[bazel] Create better static libraries and add basic publishing (#8029)

2026-06-19 00:41:43 +00:00 · 2025-06-27 19:36:12 -04:00
parent 22b58c1853
commit e13d237390
38 changed files with 1445 additions and 216 deletions
--- a/.bazelrc
+++ b/.bazelrc
@@ -42,7 +42,7 @@ build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
 build:build_buddy --remote_timeout=3600

 # Additional suggestions from buildbuddy for speed
-build:build_buddy --experimental_remote_cache_compression
+build:build_buddy --remote_cache_compression
 build:build_buddy --experimental_remote_cache_compression_threshold=100
 build:build_buddy --noslim_profile
 build:build_buddy --experimental_profile_include_target_label
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -1,8 +1,9 @@
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")

-filegroup(
-    name = "license",
+pkg_files(
+    name = "license_pkg_files",
    srcs = [
        "LICENSE.md",
        "ThirdPartyNotices.txt",
--- a/apriltag/BUILD.bazel
+++ b/apriltag/BUILD.bazel
@@ -1,11 +1,20 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")

+pkg_files(
+    name = "thirdparty-apriltag-src-pkg",
+    srcs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
+    strip_prefix = "src/main/native/thirdparty/apriltag/include",
+)
+
 cc_library(
    name = "thirdparty-apriltag",
    srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
@@ -44,19 +53,33 @@ generate_resources(
 )

 wpilib_cc_library(
-    name = "apriltag.static",
+    name = "apriltag",
    srcs = [":generate-resources"] + glob(
        ["src/main/native/cpp/**"],
        exclude = ["src/main/native/cpp/jni/**"],
    ),
    hdrs = glob(["src/main/native/include/**/*"]),
    defines = ["WPILIB_EXPORTS"],
+    extra_hdr_pkg_files = [":thirdparty-apriltag-src-pkg"],
+    extra_src_pkg_files = [":apriltag-java-jni-hdrs-pkg"],
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
    deps = [
        ":thirdparty-apriltag",
-        "//wpimath:wpimath.static",
-        "//wpiutil:wpiutil.static",
+        "//wpimath",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/apriltag",
+    static_deps = [
+        "//wpimath:static/wpimath",
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag",
    ],
 )

@@ -66,7 +89,7 @@ wpilib_jni_cc_library(
    java_dep = ":apriltag-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":apriltag.static",
+        ":apriltag",
    ],
 )

@@ -87,6 +110,23 @@ wpilib_jni_java_library(
    ],
 )

+pkg_java_files(name = "apriltag-java-srcs")
+
+pkg_files(
+    name = "resources",
+    srcs = glob(["src/main/native/resources/**"]),
+    strip_prefix = "src/main/native/resources/",
+)
+
+pkg_zip(
+    name = "libapriltag-java-sources",
+    srcs = [
+        ":apriltag-java-srcs",
+        ":resources",
+    ],
+    out = "libapriltag-java-sources.jar",
+)
+
 cc_test(
    name = "apriltag-cpp-test",
    size = "small",
@@ -95,8 +135,8 @@ cc_test(
        "no-asan",
    ],
    deps = [
-        ":apriltag.static",
-        "//thirdparty/googletest:googletest.static",
+        ":apriltag",
+        "//thirdparty/googletest",
    ],
 )

@@ -118,7 +158,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":apriltag.static",
+        ":apriltag",
    ],
 )

--- a/cameraserver/BUILD.bazel
+++ b/cameraserver/BUILD.bazel
@@ -1,9 +1,9 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 wpilib_cc_library(
-    name = "cameraserver.static",
+    name = "cameraserver",
    srcs = glob(["src/main/native/cpp/**"]),
    hdrs = glob(["src/main/native/include/**/*"]),
    includes = [
@@ -13,11 +13,21 @@ wpilib_cc_library(
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
    deps = [
-        "//cscore:cscore.static",
-        "//ntcore:ntcore.static",
+        "//cscore",
+        "//ntcore",
    ],
 )

+wpilib_cc_static_library(
+    name = "static/cameraserver",
+    static_deps = [
+        "//cscore:static/cscore",
+        "//ntcore:static/ntcore",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":cameraserver"],
+)
+
 java_library(
    name = "cameraserver-java",
    srcs = glob(["src/main/java/**/*.java"]),
@@ -25,7 +35,7 @@ java_library(
    deps = [
        "//cscore:cscore-java",
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpimath:wpimath-java",
        "//wpinet:wpinet-java",
        "//wpiutil:wpiutil-java",
@@ -38,8 +48,8 @@ cc_test(
    size = "small",
    srcs = glob(["src/test/native/**"]),
    deps = [
-        ":cameraserver.static",
-        "//thirdparty/googletest:googletest.static",
+        ":cameraserver",
+        "//thirdparty/googletest",
    ],
 )

@@ -47,7 +57,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":cameraserver.static",
+        ":cameraserver",
    ],
 )

--- a/cameraserver/multiCameraServer/BUILD.bazel
+++ b/cameraserver/multiCameraServer/BUILD.bazel
@@ -8,7 +8,7 @@ java_binary(
        "//cameraserver:cameraserver-java",
        "//cscore:cscore-java",
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpimath:wpimath-java",
        "//wpiutil:wpiutil-java",
        "@maven//:com_google_code_gson_gson",
--- a/cscore/BUILD.bazel
+++ b/cscore/BUILD.bazel
@@ -1,6 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")
@@ -51,19 +51,22 @@ wpilib_objc_library(
        "IOKit",
    ],
    deps = [
-        "//wpinet:wpinet.static",
-        "//wpiutil:wpiutil.static",
+        "//wpinet",
+        "//wpiutil",
        "@bzlmodrio-opencv//libraries/cpp/opencv",
    ],
 )

 wpilib_cc_library(
-    name = "cscore.static",
+    name = "cscore",
    srcs = [":native-srcs"] + glob(
        ["src/main/native/cpp/**"],
        exclude = ["src/main/native/cpp/jni/**"],
    ),
    hdrs = glob(["src/main/native/include/**/*"]),
+    extra_src_pkg_files = [
+        ":cscore-java-jni-hdrs-pkg",
+    ],
    includes = [
        "src/main/native/cpp",
        "src/main/native/include",
@@ -71,8 +74,8 @@ wpilib_cc_library(
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
    deps = [
-        "//wpinet:wpinet.static",
-        "//wpiutil:wpiutil.static",
+        "//wpinet",
+        "//wpiutil",
        "@bzlmodrio-opencv//libraries/cpp/opencv",
    ] + select({
        "@bazel_tools//src/conditions:darwin": [":cscore-mac"],
@@ -80,13 +83,23 @@ wpilib_cc_library(
    }),
 )

+wpilib_cc_static_library(
+    name = "static/cscore",
+    static_deps = [
+        "//wpinet:static/wpinet",
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":cscore"],
+)
+
 wpilib_jni_cc_library(
    name = "cscorejni",
    srcs = glob(["src/main/native/cpp/jni/**"]),
    java_dep = ":cscore-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":cscore.static",
+        ":cscore",
    ],
 )

@@ -106,8 +119,8 @@ cc_test(
    size = "small",
    srcs = glob(["src/test/native/**"]),
    deps = [
-        ":cscore.static",
-        "//thirdparty/googletest:googletest.static",
+        ":cscore",
+        "//thirdparty/googletest",
    ],
 )

@@ -124,7 +137,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":cscore.static",
+        ":cscore",
    ],
 )

@@ -147,7 +160,7 @@ java_binary(
        "wpi-example",
    ],
    deps = [
-        "//cscore:cscore.static",
+        "//cscore",
        "//wpigui",
    ],
 ) for example in [
--- a/datalog/BUILD.bazel
+++ b/datalog/BUILD.bazel
@@ -1,17 +1,18 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")

 wpilib_cc_library(
-    name = "datalog.static",
+    name = "datalog",
    srcs = glob(
        ["src/main/native/cpp/**"],
        exclude = ["src/main/native/cpp/jni/**"],
    ),
    hdrs = glob(["src/main/native/include/**"]),
+    extra_src_pkg_files = [":datalog-java-jni-hdrs-pkg"],
    includes = [
        "src/main/native/cpp",
        "src/main/native/include",
@@ -19,17 +20,26 @@ wpilib_cc_library(
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
    deps = [
-        "//wpiutil:wpiutil.static",
+        "//wpiutil",
    ],
 )

+wpilib_cc_static_library(
+    name = "static/datalog",
+    static_deps = [
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":datalog"],
+)
+
 wpilib_jni_cc_library(
    name = "datalogjni",
    srcs = glob(["src/main/native/cpp/jni/**"]),
    java_dep = ":datalog-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":datalog.static",
+        ":datalog",
    ],
 )

@@ -45,8 +55,9 @@ wpilib_jni_java_library(
 )

 py_binary(
-    name = "datalog",
+    name = "datalog_example",
    srcs = ["examples/printlog/datalog.py"],
+    main = "examples/printlog/datalog.py",
    target_compatible_with = select({
        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
        "//conditions:default": [],
@@ -57,8 +68,8 @@ cc_binary(
    name = "printlog",
    srcs = ["examples/printlog/printlog.cpp"],
    deps = [
-        ":datalog.static",
-        "//wpiutil:wpiutil.static",
+        ":datalog",
+        "//wpiutil",
    ],
 )

@@ -66,8 +77,8 @@ cc_binary(
    name = "writelog",
    srcs = ["examples/writelog/writelog.cpp"],
    deps = [
-        ":datalog.static",
-        "//wpiutil:wpiutil.static",
+        ":datalog",
+        "//wpiutil",
    ],
 )

@@ -90,8 +101,8 @@ cc_test(
        "no-tsan",
    ],
    deps = [
-        ":datalog.static",
-        "//thirdparty/googletest:googletest.static",
+        ":datalog",
+        "//thirdparty/googletest",
        "//wpiutil:wpiutil-testlib",
    ],
 )
--- a/datalogtool/BUILD.bazel
+++ b/datalogtool/BUILD.bazel
@@ -50,7 +50,7 @@ cc_binary(
        "//conditions:default": [],
    }),
    deps = [
-        "//datalog:datalog.static",
+        "//datalog",
        "//glass:libglass",
        "@bzlmodrio-libssh//libraries/cpp/libssh",
    ],
--- a/epilogue-processor/BUILD.bazel
+++ b/epilogue-processor/BUILD.bazel
@@ -1,24 +1,46 @@
 load("@rules_java//java:defs.bzl", "java_library", "java_plugin")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")

 java_library(
-    name = "processor",
+    name = "processor-java",
    srcs = glob(["src/main/java/**/*.java"]),
+    resource_strip_prefix = "epilogue-processor/src/main/resources/",
+    resources = glob(["src/main/resources/**"]),
    visibility = ["//visibility:public"],
    runtime_deps = [
        "//wpilibNewCommands:wpilibNewCommands-java",
    ],
    deps = [
-        "//epilogue-runtime:epilogue",
+        "//epilogue-runtime:epilogue-java",
    ],
 )

+pkg_java_files(name = "epilogue-processor-java-srcs")
+
+pkg_files(
+    name = "resources",
+    srcs = glob(["src/main/resources/**"]),
+    strip_prefix = "src/main/resources/",
+)
+
+pkg_zip(
+    name = "libepilogue-processor-java-sources",
+    srcs = [
+        ":epilogue-processor-java-srcs",
+        ":resources",
+    ],
+    out = "libepilogue-processor-java-sources.jar",
+)
+
 java_plugin(
    name = "plugin",
    processor_class = "edu.wpi.first.epilogue.processor.AnnotationProcessor",
    visibility = ["//visibility:public"],
    deps = [
-        ":processor",
+        ":processor-java",
    ],
 )

@@ -29,7 +51,7 @@ wpilib_java_junit5_test(
        ":plugin",
    ],
    deps = [
-        ":processor",
+        ":processor-java",
        "@maven//:com_google_testing_compile_compile_testing",
    ],
 )
--- a/epilogue-runtime/BUILD.bazel
+++ b/epilogue-runtime/BUILD.bazel
@@ -2,13 +2,13 @@ load("@rules_java//java:defs.bzl", "java_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")

 java_library(
-    name = "epilogue",
+    name = "epilogue-java",
    srcs = glob(["src/main/java/**/*.java"]),
    visibility = ["//visibility:public"],
    deps = [
        "//datalog:datalog-java",
-        "//ntcore:networktables-java",
-        "//wpiunits",
+        "//ntcore:ntcore-java",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
    ],
 )
@@ -17,7 +17,7 @@ wpilib_java_junit5_test(
    name = "epilogue-test",
    srcs = glob(["src/test/java/**/*.java"]),
    deps = [
-        ":epilogue",
+        ":epilogue-java",
        "//wpiutil:wpiutil-java",
    ],
 )
--- a/fieldImages/BUILD.bazel
+++ b/fieldImages/BUILD.bazel
@@ -1,6 +1,9 @@
 load("@rules_java//java:defs.bzl", "java_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")

 generate_resources(
@@ -14,10 +17,23 @@ wpilib_cc_library(
    name = "fieldImages",
    srcs = [":generate-resources"] + glob(["src/main/native/cpp/**"]),
    hdrs = glob(["src/main/native/include/**/*"]),
+    include_license_files = True,
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
 )

+wpilib_cc_static_library(
+    name = "static/fieldImages",
+    static_lib_name = select({
+        "@bazel_tools//src/conditions:windows": "static/fieldImages.lib",
+        "//conditions:default": "static/libfieldImages.a",
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":fieldImages",
+    ],
+)
+
 java_library(
    name = "fieldImages-java",
    srcs = glob(["src/main/java/**/*.java"]),
@@ -30,6 +46,23 @@ java_library(
    ],
 )

+pkg_java_files(name = "fieldImages-java-srcs")
+
+pkg_files(
+    name = "resources",
+    srcs = glob(["src/main/native/resources/**"]),
+    strip_prefix = "src/main/native/resources/",
+)
+
+pkg_zip(
+    name = "libfieldImages-java-sources",
+    srcs = [
+        ":fieldImages-java-srcs",
+        ":resources",
+    ],
+    out = "libfieldImages-java-sources.jar",
+)
+
 wpilib_java_junit5_test(
    name = "fieldImages-test",
    srcs = glob(["src/test/java/**/*.java"]),
--- a/glass/BUILD.bazel
+++ b/glass/BUILD.bazel
@@ -1,5 +1,5 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")

@@ -7,6 +7,9 @@ wpilib_cc_library(
    name = "libglass",
    srcs = glob(["src/lib/native/cpp/**/*.cpp"]),
    hdrs = glob(["src/lib/native/include/**"]),
+    hdrs_pkg_root = "src/lib/native/include",
+    include_license_files = True,
+    srcs_pkg_root = "src/lib/native/cpp",
    strip_include_prefix = "src/lib/native/include",
    tags = [
        "wpi-cpp-gui",
@@ -15,8 +18,22 @@ wpilib_cc_library(
    deps = [
        "//fieldImages",
        "//wpigui",
-        "//wpimath:wpimath.static",
-        "//wpiutil:wpiutil.static",
+        "//wpimath",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/glass",
+    static_deps = [
+        "//wpigui:static/wpigui",
+        "//wpimath:static/wpimath",
+        "//wpiutil:static/wpiutil",
+        "//fieldImages:static/fieldImages",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":libglass",
    ],
 )

@@ -24,6 +41,9 @@ wpilib_cc_library(
    name = "libglassnt",
    srcs = glob(["src/libnt/native/cpp/*.cpp"]),
    hdrs = glob(["src/libnt/native/include/**/*.h"]),
+    hdrs_pkg_root = "src/libnt/native/include",
+    include_license_files = True,
+    srcs_pkg_root = "src/libnt/native/cpp",
    strip_include_prefix = "src/libnt/native/include",
    tags = [
        "wpi-cpp-gui",
@@ -31,7 +51,19 @@ wpilib_cc_library(
    visibility = ["//visibility:public"],
    deps = [
        ":libglass",
-        "//ntcore:ntcore.static",
+        "//ntcore",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/glassnt",
+    static_deps = [
+        ":static/glass",
+        "//ntcore:static/ntcore",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":libglassnt",
    ],
 )

--- a/hal/BUILD.bazel
+++ b/hal/BUILD.bazel
@@ -1,9 +1,10 @@
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("//hal:generate.bzl", "generate_hal")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")

@@ -47,6 +48,8 @@ cc_library(
    hdrs = glob(["src/generated/main/native/cpp/mrc/protobuf/*.npb.h"]),
    includes = ["src/generated/main/native/cpp/mrc/protobuf"],
    strip_include_prefix = "src/generated/main/native/cpp/mrc/protobuf",
+    visibility = ["//hal:__subpackages__"],
+    alwayslink = True,
 )

 SYSTEMCORE_SRCS = glob(["src/main/native/systemcore/**"])
@@ -61,8 +64,20 @@ filegroup(
    }),
 )

+pkg_files(
+    name = "hal-sim-pkg",
+    srcs = glob(["src/main/native/sim/**"]),
+    strip_prefix = "src/main/native",
+)
+
+pkg_files(
+    name = "hal-systemcore-pkg",
+    srcs = glob(["src/main/native/systemcore/**"]),
+    strip_prefix = "src/main/native",
+)
+
 wpilib_cc_library(
-    name = "wpiHal.static",
+    name = "wpiHal",
    srcs = [":platform-srcs"] + glob(
        [
            "src/main/native/cpp/**",
@@ -71,6 +86,11 @@ wpilib_cc_library(
        exclude = ["src/main/native/cpp/jni/**"],
    ),
    hdrs = glob(["src/main/native/include/**/*"]),
+    extra_src_pkg_files = [
+        ":hal-sim-pkg",
+        ":hal-systemcore-pkg",
+        ":hal-java-jni-hdrs-pkg",
+    ],
    includes = ["src/main/native/include"],
    strip_include_prefix = "src/main/native/include",
    third_party_header_only_libraries = [
@@ -79,9 +99,32 @@ wpilib_cc_library(
    visibility = ["//visibility:public"],
    deps = [
        ":generated_mrc_cc_headers",
-        "//ntcore:ntcore.static",
-        "//wpinet:wpinet.static",
-        "//wpiutil:wpiutil.static",
+        "//wpiutil",
+    ] + select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": [
+            "//ntcore",
+            "//wpinet",
+        ],
+        "//conditions:default": [
+            "//ntcore:ntcore_c_headers",
+        ],
+    }),
+)
+
+wpilib_cc_static_library(
+    name = "static/wpiHal",
+    static_deps = [
+        "//wpiutil:static/wpiutil",
+    ] + select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": [
+            "//ntcore:static/ntcore",
+            "//wpinet:static/wpinet",
+        ],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpiHal",
    ],
 )

@@ -91,7 +134,7 @@ wpilib_jni_cc_library(
    java_dep = ":hal-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":wpiHal.static",
+        ":wpiHal",
    ],
 )

@@ -101,7 +144,7 @@ wpilib_jni_java_library(
    native_libs = [":wpiHaljni"],
    visibility = ["//visibility:public"],
    deps = [
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpinet:wpinet-java",
        "//wpiutil:wpiutil-java",
    ],
@@ -112,8 +155,8 @@ cc_test(
    size = "small",
    srcs = glob(["src/test/native/**/*.cpp"]),
    deps = [
-        ":wpiHal.static",
-        "//thirdparty/googletest:googletest.static",
+        ":wpiHal",
+        "//thirdparty/googletest",
    ],
 )

@@ -129,7 +172,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":wpiHal.static",
+        ":wpiHal",
    ],
 )

--- a/ntcore/BUILD.bazel
+++ b/ntcore/BUILD.bazel
@@ -1,12 +1,14 @@
 load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
-load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("//ntcore:generate_ntcore.bzl", "generate_ntcore")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")

 generate_ntcore(
    name = "generate_ntcore",
@@ -57,15 +59,32 @@ filegroup(
 filegroup(
    name = "generated_java",
    srcs = glob(["src/generated/main/java/**/*.java"]),
+    visibility = ["//ntcore:__subpackages__"],
+)
+
+cc_library(
+    name = "ntcore_c_headers",
+    hdrs = [
+        "src/generated/main/native/include/ntcore_c_types.h",
+        "src/main/native/include/ntcore_c.h",
+    ],
+    includes = [
+        "src/generated/main/native/include",
+        "src/main/native/include",
+    ],
+    visibility = ["//visibility:public"],
 )

 wpilib_cc_library(
-    name = "ntcore.static",
+    name = "ntcore",
    srcs = glob(
        ["src/main/native/cpp/**"],
        exclude = ["src/main/native/cpp/jni/**"],
    ),
    hdrs = glob(["src/main/native/include/**/*"]),
+    extra_src_pkg_files = [
+        ":ntcore-java-jni-hdrs-pkg",
+    ],
    includes = [
        "src/main/native/cpp",
        "src/main/native/include",
@@ -76,24 +95,37 @@ wpilib_cc_library(
    ],
    visibility = ["//visibility:public"],
    deps = [
-        "//datalog:datalog.static",
-        "//wpinet:wpinet.static",
-        "//wpiutil:wpiutil.static",
+        "//datalog",
+        "//wpinet",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/ntcore",
+    static_deps = [
+        "//datalog:static/datalog",
+        "//wpinet:static/wpinet",
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":ntcore",
    ],
 )

 wpilib_jni_cc_library(
    name = "ntcorejni",
    srcs = glob(["src/main/native/cpp/jni/**"]) + [":generated_jni"],
-    java_dep = ":networktables-java",
+    java_dep = ":ntcore-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":ntcore.static",
+        ":ntcore",
    ],
 )

 wpilib_jni_java_library(
-    name = "networktables-java",
+    name = "ntcore-java",
    srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
    native_libs = [":ntcorejni"],
    visibility = ["//visibility:public"],
@@ -104,6 +136,14 @@ wpilib_jni_java_library(
    ],
 )

+pkg_java_files(name = "ntcore-java-srcs")
+
+pkg_zip(
+    name = "libntcore-java-sources",
+    srcs = [":ntcore-java-srcs"],
+    out = "libntcore-java-sources.jar",
+)
+
 cc_test(
    name = "ntcore-cpp-test",
    size = "small",
@@ -117,8 +157,8 @@ cc_test(
        "no-tsan",
    ],
    deps = [
-        ":ntcore.static",
-        "//thirdparty/googletest:googletest.static",
+        ":ntcore",
+        "//thirdparty/googletest",
        "//wpiutil:wpiutil-testlib",
    ],
 )
@@ -128,7 +168,7 @@ wpilib_java_junit5_test(
    srcs = glob(["src/test/java/**/*.java"]),
    tags = ["exclusive"],
    deps = [
-        ":networktables-java",
+        ":ntcore-java",
        "//wpiutil:wpiutil-java",
    ],
 )
@@ -137,7 +177,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":ntcore.static",
+        ":ntcore",
    ],
 )

@@ -146,7 +186,7 @@ java_binary(
    srcs = ["src/dev/java/edu/wpi/first/ntcore/DevMain.java"],
    main_class = "edu.wpi.first.ntcore.DevMain",
    deps = [
-        "networktables-java",
+        "ntcore-java",
        "//wpiutil:wpiutil-java",
    ],
 )
--- a/romiVendordep/BUILD.bazel
+++ b/romiVendordep/BUILD.bazel
@@ -1,9 +1,9 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 wpilib_cc_library(
-    name = "romi-cpp.static",
+    name = "romiVendordep",
    srcs = glob([
        "src/main/native/cpp/**",
    ]),
@@ -11,17 +11,32 @@ wpilib_cc_library(
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
    deps = [
-        "//wpilibc:wpilibc.static",
+        "//ntcore",
+        "//wpilibc",
+        "//wpinet",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/romiVendordep",
+    static_deps = [
+        "//ntcore:static/ntcore",
+        "//wpilibc:static/wpilibc",
+        "//wpinet:static/wpinet",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":romiVendordep",
    ],
 )

 java_library(
-    name = "romi-java",
+    name = "romiVendordep-java",
    srcs = glob(["src/main/java/**/*.java"]),
    visibility = ["//visibility:public"],
    deps = [
        "//hal:hal-java",
-        "//wpilibj",
+        "//wpilibj:wpilibj-java",
    ],
 )

@@ -30,7 +45,8 @@ cc_test(
    size = "small",
    srcs = glob(["src/test/native/cpp/**"]),
    deps = [
-        "//thirdparty/googletest:googletest.static",
+        ":romiVendordep",
+        "//thirdparty/googletest",
    ],
 )

@@ -38,7 +54,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":romi-cpp.static",
+        ":romiVendordep",
    ],
 )

@@ -48,7 +64,7 @@ java_binary(
    main_class = "edu.wpi.first.wpilibj.romi.DevMain",
    deps = [
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpiutil:wpiutil-java",
    ],
 )
--- a/shared/bazel/rules/BUILD.bazel
+++ b/shared/bazel/rules/BUILD.bazel
@@ -0,0 +1,21 @@
+load("@bazel_skylib//rules:write_file.bzl", "write_file")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+
+# Generate this because otherwise the linter wants to change the format.
+write_file(
+    name = "manifest_write",
+    out = "MANIFEST.MF",
+    content = [
+        "Manifest-Version: 1.0",
+        "",
+    ],
+)
+
+pkg_files(
+    name = "src_jar_dummy_manifest",
+    srcs = [
+        "MANIFEST.MF",
+    ],
+    prefix = "META-INF",
+    visibility = ["//visibility:public"],
+)
--- a/shared/bazel/rules/cc_rules.bzl
+++ b/shared/bazel/rules/cc_rules.bzl
@@ -1,4 +1,16 @@
-load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_cc//cc:action_names.bzl", "CPP_LINK_STATIC_LIBRARY_ACTION_NAME")
+load("@rules_cc//cc:defs.bzl", "CcInfo", "cc_library")
+load("@rules_cc//cc:find_cc_toolchain.bzl", "CC_TOOLCHAIN_ATTRS", "find_cpp_toolchain", "use_cc_toolchain")
+load("@rules_cc//cc/common:cc_common.bzl", "cc_common")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//:pkg.bzl", "pkg_zip")
+
+def _folder_prefix(name):
+    if "/" in name:
+        last_slash = name.rfind("/")
+        return (name[0:last_slash], name[last_slash + 1:])
+    else:
+        return ("", name)

 def third_party_cc_lib_helper(
        name,
@@ -13,7 +25,8 @@ def third_party_cc_lib_helper(
    to make a header shim to deal with the include path, and a filegroup of the sources. This pattern is extermely
    common for the thirdparty libraries that live beneath certain libraries.

-    This will produce a library shim with the include path stripped, and a filegroup of sources.
+    This will produce a library shim with the include path stripped, a filegroup of sources, and packages that can be
+    used to downstream to zip headers / sources with their "parent" library.

    Params
        include_root: The package relative path to the header files. This will be used to glob the files and strip the include prefix
@@ -31,6 +44,12 @@ def third_party_cc_lib_helper(
        visibility = visibility,
    )

+    pkg_files(
+        name = name + "-hdrs-pkg",
+        srcs = native.glob([include_root + "/**"]),
+        strip_prefix = include_root,
+    )
+
    if src_root:
        native.filegroup(
            name = name + "-srcs",
@@ -38,23 +57,294 @@ def third_party_cc_lib_helper(
            visibility = visibility,
        )

+        pkg_files(
+            name = name + "-srcs-pkg",
+            srcs = native.glob([src_root + "/**"]),
+            strip_prefix = src_root,
+        )
+
 def wpilib_cc_library(
        name,
        srcs = [],
+        hdrs = [],
        deps = [],
+        copts = [],
        third_party_libraries = [],
        third_party_header_only_libraries = [],
+        extra_src_pkg_files = [],
+        extra_hdr_pkg_files = [],
+        include_license_files = False,
+        srcs_pkg_root = "src/main/native/cpp",
+        hdrs_pkg_root = "src/main/native/include",
+        strip_include_prefix = None,
+        linkopts = None,
        **kwargs):
    """
-    This function is used to ease the creation of a cc_library with helpers for handling thirdparty libraries in the standard allwpilib format.
+    This function is used to ease the creation of a cc_library with publishing given the standard allwpilib directory structure.
+
+    This will create a cc_library as well as automatically create header, source, and library artifacts that can be used for publishing.  This
+    also provides some syntactic sugar for third party library shims declared by third_party_cc_lib_helper.
+
+    Important outputs:
+        ":name" - The cc_library
+        name + "-srcs-zip" - A zip file containing all the exported sources
+        name + "-hdrs-zip" - A zip file containing all the exported headers
+        name + "-zip" - A zip file that contains the compiled library

    Params:
+        srcs: The sources used to compile the library. Note: This may be platform dependent and not include all the sources of the library for packaging
+        hdrs: The headers used to compile the library. Note: This may be platform dependent and not include all the sources of the library for packaging
        third_party_libraries: These are helper dependencies, created by third_party_cc_lib_helper. Header shims will be added as deps and src filegroups will be added to srcs
        third_party_header_only_libraries: Similar to third_party_libraries, but for shims that contain no sources
+        extra_src_pkg_files: Extra pkg_files to add to the source bundle. This is useful in the event that a library is complicated and requires
+                extra, customized sources to be added to the published zip file
+        extra_hdr_pkg_files: Extra pkg_files to add to the headers bundle. This is useful in the event that a library is complicated and requires
+                extra, customized headers to be added to the published zip file
+        include_license_files: If the header / source / library zip files should automatically includes the license files. This is used to maintain
+                consistency with the gradle publishing, as not all of them export the license files.
    """
+    maybe_license_pkg = ["//:license_pkg_files"] if include_license_files else []
+
    cc_library(
-        name = name,
-        srcs = srcs + [lib + "-srcs" for lib in third_party_libraries],
-        deps = deps + [lib + "-headers" for lib in third_party_libraries + third_party_header_only_libraries],
+        name = name + "-headers",
+        hdrs = hdrs,
+        deps = [lib + "-headers" for lib in third_party_libraries + third_party_header_only_libraries],
+        strip_include_prefix = strip_include_prefix,
+        **kwargs
+    )
+
+    cc_library(
+        name = name,
+        hdrs = hdrs,
+        copts = copts,
+        srcs = srcs + [lib + "-srcs" for lib in third_party_libraries],
+        deps = deps + [lib + "-headers" for lib in third_party_libraries + third_party_header_only_libraries],
+        strip_include_prefix = strip_include_prefix,
+        **kwargs
+    )
+
+    if srcs_pkg_root:
+        pkg_files(
+            name = name + "-srcs-pkg",
+            srcs = native.glob([srcs_pkg_root + "/**"]),
+            strip_prefix = srcs_pkg_root,
+        )
+
+        pkg_zip(
+            name = name + "-srcs-zip",
+            srcs = maybe_license_pkg + extra_src_pkg_files + [name + "-srcs-pkg"] + [lib + "-srcs-pkg" for lib in third_party_libraries],
+            tags = ["no-remote"],
+        )
+
+    if hdrs_pkg_root:
+        pkg_files(
+            name = name + "-hdrs-pkg",
+            srcs = native.glob([hdrs_pkg_root + "/**"]),
+            strip_prefix = hdrs_pkg_root,
+        )
+
+        pkg_zip(
+            name = name + "-hdrs-zip",
+            srcs = extra_hdr_pkg_files + maybe_license_pkg + [name + "-hdrs-pkg"] + [lib + "-hdrs-pkg" for lib in third_party_libraries + third_party_header_only_libraries],
+            tags = ["no-remote"],
+        )
+
+CcStaticLibraryInfo = provider(
+    "Information about a cc static library.",
+    fields = {
+        "linker_input": "the resulting linker input artifact for the static library",
+        "used_objects": "the object files already accounted for",
+    },
+)
+
+def _accumulate_used_objects(ctx):
+    transitive_used_objects = []
+    for dep in ctx.attr.static_deps:
+        transitive_used_objects.append(dep[CcStaticLibraryInfo].used_objects)
+
+    return transitive_used_objects
+
+def _filter_inputs(
+        ctx,
+        feature_configuration,
+        cc_toolchain,
+        deps,
+        used_objects):
+    dependency_linker_inputs_sets = []
+    for dep in deps:
+        dependency_linker_inputs_sets.append(dep[CcInfo].linking_context.linker_inputs)
+
+    dependency_linker_inputs = depset(transitive = dependency_linker_inputs_sets, order = "topological").to_list()
+
+    used_objects_depset = depset(transitive = used_objects, order = "topological").to_list()
+
+    linker_inputs = []
+    for linker_input in dependency_linker_inputs:
+        for lib in linker_input.libraries:
+            if lib.pic_objects:
+                for o in lib.pic_objects:
+                    if o not in used_objects_depset:
+                        linker_inputs.append(o)
+            elif lib.objects:
+                for o in lib.objects:
+                    if o not in used_objects_depset:
+                        linker_inputs.append(o)
+
+    return sorted(linker_inputs)
+
+def _cc_static_library_impl(ctx):
+    """
+    This is a modified version of built in cc_static_library implementation
+    https://github.com/bazelbuild/bazel/blob/8.2.1/src/main/starlark/builtins_bzl/common/cc/experimental_cc_static_library.bzl
+
+    The built in version amalgamates all of the transative dependency objects into a single shared library. However, we do not want our
+    static libraries to only have the symbols related to the objects for this library, and not anything transative. In order to do this,
+    we add the option to specify transative static_libraries. The rule then filters out the objects that are defines in the other static
+    libraries.
+    """
+    deps = ctx.attr.deps
+
+    cc_toolchain = find_cpp_toolchain(ctx)
+    feature_configuration = cc_common.configure_features(
+        ctx = ctx,
+        cc_toolchain = cc_toolchain,
+        requested_features = ctx.features + ["force_no_whole_archive"],
+        unsupported_features = ctx.disabled_features,
+    )
+
+    # Find all the objects which are already in another static library.
+    used_objects = _accumulate_used_objects(ctx)
+
+    # Now, find the ones we depend on which aren't.
+    libs = _filter_inputs(
+        ctx,
+        feature_configuration,
+        cc_toolchain,
+        deps,
+        used_objects,
+    )
+
+    used_objects_depset = depset(direct = libs, transitive = used_objects, order = "topological")
+
+    # Generate the output library name if one isn't provided.
+    output_file = ctx.actions.declare_file(ctx.attr.static_lib_name)
+
+    # And, now do it.
+    linker_input = cc_common.create_linker_input(
+        owner = ctx.label,
+        libraries = depset(direct = [
+            cc_common.create_library_to_link(
+                actions = ctx.actions,
+                feature_configuration = feature_configuration,
+                cc_toolchain = cc_toolchain,
+                static_library = output_file,
+            ),
+        ]),
+    )
+    compilation_context = cc_common.create_compilation_context()
+    linking_context = cc_common.create_linking_context(linker_inputs = depset(direct = [linker_input], order = "topological"))
+
+    archiver_path = cc_common.get_tool_for_action(
+        feature_configuration = feature_configuration,
+        action_name = CPP_LINK_STATIC_LIBRARY_ACTION_NAME,
+    )
+    archiver_variables = cc_common.create_link_variables(
+        feature_configuration = feature_configuration,
+        cc_toolchain = cc_toolchain,
+        output_file = output_file.path,
+        is_using_linker = False,
+    )
+    command_line = cc_common.get_memory_inefficient_command_line(
+        feature_configuration = feature_configuration,
+        action_name = CPP_LINK_STATIC_LIBRARY_ACTION_NAME,
+        variables = archiver_variables,
+    )
+
+    args = ctx.actions.args()
+    args.add_all(command_line)
+    args.add_all(libs)
+
+    if cc_common.is_enabled(
+        feature_configuration = feature_configuration,
+        feature_name = "archive_param_file",
+    ):
+        # TODO: The flag file arg should come from the toolchain instead.
+        args.use_param_file("@%s", use_always = True)
+
+    env = cc_common.get_environment_variables(
+        feature_configuration = feature_configuration,
+        action_name = CPP_LINK_STATIC_LIBRARY_ACTION_NAME,
+        variables = archiver_variables,
+    )
+
+    ctx.actions.run(
+        executable = archiver_path,
+        arguments = [args],
+        env = env,
+        inputs = depset(
+            direct = libs,
+            transitive = [
+                cc_toolchain.all_files,
+            ],
+        ),
+        outputs = [output_file],
+    )
+
+    cc_info = cc_common.merge_cc_infos(cc_infos = [
+        CcInfo(compilation_context = compilation_context, linking_context = linking_context),
+    ] + [dep[CcInfo] for dep in ctx.attr.deps])
+
+    # TODO(austin): Do we want this to be able to link into a binary?  Probably...  Need to figure out what the right result needs to be for that.
+
+    return [
+        cc_info,
+        DefaultInfo(
+            files = depset([output_file]),
+        ),
+        CcStaticLibraryInfo(
+            used_objects = used_objects_depset,
+            linker_input = linker_input,
+        ),
+    ]
+
+_wpilib_cc_static_library = rule(
+    implementation = _cc_static_library_impl,
+    attrs = {
+        "deps": attr.label_list(
+            providers = [CcInfo],
+            doc = """
+List of all the dependencies to accumulate objects from to link into this static library.
+""",
+        ),
+        "static_deps": attr.label_list(
+            providers = [CcStaticLibraryInfo],
+            doc = """
+List of all static libraries to not duplicate .o files from.
+""",
+        ),
+        "static_lib_name": attr.string(doc = """
+By default cc_static_library will use a name for the static library output file based on
+the target's name and the platform. This includes an extension and sometimes a prefix.
+Sometimes you may not want the default name, in which case you can use this
+attribute to choose a custom name."""),
+    } | CC_TOOLCHAIN_ATTRS,
+    toolchains = use_cc_toolchain(),
+    fragments = ["cpp"],
+)
+
+def wpilib_cc_static_library(
+        name,
+        static_lib_name = None,
+        **kwargs):
+    if not static_lib_name:
+        folder, lib = _folder_prefix(name)
+        static_lib_name = select({
+            "@bazel_tools//src/conditions:windows": folder + "/" + lib + ".lib",
+            "//conditions:default": folder + "/lib" + lib + ".a",
+        })
+
+    _wpilib_cc_static_library(
+        name = name,
+        static_lib_name = static_lib_name,
        **kwargs
    )
--- a/shared/bazel/rules/jni_rules.bzl
+++ b/shared/bazel/rules/jni_rules.bzl
@@ -1,6 +1,7 @@
 load("@bazel_tools//tools/cpp:toolchain_utils.bzl", "find_cpp_toolchain")
 load("@rules_cc//cc:defs.bzl", "cc_library")
 load("@rules_java//java:defs.bzl", "java_library")
+load("@rules_pkg//:mappings.bzl", "filter_directory")

 def _jni_headers_impl(ctx):
    include_dir = ctx.actions.declare_directory(ctx.attr.name + ".h")
@@ -75,6 +76,7 @@ def wpilib_jni_java_library(
        name = name,
        visibility = visibility,
        testonly = testonly,
+        tags = tags,
        **java_library_args
    )

@@ -87,14 +89,26 @@ def wpilib_jni_java_library(
        visibility = visibility,
    )

+    # Expose a pkg_files with the JNI generated header in it.
+    filter_directory(
+        name = name + "-jni-hdrs-pkg",
+        src = headers_name,
+        excludes = ["MANIFEST.MF"],
+        outdir_name = "jni/",
+    )
+
 def wpilib_jni_cc_library(
        name,
        deps = [],
        java_dep = None,
        **kwargs):
    jni = "@rules_bzlmodrio_toolchains//jni"
+
+    if java_dep[0] != ":":
+        fail("java_dep", java_dep, "should start with a :")
+
    cc_library(
-        name = name + ".static",
+        name = name,
        deps = [jni, java_dep + ".hdrs"] + deps,
        **kwargs
    )
--- a/shared/bazel/rules/packaging.bzl
+++ b/shared/bazel/rules/packaging.bzl
@@ -0,0 +1,30 @@
+load("@rules_pkg//:mappings.bzl", "pkg_filegroup", "pkg_files")
+
+def pkg_java_files(name):
+    pkg_files(
+        name = name + "-java-srcs",
+        srcs = native.glob(["src/main/java/**"]),
+        strip_prefix = "src/main/java",
+    )
+
+    pkg_files(
+        name = name + "-generated-java-srcs",
+        srcs = native.glob(["src/generated/main/java/**/*.java"], allow_empty = True),
+        strip_prefix = "src/generated/main/java",
+    )
+
+    pkg_files(
+        name = name + "-proto-srcs",
+        srcs = native.glob(["src/main/proto/**"], allow_empty = True),
+        strip_prefix = "src/main/proto",
+    )
+
+    pkg_filegroup(
+        name = name,
+        srcs = [
+            name + "-java-srcs",
+            name + "-proto-srcs",
+            name + "-generated-java-srcs",
+            "//shared/bazel/rules:src_jar_dummy_manifest",
+        ],
+    )
--- a/simulation/halsim_ds_socket/BUILD.bazel
+++ b/simulation/halsim_ds_socket/BUILD.bazel
@@ -1,5 +1,5 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("//shared/bazel/rules:halsim_library.bzl", "wpilib_halsim_extension")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 cc_library(
    name = "headers",
@@ -7,23 +7,60 @@ cc_library(
    includes = ["src/main/native/include"],
 )

-wpilib_halsim_extension(
+wpilib_cc_library(
    name = "halsim_ds_socket",
    srcs = glob(["src/main/native/cpp/**"]),
+    include_license_files = True,
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
    deps = [
        ":headers",
-        "//hal:wpiHal.static",
-        "//wpinet:wpinet.static",
+        "//hal:wpiHal",
+        "//wpinet",
    ],
 )

+wpilib_cc_library(
+    name = "halsim_ds_socket_static",
+    srcs = glob(["src/main/native/cpp/**"]),
+    copts = [
+        "-DHALSIM_InitExtension=HALSIM_InitExtension_DS_SOCKET",
+    ],
+    include_license_files = True,
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":headers",
+        "//hal:wpiHal",
+        "//wpinet",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/halsim_ds_socket",
+    static_deps = [
+        "//hal:static/wpiHal",
+        "//wpinet:static/wpinet",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":halsim_ds_socket_static"],
+)
+
 cc_test(
    name = "halsim_ds_socket-test",
    size = "small",
    srcs = glob(["src/test/native/**/*.cpp"]),
    deps = [
        "//simulation/halsim_ds_socket",
-        "//thirdparty/googletest:googletest.static",
+        "//thirdparty/googletest",
    ],
 )

--- a/simulation/halsim_gui/BUILD.bazel
+++ b/simulation/halsim_gui/BUILD.bazel
@@ -1,18 +1,73 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
-load("//shared/bazel/rules:halsim_library.bzl", "wpilib_halsim_extension")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

-wpilib_halsim_extension(
+wpilib_cc_library(
    name = "halsim_gui",
    srcs = glob([
        "src/main/native/cpp/*",
        "src/main/native/include/*.h",
    ]),
+    include_license_files = True,
+    includes = ["src/main/native/include"],
+    linkopts = [
+        "-lm",
+    ],
    tags = [
        "wpi-cpp-gui",
    ],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
    deps = [
        "//glass:libglassnt",
-        "//hal:wpiHal.static",
+        "//hal:wpiHal",
+    ],
+)
+
+wpilib_cc_library(
+    name = "halsim_gui_static",
+    srcs = glob([
+        "src/main/native/cpp/*",
+        "src/main/native/include/*.h",
+    ]),
+    copts = [
+        "-DHALSIM_InitExtension=HALSIM_InitExtension_GUI",
+    ],
+    include_license_files = True,
+    includes = ["src/main/native/include"],
+    linkopts = [
+        "-lm",
+    ],
+    tags = [
+        "wpi-cpp-gui",
+    ],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//glass:libglassnt",
+        "//hal:wpiHal",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/halsim_gui",
+    static_deps = [
+        "//hal:static/wpiHal",
+        "//wpimath:static/wpimath",
+        "//datalog:static/datalog",
+        "//ntcore:static/ntcore",
+        "//glass:static/glassnt",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":halsim_gui_static",
    ],
 )

@@ -26,7 +81,7 @@ cc_test(
    ],
    deps = [
        ":halsim_gui",
-        "//thirdparty/googletest:googletest.static",
+        "//thirdparty/googletest",
    ],
 )

--- a/simulation/halsim_ws_core/BUILD.bazel
+++ b/simulation/halsim_ws_core/BUILD.bazel
@@ -1,9 +1,10 @@
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 wpilib_cc_library(
    name = "halsim_ws_core",
    srcs = glob(["src/main/native/cpp/*.cpp"]),
    hdrs = glob(["src/main/native/include/*.h"]),
+    include_license_files = True,
    strip_include_prefix = "src/main/native/include",
    target_compatible_with = select({
        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
@@ -12,8 +13,21 @@ wpilib_cc_library(
    }),
    visibility = ["//visibility:public"],
    deps = [
-        "//hal:wpiHal.static",
-        "//wpinet:wpinet.static",
-        "//wpiutil:wpiutil.static",
+        "//hal:wpiHal",
+        "//wpinet",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/halsim_ws_core",
+    static_deps = [
+        "//hal:static/wpiHal",
+        "//wpinet:static/wpinet",
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":halsim_ws_core",
    ],
 )
--- a/simulation/halsim_ws_server/BUILD.bazel
+++ b/simulation/halsim_ws_server/BUILD.bazel
@@ -1,5 +1,5 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
-load("//shared/bazel/rules:halsim_library.bzl", "wpilib_halsim_extension")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 cc_library(
    name = "headers",
@@ -7,15 +7,55 @@ cc_library(
    includes = ["src/main/native/include"],
 )

-wpilib_halsim_extension(
+wpilib_cc_library(
    name = "halsim_ws_server",
    srcs = glob(["src/main/native/cpp/**"]),
+    include_license_files = True,
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
    deps = [
        ":headers",
        "//simulation/halsim_ws_core",
    ],
 )

+wpilib_cc_library(
+    name = "halsim_ws_server_static",
+    srcs = glob(["src/main/native/cpp/**"]),
+    copts = [
+        "-DHALSIM_InitExtension=HALSIM_InitExtension_WS_SERVER",
+    ],
+    include_license_files = True,
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":headers",
+        "//simulation/halsim_ws_core",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/halsim_ws_server",
+    static_deps = [
+        "//hal:static/wpiHal",
+        "//wpinet:static/wpinet",
+        "//wpiutil:static/wpiutil",
+        "//simulation/halsim_ws_core:static/halsim_ws_core",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":halsim_ws_server_static",
+    ],
+)
+
 cc_library(
    name = "test_headers",
    srcs = glob(["src/test/native/include/*.h"]),
@@ -33,7 +73,7 @@ cc_test(
    deps = [
        ":halsim_ws_server",
        ":test_headers",
-        "//thirdparty/googletest:googletest.static",
+        "//thirdparty/googletest",
    ],
 )

--- a/simulation/halsim_xrp/BUILD.bazel
+++ b/simulation/halsim_xrp/BUILD.bazel
@@ -1,15 +1,59 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary")
-load("//shared/bazel/rules:halsim_library.bzl", "wpilib_halsim_extension")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

-wpilib_halsim_extension(
+wpilib_cc_library(
    name = "halsim_xrp",
    srcs = glob([
        "src/main/native/cpp/*",
        "src/main/native/include/*.h",
    ]),
+    include_license_files = True,
+    includes = ["src/main/native/include"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
    deps = [
        "//simulation/halsim_ws_core",
-        "//xrpVendordep:xrp-cpp",
+        "//wpinet",
+    ],
+)
+
+wpilib_cc_library(
+    name = "halsim_xrp_static",
+    srcs = glob([
+        "src/main/native/cpp/*",
+        "src/main/native/include/*.h",
+    ]),
+    copts = [
+        "-DHALSIM_InitExtension=HALSIM_InitExtension_XRP",
+    ],
+    include_license_files = True,
+    includes = ["src/main/native/include"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//simulation/halsim_ws_core",
+        "//wpinet",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/halsim_xrp",
+    static_deps = [
+        "//wpinet:static/wpinet",
+        "//hal:static/wpiHal",
+        "//simulation/halsim_ws_core:static/halsim_ws_core",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":halsim_xrp_static",
    ],
 )

--- a/sysid/BUILD.bazel
+++ b/sysid/BUILD.bazel
@@ -27,9 +27,9 @@ cc_library(
    hdrs = glob(["src/main/native/include/**"]),
    strip_include_prefix = "src/main/native/include",
    deps = [
-        "//datalog:datalog.static",
+        "//datalog",
        "//glass:libglass",
-        "//wpinet:wpinet.static",
+        "//wpinet",
    ],
 )

@@ -52,6 +52,6 @@ cc_test(
    ],
    deps = [
        ":sysid-lib",
-        "//thirdparty/googletest:googletest.static",
+        "//thirdparty/googletest",
    ],
 )
--- a/thirdparty/googletest/BUILD.bazel
+++ b/thirdparty/googletest/BUILD.bazel
@@ -1,10 +1,25 @@
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 wpilib_cc_library(
-    name = "googletest.static",
+    name = "googletest",
    srcs = glob(["src/**"]),
    hdrs = glob(["include/**"]),
+    hdrs_pkg_root = "include",
+    include_license_files = True,
    includes = ["src/googletest"],
+    srcs_pkg_root = "src",
    strip_include_prefix = "include",
    visibility = ["//visibility:public"],
 )
+
+wpilib_cc_static_library(
+    name = "static/googletest",
+    static_lib_name = select({
+        "@bazel_tools//src/conditions:windows": "static/googletest.lib",
+        "//conditions:default": "static/libgoogletest.a",
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":googletest",
+    ],
+)
--- a/thirdparty/imgui_suite/BUILD.bazel
+++ b/thirdparty/imgui_suite/BUILD.bazel
@@ -1,6 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//:pkg.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")

 cc_library(
@@ -352,7 +354,9 @@ cc_library(
 #########################################
 wpilib_cc_library(
    name = "imgui_suite",
+    hdrs_pkg_root = None,
    linkstatic = True,
+    srcs_pkg_root = None,
    visibility = ["//visibility:public"],
    deps = [
        ":fonts",
@@ -362,3 +366,115 @@ wpilib_cc_library(
        ":stb",
    ],
 )
+
+wpilib_cc_static_library(
+    name = "static/imguiSuite",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":imgui_suite",
+    ],
+)
+
+pkg_files(
+    name = "glfw-hdrs-pkg",
+    srcs = glob(["glfw/include/**"]),
+    strip_prefix = "glfw/include",
+)
+
+pkg_files(
+    name = "imgui-hdrs-pkg",
+    srcs = glob(["imgui/include/**"]),
+    strip_prefix = "imgui/include",
+)
+
+pkg_files(
+    name = "implot-hdrs-pkg",
+    srcs = glob(["implot/include/**"]),
+    strip_prefix = "implot/include",
+)
+
+pkg_files(
+    name = "stb-hdrs-pkg",
+    srcs = glob(["stb/include/**"]),
+    strip_prefix = "stb/include",
+)
+
+pkg_files(
+    name = "generated-fonts-hdrs-pkg",
+    srcs = glob(["generated/fonts/include/**"]),
+    strip_prefix = "generated/fonts/include/",
+)
+
+pkg_files(
+    name = "generated-gl3w-hdrs-pkg",
+    srcs = glob(["generated/gl3w/include/**"]),
+    strip_prefix = "generated/gl3w/include/",
+)
+
+pkg_zip(
+    name = "imgui-suite-hdrs",
+    srcs = [
+        "generated-fonts-hdrs-pkg",
+        "generated-gl3w-hdrs-pkg",
+        "glfw-hdrs-pkg",
+        "imgui-hdrs-pkg",
+        "implot-hdrs-pkg",
+        "stb-hdrs-pkg",
+        "//:license_pkg_files",
+    ],
+    tags = [
+        "no-remote",
+    ],
+)
+
+pkg_files(
+    name = "glfw-srcs-pkg",
+    srcs = glob(["glfw/src/**"]),
+    strip_prefix = "glfw/src",
+)
+
+pkg_files(
+    name = "imgui-srcs-pkg",
+    srcs = glob(["imgui/cpp/**"]),
+    strip_prefix = "imgui/cpp",
+)
+
+pkg_files(
+    name = "implot-srcs-pkg",
+    srcs = glob(["implot/cpp/**"]),
+    strip_prefix = "implot/cpp",
+)
+
+pkg_files(
+    name = "stb-srcs-pkg",
+    srcs = glob(["stb/cpp/**"]),
+    strip_prefix = "stb/cpp",
+)
+
+pkg_files(
+    name = "generated-fonts-srcs-pkg",
+    srcs = glob(["generated/fonts/src/**"]),
+    strip_prefix = "generated/fonts/src/",
+)
+
+pkg_files(
+    name = "generated-gl3w-srcs-pkg",
+    srcs = glob(["generated/gl3w/src/**"]),
+    strip_prefix = "generated/gl3w/src/",
+)
+
+pkg_zip(
+    name = "imgui-suite-srcs",
+    srcs = [
+        "generated-fonts-srcs-pkg",
+        "generated-gl3w-srcs-pkg",
+        "glfw-srcs-pkg",
+        "imgui-srcs-pkg",
+        "implot-srcs-pkg",
+        "stb-srcs-pkg",
+        "//:license_pkg_files",
+    ],
+    tags = [
+        "no-remote",
+    ],
+)
--- a/wpigui/BUILD.bazel
+++ b/wpigui/BUILD.bazel
@@ -1,5 +1,6 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:objectivec_rules.bzl", "wpilib_objc_library")

 WIN_SRCS = glob(["src/main/native/directx11/**/*.cpp"])
@@ -32,6 +33,15 @@ wpilib_objc_library(
    ],
 )

+pkg_files(
+    name = "native-pkg",
+    srcs = glob([
+        "src/main/native/directx11/**",
+        "src/main/native/opengl3/**",
+        "src/main/native/metal/**",
+    ]),
+)
+
 wpilib_cc_library(
    name = "wpigui",
    srcs = glob(["src/main/native/cpp/**/*.cpp"]) +
@@ -40,6 +50,8 @@ wpilib_cc_library(
               "@bazel_tools//src/conditions:windows": WIN_SRCS,
               "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SRCS,
           }),
+    extra_src_pkg_files = [":native-pkg"],
+    include_license_files = True,
    strip_include_prefix = "include",
    tags = [
        "wpi-cpp-gui",
@@ -53,3 +65,18 @@ wpilib_cc_library(
        "//conditions:default": [],
    }),
 )
+
+wpilib_cc_static_library(
+    name = "static/wpigui",
+    static_deps = [
+        "//thirdparty/imgui_suite:static/imguiSuite",
+    ],
+    static_lib_name = select({
+        "@bazel_tools//src/conditions:windows": "static/wpigui.lib",
+        "//conditions:default": "static/libwpigui.a",
+    }),
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpigui",
+    ],
+)
--- a/wpilibNewCommands/BUILD.bazel
+++ b/wpilibNewCommands/BUILD.bazel
@@ -2,9 +2,11 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//wpilibNewCommands:generate.bzl", "generate_wpilib_new_commands")

 py_binary(
@@ -50,7 +52,7 @@ filegroup(
 )

 wpilib_cc_library(
-    name = "wpilibNewCommands.static",
+    name = "wpilibNewCommands",
    srcs = glob(["src/main/native/cpp/**"]),
    hdrs = glob(["src/main/native/include/**"]),
    includes = ["src/main/native/include"],
@@ -60,10 +62,23 @@ wpilib_cc_library(
    ],
    visibility = ["//visibility:public"],
    deps = [
-        "//wpilibc:wpilibc.static",
+        "//ntcore",
+        "//wpilibc",
+        "//wpinet",
    ],
 )

+wpilib_cc_static_library(
+    name = "static/wpilibNewCommands",
+    static_deps = [
+        "//ntcore:static/ntcore",
+        "//wpilibc:static/wpilibc",
+        "//wpinet:static/wpinet",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":wpilibNewCommands"],
+)
+
 java_library(
    name = "wpilibNewCommands-java",
    srcs = glob(["src/main/java/**/*.java"]) + [":generated_java"],
@@ -71,15 +86,23 @@ java_library(
    deps = [
        "//cscore:cscore-java",
        "//hal:hal-java",
-        "//ntcore:networktables-java",
-        "//wpilibj",
+        "//ntcore:ntcore-java",
+        "//wpilibj:wpilibj-java",
        "//wpimath:wpimath-java",
        "//wpinet:wpinet-java",
-        "//wpiunits",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
    ],
 )

+pkg_java_files(name = "wpilibNewCommands-java-srcs")
+
+pkg_zip(
+    name = "libwpilibNewCommands-java-sources",
+    srcs = [":wpilibNewCommands-java-srcs"],
+    out = "libwpilibNewCommands-java-sources.jar",
+)
+
 cc_test(
    name = "wpilibNewCommands-cpp-test",
    size = "small",
@@ -92,8 +115,8 @@ cc_test(
        "no-ubsan",
    ],
    deps = [
-        ":wpilibNewCommands.static",
-        "//thirdparty/googletest:googletest.static",
+        ":wpilibNewCommands",
+        "//thirdparty/googletest",
    ],
 )

@@ -105,10 +128,10 @@ wpilib_java_junit5_test(
    deps = [
        ":wpilibNewCommands-java",
        "//hal:hal-java",
-        "//ntcore:networktables-java",
-        "//wpilibj",
+        "//ntcore:ntcore-java",
+        "//wpilibj:wpilibj-java",
        "//wpimath:wpimath-java",
-        "//wpiunits",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
        "@maven//:org_mockito_mockito_core",
    ],
@@ -127,7 +150,7 @@ java_binary(
    main_class = "edu.wpi.first.wpilibj2.commands.DevMain",
    deps = [
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpimath:wpimath-java",
        "//wpiutil:wpiutil-java",
    ],
--- a/wpilibc/BUILD.bazel
+++ b/wpilibc/BUILD.bazel
@@ -2,7 +2,7 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//wpilibc:generate.bzl", "generate_wpilibc")

@@ -76,7 +76,7 @@ third_party_cc_lib_helper(
 )

 wpilib_cc_library(
-    name = "wpilibc.static",
+    name = "wpilibc",
    srcs = [
        ":generate-version",
    ] + glob([
@@ -84,20 +84,42 @@ wpilib_cc_library(
        "src/main/native/cpp/**",
    ]),
    hdrs = glob(["src/main/native/include/**"]),
+    copts = [
+        # TODO(austin): this needs to be different for shared vs dynamic.
+        "-DDYNAMIC_CAMERA_SERVER",
+    ],
+    include_license_files = True,
    strip_include_prefix = "src/main/native/include",
    third_party_libraries = [
        ":generated_cc",
    ],
    visibility = ["//visibility:public"],
    deps = [
-        "//cameraserver:cameraserver.static",
-        "//cscore:cscore.static",
-        "//datalog:datalog.static",
-        "//hal:wpiHal.static",
-        "//ntcore:ntcore.static",
-        "//wpimath:wpimath.static",
-        "//wpinet:wpinet.static",
-        "//wpiutil:wpiutil.static",
+        "//cameraserver:cameraserver-headers",
+        "//cscore:cscore-headers",
+        "//datalog",
+        "//hal:wpiHal",
+        "//ntcore",
+        "//ntcore:ntcore-headers",
+        "//wpimath",
+        "//wpinet",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/wpilibc",
+    static_deps = [
+        "//datalog:static/datalog",
+        "//hal:static/wpiHal",
+        "//ntcore:static/ntcore",
+        "//wpimath:static/wpimath",
+        "//wpinet:static/wpinet",
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpilibc",
    ],
 )

@@ -119,8 +141,8 @@ cc_test(
    ],
    deps = [
        ":test-headers",
-        ":wpilibc.static",
-        "//thirdparty/googletest:googletest.static",
+        ":wpilibc",
+        "//thirdparty/googletest",
    ],
 )

@@ -128,6 +150,6 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":wpilibc.static",
+        ":wpilibc",
    ],
 )
--- a/wpilibcExamples/build_cpp_examples.bzl
+++ b/wpilibcExamples/build_cpp_examples.bzl
@@ -1,7 +1,34 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//:pkg.bzl", "pkg_zip")
 load("//wpilibcExamples:example_projects.bzl", "COMMANDS_V2_FOLDERS", "EXAMPLE_FOLDERS", "SNIPPETS_FOLDERS", "TEMPLATES_FOLDERS", "TESTS_FOLDERS")

+def _package_type(package_type):
+    pkg_files(
+        name = package_type + "-pkg",
+        srcs = native.glob(["src/main/cpp/" + package_type + "/**"]),
+        strip_prefix = "src/main/cpp",
+    )
+
+    pkgs = ["//:license_pkg_files", ":" + package_type + "-pkg"]
+    if package_type == "examples":
+        pkg_files(
+            name = package_type + "-tests-pkg",
+            srcs = native.glob(["src/test/cpp/" + package_type + "/**"]),
+            strip_prefix = "src/test/cpp/" + package_type,
+            prefix = "examples_test",
+        )
+        pkgs.append(package_type + "-tests-pkg")
+
+    pkg_zip(
+        name = package_type + "-zip",
+        srcs = pkgs,
+        tags = ["no-remote"],
+    )
+
 def build_examples(halsim_deps = []):
+    _package_type("examples")
+
    for folder in EXAMPLE_FOLDERS:
        cc_library(
            name = folder + "-examples-headers",
@@ -13,48 +40,56 @@ def build_examples(halsim_deps = []):
            name = folder + "-example",
            srcs = native.glob(["src/main/cpp/examples/" + folder + "/cpp/**/*.cpp", "src/main/cpp/examples/" + folder + "/c/**/*.c"], allow_empty = True),
            deps = [
-                "//wpilibNewCommands:wpilibNewCommands.static",
-                "//apriltag:apriltag.static",
-                "//romiVendordep:romi-cpp.static",
-                "//xrpVendordep:xrp-cpp",
+                "//wpilibNewCommands",
+                "//apriltag",
+                "//romiVendordep",
+                "//xrpVendordep",
+                "//cameraserver",
                ":{}-examples-headers".format(folder),
            ],
            tags = ["wpi-example"],
        )

 def build_commands():
+    _package_type("commands")
+
    for folder in COMMANDS_V2_FOLDERS:
        cc_library(
            name = folder + "-command",
            srcs = native.glob(["src/main/cpp/commands/" + folder + "/**/*.cpp"]),
            hdrs = native.glob(["src/main/cpp/commands/" + folder + "/**/*.h"]),
            deps = [
-                "//wpilibNewCommands:wpilibNewCommands.static",
+                "//wpilibNewCommands",
            ],
            strip_include_prefix = "src/main/cpp/commands/" + folder,
            tags = ["wpi-example"],
        )

 def build_snippets():
+    _package_type("snippets")
+
    for folder in SNIPPETS_FOLDERS:
        cc_library(
            name = folder + "-template",
            srcs = native.glob(["src/main/cpp/snippets/" + folder + "/**/*.cpp"]),
+            hdrs = native.glob(["src/main/cpp/snippets/" + folder + "/**/*.h"], allow_empty = True),
            deps = [
-                "//wpilibNewCommands:wpilibNewCommands.static",
+                "//wpilibNewCommands",
            ],
            strip_include_prefix = "src/main/cpp/snippets/" + folder + "/include",
            tags = ["wpi-example"],
        )

 def build_templates():
+    _package_type("templates")
+
    for folder in TEMPLATES_FOLDERS:
        cc_library(
            name = folder + "-template",
            srcs = native.glob(["src/main/cpp/templates/" + folder + "/**/*.cpp"]),
            hdrs = native.glob(["src/main/cpp/templates/" + folder + "/**/*.h"]),
            deps = [
-                "//wpilibNewCommands:wpilibNewCommands.static",
+                "//wpilibNewCommands",
            ],
            strip_include_prefix = "src/main/cpp/templates/" + folder + "/include",
            tags = ["wpi-example"],
@@ -69,9 +104,9 @@ def build_tests():
            size = "small",
            srcs = native.glob([example_test_folder + "/**/*.cpp", example_src_folder + "/cpp/**/*.cpp", example_src_folder + "/c/**/*.c"], allow_empty = True),
            deps = [
-                "//wpilibNewCommands:wpilibNewCommands.static",
+                "//wpilibNewCommands",
                ":{}-examples-headers".format(folder),
-                "//thirdparty/googletest:googletest.static",
+                "//thirdparty/googletest",
            ],
            defines = ["RUNNING_FRC_TESTS=1"],
            tags = ["wpi-example", "no-tsan", "no-asan", "no-ubsan", "exclusive"],
--- a/wpilibj/BUILD.bazel
+++ b/wpilibj/BUILD.bazel
@@ -2,8 +2,11 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//wpilibj:generate.bzl", "generate_wpilibj")

@@ -70,7 +73,7 @@ filegroup(
 )

 java_library(
-    name = "wpilibj",
+    name = "wpilibj-java",
    srcs = [
        ":generate-version",
        ":generated_java",
@@ -81,27 +84,47 @@ java_library(
        "//cscore:cscore-java",
        "//datalog:datalog-java",
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpimath:wpimath-java",
        "//wpinet:wpinet-java",
-        "//wpiunits",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
        "@maven//:org_ejml_ejml_core",
        "@maven//:org_ejml_ejml_simple",
    ],
 )

+# Strip the corresponding prefixes off the generated and source files.
+pkg_java_files(name = "java-srcs")
+
+pkg_files(
+    name = "generated_version_files",
+    srcs = [
+        ":generate-version",
+    ],
+    prefix = "edu/wpi/first/wpilibj/util/",
+)
+
+pkg_zip(
+    name = "libwpilibj-java-sources",
+    srcs = [
+        ":generated_version_files",
+        ":java-srcs",
+    ],
+    out = "libwpilibj-java-sources.jar",
+)
+
 wpilib_java_junit5_test(
    name = "wpilibj-java-test",
    srcs = glob(["src/test/java/**/*.java"]),
    resource_strip_prefix = "wpilibj/src/test/resources",
    resources = glob(["src/test/resources/**"]),
    deps = [
-        ":wpilibj",
+        ":wpilibj-java",
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpimath:wpimath-java",
-        "//wpiunits",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
    ],
 )
@@ -119,7 +142,7 @@ java_binary(
    main_class = "edu.wpi.first.wpilibj.DevMain",
    deps = [
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpimath:wpimath-java",
        "//wpiutil:wpiutil-java",
    ],
--- a/wpilibjExamples/build_java_examples.bzl
+++ b/wpilibjExamples/build_java_examples.bzl
@@ -1,8 +1,35 @@
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_pkg//:pkg.bzl", "pkg_zip")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//wpilibjExamples:example_projects.bzl", "COMMANDS_V2_FOLDERS", "EXAMPLES_FOLDERS", "SNIPPETS_FOLDERS", "TEMPLATES_FOLDERS", "TEST_FOLDERS")

+def _package_type(package_type):
+    pkg_files(
+        name = package_type + "-pkg",
+        srcs = native.glob(["src/main/java/edu/wpi/first/wpilibj/" + package_type + "/**"]),
+        strip_prefix = "src/main/java/edu/wpi/first/wpilibj",
+    )
+
+    pkgs = ["//:license_pkg_files", ":" + package_type + "-pkg"]
+    if package_type == "examples":
+        pkg_files(
+            name = package_type + "-tests-pkg",
+            srcs = native.glob(["src/test/java/edu/wpi/first/wpilibj/" + package_type + "/**"]),
+            strip_prefix = "src/test/java/edu/wpi/first/wpilibj/" + package_type,
+            prefix = "examples_test",
+        )
+        pkgs.append(package_type + "-tests-pkg")
+
+    pkg_zip(
+        name = package_type + "-zip",
+        srcs = pkgs,
+        tags = ["no-remote"],
+    )
+
 def build_examples(halsim_deps):
+    _package_type("examples")
+
    for folder in EXAMPLES_FOLDERS:
        java_binary(
            name = folder + "-example",
@@ -16,28 +43,30 @@ def build_examples(halsim_deps):
                "//cameraserver:cameraserver-java",
                "//cscore:cscore-java",
                "//hal:hal-java",
-                "//ntcore:networktables-java",
+                "//ntcore:ntcore-java",
                "//wpimath:wpimath-java",
-                "//wpilibj:wpilibj",
+                "//wpilibj:wpilibj-java",
                "//wpilibNewCommands:wpilibNewCommands-java",
                "//wpiutil:wpiutil-java",
-                "//romiVendordep:romi-java",
-                "//xrpVendordep:xrp-java",
-                "//wpiunits",
-                "//epilogue-runtime:epilogue",
+                "//romiVendordep:romiVendordep-java",
+                "//xrpVendordep:xrpVendordep-java",
+                "//wpiunits:wpiunits-java",
+                "//epilogue-runtime:epilogue-java",
                "@bzlmodrio-opencv//libraries/java/opencv",
            ],
            tags = ["wpi-example"],
        )

 def build_commands():
+    _package_type("commands")
+
    for folder in COMMANDS_V2_FOLDERS:
        java_library(
            name = folder + "-command",
            srcs = native.glob(["src/main/java/edu/wpi/first/wpilibj/commands/" + folder + "/**/*.java"]),
            deps = [
                "//hal:hal-java",
-                "//wpilibj:wpilibj",
+                "//wpilibj:wpilibj-java",
                "//wpilibNewCommands:wpilibNewCommands-java",
                "//wpimath:wpimath-java",
            ],
@@ -45,28 +74,32 @@ def build_commands():
        )

 def build_snippets():
+    _package_type("snippets")
+
    for folder in SNIPPETS_FOLDERS:
        java_library(
            name = folder + "-snippet",
            srcs = native.glob(["src/main/java/edu/wpi/first/wpilibj/snippets/" + folder + "/**/*.java"]),
            deps = [
-                "//wpilibj:wpilibj",
+                "//wpilibj:wpilibj-java",
            ],
            tags = ["wpi-example"],
        )

 def build_templates():
+    _package_type("templates")
+
    for folder in TEMPLATES_FOLDERS:
        java_library(
            name = folder + "-template",
            srcs = native.glob(["src/main/java/edu/wpi/first/wpilibj/templates/" + folder + "/**/*.java"]),
            deps = [
                "//hal:hal-java",
-                "//wpilibj:wpilibj",
+                "//wpilibj:wpilibj-java",
                "//wpilibNewCommands:wpilibNewCommands-java",
                "//wpimath:wpimath-java",
                "//wpiutil:wpiutil-java",
-                "//xrpVendordep:xrp-java",
+                "//xrpVendordep:xrpVendordep-java",
            ],
            tags = ["wpi-example"],
        )
@@ -79,8 +112,8 @@ def build_tests():
            deps = [
                ":" + folder + "-example",
                "//hal:hal-java",
-                "//ntcore:networktables-java",
-                "//wpilibj:wpilibj",
+                "//ntcore:ntcore-java",
+                "//wpilibj:wpilibj-java",
                "//wpilibNewCommands:wpilibNewCommands-java",
                "//wpimath:wpimath-java",
                "//wpiutil:wpiutil-java",
--- a/wpimath/BUILD.bazel
+++ b/wpimath/BUILD.bazel
@@ -2,10 +2,12 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//wpimath:generate.bzl", "generate_wpimath")

 filegroup(
@@ -110,7 +112,7 @@ cc_library(
 )

 wpilib_cc_library(
-    name = "wpimath.static",
+    name = "wpimath",
    srcs = glob(
        [
            "src/main/native/cpp/**",
@@ -120,6 +122,9 @@ wpilib_cc_library(
    ),
    hdrs = glob(["src/main/native/include/**"]),
    defines = ["WPILIB_EXPORTS"],
+    extra_src_pkg_files = [
+        ":wpimath-java-jni-hdrs-pkg",
+    ],
    includes = [
        "src/main/native/include",
        "src/main/native/thirdparty/sleipnir/src",
@@ -135,7 +140,18 @@ wpilib_cc_library(
    visibility = ["//visibility:public"],
    deps = [
        ":nanopb-generated-headers",
-        "//wpiutil:wpiutil.static",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/wpimath",
+    static_deps = [
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpimath",
    ],
 )

@@ -145,7 +161,7 @@ wpilib_jni_cc_library(
    java_dep = ":wpimath-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":wpimath.static",
+        ":wpimath",
    ],
 )

@@ -153,9 +169,11 @@ wpilib_jni_java_library(
    name = "wpimath-java",
    srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
    native_libs = [":wpimathjni"],
+    resource_strip_prefix = "wpimath/src/main/proto",
+    resources = glob(["src/main/proto/**"]),
    visibility = ["//visibility:public"],
    deps = [
-        "//wpiunits",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
        "@maven//:com_fasterxml_jackson_core_jackson_core",
@@ -167,6 +185,14 @@ wpilib_jni_java_library(
    ],
 )

+pkg_java_files(name = "wpimath-java-srcs")
+
+pkg_zip(
+    name = "libwpimath-java-sources",
+    srcs = [":wpimath-java-srcs"],
+    out = "libwpimath-java-sources.jar",
+)
+
 cc_library(
    name = "test_headers",
    hdrs = glob([
@@ -182,10 +208,14 @@ cc_test(
        "src/test/native/cpp/**/*.cpp",
        "src/test/native/cpp/**/*.h",
    ]),
+    tags = [
+        "no-bullseye",
+        "no-raspi",
+    ],
    deps = [
        ":test_headers",
-        ":wpimath.static",
-        "//thirdparty/googletest:googletest.static",
+        ":wpimath",
+        "//thirdparty/googletest",
    ],
 )

@@ -194,7 +224,7 @@ wpilib_java_junit5_test(
    srcs = glob(["src/test/java/**/*.java"]),
    deps = [
        ":wpimath-java",
-        "//wpiunits",
+        "//wpiunits:wpiunits-java",
        "//wpiutil:wpiutil-java",
        "@maven//:org_ejml_ejml_core",
        "@maven//:org_ejml_ejml_simple",
@@ -206,7 +236,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":wpimath.static",
+        ":wpimath",
    ],
 )

--- a/wpinet/BUILD.bazel
+++ b/wpinet/BUILD.bazel
@@ -1,6 +1,7 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
@@ -69,6 +70,19 @@ filegroup(
               "@bazel_tools//src/conditions:windows": WIN_UV_SRCS,
               "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_UV_SRCS,
           }) + glob(["src/main/native/thirdparty/libuv/src/*"]),
+    visibility = ["//wpinet:__subpackages__"],
+)
+
+pkg_files(
+    name = "thirdparty-libuv-hdr-pkg",
+    srcs = glob(["src/main/native/thirdparty/libuv/include/**"]),
+    strip_prefix = "src/main/native/thirdparty/libuv/include",
+)
+
+pkg_files(
+    name = "thirdparty-libuv-src-pkg",
+    srcs = glob(["src/main/native/thirdparty/libuv/src/**"]),
+    strip_prefix = "src/main/native/thirdparty/libuv/src",
 )

 third_party_cc_lib_helper(
@@ -102,7 +116,7 @@ cc_library(
 )

 wpilib_cc_library(
-    name = "wpinet.static",
+    name = "wpinet",
    srcs = glob(
        ["src/main/native/cpp/**"],
        exclude = ["src/main/native/cpp/jni/**"],
@@ -110,12 +124,17 @@ wpilib_cc_library(
        ":libuv-srcs",
    ] + ["native-srcs"],
    hdrs = glob(["src/main/native/include/**/*"]),
-    implementation_deps = [
-        ":private_includes",
+    extra_hdr_pkg_files = [":thirdparty-libuv-hdr-pkg"],
+    extra_src_pkg_files = [
+        ":wpinet-java-jni-hdrs-pkg",
    ],
    includes = ["src/main/native/include"],
    linkopts = select({
-        "@bazel_tools//src/conditions:linux": ["-ldl"],
+        "@bazel_tools//src/conditions:linux": [
+            "-Wl,--push-state,-as-needed",
+            "-ldl",
+            "-Wl,--pop-state",
+        ],
        "//conditions:default": [],
    }),
    strip_include_prefix = "src/main/native/include",
@@ -125,7 +144,19 @@ wpilib_cc_library(
    visibility = ["//visibility:public"],
    deps = [
        ":libuv-headers",
-        "//wpiutil:wpiutil.static",
+        ":private_includes",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/wpinet",
+    static_deps = [
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpinet",
    ],
 )

@@ -138,7 +169,7 @@ wpilib_jni_cc_library(
    java_dep = ":wpinet-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )

@@ -161,9 +192,8 @@ cc_test(
    ]),
    tags = ["no-asan"],
    deps = [
-        ":private_includes",
-        ":wpinet.static",
-        "//thirdparty/googletest:googletest.static",
+        ":wpinet",
+        "//thirdparty/googletest",
        "//wpiutil:wpiutil-testlib",
    ],
 )
@@ -180,7 +210,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )

@@ -202,7 +232,7 @@ cc_binary(
        "//conditions:default": [],
    }),
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )

@@ -210,7 +240,7 @@ cc_binary(
    name = "netconsoleTee",
    srcs = ["src/netconsoleTee/native/cpp/main.cpp"],
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )

@@ -218,7 +248,7 @@ cc_binary(
    name = "dsclient",
    srcs = ["examples/dsclient/dsclient.cpp"],
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )

@@ -226,7 +256,7 @@ cc_binary(
    name = "parallelconnect",
    srcs = ["examples/parallelconnect/parallelconnect.cpp"],
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )

@@ -234,6 +264,6 @@ cc_binary(
    name = "webserver",
    srcs = ["examples/webserver/webserver.cpp"],
    deps = [
-        ":wpinet.static",
+        ":wpinet",
    ],
 )
--- a/wpiunits/BUILD.bazel
+++ b/wpiunits/BUILD.bazel
@@ -1,8 +1,10 @@
 load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//wpiunits:generate_wpiunits.bzl", "generate_wpiunits")

 py_binary(
@@ -31,17 +33,25 @@ write_source_files(
 )

 java_library(
-    name = "wpiunits",
+    name = "wpiunits-java",
    srcs = glob(["src/main/java/**/*.java"]) + glob(["src/generated/main/java/**/*.java"]),
    visibility = ["//visibility:public"],
    deps = [],
 )

+pkg_java_files(name = "wpiunits-java-srcs")
+
+pkg_zip(
+    name = "libwpiunits-java-sources",
+    srcs = [":wpiunits-java-srcs"],
+    out = "libwpiunits-java-sources.jar",
+)
+
 wpilib_java_junit5_test(
    name = "wpiunits-test",
    srcs = glob(["src/test/java/**/*.java"]),
    deps = [
-        ":wpiunits",
+        ":wpiunits-java",
    ],
 )

@@ -50,6 +60,6 @@ java_binary(
    srcs = ["src/dev/java/edu/wpi/first/units/DevMain.java"],
    main_class = "edu.wpi.first.units.DevMain",
    deps = [
-        ":wpiunits",
+        ":wpiunits-java",
    ],
 )
--- a/wpiutil/BUILD.bazel
+++ b/wpiutil/BUILD.bazel
@@ -2,10 +2,12 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
 load("//wpiutil:generate.bzl", "generate_wpiutil")

@@ -59,6 +61,7 @@ write_source_files(
 third_party_cc_lib_helper(
    name = "argparse",
    include_root = "src/main/native/thirdparty/argparse/include",
+    src_root = None,
 )

 third_party_cc_lib_helper(
@@ -134,7 +137,7 @@ filegroup(
 )

 wpilib_cc_library(
-    name = "wpiutil.static",
+    name = "wpiutil",
    srcs = glob(
        ["src/main/native/cpp/**"],
        exclude = ["src/main/native/cpp/jni/**"],
@@ -143,6 +146,7 @@ wpilib_cc_library(
        ":native-srcs",
    ],
    hdrs = glob(["src/main/native/include/**/*"]),
+    extra_src_pkg_files = [":wpiutil-java-jni-hdrs-pkg"],
    includes = ["src/main/native/include"],
    strip_include_prefix = "src/main/native/include",
    third_party_header_only_libraries = [
@@ -167,13 +171,46 @@ wpilib_cc_library(
    }),
 )

+wpilib_cc_static_library(
+    name = "static/wpiutil",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpiutil",
+    ],
+)
+
+cc_library(
+    name = "wpiutil-jni-hdrs",
+    hdrs = glob([
+        "src/main/native/include/**",
+        "src/main/native/thirdparty/llvm/include/**",
+        "src/main/native/thirdparty/fmtlib/include/**",
+    ]),
+    includes = [
+        "src/main/native/include",
+        "src/main/native/thirdparty/fmtlib/include",
+        "src/main/native/thirdparty/llvm/include",
+    ],
+)
+
 wpilib_jni_cc_library(
    name = "wpiutiljni",
    srcs = glob(["src/main/native/cpp/jni/**"]),
    java_dep = ":wpiutil-java",
    visibility = ["//visibility:public"],
    deps = [
-        ":wpiutil.static",
+        ":wpiutil",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/wpiutiljni",
+    static_deps = [
+        ":static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":wpiutiljni",
    ],
 )

@@ -190,6 +227,14 @@ wpilib_jni_java_library(
    ],
 )

+pkg_java_files(name = "wpiutil-java-srcs")
+
+pkg_zip(
+    name = "libwpiutil-java-sources",
+    srcs = [":wpiutil-java-srcs"],
+    out = "libwpiutil-java-sources.jar",
+)
+
 cc_library(
    name = "wpiutil-testlib",
    hdrs = glob(["src/test/native/include/**"]),
@@ -215,9 +260,9 @@ cc_test(
    tags = ["no-tsan"],  # TODO(pj.reiniger) Find problem
    deps = [
        ":nanopb-test-headers",
-        ":wpiutil.static",
+        ":wpiutil",
        ":wpiutil-testlib",
-        "//thirdparty/googletest:googletest.static",
+        "//thirdparty/googletest",
    ],
 )

@@ -233,7 +278,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        ":wpiutil.static",
+        ":wpiutil",
    ],
 )

--- a/xrpVendordep/BUILD.bazel
+++ b/xrpVendordep/BUILD.bazel
@@ -1,9 +1,9 @@
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_static_library")

 wpilib_cc_library(
-    name = "xrp-cpp",
+    name = "xrpVendordep",
    srcs = glob([
        "src/main/native/cpp/**",
    ]),
@@ -11,17 +11,30 @@ wpilib_cc_library(
    strip_include_prefix = "src/main/native/include",
    visibility = ["//visibility:public"],
    deps = [
-        "//wpilibc:wpilibc.static",
+        "//ntcore",
+        "//wpilibc",
+        "//wpinet",
    ],
 )

+wpilib_cc_static_library(
+    name = "static/xrpVendordep",
+    static_deps = [
+        "//ntcore:static/ntcore",
+        "//wpilibc:static/wpilibc",
+        "//wpinet:static/wpinet",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [":xrpVendordep"],
+)
+
 java_library(
-    name = "xrp-java",
+    name = "xrpVendordep-java",
    srcs = glob(["src/main/java/**/*.java"]),
    visibility = ["//visibility:public"],
    deps = [
        "//hal:hal-java",
-        "//wpilibj",
+        "//wpilibj:wpilibj-java",
        "//wpimath:wpimath-java",
    ],
 )
@@ -31,7 +44,8 @@ cc_test(
    size = "small",
    srcs = glob(["src/test/native/cpp/**"]),
    deps = [
-        "//thirdparty/googletest:googletest.static",
+        ":xrpVendordep",
+        "//thirdparty/googletest",
    ],
 )

@@ -39,7 +53,7 @@ cc_binary(
    name = "DevMain-Cpp",
    srcs = ["src/dev/native/cpp/main.cpp"],
    deps = [
-        "//wpiutil:wpiutil.static",
+        "//wpiutil",
    ],
 )

@@ -49,7 +63,7 @@ java_binary(
    main_class = "edu.wpi.first.wpilibj.xrp.DevMain",
    deps = [
        "//hal:hal-java",
-        "//ntcore:networktables-java",
+        "//ntcore:ntcore-java",
        "//wpiutil:wpiutil-java",
    ],
 )