight{storage.GetInt("keyUpRight", -1)},
      keyRight{storage.GetInt("keyRight", -1)},
@@ -519,7 +519,7 @@ KeyboardJoystick::PovConfig::PovConfig(glass::Storage& storage)
  }
 }

-KeyboardJoystick::KeyboardJoystick(glass::Storage& storage, int index)
+KeyboardJoystick::KeyboardJoystick(wpi::glass::Storage& storage, int index)
    : m_index{index},
      m_axisCount{storage.GetInt("axisCount", -1)},
      m_buttonCount{storage.GetInt("buttonCount", -1)},
@@ -527,8 +527,8 @@ KeyboardJoystick::KeyboardJoystick(glass::Storage& storage, int index)
      m_axisStorage{storage.GetChildArray("axisConfig")},
      m_buttonKey{storage.GetIntArray("buttonKeys")},
      m_povStorage{storage.GetChildArray("povConfig")} {
-  wpi::format_to_n_c_str(m_name, sizeof(m_name), "Keyboard {}", index);
-  wpi::format_to_n_c_str(m_guid, sizeof(m_guid), "Keyboard{}", index);
+  wpi::util::format_to_n_c_str(m_name, sizeof(m_name), "Keyboard {}", index);
+  wpi::util::format_to_n_c_str(m_guid, sizeof(m_guid), "Keyboard{}", index);

  // init axes
  for (auto&& axisConfig : m_axisStorage) {
@@ -562,9 +562,9 @@ void KeyboardJoystick::EditKey(const char* label, int* key) {

  char editLabel[32];
  if (s_keyEdit == key) {
-    wpi::format_to_n_c_str(editLabel, sizeof(editLabel), "(press key)###edit");
+    wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "(press key)###edit");
  } else {
-    wpi::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
+    wpi::util::format_to_n_c_str(editLabel, sizeof(editLabel), "{}###edit",
                           GetKeyName(*key));
  }

@@ -608,11 +608,11 @@ void KeyboardJoystick::SettingsDisplay() {
      }
    }
    while (m_axisCount > static_cast<int>(m_axisConfig.size())) {
-      m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+      m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
      m_axisConfig.emplace_back(*m_axisStorage.back());
    }
    for (int i = 0; i < m_axisCount; ++i) {
-      wpi::format_to_n_c_str(label, sizeof(label), "Axis {}", i);
+      wpi::util::format_to_n_c_str(label, sizeof(label), "Axis {}", i);

      if (ImGui::TreeNodeEx(label, ImGuiTreeNodeFlags_DefaultOpen)) {
        EditKey("Increase", &m_axisConfig[i].incKey);
@@ -646,7 +646,7 @@ void KeyboardJoystick::SettingsDisplay() {
      m_buttonKey.emplace_back(-1);
    }
    for (int i = 0; i < m_buttonCount; ++i) {
-      wpi::format_to_n_c_str(label, sizeof(label), "Button {}", i + 1);
+      wpi::util::format_to_n_c_str(label, sizeof(label), "Button {}", i + 1);

      EditKey(label, &m_buttonKey[i]);
    }
@@ -665,11 +665,11 @@ void KeyboardJoystick::SettingsDisplay() {
      }
    }
    while (m_povCount > static_cast<int>(m_povConfig.size())) {
-      m_povStorage.emplace_back(std::make_unique<glass::Storage>());
+      m_povStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
      m_povConfig.emplace_back(*m_povStorage.back());
    }
    for (int i = 0; i < m_povCount; ++i) {
-      wpi::format_to_n_c_str(label, sizeof(label), "POV {}", i);
+      wpi::util::format_to_n_c_str(label, sizeof(label), "POV {}", i);

      if (ImGui::TreeNodeEx(label, ImGuiTreeNodeFlags_DefaultOpen)) {
        EditKey("        Up", &m_povConfig[i].keyUp);
@@ -842,14 +842,14 @@ void KeyboardJoystick::ClearKey(int key) {
  }
 }

-GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
+GlfwKeyboardJoystick::GlfwKeyboardJoystick(wpi::glass::Storage& storage, int index)
    : KeyboardJoystick{storage, index} {
  // set up a default keyboard config for 0, 1, and 2
  if (index == 0) {
    if (m_axisCount == -1 && m_axisStorage.empty()) {
      m_axisCount = 3;
      for (int i = 0; i < 3; ++i) {
-        m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+        m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
        m_axisConfig.emplace_back(*m_axisStorage.back());
      }
      m_axisConfig[0].incKey = GLFW_KEY_D;
@@ -871,7 +871,7 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
    }
    if (m_povCount == -1 && m_povStorage.empty()) {
      m_povCount = 1;
-      m_povStorage.emplace_back(std::make_unique<glass::Storage>());
+      m_povStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
      m_povConfig.emplace_back(*m_povStorage.back());
      m_povConfig[0].keyUp = GLFW_KEY_KP_8;
      m_povConfig[0].keyUpRight = GLFW_KEY_KP_9;
@@ -886,7 +886,7 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
    if (m_axisCount == -1 && m_axisStorage.empty()) {
      m_axisCount = 2;
      for (int i = 0; i < 2; ++i) {
-        m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+        m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
        m_axisConfig.emplace_back(*m_axisStorage.back());
      }
      m_axisConfig[0].incKey = GLFW_KEY_L;
@@ -906,7 +906,7 @@ GlfwKeyboardJoystick::GlfwKeyboardJoystick(glass::Storage& storage, int index)
    if (m_axisCount == -1 && m_axisStorage.empty()) {
      m_axisCount = 2;
      for (int i = 0; i < 2; ++i) {
-        m_axisStorage.emplace_back(std::make_unique<glass::Storage>());
+        m_axisStorage.emplace_back(std::make_unique<wpi::glass::Storage>());
        m_axisConfig.emplace_back(*m_axisStorage.back());
      }
      m_axisConfig[0].incKey = GLFW_KEY_RIGHT;
@@ -961,7 +961,7 @@ const char* GlfwKeyboardJoystick::GetKeyName(int key) const {
  return "(Unknown)";
 }

-RobotJoystick::RobotJoystick(glass::Storage& storage)
+RobotJoystick::RobotJoystick(wpi::glass::Storage& storage)
    : name{storage.GetString("name")},
      guid{storage.GetString("guid")},
      useGamepad{storage.GetBool("useGamepad")} {}
@@ -1040,11 +1040,11 @@ static void DriverStationExecute() {
  bool disableDS = IsDSDisabled();
  if (disableDS && !prevDisableDS) {
    if (auto win = DriverStationGui::dsManager->GetWindow("System Joysticks")) {
-      win->SetVisibility(glass::Window::kDisabled);
+      win->SetVisibility(wpi::glass::Window::kDisabled);
    }
  } else if (!disableDS && prevDisableDS) {
    if (auto win = DriverStationGui::dsManager->GetWindow("System Joysticks")) {
-      win->SetVisibility(glass::Window::kShow);
+      win->SetVisibility(wpi::glass::Window::kShow);
    }
  }
  prevDisableDS = disableDS;
@@ -1166,7 +1166,7 @@ void FMSSimModel::UpdateHAL() {
  HALSIM_SetDriverStationTest(m_test.GetValue());
  HALSIM_SetDriverStationAutonomous(m_autonomous.GetValue());
  HALSIM_SetDriverStationMatchTime(m_matchTime.GetValue());
-  auto str = wpi::make_string(m_gameMessage.GetValue());
+  auto str = wpi::util::make_string(m_gameMessage.GetValue());
  HALSIM_SetGameSpecificMessage(&str);
  HALSIM_SetDriverStationDsAttached(m_dsAttached.GetValue());
 }
@@ -1216,7 +1216,7 @@ bool FMSSimModel::IsReadOnly() {

 static void DisplaySystemJoystick(SystemJoystick& joy, int i) {
  char label[64];
-  wpi::format_to_n_c_str(label, sizeof(label), "{}: {}", i, joy.GetName());
+  wpi::util::format_to_n_c_str(label, sizeof(label), "{}: {}", i, joy.GetName());

  // highlight if any buttons pressed
  bool anyButtonPressed = joy.IsAnyButtonPressed();
@@ -1250,7 +1250,7 @@ static void DisplaySystemJoysticks() {
    DisplaySystemJoystick(*joy, i + GLFW_JOYSTICK_LAST + 1);
    if (ImGui::BeginPopupContextItem()) {
      char buf[64];
-      wpi::format_to_n_c_str(buf, sizeof(buf), "{} Settings", joy->GetName());
+      wpi::util::format_to_n_c_str(buf, sizeof(buf), "{} Settings", joy->GetName());

      if (ImGui::MenuItem(buf)) {
        if (auto win = DriverStationGui::dsManager->GetWindow(buf)) {
@@ -1301,7 +1301,7 @@ static void DisplayJoysticks() {
        joy.guid = payload_sys->GetGUID();
        std::string_view name{payload_sys->GetName()};
        joy.useGamepad =
-            wpi::starts_with(name, "Xbox") || wpi::contains(name, "pad");
+            wpi::util::starts_with(name, "Xbox") || wpi::util::contains(name, "pad");
      }
      ImGui::EndDragDropTarget();
    }
@@ -1339,7 +1339,7 @@ static void DisplayJoysticks() {
      for (int j = 0; j < axesCount; ++j) {
        if (source && source->axes[j]) {
          char label[64];
-          wpi::format_to_n_c_str(label, sizeof(label), "Axis[{}]", j);
+          wpi::util::format_to_n_c_str(label, sizeof(label), "Axis[{}]", j);

          ImGui::Selectable(label);
          source->axes[j]->EmitDrag();
@@ -1356,7 +1356,7 @@ static void DisplayJoysticks() {
      for (int j = 0; j < povCount; ++j) {
        if (source && source->povs[j]) {
          char label[64];
-          wpi::format_to_n_c_str(label, sizeof(label), "POVs[{}]", j);
+          wpi::util::format_to_n_c_str(label, sizeof(label), "POVs[{}]", j);

          ImGui::Selectable(label);
          source->povs[j]->EmitDrag();
@@ -1372,7 +1372,7 @@ static void DisplayJoysticks() {

      // show buttons as multiple lines of LED indicators, 8 per line
      static const ImU32 color = IM_COL32(255, 255, 102, 255);
-      wpi::SmallVector<int, 64> buttons;
+      wpi::util::SmallVector<int, 64> buttons;
      buttons.resize(buttonCount);
      for (int j = 0; j < buttonCount; ++j) {
        buttons[j] = joy.IsButtonPressed(j) ? 1 : -1;
@@ -1415,7 +1415,7 @@ void DSManager::DisplayMenu() {
 }

 void DriverStationGui::GlobalInit() {
-  auto& storageRoot = glass::GetStorageRoot("ds");
+  auto& storageRoot = wpi::glass::GetStorageRoot("ds");
  dsManager = std::make_unique<DSManager>(storageRoot);

  // set up system joysticks (both GLFW and keyboard)
@@ -1441,7 +1441,7 @@ void DriverStationGui::GlobalInit() {
    keyboardStorage.resize(4);
    for (int i = 0; i < 4; ++i) {
      if (!keyboardStorage[i]) {
-        keyboardStorage[i] = std::make_unique<glass::Storage>();
+        keyboardStorage[i] = std::make_unique<wpi::glass::Storage>();
      }
      gKeyboardJoysticks.emplace_back(
          std::make_unique<GlfwKeyboardJoystick>(*keyboardStorage[i], i));
@@ -1451,7 +1451,7 @@ void DriverStationGui::GlobalInit() {
    robotJoystickStorage.resize(HAL_kMaxJoysticks);
    for (int i = 0; i < HAL_kMaxJoysticks; ++i) {
      if (!robotJoystickStorage[i]) {
-        robotJoystickStorage[i] = std::make_unique<glass::Storage>();
+        robotJoystickStorage[i] = std::make_unique<wpi::glass::Storage>();
      }
      gRobotJoysticks.emplace_back(*robotJoystickStorage[i]);
    }
@@ -1459,12 +1459,12 @@ void DriverStationGui::GlobalInit() {
    int i = 0;
    for (auto&& joy : gKeyboardJoysticks) {
      char label[64];
-      wpi::format_to_n_c_str(label, sizeof(label), "{} Settings",
+      wpi::util::format_to_n_c_str(label, sizeof(label), "{} Settings",
                             joy->GetName());

      if (auto win = dsManager->AddWindow(
              label, [j = joy.get()] { j->SettingsDisplay(); },
-              glass::Window::kHide)) {
+              wpi::glass::Window::kHide)) {
        win->DisableRenamePopup();
        win->SetDefaultPos(10 + 310 * i++, 50);
        if (i > 3) {
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.hpp
@@ -11,9 +11,9 @@

 namespace halsimgui {

-class DSManager : public glass::WindowManager {
+class DSManager : public wpi::glass::WindowManager {
 public:
-  explicit DSManager(glass::Storage& storage) : WindowManager{storage} {}
+  explicit DSManager(wpi::glass::Storage& storage) : WindowManager{storage} {}

  void DisplayMenu() override;
 };
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.cpp
@@ -24,7 +24,7 @@ using namespace halsimgui;

 namespace {

-class EncoderSimModel : public glass::EncoderModel {
+class EncoderSimModel : public wpi::glass::EncoderModel {
 public:
  EncoderSimModel(std::string_view id, int32_t index, int channelA,
                  int channelB)
@@ -88,14 +88,14 @@ class EncoderSimModel : public glass::EncoderModel {
  int GetChannelA() const override { return m_channelA; }
  int GetChannelB() const override { return m_channelB; }

-  glass::DoubleSource* GetDistancePerPulseData() override {
+  wpi::glass::DoubleSource* GetDistancePerPulseData() override {
    return &m_distancePerPulse;
  }
-  glass::IntegerSource* GetCountData() override { return &m_count; }
-  glass::DoubleSource* GetPeriodData() override { return &m_period; }
-  glass::BooleanSource* GetDirectionData() override { return &m_direction; }
-  glass::DoubleSource* GetDistanceData() override { return &m_distance; }
-  glass::DoubleSource* GetRateData() override { return &m_rate; }
+  wpi::glass::IntegerSource* GetCountData() override { return &m_count; }
+  wpi::glass::DoubleSource* GetPeriodData() override { return &m_period; }
+  wpi::glass::BooleanSource* GetDirectionData() override { return &m_direction; }
+  wpi::glass::DoubleSource* GetDistanceData() override { return &m_distance; }
+  wpi::glass::DoubleSource* GetRateData() override { return &m_rate; }

  double GetMaxPeriod() override { return HALSIM_GetEncoderMaxPeriod(m_index); }
  bool GetReverseDirection() override {
@@ -176,12 +176,12 @@ class EncoderSimModel : public glass::EncoderModel {
    }
  }

-  glass::DoubleSource m_distancePerPulse;
-  glass::IntegerSource m_count;
-  glass::DoubleSource m_period;
-  glass::BooleanSource m_direction;
-  glass::DoubleSource m_distance;
-  glass::DoubleSource m_rate;
+  wpi::glass::DoubleSource m_distancePerPulse;
+  wpi::glass::IntegerSource m_count;
+  wpi::glass::DoubleSource m_period;
+  wpi::glass::BooleanSource m_direction;
+  wpi::glass::DoubleSource m_distance;
+  wpi::glass::DoubleSource m_rate;

  int32_t m_index;
  int m_channelA;
@@ -192,7 +192,7 @@ class EncoderSimModel : public glass::EncoderModel {
  int32_t m_directionCallback;
 };

-class EncodersSimModel : public glass::EncodersModel {
+class EncodersSimModel : public wpi::glass::EncodersModel {
 public:
  EncodersSimModel() : m_models(HAL_GetNumEncoders()) {}

@@ -201,7 +201,7 @@ class EncodersSimModel : public glass::EncodersModel {
  bool Exists() override { return true; }

  void ForEachEncoder(
-      wpi::function_ref<void(glass::EncoderModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)> func)
      override;

 private:
@@ -224,7 +224,7 @@ void EncodersSimModel::Update() {
 }

 void EncodersSimModel::ForEachEncoder(
-    wpi::function_ref<void(glass::EncoderModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::EncoderModel& model, int index)> func) {
  for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
       ++i) {
    if (auto model = m_models[i].get()) {
@@ -247,16 +247,16 @@ void EncoderSimGui::Initialize() {
  HALSimGui::halProvider->Register(
      "Encoders", EncodersAnyInitialized,
      [] { return std::make_unique<EncodersSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(5, 250);
-        return glass::MakeFunctionView(
+        return wpi::glass::MakeFunctionView(
            [=] { DisplayEncoders(static_cast<EncodersSimModel*>(model)); });
      });
 }

-glass::EncodersModel& EncoderSimGui::GetEncodersModel() {
+wpi::glass::EncodersModel& EncoderSimGui::GetEncodersModel() {
  static auto model = HALSimGui::halProvider->GetModel("Encoders");
  assert(model);
-  return *static_cast<glass::EncodersModel*>(model);
+  return *static_cast<wpi::glass::EncodersModel*>(model);
 }
--- a/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/EncoderSimGui.hpp
@@ -4,7 +4,7 @@

 #pragma once

-namespace glass {
+namespace wpi::glass {
 class EncodersModel;
 }  // namespace glass

@@ -13,7 +13,7 @@ namespace halsimgui {
 class EncoderSimGui {
 public:
  static void Initialize();
-  static glass::EncodersModel& GetEncodersModel();
+  static wpi::glass::EncodersModel& GetEncodersModel();
 };

 }  // namespace halsimgui
--- a/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALProvider.cpp
@@ -15,7 +15,7 @@ using namespace halsimgui;

 static bool gDisableOutputsOnDSDisable = true;

-HALProvider::HALProvider(glass::Storage& storage) : Provider{storage} {
+HALProvider::HALProvider(wpi::glass::Storage& storage) : Provider{storage} {
  storage.SetCustomApply([this] {
    for (auto&& childIt : m_storage.GetChildren()) {
      auto it = FindViewEntry(childIt.key());
@@ -65,7 +65,7 @@ void HALProvider::DisplayMenu() {
  }
 }

-glass::Model* HALProvider::GetModel(std::string_view name) {
+wpi::glass::Model* HALProvider::GetModel(std::string_view name) {
  auto it = FindModelEntry(name);
  if (it == m_modelEntries.end() || (*it)->name != name) {
    return nullptr;
@@ -79,7 +79,7 @@ glass::Model* HALProvider::GetModel(std::string_view name) {
  return entry->model.get();
 }

-void HALProvider::Show(ViewEntry* entry, glass::Window* window) {
+void HALProvider::Show(ViewEntry* entry, wpi::glass::Window* window) {
  // if there's already a window, we're done
  if (entry->window) {
    return;
@@ -97,7 +97,7 @@ void HALProvider::Show(ViewEntry* entry, glass::Window* window) {
  if (!window) {
    window = GetOrAddWindow(
        entry->name, true,
-        entry->showDefault ? glass::Window::kShow : glass::Window::kHide);
+        entry->showDefault ? wpi::glass::Window::kShow : wpi::glass::Window::kHide);
  }
  if (!window) {
    return;
--- a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -15,25 +15,25 @@

 using namespace halsimgui;

-glass::MainMenuBar HALSimGui::mainMenu;
-std::unique_ptr<glass::WindowManager> HALSimGui::manager;
+wpi::glass::MainMenuBar HALSimGui::mainMenu;
+std::unique_ptr<wpi::glass::WindowManager> HALSimGui::manager;
 std::unique_ptr<HALProvider> HALSimGui::halProvider;
-std::unique_ptr<glass::NetworkTablesProvider> HALSimGui::ntProvider;
+std::unique_ptr<wpi::glass::NetworkTablesProvider> HALSimGui::ntProvider;

 void HALSimGui::GlobalInit() {
-  manager = std::make_unique<glass::WindowManager>(
-      glass::GetStorageRoot().GetChild("SimWindow"));
+  manager = std::make_unique<wpi::glass::WindowManager>(
+      wpi::glass::GetStorageRoot().GetChild("SimWindow"));
  manager->GlobalInit();
  halProvider = std::make_unique<HALProvider>(
-      glass::GetStorageRoot().GetChild("HALProvider"));
+      wpi::glass::GetStorageRoot().GetChild("HALProvider"));
  halProvider->GlobalInit();
-  ntProvider = std::make_unique<glass::NetworkTablesProvider>(
-      glass::GetStorageRoot().GetChild("NTProvider"));
+  ntProvider = std::make_unique<wpi::glass::NetworkTablesProvider>(
+      wpi::glass::GetStorageRoot().GetChild("NTProvider"));
  ntProvider->GlobalInit();

  wpi::gui::AddLateExecute([] { mainMenu.Display(); });

-  glass::AddStandardNetworkTablesViews(*ntProvider);
+  wpi::glass::AddStandardNetworkTablesViews(*ntProvider);
 }

 namespace halsimgui {
--- a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
@@ -14,32 +14,32 @@

 using namespace halsimgui;

-static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
-static std::unique_ptr<glass::Window> gNetworkTablesWindow;
-static std::unique_ptr<glass::Window> gNetworkTablesInfoWindow;
+static std::unique_ptr<wpi::glass::NetworkTablesModel> gNetworkTablesModel;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesWindow;
+static std::unique_ptr<wpi::glass::Window> gNetworkTablesInfoWindow;

 void NetworkTablesSimGui::Initialize() {
-  gNetworkTablesModel = std::make_unique<glass::NetworkTablesModel>();
+  gNetworkTablesModel = std::make_unique<wpi::glass::NetworkTablesModel>();
  wpi::gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });

-  gNetworkTablesWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
+  gNetworkTablesWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
  gNetworkTablesWindow->SetView(
-      std::make_unique<glass::NetworkTablesView>(gNetworkTablesModel.get()));
+      std::make_unique<wpi::glass::NetworkTablesView>(gNetworkTablesModel.get()));
  gNetworkTablesWindow->SetDefaultPos(250, 277);
  gNetworkTablesWindow->SetDefaultSize(750, 185);
  gNetworkTablesWindow->DisableRenamePopup();
  wpi::gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });

  // NetworkTables info window
-  gNetworkTablesInfoWindow = std::make_unique<glass::Window>(
-      glass::GetStorageRoot().GetChild("NetworkTables Info"),
+  gNetworkTablesInfoWindow = std::make_unique<wpi::glass::Window>(
+      wpi::glass::GetStorageRoot().GetChild("NetworkTables Info"),
      "NetworkTables Info");
-  gNetworkTablesInfoWindow->SetView(glass::MakeFunctionView(
-      [&] { glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
+  gNetworkTablesInfoWindow->SetView(wpi::glass::MakeFunctionView(
+      [&] { wpi::glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
  gNetworkTablesInfoWindow->SetDefaultPos(250, 130);
  gNetworkTablesInfoWindow->SetDefaultSize(750, 145);
-  gNetworkTablesInfoWindow->SetDefaultVisibility(glass::Window::kHide);
+  gNetworkTablesInfoWindow->SetDefaultVisibility(wpi::glass::Window::kHide);
  gNetworkTablesInfoWindow->DisableRenamePopup();
  wpi::gui::AddLateExecute([] { gNetworkTablesInfoWindow->Display(); });

--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.cpp
@@ -27,7 +27,7 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(CTREPCMCompressorCurrent,
                                    "Compressor Current");
 HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(CTREPCMSolenoidOutput, "Solenoid");

-class CompressorSimModel : public glass::CompressorModel {
+class CompressorSimModel : public wpi::glass::CompressorModel {
 public:
  explicit CompressorSimModel(int32_t index)
      : m_index{index},
@@ -40,12 +40,12 @@ class CompressorSimModel : public glass::CompressorModel {

  bool Exists() override { return HALSIM_GetCTREPCMInitialized(m_index); }

-  glass::BooleanSource* GetRunningData() override { return &m_running; }
-  glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
-  glass::BooleanSource* GetPressureSwitchData() override {
+  wpi::glass::BooleanSource* GetRunningData() override { return &m_running; }
+  wpi::glass::BooleanSource* GetEnabledData() override { return &m_enabled; }
+  wpi::glass::BooleanSource* GetPressureSwitchData() override {
    return &m_pressureSwitch;
  }
-  glass::DoubleSource* GetCurrentData() override { return &m_current; }
+  wpi::glass::DoubleSource* GetCurrentData() override { return &m_current; }

  void SetRunning(bool val) override {
    HALSIM_SetCTREPCMCompressorOn(m_index, val);
@@ -68,7 +68,7 @@ class CompressorSimModel : public glass::CompressorModel {
  CTREPCMCompressorCurrentSource m_current;
 };

-class SolenoidSimModel : public glass::SolenoidModel {
+class SolenoidSimModel : public wpi::glass::SolenoidModel {
 public:
  SolenoidSimModel(int32_t index, int32_t channel)
      : m_index{index}, m_channel{channel}, m_output{index, channel} {}
@@ -77,7 +77,7 @@ class SolenoidSimModel : public glass::SolenoidModel {

  bool Exists() override { return HALSIM_GetCTREPCMInitialized(m_index); }

-  glass::BooleanSource* GetOutputData() override { return &m_output; }
+  wpi::glass::BooleanSource* GetOutputData() override { return &m_output; }

  void SetOutput(bool val) override {
    HALSIM_SetCTREPCMSolenoidOutput(m_index, m_channel, val);
@@ -89,7 +89,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
  CTREPCMSolenoidOutputSource m_output;
 };

-class PCMSimModel : public glass::PneumaticControlModel {
+class PCMSimModel : public wpi::glass::PneumaticControlModel {
 public:
  explicit PCMSimModel(int32_t index)
      : m_index{index},
@@ -103,7 +103,7 @@ class PCMSimModel : public glass::PneumaticControlModel {
  CompressorSimModel* GetCompressor() override { return &m_compressor; }

  void ForEachSolenoid(
-      wpi::function_ref<void(glass::SolenoidModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func)
      override;

  std::string_view GetName() override { return "PCM"; }
@@ -117,7 +117,7 @@ class PCMSimModel : public glass::PneumaticControlModel {
  int m_solenoidInitCount = 0;
 };

-class PCMsSimModel : public glass::PneumaticControlsModel {
+class PCMsSimModel : public wpi::glass::PneumaticControlsModel {
 public:
  PCMsSimModel() : m_models(HAL_GetNumCTREPCMModules()) {}

@@ -126,7 +126,7 @@ class PCMsSimModel : public glass::PneumaticControlsModel {
  bool Exists() override { return true; }

  void ForEachPneumaticControl(
-      wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+      wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
          func) override;

 private:
@@ -151,7 +151,7 @@ void PCMSimModel::Update() {
 }

 void PCMSimModel::ForEachSolenoid(
-    wpi::function_ref<void(glass::SolenoidModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func) {
  if (m_solenoidInitCount == 0) {
    return;
  }
@@ -179,7 +179,7 @@ void PCMsSimModel::Update() {
 }

 void PCMsSimModel::ForEachPneumaticControl(
-    wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+    wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
        func) {
  int32_t numCTREPCMs = m_models.size();
  for (int32_t i = 0; i < numCTREPCMs; ++i) {
@@ -199,10 +199,10 @@ bool PCMSimGui::PCMsAnyInitialized() {
  return false;
 }

-bool PCMSimGui::PCMsAnySolenoids(glass::PneumaticControlsModel* model) {
+bool PCMSimGui::PCMsAnySolenoids(wpi::glass::PneumaticControlsModel* model) {
  bool any = false;
  static_cast<PCMsSimModel*>(model)->ForEachPneumaticControl(
-      [&](glass::PneumaticControlModel& CTREPCM, int) {
+      [&](wpi::glass::PneumaticControlModel& CTREPCM, int) {
        if (static_cast<PCMSimModel*>(&CTREPCM)->GetNumSolenoids() > 0) {
          any = true;
        }
@@ -210,7 +210,7 @@ bool PCMSimGui::PCMsAnySolenoids(glass::PneumaticControlsModel* model) {
  return any;
 }

-std::unique_ptr<glass::PneumaticControlsModel> PCMSimGui::GetPCMsModel() {
+std::unique_ptr<wpi::glass::PneumaticControlsModel> PCMSimGui::GetPCMsModel() {
  return std::make_unique<PCMsSimModel>();
 }

@@ -220,8 +220,8 @@ void PCMSimGui::Initialize() {
      [] { return std::make_unique<PCMsSimModel>(); });

  SimDeviceGui::GetDeviceTree().Add(
-      HALSimGui::halProvider->GetModel("CTREPCMs"), [](glass::Model* model) {
-        glass::DisplayCompressorsDevice(
+      HALSimGui::halProvider->GetModel("CTREPCMs"), [](wpi::glass::Model* model) {
+        wpi::glass::DisplayCompressorsDevice(
            static_cast<PCMsSimModel*>(model),
            HALSimGui::halProvider->AreOutputsEnabled());
      });
--- a/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PCMSimGui.hpp
@@ -13,8 +13,8 @@ class PCMSimGui {
 public:
  static void Initialize();
  static bool PCMsAnyInitialized();
-  static bool PCMsAnySolenoids(glass::PneumaticControlsModel* model);
-  static std::unique_ptr<glass::PneumaticControlsModel> GetPCMsModel();
+  static bool PCMsAnySolenoids(wpi::glass::PneumaticControlsModel* model);
+  static std::unique_ptr<wpi::glass::PneumaticControlsModel> GetPCMsModel();
 };

 }  // namespace halsimgui
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.cpp
@@ -26,7 +26,7 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(REVPHCompressorCurrent,
                                    "Compressor Current");
 HALSIMGUI_DATASOURCE_BOOLEAN_INDEXED2(REVPHSolenoidOutput, "Solenoid");

-class CompressorSimModel : public glass::CompressorModel {
+class CompressorSimModel : public wpi::glass::CompressorModel {
 public:
  explicit CompressorSimModel(int32_t index)
      : m_index{index},
@@ -38,12 +38,12 @@ class CompressorSimModel : public glass::CompressorModel {

  bool Exists() override { return HALSIM_GetREVPHInitialized(m_index); }

-  glass::BooleanSource* GetRunningData() override { return &m_running; }
-  glass::BooleanSource* GetEnabledData() override { return nullptr; }
-  glass::BooleanSource* GetPressureSwitchData() override {
+  wpi::glass::BooleanSource* GetRunningData() override { return &m_running; }
+  wpi::glass::BooleanSource* GetEnabledData() override { return nullptr; }
+  wpi::glass::BooleanSource* GetPressureSwitchData() override {
    return &m_pressureSwitch;
  }
-  glass::DoubleSource* GetCurrentData() override { return &m_current; }
+  wpi::glass::DoubleSource* GetCurrentData() override { return &m_current; }

  void SetRunning(bool val) override {
    HALSIM_SetREVPHCompressorOn(m_index, val);
@@ -63,7 +63,7 @@ class CompressorSimModel : public glass::CompressorModel {
  REVPHCompressorCurrentSource m_current;
 };

-class SolenoidSimModel : public glass::SolenoidModel {
+class SolenoidSimModel : public wpi::glass::SolenoidModel {
 public:
  SolenoidSimModel(int32_t index, int32_t channel)
      : m_index{index}, m_channel{channel}, m_output{index, channel} {}
@@ -72,7 +72,7 @@ class SolenoidSimModel : public glass::SolenoidModel {

  bool Exists() override { return HALSIM_GetREVPHInitialized(m_index); }

-  glass::BooleanSource* GetOutputData() override { return &m_output; }
+  wpi::glass::BooleanSource* GetOutputData() override { return &m_output; }

  void SetOutput(bool val) override {
    HALSIM_SetREVPHSolenoidOutput(m_index, m_channel, val);
@@ -84,7 +84,7 @@ class SolenoidSimModel : public glass::SolenoidModel {
  REVPHSolenoidOutputSource m_output;
 };

-class PHSimModel : public glass::PneumaticControlModel {
+class PHSimModel : public wpi::glass::PneumaticControlModel {
 public:
  explicit PHSimModel(int32_t index)
      : m_index{index},
@@ -98,7 +98,7 @@ class PHSimModel : public glass::PneumaticControlModel {
  CompressorSimModel* GetCompressor() override { return &m_compressor; }

  void ForEachSolenoid(
-      wpi::function_ref<void(glass::SolenoidModel& model, int index)> func)
+      wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func)
      override;

  std::string_view GetName() override { return "PH"; }
@@ -112,7 +112,7 @@ class PHSimModel : public glass::PneumaticControlModel {
  int m_solenoidInitCount = 0;
 };

-class PHsSimModel : public glass::PneumaticControlsModel {
+class PHsSimModel : public wpi::glass::PneumaticControlsModel {
 public:
  PHsSimModel() : m_models(HAL_GetNumREVPHModules()) {}

@@ -121,7 +121,7 @@ class PHsSimModel : public glass::PneumaticControlsModel {
  bool Exists() override { return true; }

  void ForEachPneumaticControl(
-      wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+      wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
          func) override;

 private:
@@ -146,7 +146,7 @@ void PHSimModel::Update() {
 }

 void PHSimModel::ForEachSolenoid(
-    wpi::function_ref<void(glass::SolenoidModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::SolenoidModel& model, int index)> func) {
  if (m_solenoidInitCount == 0) {
    return;
  }
@@ -174,7 +174,7 @@ void PHsSimModel::Update() {
 }

 void PHsSimModel::ForEachPneumaticControl(
-    wpi::function_ref<void(glass::PneumaticControlModel& model, int index)>
+    wpi::util::function_ref<void(wpi::glass::PneumaticControlModel& model, int index)>
        func) {
  int32_t numREVPHs = m_models.size();
  for (int32_t i = 0; i < numREVPHs; ++i) {
@@ -194,10 +194,10 @@ bool PHSimGui::PHsAnyInitialized() {
  return false;
 }

-bool PHSimGui::PHsAnySolenoids(glass::PneumaticControlsModel* model) {
+bool PHSimGui::PHsAnySolenoids(wpi::glass::PneumaticControlsModel* model) {
  bool any = false;
  static_cast<PHsSimModel*>(model)->ForEachPneumaticControl(
-      [&](glass::PneumaticControlModel& REVPH, int) {
+      [&](wpi::glass::PneumaticControlModel& REVPH, int) {
        if (static_cast<PHSimModel*>(&REVPH)->GetNumSolenoids() > 0) {
          any = true;
        }
@@ -205,7 +205,7 @@ bool PHSimGui::PHsAnySolenoids(glass::PneumaticControlsModel* model) {
  return any;
 }

-std::unique_ptr<glass::PneumaticControlsModel> PHSimGui::GetPHsModel() {
+std::unique_ptr<wpi::glass::PneumaticControlsModel> PHSimGui::GetPHsModel() {
  return std::make_unique<PHsSimModel>();
 }

@@ -215,8 +215,8 @@ void PHSimGui::Initialize() {
      [] { return std::make_unique<PHsSimModel>(); });

  SimDeviceGui::GetDeviceTree().Add(
-      HALSimGui::halProvider->GetModel("REVPHs"), [](glass::Model* model) {
-        glass::DisplayCompressorsDevice(
+      HALSimGui::halProvider->GetModel("REVPHs"), [](wpi::glass::Model* model) {
+        wpi::glass::DisplayCompressorsDevice(
            static_cast<PHsSimModel*>(model),
            HALSimGui::halProvider->AreOutputsEnabled());
      });
--- a/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PHSimGui.hpp
@@ -13,8 +13,8 @@ class PHSimGui {
 public:
  static void Initialize();
  static bool PHsAnyInitialized();
-  static bool PHsAnySolenoids(glass::PneumaticControlsModel* model);
-  static std::unique_ptr<glass::PneumaticControlsModel> GetPHsModel();
+  static bool PHsAnySolenoids(wpi::glass::PneumaticControlsModel* model);
+  static std::unique_ptr<wpi::glass::PneumaticControlsModel> GetPHsModel();
 };

 }  // namespace halsimgui
--- a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
@@ -19,7 +19,7 @@ using namespace halsimgui;
 namespace {
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PWMPulseMicrosecond, "PWM");

-class PWMSimModel : public glass::PWMModel {
+class PWMSimModel : public wpi::glass::PWMModel {
 public:
  explicit PWMSimModel(int32_t index) : m_index{index}, m_speed{m_index} {}

@@ -27,7 +27,7 @@ class PWMSimModel : public glass::PWMModel {

  bool Exists() override { return HALSIM_GetPWMInitialized(m_index); }

-  glass::DoubleSource* GetSpeedData() override { return &m_speed; }
+  wpi::glass::DoubleSource* GetSpeedData() override { return &m_speed; }

  void SetSpeed(double val) override {
    HALSIM_SetPWMPulseMicrosecond(m_index, val);
@@ -38,7 +38,7 @@ class PWMSimModel : public glass::PWMModel {
  PWMPulseMicrosecondSource m_speed;
 };

-class PWMsSimModel : public glass::PWMsModel {
+class PWMsSimModel : public wpi::glass::PWMsModel {
 public:
  PWMsSimModel() : m_sources(HAL_GetNumPWMChannels()) {}

@@ -47,7 +47,7 @@ class PWMsSimModel : public glass::PWMsModel {
  bool Exists() override { return true; }

  void ForEachPWM(
-      wpi::function_ref<void(glass::PWMModel& model, int index)> func) override;
+      wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) override;

 private:
  // indexed by channel
@@ -70,7 +70,7 @@ void PWMsSimModel::Update() {
 }

 void PWMsSimModel::ForEachPWM(
-    wpi::function_ref<void(glass::PWMModel& model, int index)> func) {
+    wpi::util::function_ref<void(wpi::glass::PWMModel& model, int index)> func) {
  const int32_t numPWM = m_sources.size();
  for (int32_t i = 0; i < numPWM; ++i) {
    if (auto model = m_sources[i].get()) {
@@ -93,11 +93,11 @@ void PWMSimGui::Initialize() {
  HALSimGui::halProvider->Register(
      "PWM Outputs", PWMsAnyInitialized,
      [] { return std::make_unique<PWMsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(910, 20);
-        return glass::MakeFunctionView([=] {
-          glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
+        return wpi::glass::MakeFunctionView([=] {
+          wpi::glass::DisplayPWMs(static_cast<PWMsSimModel*>(model),
                             HALSimGui::halProvider->AreOutputsEnabled());
        });
      });
--- a/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PowerDistributionSimGui.cpp
@@ -25,7 +25,7 @@ HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PowerDistributionVoltage,
 HALSIMGUI_DATASOURCE_DOUBLE_INDEXED2(PowerDistributionCurrent,
                                     "Power Distribution Current");

-class PowerDistributionSimModel : public glass::PowerDistributionModel {
+class PowerDistributionSimModel : public wpi::glass::PowerDistributionModel {
 public:
  explicit PowerDistributionSimModel(int32_t index)
      : m_index{index}, m_temp{index}, m_voltage{index} {
@@ -46,9 +46,9 @@ class PowerDistributionSimModel : public glass::PowerDistributionModel {

  int GetNumChannels() const override { return m_currents.size(); }

-  glass::DoubleSource* GetTemperatureData() override { return &m_temp; }
-  glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
-  glass::DoubleSource* GetCurrentData(int channel) override {
+  wpi::glass::DoubleSource* GetTemperatureData() override { return &m_temp; }
+  wpi::glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
+  wpi::glass::DoubleSource* GetCurrentData(int channel) override {
    return m_currents[channel].get();
  }

@@ -69,7 +69,7 @@ class PowerDistributionSimModel : public glass::PowerDistributionModel {
  std::vector<std::unique_ptr<PowerDistributionCurrentSource>> m_currents;
 };

-class PowerDistributionsSimModel : public glass::PowerDistributionsModel {
+class PowerDistributionsSimModel : public wpi::glass::PowerDistributionsModel {
 public:
  PowerDistributionsSimModel() : m_models(HAL_GetNumREVPDHModules()) {}

@@ -78,7 +78,7 @@ class PowerDistributionsSimModel : public glass::PowerDistributionsModel {
  bool Exists() override { return true; }

  void ForEachPowerDistribution(
-      wpi::function_ref<void(glass::PowerDistributionModel& model, int index)>
+      wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model, int index)>
          func) override;

 private:
@@ -101,7 +101,7 @@ void PowerDistributionsSimModel::Update() {
 }

 void PowerDistributionsSimModel::ForEachPowerDistribution(
-    wpi::function_ref<void(glass::PowerDistributionModel& model, int index)>
+    wpi::util::function_ref<void(wpi::glass::PowerDistributionModel& model, int index)>
        func) {
  for (int32_t i = 0, iend = static_cast<int32_t>(m_models.size()); i < iend;
       ++i) {
@@ -125,9 +125,9 @@ void PowerDistributionSimGui::Initialize() {
  HALSimGui::halProvider->Register(
      "PowerDistributions", PowerDistributionsAnyInitialized,
      [] { return std::make_unique<PowerDistributionsSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetDefaultPos(245, 155);
-        return glass::MakeFunctionView([=] {
+        return wpi::glass::MakeFunctionView([=] {
          DisplayPowerDistributions(
              static_cast<PowerDistributionsSimModel*>(model));
        });
--- a/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RoboRioSimGui.cpp
@@ -21,14 +21,14 @@ HALSIMGUI_DATASOURCE_BOOLEAN(RoboRioUserActive3V3, "Rio 3.3V Active");
 HALSIMGUI_DATASOURCE_INT(RoboRioUserFaults3V3, "Rio 3.3V Faults");
 HALSIMGUI_DATASOURCE_DOUBLE(RoboRioBrownoutVoltage, "Rio Brownout Voltage");

-class RoboRioUser3V3RailSimModel : public glass::RoboRioRailModel {
+class RoboRioUser3V3RailSimModel : public wpi::glass::RoboRioRailModel {
 public:
  void Update() override {}
  bool Exists() override { return true; }
-  glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
-  glass::DoubleSource* GetCurrentData() override { return &m_current; }
-  glass::BooleanSource* GetActiveData() override { return &m_active; }
-  glass::IntegerSource* GetFaultsData() override { return &m_faults; }
+  wpi::glass::DoubleSource* GetVoltageData() override { return &m_voltage; }
+  wpi::glass::DoubleSource* GetCurrentData() override { return &m_current; }
+  wpi::glass::BooleanSource* GetActiveData() override { return &m_active; }
+  wpi::glass::IntegerSource* GetFaultsData() override { return &m_faults; }

  void SetVoltage(double val) override { HALSIM_SetRoboRioUserVoltage3V3(val); }
  void SetCurrent(double val) override { HALSIM_SetRoboRioUserCurrent3V3(val); }
@@ -42,16 +42,16 @@ class RoboRioUser3V3RailSimModel : public glass::RoboRioRailModel {
  RoboRioUserFaults3V3Source m_faults;
 };

-class RoboRioSimModel : public glass::RoboRioModel {
+class RoboRioSimModel : public wpi::glass::RoboRioModel {
 public:
  void Update() override {}

  bool Exists() override { return true; }

-  glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }
+  wpi::glass::RoboRioRailModel* GetUser3V3Rail() override { return &m_user3V3Rail; }

-  glass::DoubleSource* GetVInVoltageData() override { return &m_vInVoltage; }
-  glass::DoubleSource* GetBrownoutVoltage() override {
+  wpi::glass::DoubleSource* GetVInVoltageData() override { return &m_vInVoltage; }
+  wpi::glass::DoubleSource* GetBrownoutVoltage() override {
    return &m_brownoutVoltage;
  }

@@ -71,10 +71,10 @@ void RoboRioSimGui::Initialize() {
  HALSimGui::halProvider->Register(
      "RoboRIO", [] { return true; },
      [] { return std::make_unique<RoboRioSimModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(5, 125);
-        return glass::MakeFunctionView(
+        return wpi::glass::MakeFunctionView(
            [=] { DisplayRoboRio(static_cast<RoboRioSimModel*>(model)); });
      });
 }
--- a/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/SimDeviceGui.cpp
@@ -23,7 +23,7 @@ using namespace halsimgui;

 namespace {
 #define DEFINE_SIMVALUESOURCE(Type, TYPE, v_type)                          \
-  class Sim##Type##ValueSource : public glass::Type##Source {              \
+  class Sim##Type##ValueSource : public wpi::glass::Type##Source {              \
   public:                                                                 \
    explicit Sim##Type##ValueSource(HAL_SimValueHandle handle,             \
                                    const char* device, const char* name)  \
@@ -51,7 +51,7 @@ namespace {
 DEFINE_SIMVALUESOURCE(Boolean, BOOLEAN, boolean)
 DEFINE_SIMVALUESOURCE(Double, DOUBLE, double)

-class SimIntegerValueSource : public glass::IntegerSource {
+class SimIntegerValueSource : public wpi::glass::IntegerSource {
 public:
  explicit SimIntegerValueSource(HAL_SimValueHandle handle, const char* device,
                                 const char* name)
@@ -80,17 +80,17 @@ class SimIntegerValueSource : public glass::IntegerSource {
  int32_t m_callback;
 };

-class SimDevicesModel : public glass::Model {
+class SimDevicesModel : public wpi::glass::Model {
 public:
  void Update() override;
  bool Exists() override { return true; }

-  glass::DataSource* GetSource(HAL_SimValueHandle handle) {
+  wpi::glass::DataSource* GetSource(HAL_SimValueHandle handle) {
    return m_sources[handle].get();
  }

 private:
-  wpi::DenseMap<HAL_SimValueHandle, std::unique_ptr<glass::DataSource>>
+  wpi::util::DenseMap<HAL_SimValueHandle, std::unique_ptr<wpi::glass::DataSource>>
      m_sources;
 };
 }  // namespace
@@ -150,7 +150,7 @@ static void DisplaySimValue(const char* name, void* data,
  switch (value->type) {
    case HAL_BOOLEAN: {
      bool v = value->data.v_boolean;
-      if (glass::DeviceBoolean(name, direction == HAL_SimValueOutput, &v,
+      if (wpi::glass::DeviceBoolean(name, direction == HAL_SimValueOutput, &v,
                               model->GetSource(handle))) {
        valueCopy.data.v_boolean = v ? 1 : 0;
        HAL_SetSimValue(handle, valueCopy);
@@ -158,7 +158,7 @@ static void DisplaySimValue(const char* name, void* data,
      break;
    }
    case HAL_DOUBLE:
-      if (glass::DeviceDouble(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceDouble(name, direction == HAL_SimValueOutput,
                              &valueCopy.data.v_double,
                              model->GetSource(handle))) {
        HAL_SetSimValue(handle, valueCopy);
@@ -167,7 +167,7 @@ static void DisplaySimValue(const char* name, void* data,
    case HAL_ENUM: {
      int32_t numOptions = 0;
      const char** options = HALSIM_GetSimValueEnumOptions(handle, &numOptions);
-      if (glass::DeviceEnum(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceEnum(name, direction == HAL_SimValueOutput,
                            &valueCopy.data.v_enum, options, numOptions,
                            model->GetSource(handle))) {
        HAL_SetSimValue(handle, valueCopy);
@@ -175,13 +175,13 @@ static void DisplaySimValue(const char* name, void* data,
      break;
    }
    case HAL_INT:
-      if (glass::DeviceInt(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceInt(name, direction == HAL_SimValueOutput,
                           &valueCopy.data.v_int, model->GetSource(handle))) {
        HAL_SetSimValue(handle, valueCopy);
      }
      break;
    case HAL_LONG:
-      if (glass::DeviceLong(name, direction == HAL_SimValueOutput,
+      if (wpi::glass::DeviceLong(name, direction == HAL_SimValueOutput,
                            &valueCopy.data.v_long, model->GetSource(handle))) {
        HAL_SetSimValue(handle, valueCopy);
      }
@@ -197,49 +197,49 @@ static void DisplaySimDevice(const char* name, void* data,
  if (!gSimDevicesShowPrefix) {
    // only show "Foo" portion of "Accel:Foo"
    std::string_view type;
-    std::tie(type, id) = wpi::split(id, ':');
+    std::tie(type, id) = wpi::util::split(id, ':');
    if (id.empty()) {
      id = type;
    }
  }
-  if (glass::BeginDevice(id.data())) {
+  if (wpi::glass::BeginDevice(id.data())) {
    HALSIM_EnumerateSimValues(handle, data, DisplaySimValue);
-    glass::EndDevice();
+    wpi::glass::EndDevice();
  }
 }

 void SimDeviceGui::Initialize() {
  HALSimGui::halProvider->Register(
      "Other Devices", [] { return true; },
-      [] { return std::make_unique<glass::DeviceTreeModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [] { return std::make_unique<wpi::glass::DeviceTreeModel>(); },
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetDefaultPos(1025, 20);
        win->SetDefaultSize(250, 695);
        win->DisableRenamePopup();
-        return glass::MakeFunctionView([=] {
+        return wpi::glass::MakeFunctionView([=] {
          if (ImGui::BeginPopupContextItem()) {
            ImGui::Checkbox("Show prefix", &gSimDevicesShowPrefix);
            ImGui::EndPopup();
          }
-          static_cast<glass::DeviceTreeModel*>(model)->Display();
+          static_cast<wpi::glass::DeviceTreeModel*>(model)->Display();
        });
      });
  HALSimGui::halProvider->ShowDefault("Other Devices");

  auto model = std::make_unique<SimDevicesModel>();
  gSimDevicesModel = model.get();
-  GetDeviceTree().Add(std::move(model), [](glass::Model* model) {
+  GetDeviceTree().Add(std::move(model), [](wpi::glass::Model* model) {
    HALSIM_EnumerateSimDevices("", static_cast<SimDevicesModel*>(model),
                               DisplaySimDevice);
  });
 }

-glass::DataSource* SimDeviceGui::GetValueSource(HAL_SimValueHandle handle) {
+wpi::glass::DataSource* SimDeviceGui::GetValueSource(HAL_SimValueHandle handle) {
  return gSimDevicesModel->GetSource(handle);
 }

-glass::DeviceTreeModel& SimDeviceGui::GetDeviceTree() {
+wpi::glass::DeviceTreeModel& SimDeviceGui::GetDeviceTree() {
  static auto model = HALSimGui::halProvider->GetModel("Other Devices");
  assert(model);
-  return *static_cast<glass::DeviceTreeModel*>(model);
+  return *static_cast<wpi::glass::DeviceTreeModel*>(model);
 }
--- a/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp
@@ -21,7 +21,7 @@
 using namespace halsimgui;

 namespace {
-class TimingModel : public glass::Model {
+class TimingModel : public wpi::glass::Model {
 public:
  void Update() override {}
  bool Exists() override { return true; }
@@ -74,11 +74,11 @@ void TimingGui::Initialize() {
  HALSimGui::halProvider->Register(
      "Timing", [] { return true; },
      [] { return std::make_unique<TimingModel>(); },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->DisableRenamePopup();
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(5, 150);
-        return glass::MakeFunctionView(DisplayTiming);
+        return wpi::glass::MakeFunctionView(DisplayTiming);
      });
  HALSimGui::halProvider->ShowDefault("Timing");
 }
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -35,7 +35,7 @@ using namespace halsimgui;

 namespace gui = wpi::gui;

-static std::unique_ptr<glass::PlotProvider> gPlotProvider;
+static std::unique_ptr<wpi::glass::PlotProvider> gPlotProvider;

 extern "C" {
 #if defined(WIN32) || defined(_WIN32)
@@ -45,9 +45,9 @@ int HALSIM_InitExtension(void) {
  std::puts("Simulator GUI Initializing.");

  gui::CreateContext();
-  glass::CreateContext();
+  wpi::glass::CreateContext();

-  glass::SetStorageName("simgui");
+  wpi::glass::SetStorageName("simgui");

  gui::AddInit([] { ImGui::GetIO().ConfigDockingWithShift = true; });

@@ -66,12 +66,12 @@ int HALSIM_InitExtension(void) {
      reinterpret_cast<void*>((GetGuiContextFn)&gui::GetCurrentContext));
  HAL_RegisterExtension(
      HALSIMGUI_EXT_GETGLASSCONTEXT,
-      reinterpret_cast<void*>((GetGlassContextFn)&glass::GetCurrentContext));
+      reinterpret_cast<void*>((GetGlassContextFn)&wpi::glass::GetCurrentContext));

  HALSimGui::GlobalInit();
  DriverStationGui::GlobalInit();
-  gPlotProvider = std::make_unique<glass::PlotProvider>(
-      glass::GetStorageRoot().GetChild("Plot"));
+  gPlotProvider = std::make_unique<wpi::glass::PlotProvider>(
+      wpi::glass::GetStorageRoot().GetChild("Plot"));
  gPlotProvider->GlobalInit();

  // These need to initialize first
@@ -95,28 +95,28 @@ int HALSIM_InitExtension(void) {
        return PCMSimGui::PCMsAnyInitialized() || PHSimGui::PHsAnyInitialized();
      },
      [] {
-        return std::make_unique<glass::AllPneumaticControlsModel>(
+        return std::make_unique<wpi::glass::AllPneumaticControlsModel>(
            PCMSimGui::GetPCMsModel(), PHSimGui::GetPHsModel());
      });

  HALSimGui::halProvider->RegisterView(
      "Solenoids", "AllPneumaticControls",
-      [](glass::Model* model) {
+      [](wpi::glass::Model* model) {
        auto pneumaticModel =
-            static_cast<glass::AllPneumaticControlsModel*>(model);
+            static_cast<wpi::glass::AllPneumaticControlsModel*>(model);
        return PCMSimGui::PCMsAnySolenoids(pneumaticModel->pcms.get()) ||
               PHSimGui::PHsAnySolenoids(pneumaticModel->phs.get());
      },
-      [](glass::Window* win, glass::Model* model) {
+      [](wpi::glass::Window* win, wpi::glass::Model* model) {
        win->SetFlags(ImGuiWindowFlags_AlwaysAutoResize);
        win->SetDefaultPos(290, 20);
-        return glass::MakeFunctionView([=] {
+        return wpi::glass::MakeFunctionView([=] {
          auto pneumaticModel =
-              static_cast<glass::AllPneumaticControlsModel*>(model);
-          glass::DisplayPneumaticControlsSolenoids(
+              static_cast<wpi::glass::AllPneumaticControlsModel*>(model);
+          wpi::glass::DisplayPneumaticControlsSolenoids(
              pneumaticModel->pcms.get(),
              HALSimGui::halProvider->AreOutputsEnabled());
-          glass::DisplayPneumaticControlsSolenoids(
+          wpi::glass::DisplayPneumaticControlsSolenoids(
              pneumaticModel->phs.get(),
              HALSimGui::halProvider->AreOutputsEnabled());
        });
@@ -169,7 +169,7 @@ int HALSIM_InitExtension(void) {
      nullptr,
      [](void*) {
        gui::Main();
-        glass::DestroyContext();
+        wpi::glass::DestroyContext();
        gui::DestroyContext();
      },
      [](void*) { gui::Exit(); });