[bazel] MVP for building wpilibc + commands framework (#7231)

WORKSPACE

@@ -35,8 +35,8 @@ maven_install(
 # Download toolchains
 http_archive(
     name = "rules_bzlmodrio_toolchains",
-    sha256 = "2ef1cafce7f4fd4e909bb5de8b0dc771a934646afd55d5f100ff31f6b500df98",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2024-1.bcr1/rules_bzlmodRio_toolchains-2024-1.bcr1.tar.gz",
+    sha256 = "fe267e2af53c1def1e962700a9aeda9e8fdfa9fb46b72167c615ec0e25447dd6",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1/rules_bzlmodRio_toolchains-2025-1.tar.gz",
 )
 
 load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
@@ -71,6 +71,12 @@ register_toolchains(
     "@local_bullseye_64//:macos",
     "@local_bullseye_64//:linux",
     "@local_bullseye_64//:windows",
+    "@local_bookworm_32//:macos",
+    "@local_bookworm_32//:linux",
+    "@local_bookworm_32//:windows",
+    "@local_bookworm_64//:macos",
+    "@local_bookworm_64//:linux",
+    "@local_bookworm_64//:windows",
 )
 
 setup_legacy_setup_jdk_dependencies()
@@ -87,8 +93,8 @@ setup_legacy_bzlmodrio_ni_cpp_dependencies()
 
 http_archive(
     name = "bzlmodrio-opencv",
-    sha256 = "5314cce05b49451a46bf3e3140fc401342e53d5f3357612ed4473e59bb616cba",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2024.4.8.0-4.bcr1/bzlmodRio-opencv-2024.4.8.0-4.bcr1.tar.gz",
+    sha256 = "4f4a607956ca8555618736c3058dd96e09d02df19e95088c1e352d2319fd70c7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-2/bzlmodRio-opencv-2025.4.10.0-2.tar.gz",
 )
 
 load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
@@ -98,3 +104,16 @@ setup_legacy_bzlmodrio_opencv_cpp_dependencies()
 load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
 
 setup_legacy_bzlmodrio_opencv_java_dependencies()
+
+http_archive(
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
+)
+
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
+)
+
+apple_support_dependencies()

apriltag/BUILD.bazel

@@ -0,0 +1,112 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+
+cc_library(
+    name = "thirdparty-apriltag",
+    srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
+    hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
+    copts = select({
+        "@bazel_tools//src/conditions:darwin": [
+            "-Wno-format-nonliteral",
+            "-Wno-gnu-zero-variadic-macro-arguments",
+            "-Wno-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+        "@bazel_tools//src/conditions:windows": [
+            "/wd4005",
+            "/wd4018",
+            "/wd4244",
+            "/wd4267",
+            "/wd4996",
+        ],
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [
+            "-Wno-format-nonliteral",
+            "-Wno-maybe-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+    }),
+    includes = ["src/main/native/thirdparty/apriltag/include/common"],
+    strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
+    visibility = ["//visibility:public"],
+)
+
+generate_resources(
+    name = "generate-resources",
+    namespace = "frc",
+    prefix = "APRILTAG",
+    resource_files = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "apriltag.static",
+    srcs = [":generate-resources"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    defines = ["WPILIB_EXPORTS"],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":thirdparty-apriltag",
+        "//wpimath:wpimath.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+java_library(
+    name = "apriltag-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    resource_strip_prefix = "apriltag/src/main/native/resources",
+    resources = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
+        "@maven//:com_fasterxml_jackson_core_jackson_core",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
+cc_test(
+    name = "apriltag-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    tags = [
+        "no-asan",
+    ],
+    deps = [
+        ":apriltag.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":apriltag.static",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/apriltag/DevMain.java"],
+    main_class = "edu.wpi.first.apriltag.DevMain",
+    deps = [
+        ":apriltag-java",
+    ],
+)
+
+py_binary(
+    name = "convert_apriltag_layouts",
+    srcs = ["convert_apriltag_layouts.py"],
+    tags = ["manual"],
+)

cameraserver/BUILD.bazel

@@ -1,6 +1,22 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary")
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 
+cc_library(
+    name = "cameraserver.static",
+    srcs = glob(["src/main/native/cpp/**"]),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    includes = [
+        "cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore.static",
+        "//ntcore:ntcore.static",
+    ],
+)
+
 java_library(
     name = "cameraserver-java",
     srcs = glob(["src/main/java/**/*.java"]),
@@ -16,10 +32,21 @@ java_library(
     ],
 )
 
+cc_test(
+    name = "cameraserver-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**"]),
+    deps = [
+        ":cameraserver.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
     deps = [
+        ":cameraserver.static",
     ],
 )
 

cscore/BUILD.bazel

@@ -1,5 +1,76 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 
+WIN_SRCS = glob([
+    "src/main/native/windows/**/*.cpp",
+    "src/main/native/windows/**/*.h",
+])
+
+LINUX_SRCS = glob([
+    "src/main/native/linux/**/*.cpp",
+    "src/main/native/linux/**/*.h",
+])
+
+MAC_SRCS = glob(["src/main/native/osx/**/*.cpp"])
+
+filegroup(
+    name = "native-srcs",
+    srcs = select({
+        "@bazel_tools//src/conditions:darwin": MAC_SRCS,
+        "@bazel_tools//src/conditions:windows": WIN_SRCS,
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SRCS,
+    }),
+)
+
+objc_library(
+    name = "cscore-mac",
+    srcs = glob([
+        "src/main/native/objcpp/**/*.mm",
+        "src/main/native/cpp/*.h",
+    ]),
+    hdrs = glob([
+        "src/main/native/include/**/*",
+        "src/main/native/objcpp/**/*.h",
+    ]),
+    copts = [
+        "-std=c++20",
+    ],
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+        "src/main/native/objcpp",
+    ],
+    tags = ["manual"],
+    deps = [
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
+    ],
+)
+
+cc_library(
+    name = "cscore.static",
+    srcs = [":native-srcs"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
+    ] + select({
+        "@bazel_tools//src/conditions:darwin": [":cscore-mac"],
+        "//conditions:default": [],
+    }),
+)
+
 java_library(
     name = "cscore-java",
     srcs = glob(["src/main/java/**/*.java"]),
@@ -10,6 +81,24 @@ java_library(
     ],
 )
 
+cc_test(
+    name = "cscore-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**"]),
+    deps = [
+        ":cscore.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":cscore.static",
+    ],
+)
+
 java_binary(
     name = "DevMain-Java",
     srcs = ["src/dev/java/edu/wpi/first/cscore/DevMain.java"],

epilogue-processor/BUILD.bazel

@@ -0,0 +1,22 @@
+load("@rules_java//java:defs.bzl", "java_library", "java_plugin")
+
+java_library(
+    name = "processor",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    runtime_deps = [
+        "//wpilibNewCommands:wpilibNewCommands-java",
+    ],
+    deps = [
+        "//epilogue-runtime:epilogue",
+    ],
+)
+
+java_plugin(
+    name = "plugin",
+    processor_class = "edu.wpi.first.epilogue.processor.AnnotationProcessor",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":processor",
+    ],
+)

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/LoggerGenerator.java

@@ -43,6 +43,8 @@ public class LoggerGenerator {
       LoggerGenerator::isBuiltInJavaMethod;
   private final ProcessingEnvironment m_processingEnv;
   private final List<ElementHandler> m_handlers;
+
+  @SuppressWarnings("BadAnnotationImplementation")
   private final Logged m_defaultConfig =
       new Logged() {
         @Override

epilogue-runtime/BUILD.bazel

@@ -0,0 +1,12 @@
+load("@rules_java//java:defs.bzl", "java_library")
+
+java_library(
+    name = "epilogue",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//ntcore:networktables-java",
+        "//wpiunits",
+        "//wpiutil:wpiutil-java",
+    ],
+)

fieldImages/BUILD.bazel

@@ -0,0 +1,31 @@
+load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_java//java:defs.bzl", "java_library")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+
+generate_resources(
+    name = "generate-resources",
+    namespace = "fields",
+    prefix = "FIELDS",
+    resource_files = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "fieldImages",
+    srcs = [":generate-resources"] + glob(["src/main/native/cpp/**"]),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+)
+
+java_library(
+    name = "fieldImages-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    resource_strip_prefix = "fieldImages/src/main/native/resources",
+    resources = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)

romiVendordep/BUILD.bazel

@@ -0,0 +1,53 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+
+cc_library(
+    name = "romi-cpp.static",
+    srcs = glob([
+        "src/main/native/cpp/**",
+    ]),
+    hdrs = glob(["src/main/native/include/**"]),
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpilibc:wpilibc.static",
+    ],
+)
+
+java_library(
+    name = "romi-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//hal:hal-java",
+        "//wpilibj",
+    ],
+)
+
+cc_test(
+    name = "romi-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    deps = [
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":romi-cpp.static",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java"],
+    main_class = "edu.wpi.first.wpilibj.romi.DevMain",
+    deps = [
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)

shared/bazel/compiler_flags/osx_flags.rc

@@ -42,3 +42,6 @@ build:macos --linkopt=-Wl,-rpath,'@loader_path'"
 
 # Things not in nativetools
 build:macos --copt=-Wno-shorten-64-to-32
+
+build:macos --host_per_file_copt=external/zlib/.*\.c@-Wno-deprecated-non-prototype
+build:macos --host_per_file_copt=external/com_google_protobuf/.*\.cc@-Wno-unused-function

shared/bazel/compiler_flags/roborio_flags.rc

@@ -14,3 +14,5 @@ build:roborio --cxxopt=-Wno-error=deprecated-declarations
 
 # Extra 11
 build:roborio --cxxopt=-Wno-error=deprecated-enum-enum-conversion
+
+build:roborio --host_per_file_copt=external/zlib/.*\.c@-Wno-deprecated-non-prototype

wpilibNewCommands/BUILD.bazel

@@ -0,0 +1,87 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+
+cc_library(
+    name = "generated_cc_headers",
+    hdrs = glob(["src/generated/main/native/include/**"]),
+    includes = ["src/generated/main/native/include"],
+    strip_include_prefix = "src/generated/main/native/include",
+    visibility = ["//wpilibNewCommands:__subpackages__"],
+)
+
+filegroup(
+    name = "generated_cc_source",
+    srcs = glob(["src/generated/main/native/cpp/**"]),
+    visibility = ["//wpilibNewCommands:__subpackages__"],
+)
+
+filegroup(
+    name = "generated_java",
+    srcs = glob(["src/generated/main/java/**/*.java"]),
+    visibility = ["//wpilibNewCommands:__subpackages__"],
+)
+
+cc_library(
+    name = "wpilibNewCommands.static",
+    srcs = glob(["src/main/native/cpp/**"]) + [":generated_cc_source"],
+    hdrs = glob(["src/main/native/include/**"]),
+    includes = ["src/main/native/include"],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":generated_cc_headers",
+        "//wpilibc:wpilibc.static",
+    ],
+)
+
+java_library(
+    name = "wpilibNewCommands-java",
+    srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore-java",
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpilibj",
+        "//wpimath:wpimath-java",
+        "//wpinet:wpinet-java",
+        "//wpiunits",
+        "//wpiutil:wpiutil-java",
+    ],
+)
+
+cc_test(
+    name = "wpilibNewCommands-cpp-test",
+    size = "small",
+    srcs = glob([
+        "src/test/native/**/*.cpp",
+        "src/test/native/**/*.h",
+    ]),
+    tags = [
+        "no-tsan",
+        "no-ubsan",
+    ],
+    deps = [
+        ":wpilibNewCommands.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/wpilibj2/commands/DevMain.java"],
+    main_class = "edu.wpi.first.wpilibj2.commands.DevMain",
+    deps = [
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)

wpilibc/BUILD.bazel

@@ -0,0 +1,80 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
+
+generate_version_file(
+    name = "generate-version",
+    output_file = "WPILibVersion.cpp",
+    template = "src/generate/WPILibVersion.cpp.in",
+    visibility = ["//wpilibc:__subpackages__"],
+)
+
+cc_library(
+    name = "generated_cc_headers",
+    hdrs = glob(["src/generated/main/native/include/**"]),
+    includes = ["src/generated/main/native/include"],
+    strip_include_prefix = "src/generated/main/native/include",
+    visibility = ["//wpilibc:__subpackages__"],
+)
+
+filegroup(
+    name = "generated_cc_source",
+    srcs = glob(
+        ["src/generated/main/native/cpp/**"],
+        exclude = ["src/generated/main/native/cpp/jni/**"],
+    ),
+    visibility = ["//wpilibc:__subpackages__"],
+)
+
+cc_library(
+    name = "wpilibc.static",
+    srcs = [
+        ":generate-version",
+    ] + glob([
+        "src/main/native/cppcs/**",
+        "src/main/native/cpp/**",
+    ]) + [":generated_cc_source"],
+    hdrs = glob(["src/main/native/include/**"]),
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":generated_cc_headers",
+        "//cameraserver:cameraserver.static",
+        "//cscore:cscore.static",
+        "//hal:wpiHal.static",
+        "//ntcore:ntcore.static",
+        "//wpimath:wpimath.static",
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+cc_library(
+    name = "test-headers",
+    testonly = True,
+    hdrs = glob(["src/test/native/include/**"]),
+    includes = ["src/test/native/include"],
+)
+
+cc_test(
+    name = "wpilibc-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    tags = [
+        "no-asan",
+        "no-tsan",
+        "no-ubsan",
+    ],
+    deps = [
+        ":test-headers",
+        ":wpilibc.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":wpilibc.static",
+    ],
+)

wpilibcIntegrationTests/BUILD.bazel

@@ -0,0 +1,24 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
+
+ATHENA_SOURCES = glob(["src/main/native/cpp/**"])
+
+NON_ATHENA_SOURCES = glob(["src/main/native/dt/**"])
+
+cc_library(
+    name = "test_headers",
+    hdrs = glob(["src/main/native/include/**"]),
+    strip_include_prefix = "src/main/native/include",
+)
+
+cc_binary(
+    name = "wpilibcIntegrationTests",
+    srcs = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ATHENA_SOURCES,
+        "//conditions:default": NON_ATHENA_SOURCES,
+    }),
+    deps = [
+        ":test_headers",
+        "//thirdparty/googletest:googletest.static",
+        "//wpilibc:wpilibc.static",
+    ],
+)

wpimath/BUILD.bazel

@@ -1,3 +1,4 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 load("@rules_python//python:defs.bzl", "py_binary")
 
@@ -7,6 +8,76 @@ filegroup(
     visibility = ["//wpimath:__subpackages__"],
 )
 
+cc_library(
+    name = "eigen-headers",
+    hdrs = glob([
+        "src/main/native/thirdparty/eigen/include/**",
+    ]),
+    includes = ["src/main/native/thirdparty/eigen/include"],
+    strip_include_prefix = "src/main/native/thirdparty/eigen/include",
+    visibility = ["//wpimath:__subpackages__"],
+)
+
+cc_library(
+    name = "gcem",
+    hdrs = glob([
+        "src/main/native/thirdparty/gcem/include/**",
+    ]),
+    includes = ["src/main/native/thirdparty/gcem/include"],
+    strip_include_prefix = "src/main/native/thirdparty/gcem/include",
+    visibility = ["//wpimath:__subpackages__"],
+)
+
+cc_library(
+    name = "sleipnir-headers",
+    hdrs = glob([
+        "src/main/native/thirdparty/sleipnir/include/**/*.hpp",
+    ]),
+    includes = ["src/main/native/thirdparty/sleipnir/include"],
+    strip_include_prefix = "src/main/native/thirdparty/sleipnir/include",
+    visibility = ["//wpimath:__subpackages__"],
+)
+
+filegroup(
+    name = "sleipnir-srcs",
+    srcs = glob(["src/main/native/thirdparty/sleipnir/src/**"]),
+    visibility = ["//wpimath:__subpackages__"],
+)
+
+cc_library(
+    name = "nanopb-generated-headers",
+    hdrs = glob(["src/generated/main/native/cpp/**/*.h"]),
+    includes = ["src/generated/main/native/cpp"],
+    strip_include_prefix = "src/generated/main/native/cpp",
+    visibility = ["//wpiutil:__subpackages__"],
+)
+
+cc_library(
+    name = "wpimath.static",
+    srcs = glob(
+        [
+            "src/main/native/cpp/**",
+            "src/generated/main/native/cpp/**/*.cpp",
+        ],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ) + [":sleipnir-srcs"],
+    hdrs = glob(["src/main/native/include/**"]),
+    defines = ["WPILIB_EXPORTS"],
+    includes = [
+        "src/main/native/include",
+        "src/main/native/thirdparty/sleipnir/src",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":eigen-headers",
+        ":gcem",
+        ":nanopb-generated-headers",
+        ":sleipnir-headers",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
 java_library(
     name = "wpimath-java",
     srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
@@ -24,6 +95,40 @@ java_library(
     ],
 )
 
+cc_library(
+    name = "test_headers",
+    hdrs = glob([
+        "src/test/native/include/**",
+    ]),
+    strip_include_prefix = "src/test/native/include",
+)
+
+cc_test(
+    name = "wpimath-cpp-test",
+    size = "small",
+    srcs = glob([
+        "src/test/native/cpp/**/*.cpp",
+        "src/test/native/cpp/**/*.h",
+    ]),
+    tags = [
+        "no-bullseye",
+        "no-raspi",
+    ],
+    deps = [
+        ":test_headers",
+        ":wpimath.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":wpimath.static",
+    ],
+)
+
 java_binary(
     name = "DevMain-Java",
     srcs = ["src/dev/java/edu/wpi/first/math/DevMain.java"],

wpiutil/BUILD.bazel

@@ -197,9 +197,9 @@ cc_library(
         ":llvm-srcs",
         ":memory-srcs",
         ":mpack-srcs",
+        ":nanopb-srcs",
         ":native-srcs",
         ":protobuf-srcs",
-        ":nanopb-srcs",
     ],
     hdrs = glob(["src/main/native/include/**/*"]),
     includes = ["src/main/native/include"],
@@ -215,8 +215,8 @@ cc_library(
         ":llvm-headers",
         ":memory-headers",
         ":mpack-headers",
-        ":protobuf-headers",
         ":nanopb-headers",
+        ":protobuf-headers",
         ":sigslot-headers",
     ] + select({
         "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@bzlmodrio-ni//libraries/cpp/ni:shared"],

xrpVendordep/BUILD.bazel

@@ -0,0 +1,54 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+
+cc_library(
+    name = "xrp-cpp",
+    srcs = glob([
+        "src/main/native/cpp/**",
+    ]),
+    hdrs = glob(["src/main/native/include/**"]),
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpilibc:wpilibc.static",
+    ],
+)
+
+java_library(
+    name = "xrp-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//hal:hal-java",
+        "//wpilibj",
+        "//wpimath:wpimath-java",
+    ],
+)
+
+cc_test(
+    name = "xrp-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    deps = [
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/wpilibj/xrp/DevMain.java"],
+    main_class = "edu.wpi.first.wpilibj.xrp.DevMain",
+    deps = [
+        "//hal:hal-java",
+        "//ntcore:networktables-java",
+        "//wpiutil:wpiutil-java",
+    ],
+)