[hal] Fix USB serial port assignment in SerialHelper (#8689)

.bazelignore

@@ -6,12 +6,12 @@ apriltag/bin
 cameraserver/bin
 cameraserver/multiCameraServer/bin
 cscore/bin
-fields/bin
+fieldImages/bin
 hal/bin
 developerRobot/bin
 ntcore/bin
 romiVendordep/bin
-commandsv2/bin
+wpilibNewCommands/bin
 wpilibj/bin
 wpimath/bin
 wpinet/bin

.bazelrc

@@ -1,23 +1,18 @@
+try-import %workspace%/bazel_auth.rc
 try-import %workspace%/user.bazelrc
 
-common --enable_bzlmod --enable_workspace
-# Resolves to --config=linux on Linux, --config=macos on Mac, --windows on windows
-common --enable_platform_specific_config
+common --noenable_bzlmod
 
-# Make bazel 8 work for us.
-common --enable_workspace
-build --experimental_cc_static_library
-build --experimental_cc_shared_library
-
-build --java_language_version=25
-build --java_runtime_version=remotejdk_25
-build --tool_java_language_version=25
-build --tool_java_runtime_version=remotejdk_25
+build --java_language_version=17
+build --java_runtime_version=roboriojdk_17
+build --tool_java_language_version=17
+build --tool_java_runtime_version=remotejdk_17
 
 test --test_output=errors
 test --test_verbose_timeout_warnings
 
 import %workspace%/shared/bazel/compiler_flags/sanitizers.rc
+import %workspace%/shared/bazel/compiler_flags/base_linux_flags.rc
 import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
 import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
 import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
@@ -34,21 +29,16 @@ build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=all
 build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
 build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
 test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
-common:skip_robotpy --test_tag_filters=-robotpy --build_tag_filters=-robotpy
-
-# Build Buddy BES Setup
-build:build_buddy_bes --bes_results_url=https://app.buildbuddy.io/invocation/
-build:build_buddy_bes --bes_backend=grpcs://remote.buildbuddy.io
-
-# Common Cache Settings
-build:common_cache --remote_timeout=3600
-build:common_cache --remote_cache_compression
-build:common_cache --experimental_remote_cache_compression_threshold=100
 
 # Build Buddy Cache Setup
-build:build_buddy --config=common_cache
-build:build_buddy --config=build_buddy_bes
+build:build_buddy --bes_results_url=https://app.buildbuddy.io/invocation/
+build:build_buddy --bes_backend=grpcs://remote.buildbuddy.io
 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 --experimental_remote_cache_compression_threshold=100
 build:build_buddy --noslim_profile
 build:build_buddy --experimental_profile_include_target_label
 build:build_buddy --experimental_profile_include_primary_output
@@ -56,36 +46,12 @@ build:build_buddy --nolegacy_important_outputs
 
 common:build_buddy_readonly --noremote_upload_local_results
 
-# Bazel-remote cache setup
-build:remote_cache --config=common_cache
-build:remote_cache --remote_cache=grpcs://gitlib-bazel.wpi.edu
-
-common:remote_cache_readonly --noremote_upload_local_results
-
 # This config should be used locally. It downloads more than the CI version
-build:remote_user --config=remote_cache
-build:remote_user --config=remote_cache_readonly
+build:remote_user --config=build_buddy
+build:remote_user --config=build_buddy_readonly
 build:remote_user --remote_download_toplevel
 
-common:ci --color=yes
+build:ci --config=build_buddy
 build:ci --remote_download_minimal
-build:ci --progress_report_interval=60 --show_progress_rate_limit=60
 
 build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git
-
-common --define="WPILIB_VERSION=2025.424242.3.1-unknown"
-common --define="ROBOTPY_VERSION=2025.424242.3.1"
-
-# List of artifact types to build in CI.
-# Anything else gets skipped to speed up CI.
-common:ci --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
-
-# The 2 configurations for windows are very slow to build each time.
-# Instead, skip the cross transition for ARM on x86, and the reverse on x86.
-common:ci_windows_x86 --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
-common:ci_windows_arm --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug"
-
-build --@rules_python//python/config_settings:bootstrap_impl=script
-build --@rules_python//python/config_settings:venvs_use_declare_symlink=no
-
-try-import %workspace%/bazel_auth.rc

.bazelversion

@@ -1 +1 @@
-8.5.0
+7.3.1

.clang-format

@@ -104,52 +104,25 @@ ForEachMacros:
   - BOOST_FOREACH
 IfMacros:
   - KJ_IF_MAYBE
-IncludeBlocks: Regroup
+IncludeBlocks:   Regroup
 IncludeCategories:
-  # C standard library headers
-  #
-  # https://en.cppreference.com/w/cpp/header:
-  #  * C compatibility headers
-  #  * Special C compatibility headers
-  #  * Empty C headers
-  #  * Meaningless C headers
-  #  * Unsupported C headers
-  - Regex:        '^<(assert\.h|ctype\.h|errno\.h|fenv\.h|float\.h|inttypes\.h|limits\.h|locale\.h|math\.h|setjmp\.h|signal\.h|stdarg\.h|stddef\.h|stdint\.h|stdio\.h|stdlib\.h|string\.h|time\.h|uchar\.h|wchar\.h|wctype\.h|stdatomic\.h|ccomplex|complex\.h|ctgmath|tgmath\.h|ciso646|cstdalign|cstdbool|iso646\.h|stdalign\.h|stdbool\.h|stdatomic\.h|stdnoreturn\.h|threads\.h)>'
-    Priority:     1
-    SortPriority: 0
-  # Linux system headers
-  - Regex:        '^<((arpa\/|linux\/|net/|netinet\/|sys\/).*|arm_neon\.h|dirent\.h|dlfcn\.h|fcntl\.h|ifaddrs\.h|jni\.h|libgen\.h|poll\.h|spawn\.h|termios\.h|unistd\.h)>'
-    Priority:     1
-    SortPriority: 1
-  # winsock2.h
-  - Regex:        '^<winsock2\.h>'
-    Priority:     1
-    SortPriority: 2
-  # windows.h
-  - Regex:        '^<windows.\h>'
-    Priority:     1
-    SortPriority: 3
-  # Windows def.h headers
-  - Regex:        '^<(comdef\.h|ws2def\.h|ws2ipdef\.h)>'
-    Priority:     1
-    SortPriority: 4
-  # Windows system headers
-  - Regex:        '^<(dbghelp\.h|dbt\.h|delayimp\.h|dshow\.h|io\.h|iphlpapi\.h|ks\.h|ksmedia\.h|memoryapi\.h|mfapi\.h|mferror\.h|mfidl\.h|mfreadwrite\.h|netioapi\.h|ntstatus\.h|shellapi\.h|shlobj\.h|shlwapi\.h|sysinfoapi\.h|windns\.h|windowsx\.h|winternl\.h|ws2tcpip\.h)>'
-    Priority:     1
-    SortPriority: 5
-  # C++ standard library headers (lowercase and underscores with no .h suffix)
-  - Regex:        '^<([a-z_]+|cxxabi\.h)>'
-    Priority:     2
-    SortPriority: 6
-  # Other library headers (angle brackets)
-  - Regex:        '^<.*'
-    Priority:     3
-    SortPriority: 7
-  # Project headers (double quotes)
-  - Regex:        '^".*'
-    Priority:     4
-    SortPriority: 8
-IncludeIsMainRegex: '(Test|_bench|_test)?$'
+  - Regex:           '^<ext/.*\.h>'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '^<.*'
+    Priority:        2
+    SortPriority:    0
+    CaseSensitive:   false
+  - Regex:           '.*'
+    Priority:        3
+    SortPriority:    0
+    CaseSensitive:   false
+IncludeIsMainRegex: '([-_](test|unittest))?$'
 IncludeIsMainSourceRegex: ''
 IndentAccessModifiers: false
 IndentCaseBlocks: false
@@ -240,7 +213,7 @@ RequiresClausePosition: OwnLine
 RequiresExpressionIndentation: OuterScope
 SeparateDefinitionBlocks: Leave
 ShortNamespaceLines: 1
-SortIncludes: true
+SortIncludes:    false
 SortJavaStaticImport: Before
 SortUsingDeclarations: LexicographicNumeric
 SpaceAfterCStyleCast: false

.clang-tidy

@@ -68,8 +68,4 @@ Checks:
   modernize-use-override,
   modernize-use-using,
   readability-braces-around-statements'
-CheckOptions:
-  - key: modernize-use-using.IgnoreExternC
-    value: 'true'
 FormatStyle: file
-HeaderFilterRegex: '^((?!thirdparty/).)*$'

.gitattributes

@@ -1,8 +1,8 @@
 *.adoc text eol=lf
 *.c text eol=lf
+*.cmake text eol=lf
 *.clang-format text eol=lf
 *.clang-tidy text eol=lf
-*.cmake text eol=lf
 *.cpp text eol=lf
 *.gradle text eol=lf
 *.groovy text eol=lf
@@ -20,14 +20,11 @@
 *.plist text eol=lf
 *.proto text eol=lf
 *.py text eol=lf
+*.styleguide text eol=lf
 *.txt text eol=lf
-*.wpiformat text eol=lf
-*.wpiformat-license text eol=lf
 *.xml text eol=lf
 *.yaml text eol=lf
 *.yml text eol=lf
 
 # Generated files
 */src/generated/** linguist-generated
-*/robotpy_native_build_info.bzl linguist-generated
-*/robotpy_pybind_build_info.bzl linguist-generated

.github/CODEOWNERS

@@ -27,7 +27,7 @@
 
 /simulation/  @wpilibsuite/simulation
 
-/commandsv2/  @wpilibsuite/commandbased
+/wpilibNewCommands/  @wpilibsuite/commandbased
 
 /wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
 

.github/actions/pregen/action.yml

@@ -5,7 +5,7 @@ runs:
   using: "composite"
   steps:
     - name: Set up Python 3.12
-      uses: actions/setup-python@v6
+      uses: actions/setup-python@v5
       with:
         python-version: '3.12'
     - name: Install jinja and protobuf
@@ -18,15 +18,14 @@ runs:
         wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
         chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       shell: bash
+    - name: Regenerate hal
+      run: ./hal/generate_usage_reporting.py
+      shell: bash
 
     - name: Regenerate ntcore
       run: ./ntcore/generate_topics.py
       shell: bash
 
-    - name: Regenerate mrccomm
-      run: ./hal/generate_nanopb.py
-      shell: bash
-
     - name: Regenerate imgui
       run: |
         ./thirdparty/imgui_suite/generate_fonts.sh
@@ -37,7 +36,7 @@ runs:
       run: |
         ./wpilibc/generate_hids.py
         ./wpilibj/generate_hids.py
-        ./commandsv2/generate_hids.py
+        ./wpilibNewCommands/generate_hids.py
       shell: bash
 
     - name: Regenerate PWM motor controllers
@@ -47,7 +46,7 @@ runs:
       shell: bash
 
     - name: Regenerate mrcal minimath
-      run: ./tools/wpical/generate_mrcal.py
+      run: ./wpical/generate_mrcal.py
       shell: bash
 
     - name: Regenerate wpimath
@@ -57,11 +56,6 @@ runs:
         ./wpimath/generate_quickbuf.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       shell: bash
 
-    - name: Regenerate Commands v3
-      run: |
-        ./commandsv3/generate_files.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      shell: bash
-
     - name: Regenerate wpiunits
       run: ./wpiunits/generate_units.py
       shell: bash

.github/actions/setup-bazel-cache/action.yml

@@ -1,38 +0,0 @@
-name: 'Setup Bazel Cache'
-description: 'Configures the Bazel remote cache. Prefers WPI bazel-remote (R/W), falls back to BuildBuddy, then readonly WPI cache.'
-
-inputs:
-  bazel_remote_username:
-    description: 'WPI Bazel remote cache username'
-  bazel_remote_password:
-    description: 'WPI Bazel remote cache password'
-  bazel_remote_url:
-    description: 'WPI Bazel remote cache base URL (no credentials or protocol, e.g. gitlib-bazel.wpi.edu)'
-    default: 'gitlib-bazel.wpi.edu'
-  buildbuddy_token:
-    description: 'BuildBuddy API token'
-
-runs:
-  using: "composite"
-  steps:
-    - name: Resolve Bazel cache configuration
-      env:
-        CACHE_USER: ${{ inputs.bazel_remote_username }}
-        CACHE_PASS: ${{ inputs.bazel_remote_password }}
-        REMOTE_URL: ${{ inputs.bazel_remote_url }}
-        BB_TOKEN: ${{ inputs.buildbuddy_token }}
-      shell: bash
-      run: |
-        if [ -n "${CACHE_USER}" ] && [ -n "${CACHE_PASS}" ]; then
-          echo "WPI bazel-remote credentials detected; configuring R/W access"
-          echo "build:remote_cache --remote_cache=grpcs://${CACHE_USER}:${CACHE_PASS}@${REMOTE_URL}" > bazel_auth.rc
-          echo "build:ci --config=remote_cache" >> bazel_auth.rc
-        elif [ -n "${BB_TOKEN}" ]; then
-          echo "BuildBuddy token detected; configuring BuildBuddy cache"
-          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${BB_TOKEN}" > bazel_auth.rc
-          echo "build:ci --config=build_buddy" >> bazel_auth.rc
-        else
-          echo "No cache credentials detected; falling back to readonly WPI cache"
-          echo "build:ci --config=remote_cache" > bazel_auth.rc
-          echo "build:ci --config=remote_cache_readonly" >> bazel_auth.rc
-        fi

.github/actions/setup-build-buddy/action.yml

@@ -0,0 +1,27 @@
+name: 'Setup BuildBuddy acache'
+description: 'Sets up the build buddy cache to be readonly / writing based on the presence of environment variables'
+
+inputs:
+  token:
+    description: 'Build Buddy API token'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Setup without key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY == '' }}
+      shell: bash
+      run: |
+          echo "No API key secret detected, will setup readonly cache"
+          echo "build:ci --config=build_buddy_readonly" > bazel_auth.rc
+
+    - name: Set with key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY != '' }}
+      shell: bash
+      run: |
+          echo "API Key detected!"
+          echo "build:build_buddy --remote_header=x-buildbuddy-api-key=${{ env.API_KEY }}" > bazel_auth.rc

.github/labeler.yml

@@ -1,96 +1,65 @@
-"build":
-  - changed-files:
-      - any-glob-to-any-file:
-          [
-            .github/actions/**,
-            .github/workflows/**,
-            cmake/*,
-            shared/**,
-            upstream_utils/**,
-            "**/*.bzl",
-            "**/*.cmake",
-            "**/*.gradle",
-            "**/CMakeLists.txt",
-            "**/BUILD.bazel",
-          ]
-"component: apriltag":
-  - changed-files:
-      - any-glob-to-any-file: apriltag/**
-"component: command-based":
-  - changed-files:
-      - any-glob-to-any-file: commandsv2/**
-"component: commands v3":
-  - changed-files:
-      - any-glob-to-any-file: commandsv3/**
-"component: cscore":
-  - changed-files:
-      - any-glob-to-any-file: cscore/**
-"component: datalogtool":
-  - changed-files:
-      - any-glob-to-any-file: tools/datalogtool/**
-"component: epilogue":
-  - changed-files:
-      - any-glob-to-any-file: epilogue-*/**
-"component: examples":
-  - changed-files:
-      - any-glob-to-any-file: wpilib*Examples/**
-"component: glass":
-  - changed-files:
-      - any-glob-to-any-file: glass/**
-"component: hal":
-  - changed-files:
-      - any-glob-to-any-file: hal/**
-"component: javac plugin":
-  - changed-files:
-      - any-glob-to-any-file: javacPlugin/**
-"component: ntcore":
-  - changed-files:
-      - any-glob-to-any-file: ntcore/**
-"component: outlineviewer":
-  - changed-files:
-      - any-glob-to-any-file: tools/outlineviewer/**
-"component: romi":
-  - changed-files:
-      - any-glob-to-any-file: romiVendordep/**
-"component: sysid":
-  - changed-files:
-      - any-glob-to-any-file: tools/sysid/**
-"component: wpiannotations":
-  - changed-files:
-      - any-glob-to-any-file: wpiannotations/**
-"component: wpilibc":
-  - changed-files:
-      - any-glob-to-any-file: wpilibc/**
-"component: wpilibj":
-  - changed-files:
-      - any-glob-to-any-file: wpilibj/**
-"component: wpimath":
-  - changed-files:
-      - any-glob-to-any-file: wpimath/**
-"component: wpinet":
-  - changed-files:
-      - any-glob-to-any-file: wpinet/**
-"component: wpiunits":
-  - changed-files:
-      - any-glob-to-any-file: wpiunits/**
-"component: wpiutil":
-  - changed-files:
-      - any-glob-to-any-file: wpiutil/**
-"component: wpical":
-  - changed-files:
-      - any-glob-to-any-file: tools/wpical/**
-"component: xrp":
-  - changed-files:
-      - any-glob-to-any-file: xrpVendordep/**
-"component: usage reporting":
-  - changed-files:
-      - any-glob-to-any-file: hal/src/generate/**
-"os: simulation":
-  - changed-files:
-      - any-glob-to-any-file: "**/simulation/**"
-"robotpy":
-  - changed-files:
-      - any-glob-to-any-file: "**python/**"
-"type: testing":
-  - changed-files:
-      - any-glob-to-any-file: "**/test/**"
+'2027':
+- base-branch: '2027'
+'component: apriltag':
+- changed-files:
+  - any-glob-to-any-file: apriltag/**
+'component: command-based':
+- changed-files:
+  - any-glob-to-any-file: wpilibNewCommands/**
+'component: cscore':
+- changed-files:
+  - any-glob-to-any-file: cscore/**
+'component: datalogtool':
+- changed-files:
+  - any-glob-to-any-file: datalogtool/**
+'component: epilogue':
+- changed-files:
+  - any-glob-to-any-file: epilogue-*/**
+'component: examples':
+- changed-files:
+  - any-glob-to-any-file: wpilib*Examples/**
+'component: glass':
+- changed-files:
+  - any-glob-to-any-file: glass/**
+'component: hal':
+- changed-files:
+  - any-glob-to-any-file: hal/**
+'component: ntcore':
+- changed-files:
+  - any-glob-to-any-file: ntcore/**
+'component: outlineviewer':
+- changed-files:
+  - any-glob-to-any-file: outlineviewer/**
+'component: sysid':
+- changed-files:
+  - any-glob-to-any-file: sysid/**
+'component: teamnumbersetter':
+- changed-files:
+  - any-glob-to-any-file: roborioteamnumbersetter/**
+'component: wpilibc':
+- changed-files:
+  - any-glob-to-any-file: wpilibc/**
+'component: wpilibj':
+- changed-files:
+  - any-glob-to-any-file: wpilibj/**
+'component: wpimath':
+- changed-files:
+  - any-glob-to-any-file: wpimath/**
+'component: wpinet':
+- changed-files:
+  - any-glob-to-any-file: wpinet/**
+'component: wpiunits':
+- changed-files:
+  - any-glob-to-any-file: wpiunits/**
+'component: wpiutil':
+- changed-files:
+  - any-glob-to-any-file: wpiutil/**
+'component: wpical':
+- changed-files:
+  - any-glob-to-any-file: wpical/**
+'component: usage reporting':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**
+'attn: NI':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**

.github/workflows/artifactory-nightly-cleanup.yml

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: jfrog/setup-jfrog-cli@v4
@@ -23,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: jfrog/setup-jfrog-cli@v4

.github/workflows/bazel.yml

@@ -7,115 +7,78 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build:
+  build-windows:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - { name: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
-          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
-          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
-          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "build" }
-          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
-          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
-          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
-          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, container: wpilib/debian-base:trixie, action: "test" }
+          - { name: "Windows (native)",             os: windows-2022, action: "test",  config: "--config=windows",     }
+          - { name: "Windows (arm)",                os: windows-2022, action: "build", config: "--config=windows_arm", }
 
-          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, container: "", action: "test" }
-
-          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64static,headers,sources",   os: windows-2022, container: "", action: "test" }
-          - { name: "Windows x86-64 Debug", classifier: "windowsx86-64debug,windowsx86-64staticdebug",        os: windows-2022, container: "", action: "test" }
-
-          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64static",                    os: windows-2022, container: "", action: "build" }
-          - { name: "Windows ARM64 Debug",  classifier: "windowsarm64debug,windowsarm64staticdebug",         os: windows-2022, container: "", action: "build" }
-
-          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcorestatic", os: windows-2022, container: "", action: "build" }
-          - { name: "Windows System Core Debug", classifier: "linuxsystemcoredebug,linuxsystemcorestaticdebug", os: windows-2022, container: "", action: "build" }
-
-    name: "${{ matrix.action == 'test' && 'Test' || 'Build' }} ${{ matrix.name }}"
+    name: "Build ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
     steps:
-      - name: Check disk free space pre-cleanup
-        run: df -h
-
-      - name: Free disk space (Linux)
-        if: runner.os == 'Linux'
-        uses: jlumbroso/free-disk-space@main
-        with:
-          tool-cache: false
-          android: true
-          dotnet: true
-          haskell: true
-          large-packages: false
-          docker-images: false
-          swap-storage: false
-
-      - name: Free disk space (macOS)
-        if: runner.os == 'macOS'
-        # CodeQL: 5G
-        # go: 748M
-        # Android: 12G
-        run: |
-          rm -rf /Users/runner/hostedtoolcache/CodeQL
-          rm -rf /Users/runner/hostedtoolcache/go
-          rm -rf /Users/runner/Library/Android
-
-      - name: Check disk free space post-cleanup
-        run: df -h
-
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with: { fetch-depth: 0 }
-
-      - id: Setup_bazel_cache
-        uses: ./.github/actions/setup-bazel-cache
+      - uses: actions/setup-java@v4
         with:
-          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
-          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
+          distribution: 'zulu'
+          java-version: 17
+          architecture: x64
 
-      - name: Install apt dependencies
-        if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev avahi-daemon
-
-      - name: Setup avahi-daemon
-        if: runner.os == 'Linux'
-        run: |
-          sudo service dbus start
-          sudo avahi-daemon -D
-
-      - if: runner.os == 'Linux'
-        uses: bazel-contrib/setup-bazel@0.15.0
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
         with:
-          bazelisk-cache: true
-          repository-cache: true
-          bazelisk-version: 1.x
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
 
       - name: bazel ${{ matrix.action }}
-        run: |
-          ACTION='${{ matrix.action }}'
-          if [ "${ACTION}" = "build" ]; then
-            TARGETS=:publish
-          else
-            TARGETS=...
-          fi
-          if [ "${{ runner.os }}" = "Windows" ]; then
-            bazel --output_user_root=C:\\bazelroot ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
-          else
-            bazel ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
-          fi
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --verbose_failures
         shell: bash
 
-      - name: Check disk free space
-        if: always()
-        run: df -h
+  build-mac:
+    name: "Mac"
+    runs-on: macOS-15
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: bazel test (release)
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v3
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: bazel ${{ matrix.action }} (release)
+        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
 
   buildifier:
     name: "buildifier"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
       - name: Set up Go 1.15.x
-        uses: actions/setup-go@v6
+        uses: actions/setup-go@v5
         with:
           cache: false
           go-version: 1.15.x
@@ -126,7 +89,7 @@ jobs:
           cd $(mktemp -d)
           GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
 
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with: { fetch-depth: 0 }
 
       - name: Run buildifier
@@ -136,100 +99,11 @@ jobs:
         run: git --no-pager diff --exit-code HEAD
 
       - name: Generate diff
-        run: git diff HEAD > ${{ matrix.platform }}-bazel-lint-fixes.patch
+        run: git diff HEAD > bazel-lint-fixes.patch
         if: ${{ failure() }}
 
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         with:
-          archive: false
-          path: "*-bazel-lint-fixes.patch"
-        if: ${{ failure() }}
-
-  mod-lock:
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-
-      - name: Check lockfile
-        run: bazel mod deps --lockfile_mode=error
-
-      - run: bazel mod deps --lockfile_mode=update
-        if: ${{ failure() }}
-
-      - name: Generate diff
-        run: git diff HEAD > bazel-mod-lock-fixes.patch
-        if: ${{ failure() }}
-
-      - uses: actions/upload-artifact@v7
-        with:
-          archive: false
-          path: "bazel-mod-lock-fixes.patch"
-        if: ${{ failure() }}
-
-  non_robotpy_pregeneration:
-    name: "Non-RobotPy Pregen"
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with: { fetch-depth: 0 }
-
-      - id: Setup_bazel_cache
-        uses: ./.github/actions/setup-bazel-cache
-        with:
-          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
-          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
-
-      - name: Run Non-RobotPy pregeneration
-        run: bazel run --config=ci //:write_pregenerated_files
-
-      - name: Check Output
-        run: git --no-pager diff --exit-code HEAD
-
-      - name: Generate diff
-        run: git diff HEAD > non-robotpy-pregeneration.patch
-        if: ${{ failure() }}
-
-      - uses: actions/upload-artifact@v6
-        with:
-          name: non-robotpy-pregeneration-fixes
-          path: non-robotpy-pregeneration.patch
-        if: ${{ failure() }}
-
-  robotpy_pregeneration:
-    name: "Robotpy Pregeneration"
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with: { fetch-depth: 0 }
-
-      - id: Setup_bazel_cache
-        uses: ./.github/actions/setup-bazel-cache
-        with:
-          bazel_remote_username: ${{ secrets.BAZEL_CACHE_USERNAME }}
-          bazel_remote_password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
-          buildbuddy_token: ${{ secrets.BUILDBUDDY_API_KEY }}
-
-      # You should ensure the headers are correct before trying to pregen files
-      - name: Test Scan Headers
-        run: bazel test --config=ci //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
-        shell: bash
-
-      - name: Run yaml file generation
-        run: bazel run --config=ci //:write_robotpy_update_yaml_files
-
-      - name: Run build file generation
-        run: bazel run --config=ci //:write_robotpy_generated_pybind_files
-
-      - name: Check Output
-        run: git --no-pager diff --exit-code HEAD
-
-      - name: Generate diff
-        run: git diff HEAD > robotpy-pregeneration.patch
-        if: ${{ failure() }}
-
-      - uses: actions/upload-artifact@v6
-        with:
-          name: robotpy-pregeneration-fixes
-          path: robotpy-pregeneration.patch
+          name: ${{ matrix.platform }}-bazel-lint-fixes
+          path: bazel-lint-fixes.patch
         if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -16,23 +16,28 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-22.04
             name: Android Arm64
             abi: arm64-v8a
-          - os: ubuntu-24.04
+          - os: ubuntu-22.04
             name: Android X64
             abi: "x86_64"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
       - uses: nttld/setup-ndk@v1
         id: setup-ndk
         with:
           ndk-version: r27d
           add-to-path: false
 
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.9
 
@@ -40,7 +45,7 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y ninja-build
 
       - name: configure
-        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
         env:
           SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/cmake.yml

@@ -16,13 +16,14 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-22.04
             name: Linux
-            container: wpilib/systemcore-cross-debian:trixie
-            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+            container: wpilib/roborio-cross-ubuntu:2025-22.04
+            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: macOS-15
             name: macOS
             container: ""
+            env: ""
             flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: windows-2022
             name: Windows
@@ -35,17 +36,11 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev ninja-build
-
-      - name: Setup avahi-daemon
-        if: runner.os == 'Linux'
-        run: |
-          sudo service dbus start
-          sudo avahi-daemon -D
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
-        run: brew install opencv ninja
+        run: brew install opencv protobuf@29 ninja
 
       - uses: ilammy/msvc-dev-cmd@v1.13.0
         if: runner.os == 'Windows'
@@ -55,9 +50,9 @@ jobs:
         uses: lukka/get-cmake@v3.29.3
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.10
+        uses: mozilla-actions/sccache-action@v0.0.9
 
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
 
       - name: Run vcpkg (Windows only)
         if: runner.os == 'Windows'

.github/workflows/command-robotpy-pr.yml

@@ -0,0 +1,27 @@
+name: Comment on PR for robotpy
+
+on:
+  pull_request_target:
+    types:
+      - opened
+    paths:
+      - 'wpilibNewCommands/src/**/*.java'
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write
+
+    runs-on: ubuntu-latest
+    steps:
+      - name: Comment on PR
+        if: github.repository == 'wpilibsuite/allwpilib'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.createComment({
+                issue_number: context.issue.number,
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                body: 'This PR modifies commands. Please open a corresponding PR in [Python Commands](https://github.com/robotpy/robotpy-commands-v2/) and include a link to this PR.'
+            })

.github/workflows/gradle.yml

@@ -11,31 +11,31 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
-      - uses: gradle/actions/wrapper-validation@v5
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
 
   build-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-debian:trixie
-            artifact-name: Systemcore
-            build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/aarch64-cross-debian:trixie
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/systemcore-cross-debian:trixie
+          - container: wpilib/ubuntu-base:22.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
     steps:
-      - name: Check disk free space pre-cleanup
-        run: df -h
-
-      - name: Free disk space
+      - name: Free Disk Space
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -45,38 +45,28 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-
-      - name: Check disk free space post-cleanup
-        run: df -h
-
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
         uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          # Start avahi-daemon and build
-          run: |
-            service dbus start
-            avahi-daemon -D
-            ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: df . && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v7
+      - name: Check free disk space
+        run: df .
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
 
-      - name: Check disk free space
-        if: always()
-        run: df -h
-
   build-host:
     env:
       MACOSX_DEPLOYMENT_TARGET: 13.3
@@ -113,6 +103,12 @@ jobs:
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32FFI
+            architecture: x86
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
           - os: windows-2022
             artifact-name: Win64FFI
             architecture: x64
@@ -123,11 +119,42 @@ jobs:
     runs-on: ${{ matrix.os }}
     needs: [validation]
     steps:
-      - name: Check disk free space pre-cleanup
-        run: df -h
-
-      - name: Free disk space (macOS)
-        if: runner.os == 'macOS'
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+          architecture: ${{ matrix.architecture }}
+      - name: Import Developer ID Certificate
+        uses: wpilibsuite/import-signing-certificate@v2
+        with:
+          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
+          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
+          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
+      - name: Set Keychain Lock Timeout
+        run: security set-keychain-settings -lut 21600
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
+      - name: Set release environment variable
+        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+        shell: bash
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space pre-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
+      - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
         # Android: 12G
@@ -135,36 +162,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-
-      - name: Check disk free space post-cleanup
-        run: df -h
-
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v5
-        with:
-          distribution: 'temurin'
-          java-version: 25
-          architecture: ${{ matrix.architecture }}
-      - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v3
-        with:
-          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
-          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
-          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 21600
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        shell: bash
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: matrix.os == 'macOS-15'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -174,37 +175,39 @@ jobs:
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - uses: actions/upload-artifact@v7
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}
 
-      - name: Check disk free space
-        if: always()
-        run: df -h
-
   build-documentation:
     name: "Build - Documentation"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v5
+      - uses: actions/setup-java@v4
         with:
           distribution: 'temurin'
-          java-version: 26
+          java-version: 17
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs --build-cache -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         with:
           name: Documentation
           path: docs/build/outputs
@@ -212,16 +215,16 @@ jobs:
   publish:
     name: "Documentation - Publish"
     runs-on: ubuntu-22.04
-    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
     needs: [build-documentation]
     concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           persist-credentials: false
       - name: Download docs artifacts
-        uses: actions/download-artifact@v7
+        uses: actions/download-artifact@v4
         with:
           name: Documentation
       - name: Make output directories
@@ -230,8 +233,8 @@ jobs:
           mkdir -p docs/tmp/javadoc
       - name: Extract docs
         run: |
-          unzip _GROUP_org_wpilib_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
-          unzip _GROUP_org_wpilib_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
+          unzip _GROUP_edu_wpi_first_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
+          unzip _GROUP_edu_wpi_first_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
       - name: Set environment variables (Development)
         run: |
           echo "BRANCH=development" >> $GITHUB_ENV
@@ -240,14 +243,14 @@ jobs:
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
           echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Set environment variables (Release)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
           echo "BRANCH=release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.9.1
+        uses: webfactory/ssh-agent@v0.9.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
       - name: Deploy 🚀
@@ -260,7 +263,7 @@ jobs:
           single-commit: true
           folder: docs/tmp
       - name: Trigger Workflow
-        uses: actions/github-script@v8
+        uses: actions/github-script@v7
         with:
           github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
           script: |
@@ -274,12 +277,12 @@ jobs:
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
-      - name: Free disk space
+      - name: Free Disk Space
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -289,43 +292,42 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v7
+      - uses: actions/download-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v5
+      - uses: actions/setup-java@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           distribution: 'temurin'
-          java-version: 25
-      - name: Combine
+          java-version: 17
+      - name: Combine (Main)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
           github.ref == 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib -Pbuild2027
+        run: cd combiner && ./gradlew publish -Pallwpilib
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
@@ -333,16 +335,34 @@ jobs:
       - name: Combine (Release)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish -Pbuild2027
+          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           name: Maven
           path: ~/releases
+
+  dispatch:
+    name: dispatch
+    needs: [combine]
+    strategy:
+      matrix:
+        repo: ['SmartDashboard', 'PathWeaver', 'Shuffleboard', 'RobotBuilder']
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+        with:
+          token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}
+          repository: wpilibsuite/${{ matrix.repo }}
+          event-type: tag
+          client-payload: '{"package_name": "allwpilib", "package_version": "${{ github.ref_name }}"}'

.github/workflows/labeler.yml

@@ -9,6 +9,6 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/labeler@v6
+      - uses: actions/labeler@v5
         with:
           sync-labels: true

.github/workflows/lint-format.yml

@@ -15,14 +15,14 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
-      - uses: gradle/actions/wrapper-validation@v5
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
 
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
@@ -30,13 +30,13 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.12
-        uses: actions/setup-python@v6
+        uses: actions/setup-python@v5
         with:
           python-version: '3.12'
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Run
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
@@ -44,9 +44,9 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         with:
-          archive: false
+          name: wpiformat fixes
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
       - name: Write to job summary
@@ -59,11 +59,11 @@ jobs:
 
   tidy:
     name: "clang-tidy"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
-    container: wpilib/debian-base:trixie
+    container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
@@ -72,13 +72,13 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.12
-        uses: actions/setup-python@v6
+        uses: actions/setup-python@v5
         with:
           python-version: '3.12'
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
@@ -87,16 +87,16 @@ jobs:
       - name: List changed files
         run: ${{ runner.temp }}/wpiformat/bin/wpiformat -list-changed-files
       - name: Run clang-tidy release
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
       - name: Run clang-tidy debug
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
   javaformat:
     name: "Java format"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
-    container: wpilib/debian-base:trixie
+    container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
@@ -111,9 +111,9 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > javaformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         with:
-          archive: false
+          name: javaformat fixes
           path: javaformat-fixes.patch
         if: ${{ failure() }}
       - name: Write to job summary
@@ -123,27 +123,3 @@ jobs:
           echo '' >> $GITHUB_STEP_SUMMARY
           echo '```' >> $GITHUB_STEP_SUMMARY
         if: ${{ failure() }}
-
-  check-spelling:
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-      - name: misspell
-        uses: reviewdog/action-misspell@v1
-        with:
-          reporter: "github-check"
-          fail_level: "error"
-          exclude: |
-            **/*.svg
-            **/thirdparty/**
-            **/upstream_utils/**
-            **/generated/**
-            ./wpigui/src/main/native/cpp/portable-file-dialogs.*
-            ./wpimath/src/main/native/include/wpi/units/base.hpp
-            ./wpinet/src/main/native/linux/AvahiClient.*
-            ./wpinet/src/main/native/cpp/http_parser.cpp
-            ./wpinet/src/main/native/include/wpi/net/http_parser.hpp
-            ./wpiutil/src/main/native/include/wpi/util/FastQueue.hpp
-            ./wpiutil/src/test/native/cpp/json/**
-            ./wpiutil/src/test/native/cpp/llvm/**
-            ./wpiutil/src/test/native/cpp/span/**

.github/workflows/pregenerate.yml

@@ -13,9 +13,9 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Run pregen
@@ -27,8 +27,8 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > pregenerated-files-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         with:
-          archive: false
+          name: pregenerated-files-fixes
           path: pregenerated-files-fixes.patch
         if: ${{ failure() }}

.github/workflows/sanitizers.yml

@@ -19,38 +19,33 @@ jobs:
           - name: asan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
             ctest-env: ""
-            ctest-flags: ""
+            ctest-flags: "-E 'wpilibc'"
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
-            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1:suppressions=$GITHUB_WORKSPACE/tsan_suppressions.txt"
-            ctest-flags: "-E 'cscore|cameraserver'"
+            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
+            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
           - name: ubsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
             ctest-env: ""
             ctest-flags: ""
     name: "${{ matrix.name }}"
     runs-on: ubuntu-24.04
-    container: wpilib/debian-base:trixie
+    container: wpilib/roborio-cross-ubuntu:2025-24.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev clang-18 ninja-build avahi-daemon
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 libprotobuf-dev protobuf-compiler ninja-build
 
       - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.10
+        uses: mozilla-actions/sccache-action@v0.0.9
 
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
 
       - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-17 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-17 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
         env:
           SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
-      - name: Setup avahi-daemon
-        run: |
-          sudo service dbus start
-          sudo avahi-daemon -D
-
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)

.github/workflows/sentinel-build.yml

@@ -14,8 +14,8 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
-      - uses: gradle/actions/wrapper-validation@v5
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
 
   build-docker:
     if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
@@ -23,17 +23,20 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-debian:trixie
-            artifact-name: Systemcore
-            build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/aarch64-cross-debian:trixie
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/systemcore-cross-debian:trixie
+          - container: wpilib/ubuntu-base:22.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     needs: [validation]
     steps:
       - name: Free Disk Space
@@ -46,7 +49,7 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Build with Gradle
@@ -54,14 +57,10 @@ jobs:
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          # Start avahi-daemon and build
-          run: |
-            service dbus start
-            avahi-daemon -D
-            ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          run: df . && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
-      - uses: actions/upload-artifact@v7
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -103,6 +102,12 @@ jobs:
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32FFI
+            architecture: x86
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
           - os: windows-2022
             artifact-name: Win64FFI
             architecture: x64
@@ -113,16 +118,16 @@ jobs:
     runs-on: ${{ matrix.os }}
     needs: [validation]
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v5
+      - uses: actions/setup-java@v4
         with:
           distribution: 'temurin'
-          java-version: 25
+          java-version: 17
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v3
+        uses: wpilibsuite/import-signing-certificate@v2
         with:
           certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
@@ -133,14 +138,16 @@ jobs:
         run: security set-keychain-settings -lut 21600
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
       - name: Check disk free space (Windows)
-        if: runner.os == 'Windows'
         run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
-        if: runner.os == 'macOS'
         run: df -h .
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
-        if: runner.os == 'macOS'
         # CodeQL: 5G
         # go: 748M
         # Android: 12G
@@ -148,9 +155,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
-        if: runner.os == 'macOS'
         run: df -h .
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Sign Libraries with Developer ID
@@ -158,12 +166,12 @@ jobs:
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
       - name: Check disk free space (Windows)
-        if: runner.os == 'Windows'
         run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
-        if: runner.os == 'macOS'
         run: df -h .
-      - uses: actions/upload-artifact@v7
+        if: matrix.os == 'macOS-15'
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}

.github/workflows/tools.yml

@@ -0,0 +1,196 @@
+name: Tools
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  YEAR: 2026
+
+jobs:
+  build-artifacts:
+    name: "Build - WPILib"
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: gradle/actions/wrapper-validation@v4
+      - name: Build WPILib with Gradle
+        uses: wpilibsuite/docker-run-action@v4
+        with:
+          image: wpilib/roborio-cross-ubuntu:2025-22.04
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
+          run: df . && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+      - uses: actions/upload-artifact@v4
+        with:
+          name: MavenArtifacts
+          path: |
+            development
+          retention-days: 1
+
+  Robotbuilder:
+    name: "Build - RobotBuilder"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/robotbuilder
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - name: Patch RobotBuilder to use local development
+        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
+      - name: Install and run xvfb
+        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Build RobotBuilder with Gradle
+        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
+      - name: Summarize RobotBuilder Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
+        with:
+          files: |
+            build/test-results/test/TEST*.xml
+          check_run: false
+          comment_mode: off
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: RobotBuilderTestResults
+          path: |
+            build/reports/
+      - uses: actions/upload-artifact@v4
+        with:
+          name: RobotBuilder Build
+          path: |
+            build/libs/
+          retention-days: 7
+
+  Shuffleboard:
+    name: "Build - Shuffleboard"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/shuffleboard
+          fetch-depth: 0
+      - name: Patch Shuffleboard to use local development
+        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" app/app.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/cameraserver/cameraserver.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/networktables/networktables.gradle
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Install dependencies
+        run: sudo apt-get install -y libgtk2.0-0
+      - name: Build with Gradle
+        run: ./gradlew build -x Javadoc
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Shuffleboard Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+  PathWeaver:
+    name: "Build - PathWeaver"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/PathWeaver
+          fetch-depth: 0
+      - name: Patch PathWeaver to use local development
+        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Build with Gradle
+        run: ./gradlew build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: PathWeaver Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+#  Robotpy:
+#    name: "Build - Robotpy"
+#    needs: [build-artifacts]
+#    runs-on: ubuntu-22.04
+#    steps:
+#    - uses: actions/checkout@v4
+#      with:
+#        repository: robotpy/mostrobotpy
+#        fetch-depth: 0
+#    - uses: actions/download-artifact@v4
+#      with:
+#        name: MavenArtifacts
+#    - name: Move artifacts
+#      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+#
+#    - uses: actions/setup-python@v5
+#      with:
+#        python-version: 3.13
+#
+#    - name: Install sccache
+#      uses: mozilla-actions/sccache-action@v0.0.9
+#
+#    - name: Install deps
+#      shell: bash
+#      run: |
+#        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
+#
+#    - name: Install numpy (needed for stubgen but broken in raspbian CI)
+#      shell: bash
+#      run: |
+#        python -m pip --disable-pip-version-check install numpy
+#    - name: Patch RobotPy rdev to use local development
+#      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
+#    - name: Build + test wheels
+#      shell: bash
+#      run: |
+#        ./rdev.sh ci run
+#      env:
+#        RPYBUILD_STRIP_LIBPYTHON: "1"
+#        RPYBUILD_CC_LAUNCHER: sccache
+#        SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
+#        SCCACHE_WEBDAV_KEY_PREFIX: "sccache-robotpy"
+#        SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+#        SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/upstream-utils.yml

@@ -13,9 +13,9 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
@@ -23,7 +23,7 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.12
-        uses: actions/setup-python@v6
+        uses: actions/setup-python@v5
         with:
           python-version: '3.12'
       - name: Configure committer identity
@@ -42,18 +42,6 @@ jobs:
           ./argparse_lib.py clone
           ./argparse_lib.py copy-src
           ./argparse_lib.py format-patch
-      - name: Run benchmark.py
-        run: |
-          cd upstream_utils
-          ./benchmark.py clone
-          ./benchmark.py copy-src
-          ./benchmark.py format-patch
-      - name: Run double-conversion.py
-        run: |
-          cd upstream_utils
-          ./double-conversion.py clone
-          ./double-conversion.py copy-src
-          ./double-conversion.py format-patch
       - name: Run eigen.py
         run: |
           cd upstream_utils
@@ -132,6 +120,12 @@ jobs:
           ./mpack.py clone
           ./mpack.py copy-src
           ./mpack.py format-patch
+      - name: Run protobuf.py
+        run: |
+          cd upstream_utils
+          ./protobuf.py clone
+          ./protobuf.py copy-src
+          ./protobuf.py format-patch
       - name: Run sleipnir.py
         run: |
           cd upstream_utils
@@ -144,12 +138,6 @@ jobs:
           ./stb.py clone
           ./stb.py copy-src
           ./stb.py format-patch
-      - name: Run upb.py
-        run: |
-          cd upstream_utils
-          ./upb.py clone
-          ./upb.py copy-src
-          ./upb.py format-patch
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.gitignore

@@ -258,11 +258,3 @@ bazel_auth.rc
 
 # Meson
 .meson-subproject*
-
-# Copybara user config
-shared/bazel/copybara/.copybara.json
-
-# Nix files
-shell.nix
-flake.nix
-flake.lock

.styleguide

@@ -0,0 +1,54 @@
+cppHeaderFileInclude {
+  \.h$
+  \.hpp$
+  \.inc$
+  \.inl$
+}
+
+cppSrcFileInclude {
+  \.cpp$
+}
+
+modifiableFileExclude {
+  cmake/toolchains/
+  thirdparty/
+  \.patch$
+  gradlew
+}
+
+generatedFileExclude {
+  FRCNetComm\.java$
+  simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
+  fieldImages/src/main/native/resources/
+  apriltag/src/test/resources/
+  wpilibc/src/generated/
+}
+
+repoRootNameOverride {
+  wpilib
+}
+
+includeOtherLibs {
+  ^Eigen/
+  ^cameraserver/
+  ^cscore
+  ^fmt/
+  ^glass/
+  ^google/
+  ^gtest/
+  ^hal/
+  ^imgui
+  ^implot
+  ^mockdata/
+  ^networktables/
+  ^ntcore
+  ^opencv2/
+  ^support/
+  ^units/
+  ^unsupported/
+  ^vision/
+  ^wpi/
+  ^wpigui
+  ^wpimath/
+  ^wpinet/
+}

.wpiformat

@@ -1,44 +0,0 @@
-cHeaderFileInclude {
-  _c\.h$
-}
-
-cppHeaderFileInclude {
-  (?<!_c)\.h$
-  \.inc$
-  \.inl$
-}
-
-generatedFileExclude {
-  assets/
-  docs/theme\.css$
-  generated/
-  hal/src/main/native/systemcore/rev/
-  python/
-  robotpyExamples/
-  resources/
-  thirdparty/
-  wpigui/src/main/native/cpp/portable-file-dialogs\.cpp$
-  wpigui/src/main/native/include/wpi/gui/portable-file-dialogs\.h$
-  wpimath/src/main/native/include/wpi/units/base\.hpp$
-  wpinet/src/main/native/cpp/http_parser\.cpp$
-  wpinet/src/main/native/include/wpi/net/http_parser\.hpp$
-  wpiutil/src/main/native/include/wpi/util/FastQueue\.hpp$
-  wpiutil/src/test/native/cpp/json/
-  wpiutil/src/test/native/cpp/llvm/
-  wpiutil/src/test/native/cpp/span/
-}
-
-modifiableFileExclude {
-  objcpp/
-  wpimath/src/test/native/cpp/UnitsTest\.cpp$
-  wpiutil/src/main/native/cpp/fs\.cpp$
-  wpiutil/src/main/native/include/wpi/util/fs\.hpp$
-}
-
-licenseUpdateExclude {
-  cscore/src/main/native/cpp/default_init_allocator\.hpp$
-  wpiutil/src/main/native/cpp/Base64\.cpp$
-  wpiutil/src/main/native/cpp/sha1\.cpp$
-  wpiutil/src/main/native/include/wpi/util/sha1\.hpp$
-  wpinet/src/main/native/linux/AvahiClient\.hpp$
-}

BUILD.bazel

@@ -1,283 +0,0 @@
-load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
-load("@rules_java//java:java_binary.bzl", "java_binary")
-load("@rules_java//java:java_plugin.bzl", "java_plugin")
-load("@rules_pkg//:mappings.bzl", "pkg_files")
-load("@rules_python//python:pip.bzl", "compile_pip_requirements")
-load("//shared/bazel/rules:publishing.bzl", "publish_all")
-load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
-
-java_plugin(
-    name = "avaje_jsonb_generator",
-    processor_class = "io.avaje.jsonb.generator.JsonbProcessor",
-    visibility = ["//visibility:public"],
-    deps = [
-        "@maven//:io_avaje_avaje_jsonb_generator",
-    ],
-)
-
-exports_files([
-    "LICENSE.md",
-    "ThirdPartyNotices.txt",
-])
-
-pkg_files(
-    name = "license_pkg_files",
-    srcs = [
-        "LICENSE.md",
-        "ThirdPartyNotices.txt",
-    ],
-    visibility = ["//visibility:public"],
-)
-
-# bazel build //:requirements.lock
-compile_pip_requirements(
-    name = "requirements",
-    extra_args = ["--allow-unsafe"],
-    requirements_in = "requirements.txt",
-    requirements_txt = "requirements_lock.txt",
-    requirements_windows = "//:requirements_windows_lock.txt",
-    # compile_pip_requirements does not respect target_compatible_with for some of the targets it generates under the hood
-    tags = ["no-systemcore"],
-)
-
-alias(
-    name = "quickbuf_protoc",
-    actual = select({
-        "@platforms//os:windows": "@quickbuffer_protoc_windows//file",
-        "@rules_bzlmodrio_toolchains//conditions:osx_aarch64": "@quickbuffer_protoc_osx_aarch64//file",
-        "@rules_bzlmodrio_toolchains//conditions:osx_x86_64": "@quickbuffer_protoc_osx_x86-64//file",
-        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
-    }),
-    tags = ["pregeneration"],
-    visibility = ["//visibility:public"],
-)
-
-java_binary(
-    name = "copybara",
-    main_class = "com.google.copybara.Main",
-    runtime_deps = ["@com_github_google_copybara//jar"],
-)
-
-# This is a helper to run all of the pregeneration scripts at once.
-write_source_files(
-    name = "write_pregenerated_files",
-    additional_update_targets = [
-        "//hal:write_hal",
-        "//ntcore:write_ntcore",
-        "//wpilibc:write_wpilibc",
-        "//wpilibcExamples:write_example_project_list",
-        "//wpilibj:write_wpilibj",
-        "//wpilibjExamples:write_example_project_list",
-        "//commandsv2:write_wpilib_new_commands",
-        "//commandsv3:write_commandsv3",
-        "//wpimath:write_wpimath",
-        "//wpiunits:write_wpiunits",
-        "//wpiutil:write_wpiutil",
-        "//robotpyExamples:write_example_project_list",
-    ],
-    tags = ["pregeneration"],
-)
-
-publish_all(
-    name = "publish",
-    targets = [
-        "//apriltag:apriltag-cpp_publish.publish",
-        "//apriltag:apriltag-java_publish.publish",
-        "//cameraserver:cameraserver-cpp_publish.publish",
-        "//cameraserver:cameraserver-java_publish.publish",
-        "//commandsv2:commandsv2-cpp_publish.publish",
-        "//commandsv2:commandsv2-java_publish.publish",
-        "//commandsv3:commandsv3-java_publish.publish",
-        "//cscore:cscore-cpp_publish.publish",
-        "//cscore:cscore-java_publish.publish",
-        "//cscore:cscorejnicvstatic-cpp_publish.publish",
-        "//datalog:datalog-cpp_publish.publish",
-        "//datalog:datalog-java_publish.publish",
-        "//docs:wpilibj_publish.publish",
-        "//epilogue-processor:processor-java_publish.publish",
-        "//epilogue-runtime:epilogue-java_publish.publish",
-        "//fields:fields-cpp_publish.publish",
-        "//fields:fields-java_publish.publish",
-        "//glass:glass-cpp_publish.publish",
-        "//glass:glassapp_publish.publish",
-        "//glass:glassnt-cpp_publish.publish",
-        "//hal:hal-java_publish.publish",
-        "//hal:wpiHal-cpp_publish.publish",
-        "//javacPlugin:javacPlugin_publish.publish",
-        "//ntcore:ntcore-cpp_publish.publish",
-        "//ntcore:ntcore-java_publish.publish",
-        "//ntcoreffi:ntcoreffi-cpp_publish.publish",
-        "//romiVendordep:romiVendordep-cpp_publish.publish",
-        "//romiVendordep:romiVendordep-java_publish.publish",
-        "//simulation/halsim_ds_socket:halsim_ds_socket-cpp_publish.publish",
-        "//simulation/halsim_gui:halsim_gui-cpp_publish.publish",
-        "//simulation/halsim_ws_client:halsim_ws_client-cpp_publish.publish",
-        "//simulation/halsim_ws_core:halsim_ws_core-cpp_publish.publish",
-        "//simulation/halsim_ws_server:halsim_ws_server-cpp_publish.publish",
-        "//simulation/halsim_xrp:halsim_xrp-cpp_publish.publish",
-        "//thirdparty/catch2:catch2-cpp_publish.publish",
-        "//thirdparty/googletest:googletest-cpp_publish.publish",
-        "//thirdparty/imgui_suite:imguiSuite-cpp_publish.publish",
-        "//tools/datalogtool:datalogtool_publish.publish",
-        "//tools/outlineviewer:outlineviewer_publish.publish",
-        "//tools/processstarter:processstarter_publish.publish",
-        "//tools/sysid:sysid_publish.publish",
-        "//tools/wpical:wpical_publish.publish",
-        "//wpiannotations:wpiannotations_publish.publish",
-        "//wpigui:wpigui-cpp_publish.publish",
-        "//wpilibc:wpilibc-cpp_publish.publish",
-        "//wpilibcExamples:commands_publish.publish",
-        "//wpilibcExamples:examples_publish.publish",
-        "//wpilibcExamples:templates_publish.publish",
-        "//wpilibj:wpilibj-java_publish.publish",
-        "//wpilibjExamples:commands_publish.publish",
-        "//wpilibjExamples:examples_publish.publish",
-        "//wpilibjExamples:templates_publish.publish",
-        "//wpimath:wpimath-cpp_publish.publish",
-        "//wpimath:wpimath-java_publish.publish",
-        "//wpinet:wpinet-cpp_publish.publish",
-        "//wpinet:wpinet-java_publish.publish",
-        "//wpiunits:wpiunits-java_publish.publish",
-        "//wpiutil:wpiutil-cpp_publish.publish",
-        "//wpiutil:wpiutil-java_publish.publish",
-        "//xrpVendordep:xrpVendordep-cpp_publish.publish",
-        "//xrpVendordep:xrpVendordep-java_publish.publish",
-    ] + select({
-        "@platforms//cpu:x86_64": [
-            "//docs:wpilibc_publish.publish",
-        ],
-        "//conditions:default": [],
-    }),
-)
-
-write_source_files(
-    name = "write_robotpy_generated_native_files",
-    additional_update_targets = [
-        "//apriltag:robotpy-native-apriltag-generator.generate_build_info",
-        "//datalog:robotpy-native-datalog-generator.generate_build_info",
-        "//hal:robotpy-native-wpihal-generator.generate_build_info",
-        "//ntcore:robotpy-native-ntcore-generator.generate_build_info",
-        "//romiVendordep:robotpy-native-xrp-generator.generate_build_info",
-        "//wpilibc:robotpy-native-wpilib-generator.generate_build_info",
-        "//wpinet:robotpy-native-wpinet-generator.generate_build_info",
-        "//wpimath:robotpy-native-wpimath-generator.generate_build_info",
-        "//wpiutil:robotpy-native-wpiutil-generator.generate_build_info",
-        "//xrpVendordep:robotpy-native-xrp-generator.generate_build_info",
-    ],
-    tags = [
-        "pregeneration",
-        "robotpy",
-    ],
-    target_compatible_with = robotpy_compatibility_select(),
-)
-
-write_source_files(
-    name = "write_robotpy_generated_pybind_files",
-    additional_update_targets = [
-        "//apriltag:robotpy-apriltag-generator.generate_build_info",
-        "//datalog:robotpy-datalog-generator.generate_build_info",
-        "//hal:robotpy-hal-generator.generate_build_info",
-        "//ntcore:pyntcore-generator.generate_build_info",
-        "//romiVendordep:robotpy-romi-generator.generate_build_info",
-        "//wpilibc:robotpy-wpilib-generator.generate_build_info",
-        "//wpinet:robotpy-wpinet-generator.generate_build_info",
-        "//wpimath:robotpy-wpimath-generator.generate_build_info",
-        "//wpimath:robotpy-wpimath_test-generator.generate_build_info",
-        "//wpiutil:robotpy-wpiutil-generator.generate_build_info",
-        "//xrpVendordep:robotpy-xrp-generator.generate_build_info",
-    ],
-    tags = [
-        "pregeneration",
-        "robotpy",
-    ],
-    target_compatible_with = robotpy_compatibility_select(),
-)
-
-write_source_files(
-    name = "write_robotpy_update_yaml_files",
-    additional_update_targets = [
-        "//apriltag:write_robotpy-apriltag-update-yaml",
-        "//datalog:write_robotpy-wpilog-update-yaml",
-        "//hal:write_robotpy-hal-update-yaml",
-        "//ntcore:write_pyntcore-update-yaml",
-        "//romiVendordep:write_robotpy-romi-update-yaml",
-        "//wpilibc:write_robotpy-wpilib-update-yaml",
-        "//wpinet:write_robotpy-wpinet-update-yaml",
-        "//wpimath:write_robotpy-wpimath-update-yaml",
-        "//wpimath:write_robotpy-wpimath-test-update-yaml",
-        "//wpiutil:write_robotpy-wpiutil-update-yaml",
-        "//xrpVendordep:write_robotpy-xrp-update-yaml",
-    ],
-    tags = [
-        "manual",
-        "pregeneration",
-        "robotpy",
-    ],
-    target_compatible_with = robotpy_compatibility_select(),
-)
-
-write_source_files(
-    name = "write_robotpy_create_imports",
-    additional_update_targets = [
-        "//apriltag:robotpy-apriltag-create-imports",
-        "//datalog:robotpy-wpilog-create-imports",
-        "//hal:robotpy-hal-create-imports",
-        "//ntcore:pyntcore-create-imports",
-        "//romiVendordep:robotpy-romi-create-imports",
-        "//wpilibc:robotpy-wpilib-create-imports",
-        "//wpinet:robotpy-wpinet-create-imports",
-        "//wpimath:robotpy-wpimath-create-imports",
-        "//wpimath:robotpy-wpimath-test-create-imports",
-        "//wpiutil:robotpy-wpiutil-create-imports",
-        "//xrpVendordep:robotpy-xrp-create-imports",
-    ],
-    tags = [
-        "manual",
-        "pregeneration",
-        "robotpy",
-    ],
-    target_compatible_with = robotpy_compatibility_select(),
-)
-
-write_source_files(
-    name = "write_robotpy_files",
-    additional_update_targets = [
-        ":write_robotpy_generated_native_files",
-        ":write_robotpy_generated_pybind_files",
-        ":write_robotpy_update_yaml_files",
-    ],
-    tags = [
-        "manual",
-        "pregeneration",
-    ],
-)
-
-write_source_files(
-    name = "write_all",
-    additional_update_targets = [
-        ":write_pregenerated_files",
-        ":write_robotpy_files",
-    ],
-    tags = [
-        "manual",
-        "pregeneration",
-    ],
-)
-
-# Helper easily run the semiwrap parsing tools on all of the robotpy projects.
-filegroup(
-    name = "robotpy_generated_files",
-    srcs = [
-        "//apriltag:robotpy-apriltag.generated_files",
-        "//datalog:robotpy-wpilog.generated_files",
-        "//hal:robotpy-hal.generated_files",
-        "//ntcore:pyntcore.generated_files",
-        "//wpilibc:robotpy-wpilib.generated_files",
-        "//wpimath:robotpy-wpimath.generated_files",
-        "//wpimath:robotpy-wpimath-test.generated_files",
-        "//wpinet:robotpy-wpinet.generated_files",
-        "//wpiutil:robotpy-wpiutil.generated_files",
-    ],
-    tags = ["manual"],
-    target_compatible_with = robotpy_compatibility_select(),
-)

CMakeLists.txt

@@ -63,7 +63,9 @@ set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # Options for building certain parts of the repo. Everything is built by default.
-option(BUILD_SHARED_LIBS "Build with shared libs" ON)
+option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
+option(WITH_JAVA "Include Java and JNI in the build" OFF)
+option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
 option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
 cmake_dependent_option(
     DOCS_WARNINGS_AS_ERRORS
@@ -76,22 +78,46 @@ option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPICAL "Build wpical" OFF)
 option(WITH_WPIMATH "Build wpimath" ON)
+cmake_dependent_option(
+    WITH_WPIUNITS
+    "Build wpiunits"
+    ON
+    WITH_JAVA
+    OFF
+)
 option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
+option(WITH_PROTOBUF "Build protobuf support" ON)
 option(WITH_BENCHMARK "Build the benchmark project" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
 option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
-option(USE_LINKED_AVAHI "Use directly linked Avahi instead of loading at runtime" OFF)
+
+# Options for location of OpenCV Java.
+set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
 
 # Options for compilation flags.
 option(NO_WERROR "Disable -Werror flag during compilation" OFF)
 
+if(NOT WITH_JAVA OR NOT WITH_CSCORE)
+    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
+        message(
+            WARNING
+            "
+WARNING: OpenCV Java dir set but java is not enabled!
+It will be ignored.
+"
+        )
+    endif()
+endif()
+
+wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
+
 wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
 
 wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
@@ -100,7 +126,17 @@ wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
 
 wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
 
+wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
+
 set(include_dest include)
+set(java_lib_dest java)
+if(WITH_JAVA OR WITH_JAVA_SOURCE)
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+    find_package(Java REQUIRED COMPONENTS Development)
+    if(NOT ANDROID)
+        find_package(JNI REQUIRED COMPONENTS JVM)
+    endif()
+endif()
 
 if(WITH_DOCS)
     find_package(Doxygen REQUIRED)
@@ -115,6 +151,14 @@ endif()
 
 find_package(LIBSSH CONFIG 0.7.1)
 
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+if(WITH_PROTOBUF)
+    set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
+    find_package(Protobuf REQUIRED)
+    find_program(PROTOC_COMPILER protoc REQUIRED)
+endif()
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
+
 get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
 
 if(isMultiConfig)
@@ -232,9 +276,6 @@ if(WITH_TESTS)
     enable_testing()
     add_subdirectory(thirdparty/googletest)
     include(GoogleTest)
-    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/catch2/extras")
-    add_subdirectory(thirdparty/catch2)
-    include(Catch)
 endif()
 
 if(USE_SYSTEM_LIBUV)
@@ -247,13 +288,11 @@ endif()
 
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
+set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
+set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-set(DATALOG_DEP_REPLACE "find_dependency(datalog)")
-
 add_subdirectory(wpiutil)
 
-add_subdirectory(datalog)
-
 if(WITH_NTCORE)
     set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
     set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
@@ -262,22 +301,37 @@ if(WITH_NTCORE)
 endif()
 
 if(WITH_WPIMATH)
+    if(WITH_JAVA)
+        set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
+        add_subdirectory(wpiunits)
+    endif()
     set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
     add_subdirectory(wpimath)
 endif()
 
+if(WITH_JAVA)
+    add_subdirectory(wpiannotations)
+endif()
+
+if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
+    # In case of building wpiunits standalone
+    set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
+    add_subdirectory(wpiunits)
+endif()
+
 if(WITH_GUI)
-    add_subdirectory(fields)
+    add_subdirectory(fieldImages)
     add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
-    add_subdirectory(tools/outlineviewer)
-    add_subdirectory(tools/sysid)
+    add_subdirectory(outlineviewer)
+    add_subdirectory(sysid)
     if(WITH_WPICAL)
-        add_subdirectory(tools/wpical)
+        add_subdirectory(wpical)
     endif()
     if(LIBSSH_FOUND)
-        add_subdirectory(tools/datalogtool)
+        add_subdirectory(roborioteamnumbersetter)
+        add_subdirectory(datalogtool)
     endif()
 endif()
 
@@ -297,10 +351,14 @@ endif()
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    set(COMMAND_DEP_REPLACE "find_dependency(commandsv2)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
+    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
+    add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
-    add_subdirectory(commandsv2)
+    add_subdirectory(wpilibNewCommands)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)
     if(WITH_EXAMPLES)

CMakePresets.json

@@ -24,6 +24,27 @@
         "CMAKE_C_COMPILER_LAUNCHER": "sccache",
         "CMAKE_CXX_COMPILER_LAUNCHER": "sccache"
       }
+    },
+    {
+      "name": "with-java",
+      "displayName": "",
+      "description": "Ninja config with Java",
+      "generator": "Ninja",
+      "binaryDir": "build-cmake",
+      "cacheVariables": {
+        "WITH_JAVA": "ON"
+      }
+    },
+    {
+      "name": "with-java-and-sccache",
+      "displayName": "",
+      "description": "Ninja config with Java and sccache",
+      "generator": "Ninja",
+      "inherits": "with-sccache",
+      "binaryDir": "build-cmake",
+      "cacheVariables": {
+        "WITH_JAVA": "ON"
+      }
     }
   ]
 }

CONTRIBUTING.md

@@ -4,7 +4,6 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 - [General Contribution Rules](#general-contribution-rules)
 - [What to Contribute](#what-to-contribute)
-- [Design Philosophy](#design-philosophy)
 - [Contribution Process](#contribution-process)
 - [Coding Guidelines](#coding-guidelines)
 - [Submitting Changes](#submitting-changes)
@@ -14,41 +13,29 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## General Contribution Rules
 
-- Everything in the library must work for the 14000+ teams that will be using it.
+- Everything in the library must work for the 4000+ teams that will be using it.
 - We need to be able to maintain submitted changes, even if you are no longer working on the project.
 - Tool suite changes must be generally useful to a broad range of teams
 - Excluding bug fixes, changes in one language generally need to have corresponding changes in other languages.
-    - Some features, such the addition of C++26 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only. New language features added to C++ must be wrappable in Python for [RobotPy](https://github.com/robotpy).
+    - Some features, such the addition of C++23 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only. New language features added to C++ must be wrappable in Python for [RobotPy](https://github.com/robotpy).
+    - Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
 - Changes should have tests.
 - Code should be well documented.
-    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [wpilib-docs repository](https://github.com/wpilibsuite/wpilib-docs) for more information.
+    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [frc-docs repository](https://github.com/wpilibsuite/frc-docs) for more information.
 
 ## What to Contribute
 
 - Bug reports and fixes
     - We will generally accept bug fixes without too much question. If they are only implemented for one language, we will implement them for any other necessary languages. Bug reports are also welcome, please submit them to our GitHub issue tracker.
 - While we do welcome improvements to the API, there are a few important rules to consider:
-    - Features must be added to Java (WPILibJ), C++ (WPILibC), and Python with rare exceptions.
-        - Most of Python (RobotPy) is created by wrapping WPILibC with pybind11 via semiwrap. In general, new user-facing functions or classes should have the proper wrapper configs updated, typically located in a YAML file with the same name as the header. See the [in-repo RobotPy README](./README-RobotPy.md) for more info and how to partially auto-update the configs. However, the command framework is reimplemented in Python, and requires code to be ported instead of being wrapped via semiwrap.
-    - During competition season, we will not merge any new feature additions or removals. We want to ensure that the API is stable during the season to help minimize issues for teams.
+    - Features must be added to Java (WPILibJ), C++ (WPILibC), with rare exceptions.
+        - Most of Python (RobotPy) is created by wrapping WPILibC with pybind11 via robotpy-build. However, new features to the command framework should also be submitted to [robotpy-commands-v2](https://github.com/robotpy/robotpy-commands-v2) as the command framework is reimplemented in Python.
+    - During competition season, we will not merge any new feature additions. We want to ensure that the API is stable during the season to help minimize issues for teams.
     - Ask about large changes before spending a bunch of time on them! See [Contribution Process](#contribution-process) for where to ask.
     - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
     - Features in WPILib should be broadly applicable to all teams. Anything that is team specific should not be submitted.
     - As a rule, we are happy with the general structure of WPILib. We are not interested in major rewrites of all of WPILib. We are open to talking about ideas, but backwards compatibility is very important for WPILib, so be sure to keep this in mind when proposing major changes.
-    - While the library may contain support for specific sensors, these are typically items contained in the FIRST Robotics Competition Kit of Parts or commonly used hardware identified by FIRST or core WPILib Developers. If you think a certain sensor should be supported in WPILib, you may submit an issue justifying the reasons why it should be supported and approval will be determined by FIRST or core WPILib Developers. If you are a company interested in getting a sensor into the Kit of Parts, please contact FIRST directly at frcparts@firstinspires.org.
-
-## Design Philosophy
-
-WPILib's general design philosophy strays far away from the traditional Object-Oriented Programming architectures dominant in enterprise codebases. The general points to follow for WPILib are as follows:
-
-- Prefer functions and composition over inheritance. Inheritance is rigid and often prevents evolution, as adding or removing methods from an inherited class risks breakage. For similar reasons, functional interfaces (`std::function` in C++) are preferred over actual interfaces.
-- Avoid opaque black-boxes of functionality. Classes like RamseteCommand or HolonomicDriveController (both removed in 2027) are good examples of this. While they look like a good abstraction that helps beginners, the black-box nature means they are [difficult to debug](https://github.com/wpilibsuite/allwpilib/issues/3350) and it's impossible to instrument the internals to figure out what's going on, or they are extremely clunky to use compared to composing the individual components (thus defeating the point of abstracting it away; SwerveControllerCommand construction was [a huge pile of opaque arguments glued together](https://github.com/wpilibsuite/allwpilib/blob/v2026.2.2/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java#L104-L114)). Composition is strongly preferred, with strong documentation and examples describing how to do that composition.
-- Error at compile time, not runtime. Despite our best efforts, there will always be people who don't read stack traces (understandable for beginner programmers). Compile time errors show up in builds and in an IDE, which is much easier and faster for people to pinpoint and debug. Use language features to make invalid code impossible to build.
-    - The Matrix class in Java is an example of this. While clunky due to Java's weak generics system, it enforces correct Matrix dimensions at compile time, with the MatBuilder factory method throwing if the array passed in is the wrong size, which leads to the next point:
-- Try to only throw exceptions at code startup, and only for things that are obviously incorrect. Robots shouldn't quit, and it's a real "feels bad" moment when yours does, especially in a match. It's oftentimes better to have a robot continue running when it sees nonsensical state as opposed to outright crashing, since other components are often still functional. If you can't make invalid code a compile time error, throwing at the start of the robot program is the next best solution, but avoid throwing in functions likely to be called throughout a robot's runtime.
-    - Sometimes the behavior of functions are just incorrect if invalid data is passed in, and throwing is one of the only options. This is a judgement call, but if there are no other options, throwing can be okay.
-        - An alternative to throwing is logging an error, typically with [the Alerts framework](https://docs.wpilib.org/en/latest/docs/software/telemetry/persistent-alerts.html); this is a good choice for runtime errors. Also see https://github.com/wpilibsuite/allwpilib/issues/6766 for an example of not throwing exceptions, but simply logging an error on invalid data.
-    - Note that hardware configuration issues such as a sensor not existing isn't necessarily obviously incorrect; it could be that the wrong port was specified, but it could also be unplugged due to external factors. Throwing just because it's unplugged can make for a "feels bad" moment, and should be avoided.
+    - Generally speaking, we do not accept code for specific sensors. We have to be able to test the sensor in hardware on the WPILib test bed. Additionally, hardware availability for teams is important. Therefore, as a general rule, the library only directly supports hardware that is in the Kit of Parts. If you are a company interested in getting a sensor into the Kit of Parts, please contact FIRST directly at frcparts@firstinspires.org.
 
 ## Contribution Process
 
@@ -70,7 +57,7 @@ While the library should be fully formatted according to the styles, additional
 
 Changes should be submitted as a Pull Request against the main branch of WPILib. For most changes, commits will be squashed upon merge. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. We may ask you to break a PR into multiple standalone PRs or commits for rebase within one PR to separate unrelated changes. No change will be merged unless it is up to date with the current main branch. We do this to make sure that the git history isn't too cluttered.
 
-Particularly large and/or breaking changes should be targeted to the 2027 branch, which targets the [Systemcore Robot Controller](https://community.firstinspires.org/introducing-the-future-mobile-robot-controller). The intent is minimize changes for 2026, to allow development to focus on preparing for 2027.
+Particularly large and/or breaking changes should be targeted to the 2027 branch, which targets the [SystemCore Robot Controller](https://community.firstinspires.org/introducing-the-future-mobile-robot-controller). The intent is minimize changes for 2026, to allow development to focus on preparing for 2027.
 
 ### Merge Process
 

DevelopmentBuilds.md

@@ -13,12 +13,13 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2027 GradleRIO version, ie `2027.0.0-alpha-5`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2026 GradleRIO version, ie `2026.1.1`
 
 ```groovy
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.+'
+wpi.versions.wpimathVersion = 'YEAR.+'
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -27,12 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2027.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 C++
@@ -40,12 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2027.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 ### Development Build Documentation
@@ -61,12 +64,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
-wpi.maven.useWpilibMavenLocalDevelopment = true
+wpi.maven.useFrcMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 C++
@@ -74,14 +78,15 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
-wpi.maven.useWpilibMavenLocalDevelopment = true
+wpi.maven.useFrcMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
+wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
-# Systemcore Development
+# roboRIO Development
 
 See the [developerRobot](developerRobot/README.md) subproject.

GeneratedFiles.md

@@ -6,9 +6,9 @@ The Python script used to generate a subproject's files will always be located i
 
 The templates will be located under `subproject/src/generate/main`, and generated files will be located under `subproject/src/generated/main`.
 
-If the generated file is for C++, the hierarchy should be symmetrical, so if a generated header is located under `subproject/src/generated/main/native/include/wpi/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/wpi/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
+If the generated file is for C++, the hierarchy should be symmetrical, so if a generated header is located under `subproject/src/generated/main/native/include/frc/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/frc/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
 
-If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `org.wpilib.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/org/wpilib/wpilibj`
+If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `edu.wpi.first.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/edu/wpi/first/wpilibj`
 
 The JSON files live under `subproject/src/generate` since they apply to both languages. One unique case is JSON files that are used by multiple subprojects, currently only JSON files shared by wpilibc and wpilibj. In that specific case, the JSON files will always be located in wpilibj since Java is the most used language.
 
@@ -23,6 +23,3 @@ To maintain consistency with other Python scripts, copy an existing `generate_*.
 
 ### (Re)Generating files and committing them
 Once your Python script is complete, you can run `python generate_<thing>.py` to generate the files. Once you're finished with your files, commit these files to Git. If you regenerated the files and Git indicates the files have changed, but the diff doesn't show any changes, only the line endings have changed. If you expected changes to the generated code, you didn't correctly make changes. If you didn't expect changes, you can ignore this and discard the changes. Also ensure that you've marked the Python script as executable, since this is necessary for CI workflows to run your scripts. To add your script to the CI workflows, edit [.github/workflows/pregen_all.py](.github/workflows/pregen_all.py), and add your script alongside the rest of the scripts.
-
-#### (Re)Generating QuickBuffers files
-Regenerating QuickBuffers files requires the Protocol Buffers compiler (protoc), and the QuickBuffers plugin, which can be found on [their releases page](https://github.com/HebiRobotics/QuickBuffers/releases). Once you have both, you can pass their paths into the generation scripts with `--protoc` and `--quickbuf_plugin` and regenerate the files.

MAINTAINERS.md

@@ -1,23 +1,23 @@
 ## Publishing Third Party Dependencies
-Currently the 3rd party external deps are opencv, libssh, ceres, and gtsam.
+Currently the 3rd party deps are imgui, opencv, google test, libssh, and apriltaglib
 
 For publishing these dependencies, the version needs to be manually updated in the publish.gradle file of their respective repository.
-Then, upload a new tag for the dependency you want to build for, which will automatically start a build.
-The CI workflow should set `RUN_AZURE_ARTIFACTORY_RELEASE` to `true` on tagged runs. Then when the pipeline gets started, the final build outputs will be uploaded to artifactory.
+Then, in the azure build for the dependency you want to build for, manually start a pipeline build (As of current, this is the `Run Pipeline` button).
+A variable needs to be added called `RUN_AZURE_ARTIFACTORY_RELEASE`, with a value of `true`. Then when the pipeline gets started, the final build outputs will be updated to artifactory.
 
 To use newer versions of C++ dependencies, in `shared/config.gradle`, update the version related to the specific dependency.
 For Java dependencies, there is likely a file related to the specific dependency in the shared folder. Update the version in there.
 
-Note, changing artifact locations requires updating the `native-utils` plugin; specifically, the `configureDependencies` method in the `WPINativeUtilsExtension` class.
+Note, changing artifact locations (This includes changing the artifact year currently, I have an issue open to change this) requires updating the `native-utils` plugin
 
 ## Publishing allwpilib
 allwpilib publishes to the development repo on every push to main. To publish a release build, upload a new tag, and a release will automatically be built and published.
 
-### Adding a new robot code dependency/subproject
-If a new subproject has been added that is meant for use from robot code, both GradleRIO and the `native-utils` plugin need to be updated. `native-utils` is updated in the same way as 3rd party dependencies. For GradleRIO, update the `WPIJavaDepsExtension` to contain your new subproject's artifacts.
+## Publishing desktop tools
+Desktop tools publish to the development repo on every push to main. To publish a release build, upload a new tag, and a release will automatically be built and published.
 
 ## Publishing VS Code
-Before publishing, make sure to update the GradleRIO version in `vscode-wpilib/resources/gradle/version.txt`. Also make sure the Gradle Wrapper version matches the wrapper required by GradleRIO.
+Before publishing, make sure to update the gradlerio version in `vscode-wpilib/resources/gradle/version.txt` Also make sure the gradle wrapper version matches the wrapper required by gradlerio.
 Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub.
 
 ## Publishing GradleRIO

MODULE.bazel

@@ -1,129 +0,0 @@
-module(
-    name = "allwpilib",
-    version = "0.0.0",
-)
-
-include("//docs:doxygen.MODULE.bazel")
-
-include("//shared/bazel/thirdparty/ceres:ceres.MODULE.bazel")
-
-include("//shared/bazel/thirdparty/libssh:libssh.MODULE.bazel")
-
-include("//shared/bazel/thirdparty/mrclib:mrclib.MODULE.bazel")
-
-bazel_dep(name = "apple_support", version = "2.0.0", repo_name = "build_bazel_apple_support")
-bazel_dep(name = "rules_cc", version = "0.2.17")
-bazel_dep(name = "rules_pkg", version = "1.1.0")
-bazel_dep(name = "bazel_features", version = "1.33.0")
-bazel_dep(name = "aspect_bazel_lib", version = "2.14.0")
-bazel_dep(name = "bazel_skylib", version = "1.8.2")
-bazel_dep(name = "platforms", version = "1.0.0")
-bazel_dep(name = "rules_java", version = "8.16.1")
-bazel_dep(name = "rules_python", version = "1.7.0")
-bazel_dep(name = "rules_pycross", version = "0.8.1")
-
-python = use_extension("@rules_python//python/extensions:python.bzl", "python")
-python.toolchain(
-    python_version = "3.13",
-)
-use_repo(
-    python,
-    "python_3_13",
-    "python_3_13_x86_64-unknown-linux-gnu",
-)
-
-pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
-pip.parse(
-    hub_name = "allwpilib_pip_deps",
-    python_version = "3.13",
-    requirements_lock = "//:requirements_lock.txt",
-    requirements_windows = "//:requirements_windows_lock.txt",
-)
-use_repo(pip, "allwpilib_pip_deps")
-
-bazel_dep(name = "rules_jvm_external", version = "6.8")
-
-maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
-maven.install(
-    name = "maven",
-    artifacts = [
-        "org.ejml:ejml-simple:0.44.0",
-        "io.avaje:avaje-jsonb:3.14",
-        "io.avaje:avaje-jsonb-generator:3.14",
-        "us.hebi.quickbuf:quickbuf-runtime:1.4",
-        "com.google.code.gson:gson:2.13.1",
-        "org.wpilib.thirdparty.opencv:opencv-java:2027-4.13.0-1",
-        "org.junit.jupiter:junit-jupiter:5.10.1",
-        "org.junit.platform:junit-platform-console:1.10.1",
-        "org.junit.platform:junit-platform-launcher:1.10.1",
-        "org.junit.platform:junit-platform-reporting:1.10.1",
-        "org.hamcrest:hamcrest-all:1.3",
-        "com.googlecode.junit-toolbox:junit-toolbox:2.4",
-        "org.apache.ant:ant:1.10.12",
-        "org.apache.ant:ant-junit:1.10.12",
-        "org.mockito:mockito-core:4.1.0",
-        "com.google.testing.compile:compile-testing:0.21.0",
-    ],
-    lock_file = "//:maven_install.json",
-    repositories = [
-        "https://repo1.maven.org/maven2",
-        "https://frcmaven.wpi.edu/artifactory/release/",
-    ],
-)
-use_repo(maven, "maven", "unpinned_maven")
-
-bazel_dep(name = "caseyduquettesc_rules_python_pytest", version = "1.1.1", repo_name = "rules_python_pytest")
-bazel_dep(name = "eigen", version = "5.0.1")
-local_path_override(
-    module_name = "eigen",
-    path = "wpimath/src/main/native/thirdparty/eigen/include",
-)
-
-bazel_dep(name = "rules_license", version = "1.0.0")
-
-http_file = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_file")
-
-http_file(
-    name = "quickbuffer_protoc_linux",
-    executable = True,
-    sha256 = "02767f5f662720c121dfaaa9109aefa9b0b1e2415cbe1af9e4713a7b00663696",
-    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe"],
-)
-
-http_file(
-    name = "quickbuffer_protoc_osx_x86-64",
-    executable = True,
-    sha256 = "cdc0b4b188f944dddd4430bcd6f6266ca1aaf8c33940d7bee1ed63fc962d8525",
-    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.3/protoc-gen-quickbuf-1.3.3-osx-x86_64.exe"],
-)
-
-http_file(
-    name = "quickbuffer_protoc_osx_aarch64",
-    executable = True,
-    sha256 = "95fa0a22ad2d9fa8f84a31cf3a0670b18c0ad954f73035f60cfb77c2814fb41c",
-    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.3/protoc-gen-quickbuf-1.3.3-osx-aarch_64.exe"],
-)
-
-http_file(
-    name = "quickbuffer_protoc_windows",
-    executable = True,
-    sha256 = "8a30b2eaebefbedc3b592118670de1ab6ea1aa19dcf8cdab220e25485ccd4a0a",
-    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.3/protoc-gen-quickbuf-1.3.3-windows-x86_64.exe"],
-)
-
-bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr6")
-archive_override(
-    module_name = "rules_bzlmodrio_toolchains",
-    integrity = "sha256-ECtFB2KOlySwweRBcndiw0TkAXD2WsYFFhaBeOozqJo=",
-    urls = ["https://github.com/wpilibsuite/rules_bzlmodrio_toolchains/releases/download/2025-1.bcr6/rules_bzlmodrio_toolchains-2025-1.bcr6.tar.gz"],
-)
-
-bazel_dep(name = "protobuf", version = "32.1", repo_name = "com_google_protobuf")
-
-http_jar = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_jar")
-
-http_jar(
-    name = "com_github_google_copybara",
-    integrity = "sha256-IHW6y6WXJFjX9RYD+IwVAMwAbEo36fLqonIKR+FaqpQ=",
-    urls = ["https://github.com/google/copybara/releases/download/v20251027/copybara_deploy.jar"],
-)

MavenArtifacts.md

@@ -18,10 +18,10 @@ The first types are Java artifacts. These are usually published as `jar` files.
 
 Example:
 ```
-org.wpilib.wpilibj:wpilibj-java:version
+edu.wpi.first.wpilibj:wpilibj-java:version
 ```
 
-The second types are native artifacts. These are usually published as `zip` files. The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The full list of supported platforms can be found in [native-utils in the Platforms nested class](https://github.com/wpilibsuite/native-utils/blob/main/src/main/java/org/wpilib/nativeutils/WPINativeUtilsExtension.java). If the library is built statically, it will have `static` appended to the classifier. Additionally, if the library was built in debug mode, `debug` will be appended to the classifier. The platform artifact only contains the binaries for a specific platform. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
+The second types are native artifacts. These are usually published as `zip` files. The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The full list of supported platforms can be found in [native-utils](https://github.com/wpilibsuite/native-utils/blob/main/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L94). If the library is built statically, it will have `static` appended to the classifier. Additionally, if the library was built in debug mode, `debug` will be appended to the classifier. The platform artifact only contains the binaries for a specific platform. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
 
 If the library is Java and C++ and has a JNI component, the native artifact will have a shared library containing JNI entrypoints alongside the C++ shared library. This JNI shared library will have a `jni` suffix in the file name.
 
@@ -29,8 +29,8 @@ Native artifacts are published with the base artifact name as their artifact ID,
 
 Example:
 ```
-org.wpilib.wpimath:wpimath-cpp:version:classifier@zip
-org.wpilib.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip
+edu.wpi.first.wpimath:wpimath-cpp:version:classifier@zip
+edu.wpi.first.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip
 ```
 
 ## Provided Artifacts
@@ -38,7 +38,7 @@ This repository provides the following artifacts. Below each artifact is its dep
 
 For C++, if building with static dependencies, the listed order should be the link order in your linker.
 
-All artifacts are based at `org.wpilib.artifactname` in the repository.
+All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 
 * wpiutil
 
@@ -52,33 +52,32 @@ All artifacts are based at `org.wpilib.artifactname` in the repository.
   * wpiutil
 
 * ntcore
-  * wpinet
   * wpiutil
+  * wpinet
 
 * glass/libglass
-  * wpigui
-  * wpimath
   * wpiutil
+  * wpimath
+  * wpigui
 
 * glass/libglassnt
-  * wpigui
-  * ntcore
-  * wpinet
-  * wpimath
   * wpiutil
+  * wpinet
+  * ntcore
+  * wpimath
+  * wpigui
 
 * hal
-  * ntcore
   * wpiutil
 
 * halsim
-  * libglassnt
-  * libglass
+  * wpiutil
+  * wpinet
   * ntcore
   * wpimath
   * wpigui
-  * wpinet
-  * wpiutil
+  * libglass
+  * libglassnt
 
 * cscore
   * opencv
@@ -109,7 +108,7 @@ All artifacts are based at `org.wpilib.artifactname` in the repository.
   * wpinet
   * wpiutil
 
-* commandsv2
+* wpilibNewCommands
   * wpilibc
   * hal
   * cameraserver
@@ -127,16 +126,12 @@ All artifacts are based at `org.wpilib.artifactname` in the repository.
 
 ### Third Party Artifacts
 
-This repository provides the builds of the following third party software:
+This repository provides the builds of the following third party software.
 
+All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
+
+* apriltaglib
 * googletest
 * imgui
-
-Other software can be found in their corresponding GitHub repositories:
-
-* ceres: https://github.com/wpilibsuite/thirdparty-ceres
-* gtsam: https://github.com/wpilibsuite/thirdparty-gtsam
-* opencv: https://github.com/wpilibsuite/thirdparty-opencv
-* libssh: https://github.com/wpilibsuite/thirdparty-libssh
-
-All artifacts are based at `org.wpilib.thirdparty` in the repository.
+* opencv
+* libssh

README-Bazel.md

@@ -1,10 +1,10 @@
 # WPILib Bazel Support
 
-WPILib is normally built with Gradle, but [Bazel](https://www.bazel.build/) can also be used to increase development speed due to the superior caching ability and the ability to use remote caching and remote execution (on select platforms).
+WPILib is normally built with Gradle, but [Bazel](https://www.bazel.build/) can also be used to increase development speed due to the superior caching ability and the ability to use remote caching and remote execution (on select platforms)
 
 
 ## Prerequisites
-- Install [Bazelisk](https://github.com/bazelbuild/bazelisk/releases) and add it to your path. Bazelisk is a wrapper that will download the correct version of Bazel specified in the repository. Note: You can alias/rename the binary to `bazel` if you want to keep the familiar `bazel build` vs `bazelisk build` syntax.
+- Install [Bazelisk](https://github.com/bazelbuild/bazelisk/releases) and add it to your path. Bazelisk is a wrapper that will download the correct version of bazel specified in the repository. Note: You can alias/rename the binary to `bazel` if you want to keep the familiar `bazel build` vs `bazelisk build` syntax.
 
 ## Building
 To build the entire repository, simply run `bazel build //...`. To run all of the unit tests, run `bazel test //...`
@@ -14,42 +14,12 @@ Other examples:
 - `bazel coverage //wpiutil/...` - (*Nix only) - Runs a code coverage report for both C++ and Java on all the targets under wpiutil
 
 ## User settings
-When invoking Bazel, it will check if `user.bazelrc` exists for additional, user specified flags. You can use these settings to do things like always ignore builds in a specific folder, or limiting the CPU/RAM usage during a build.
+When invoking bazel, it will check if `user.bazelrc` exists for additional, user specified flags. You can use these settings to do things like always ignore buildin a specific folder, or limiting the CPU/RAM usage during a build.
 Examples:
 - `build --build_tag_filters=-wpi-example` - Do not build any targets tagged with `wpi-example` (Currently all of the targets in wpilibcExamples and wpilibjExamples contain this tag)
 - `build -c opt` - Always build optimized targets. The default compiler flags were chosen to build as fast as possible, and thus don't contain many optimizations
 - `build -k` - `-k` is analogous to the MAKE flag `--keep-going`, so the build will not stop on the first error.
 - ```
-  build --local_resources=memory=HOST_RAM*.5 # Don't use more than half my RAM when building
-  build --local_resources=cpu=HOST_CPUS-1 # Leave one core alone
+  build --local_ram_resources=HOST_RAM*.5 # Don't use more than half my RAM when building
+  build --local_cpu_resources=HOST_CPUS-1 # Leave one core alone
   ```
-Bazel's RAM usage estimation is simplistic and hardcoded, so limiting the allowed number of CPU cores is the best way to reduce memory usage if it becomes a problem.
-
-The default settings build all the release artifact variants relevant for your platform.  The overall list of options ends up being, essentially, all the variants of (linux, osx, windows) x (debug, release) x (static, shared) x (aarch64, x86).  OSX and Windows are hard to compile for from any other OS, so we by default build for your local OS and the system core, with all the variants.
-
-This can be a bit expensive.  If you would like to build a subset, you can specify the repo environmental variable, `WPI_PUBLISH_CLASSIFIER_FILTER`, and pick what you build for.  The default is, in the .bazelrc file,
-```
-common --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
-```
-
-Modify this to your likings if you want to build less.
-
-## Pregenerating Files
-allwpilib uses extensive use of pre-generating files that are later used to build C++ / Java libraries that are tracked by version control. Quite often,
-these pre-generation scripts use some configuration file to create multiple files inside of an output directory. While this process could be accomplished
-with a `genrule` that would require an explicit listing of every output file, which would be tedious to maintain as well as potentially confusing to people
-adding new features those libraries. Therefore, we use `@aspect_bazel_lib` and their `write_source_files` feature to generate these directories. In the event that the generation process creates more than a small handful of predictable files, a custom rule is written to generate the directory.
-
-## Remote Caching
-One of the huge benefits of Bazel is its remote caching ability. However, due to Bazel's strict build definitions, it is hard to share remote cache artifacts between different computers unless our toolchains are fully hermetic, which means you are unlikely to be able to reuse the cache artifacts published from the `main` branch on your local machine like you might be able to with the `gradle` or `cmake` caches. Luckily, the GitHub Actions CI machines are generally stable between runs and can reuse cache artifacts, and your local machine should remain stable, so if you set up a free buildbuddy account you can have your fork's CI actions be able to use a personalized cache, as well as your local machine.
-
-For the main `allwpilib` upstream, the cache is only updated on the main branch; pull requests from forks will not be able to modify the cache. However, you can set up your fork to enable its own cache by following the steps below.
-
-### Setting Up API keys
-Follow the [buildbuddy authentication](https://www.buildbuddy.io/docs/guide-auth) guide to create keys. For your local machine, it is recommended that you place the following configuration line in either a `user.bazelrc` or `bazel_auth.rc` file in the repositories root directory.
-
-```
-build --remote_header=<your api key>
-```
-
-To get your forks CI actions using your own buildbuddy cache, follow [GitHub's](https://docs.github.com/en/actions/how-tos/security-for-github-actions/security-guides/using-secrets-in-github-actions) documentation for setting up a repository secret. The secrets key should be `BUILDBUDDY_API_KEY`, and the value should be your buildbuddy API key.

README-CMake.md

@@ -1,22 +1,22 @@
 # WPILib CMake Support
 
-WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although macOS is supported, these docs will only go over Linux and Windows builds, but should mostly work for macOS as well. If you are stuck, you can look at the GitHub workflows for any OS to see how it works. The CMake build does not build Java or Python, only C++.
+WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although macOS is supported, these docs will only go over Linux and Windows builds, but should mostly work for macOS as well. If you are stuck, you can look at the GitHub workflows for any OS to see how it works.
 
 ## Libraries that get built
 * apriltag
 * cameraserver
-* commandsv2
 * cscore
-* datalog
-* fields
+* fieldImages
 * hal (simulation HAL only)
 * ntcore
 * romiVendordep
 * simulation extensions
 * wpigui
-* wpilib (wpilibc, wpilibj, and developerRobot)
+* wpilib (wpilibc, wpilibj, and myRobot)
+* wpilibNewCommands
 * wpimath
 * wpinet
+* wpiunits
 * wpiutil
 * xrpVendordep
 
@@ -24,28 +24,38 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * datalogtool
 * glass
 * outlineviewer
+* roborioteamnumbersetter
 * sysid
-* wpical
 * halsim_gui (if simulation extensions are enabled)
 
-By default, all libraries get built with a default CMake setup. The libraries are built as shared libraries. Data Log Tool is only built if libssh is available.
+By default, all libraries get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs. Data Log Tool and the roboRIO Team Number Setter are only built if libssh is available.
 
 ## Prerequisites
 
+The protobuf library and compiler are needed for protobuf generation.
+
 OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
 
+If you want JNI and Java, you will need a JDK of at least version 17 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
+
+If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
+
 ## Build Options
 
 The following build options are available:
 
 * `BUILD_SHARED_LIBS` (ON Default)
-  * This option will cause CMake to build static libraries instead of shared libraries.
+  * This option will cause CMake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
 * `WITH_CSCORE` (ON Default)
   * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver. If this is off, the OpenCV build requirement is removed.
 * `WITH_EXAMPLES` (OFF Default)
   * This option will build C++ examples.
 * `WITH_GUI` (ON Default)
   * This option will build GUI items. If this is off, and `WITH_SIMULATION_MODULES` is on, the simulation GUI will not be built.
+* `WITH_JAVA` (OFF Default)
+  * This option will enable Java and JNI builds. If this is on, `BUILD_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_JAVA_SOURCE` (`WITH_JAVA` Default)
+  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
 * `WITH_NTCORE` (ON Default)
   * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet, and will cause an error if `WITH_WPILIB` is enabled.
 * `WITH_SIMULATION_MODULES` (ON Default)
@@ -53,9 +63,15 @@ The following build options are available:
 * `WITH_TESTS` (ON Default)
   * This option will build C++ unit tests. These can be run via `ctest -C <config>`, where `<config>` is the build configuration, e.g. `Debug` or `Release`.
 * `WITH_WPILIB` (ON Default)
-  * This option will build the HAL and wpilibc during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for Systemcore.
+  * This option will build the HAL and wpilibc/j during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for the roboRIO.
 * `WITH_WPIMATH` (ON Default)
   * This option will build the wpimath library. This option must be on to build wpilib.
+* `WITH_PROTOBUF` (ON Default)
+  * This option will build with the protobuf library.
+* `WITH_WPIUNITS` (`WITH_JAVA` Default)
+  * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
+* `OPENCV_JAVA_INSTALL_DIR`
+  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
 * `NO_WERROR` (OFF Default)
   * This option will disable the `-Werror` compilation flag for non-MSVC builds.
 * `WPILIB_TARGET_WARNINGS`
@@ -75,13 +91,15 @@ If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake
 
 If you want, you can also use `ccmake` in order to visually set these properties as well. [Here](https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html) is the link to the documentation for that program. On Windows, you can use `cmake-gui` instead.
 
+Note that if you are cross-compiling, you will need to override the protobuf options manually to point to the libraries for the target platform. Leave the protoc binary location as the path to the binary for the host platform, since protoc needs to execute on the host platform.
+
 ## Presets
 
-The WPILib CMake setup has a variety of presets for common configurations and options used. The default sets the generator to Ninja and build directory to `build-cmake`. The other preset is `sccache` (sets the C/C++ compiler launcher to sccache).
+The WPILib CMake setup has a variety of presets for common configurations and options used. The default sets the generator to Ninja and build directory to `build-cmake`. The other presets are `with-java` (sets `WITH_JAVA=ON`), `sccache` (sets the C/C++ compiler launcher to sccache), and `with-java-sccache` (a comibination of `with-java` and `sccache`.
 
 ## Building
 
-Once you have CMake setup. run `cmake --build .` from the directory you configured CMake in. This will build all libraries possible. We recommend running `cmake --build .` with multiple jobs. For allwpilib, a good rule of thumb is one worker for every 2 GB of available RAM. To run a multi-job build, run the following command with x being the number of jobs you want.
+Once you have CMake setup. run `cmake --build .` from the directory you configured CMake in. This will build all libraries possible. We recommend running `cmake --build .` with multiple jobs. For allwpilib, a good rule of thumb is one worker for every 2 GB of available RAM. To run a multiple job build, run the following command with x being the number of jobs you want.
 
 ```
 cmake --build . --parallel x
@@ -101,9 +119,9 @@ sudo cmake --build . --target install
 
 ## Preparing to use the installed libraries
 
-On Windows, make sure the directories for the libraries you built are on PATH. For wpilib, the default install location is `C:\Program Files (x86)\allwpilib`. If you built other libraries like OpenCV from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
+On Windows, make sure the directories for the libraries you built are on PATH. For wpilib, the default install location is `C:\Program Files (x86)\allwpilib`. If you built other libraries like OpenCV and protobuf from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
 
-You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program.
+You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program. If you are using OpenCV and Java, the `opencv_java` DLL is located in either the `lib` subdirectory if you built but didn't install OpenCV, or the `java` subdirectory if you did install OpenCV.
 
 ## Using the installed libraries for C++.
 
@@ -131,9 +149,40 @@ cmake /path/to/folder/containing/CMakeLists
 
 After that, run `cmake --build .`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
 
+## Using the installed libraries for Java
+
+Using the built JARs is more involved than using the C++ libraries, but the additional work involves providing the paths to various libraries and JARs when needed.
+
+Create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
+
+```cmake
+cmake_minimum_required(VERSION 3.11)
+project(robot)
+
+find_package(Java REQUIRED COMPONENTS Development)
+include(UseJava)
+find_package(wpilib REQUIRED)
+find_jar(opencvJar opencv-xxx PATHS ENV PATH) # Change to OpenCV version
+
+file(GLOB_RECURSE JAVA_SOURCES *.java)
+# If you want Gradle compatibility or you are using one of the templates/examples, comment out the above line and uncomment this line instead:
+# file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+add_jar(robot ${JAVA_SOURCES}
+    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar wpilibNewCommands_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
+export_jars(TARGETS robot FILE robot.jar)
+```
+This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
+Add a `Main.java` file to contain your code, and create a build folder. Move into the build folder, and run
+
+```
+cmake /path/to/folder/containing/CMakeLists
+```
+
+After that, run `cmake --build .` to create your JAR file. To execute the JAR file, you need to include the wpilib JARs and your JAR in the classpath, and execute your Java program's entry point. If you are using cscore or cameraserver, you also need to include the path to the OpenCV JAR. If you built it from source, it will be in your OpenCV build directory. If it's installed on the system, CMake may find it from PATH, but you will likely need to locate the JAR and manually give CMake the JAR directory. If you are on Linux, you will also need to add the path of the libraries to `LD_LIBRARY_PATH`. This can be done by prepending `LD_LIBRARY_PATH=/path/to/libraries` to the Java command. If you need to add more paths, separate them with colons. The final command should look like `java -cp "robot.jar:/path/to/library_jars/*" main.package.Main`, using a semicolon to separate paths instead of a colon if you are on Windows. If you are on Linux, the final command should look more like `LD_LIBRARY_PATH=/path/to/libraries java -cp robot.jar:/path/to/library_jars/* main.package.Main`.
+
 ## Using vendordeps
 
-Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that commandsv2, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal (using `target_link_libraries`).
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
 
 ## Troubleshooting
 Below are some common issues that are run into when building.
@@ -161,3 +210,31 @@ CMake Error at cscore/CMakeLists.txt:3 (find_package):
 ```
 
 If you get that, you need make sure OpenCV was installed, and then reattempt to configure. If that doesn't work, set the `OpenCV_DIR` variable to the directory where you built OpenCV.
+
+#### Missing Java
+
+If you are missing Java, you will get a message like the following.
+```
+CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
+  Could NOT find Java (missing: Java_JAVA_EXECUTABLE Java_JAR_EXECUTABLE
+  Java_JAVAC_EXECUTABLE Java_JAVAH_EXECUTABLE Java_JAVADOC_EXECUTABLE)
+```
+
+If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
+
+In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.
+
+#### Java: Can't find dependent libraries
+
+If one of the libraries can't be found, you will get an error similar to this one:
+
+```
+java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
+        attempted to load for platform /windows/x86-64/
+Last Load Error:
+C:\Program Files (x86)\allwpilib\bin\wpiHaljni.dll: Can't find dependent libraries
+```
+
+If you get this error, that's usually an indication that not all your libraries are in your PATH. The two libraries that should be in your PATH are OpenCV and protobuf. If the error is coming from cscore, it's likely you're missing OpenCV. Otherwise, it's likely you're missing protobuf.
+
+Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

README-RobotPy.md

@@ -1,96 +0,0 @@
-# robotpy in allwpilib
-allwpilib hosts a mirror of RobotPy that can be built with Bazel on Linux. The intent of the mirror is to have breaking changes identified early and fixed by the PR creator so that when WPILib releases are made, there is much less work required to release a RobotPy version that wraps it. It is not a goal for allwpilib to replace the RobotPy repo; it will still be considered the "source of truth" for Python builds and will be responsible for building against all of the applicable architectures and multiple versions of Python.
-
-## Build Process
-The upstream RobotPy repository uses TOML configuration files and semiwrap to produce Meson build scripts. The allwpilib fork uses these TOML configuration files to auto-generate Bazel build scripts. In general, each project (wpiutil, wpimath, etc) defines two pybind extensions; one that simply wraps the native library, and another that adds extension(s) that and contains all of the Python files for the library. Both of these subprojects have auto-generated build files; a `robotpy_native_build_info.bzl` for the native wrapper and `robotpy_pybind_build_info.bzl` which defines the extensions and Python library.
-
-## Disabling RobotPy builds
-Building the RobotPy software on top of the standard C++/Java software can result in more than doubling the amount of time it takes to compile. To skip building the RobotPy tooling, you can add `--config=skip_robotpy` to the command line or to your `user.bazelrc`.
-
-# Syncing with RobotPy
-[Copybara](https://github.com/google/copybara) is used to maintain synchronization between the upstream RobotPy repositories and the allwpilib mirror. GitHub Actions can be manually run, which will create pull requests that will update all of the RobotPy files between the two repositories. The ideal process is that the allwpilib mirror is always building in CI, and once a release is created, the RobotPy team can run the `wpilib -> robotpy` Copybara task, make any fine tuned adjustments and create their release. In the event that additional changes are made on the RobotPy side, they can run the `robotpy -> wpilib` task to push the updates back to the mirror. However, the goal of the mirroring the software here is to be able to more rapidly test changes and will hopefully overwhelmingly eliminate the need for syncs in this direction.
-
-## Creating a user config
-The Copybara scripts needs to know information about what repositories it will be pushing the synced changes to. These can be specified on the command line, or you can create a `shared/bazel/copybara/.copybara.json` config file to save your personalized settings to avoid having to type things out every time. To run the full suite of migrations, you need a fork of [allwpilib](https://github.com/wpilibsuite/allwpilib), a fork of [mostrobotpy](https://github.com/robotpy/mostrobotpy), and a fork of RobotPy's [commands-v2](https://github.com/robotpy/robotpy-commands-v2). If you only wish to run a subset of commands (i.e. not sync the commands project), you do not need to include that in your user config.
-
-Example config:
-```json
-{
-    "mostrobotpy_local_repo_path": "/home/<username>/git/robotpy/robotpy_monorepo/mostrobotpy",
-    "mostrobotpy_fork_repo": "https://github.com/<username>/mostrobotpy.git",
-    "allwpilib_fork_repo": "https://github.com/<username>/allwpilib.git",
-    "robotpy_commandsv2_fork_repo":  "https://github.com/<username>/robotpy-commands-v2.git"
-}
-```
-
-## Running syncs
-- **Pulling changes from mostrobotpy**:
-
-    `python3 shared/bazel/copybara/run_copybara.py mostrobotpy_to_allwpilib`
-
-
-- **Pulling changes from the commands library**:
-
-    `python3 shared/bazel/copybara/run_copybara.py commandsv2_to_allwpilib`
-
-- **Pushing changes to the commands library**:
-
-    `python3 shared/bazel/copybara/run_copybara.py allwpilib_to_commandsv2`
-
-- **Pushing changes to mostrobotpy**:
-
-    This process is slightly more complicated, because you will almost certainly also need to update the Maven artifacts that mostrobopy is using. Because of this, you must also specify the version number that has been published to WPILib's Maven repository. If you are trying to get an early, non-released development build pushed over, you can also add the `--development_build` flag:
-
-    `python3 shared/bazel/copybara/run_copybara.py allwpilib_to_mostrobotpy --wpilib_bin_version=2027.0.0-alpha-3-86-g418b381 --development_build -y`
-
-# Debugging Build Errors
-The build process is highly automated and automatically parses C++ header files to generate pybind11 bindings. Some of these steps here are considered "pregeneration" steps, and the Bazel build system will update build files as necessary. If a new header is added, or if the contents of a header file has changed, some of the pregeneration scripts might need to be run. If you encounter an error building `robotpy` code, it is recommended that you go through these steps to make sure everything is set up correctly. The examples are for `wpilibc`, but similar build tasks and tests exist for each wrapped project.
-
-## 1. scan-headers
-This can be the first source of problems if a new header file has been added. `semiwrap` will look through all of the headers for a library and notify you if a file is not covered by the projects `pyproject.toml` file. Bazel has a test case to ensure the files are up to date.
-
-An example test failure when a new header being introduced. You can run the test with the following command:
-
-bazel run //wpilibc:robotpy-wpilib-scan-headers
-
-```
-# wpi
-ExpansionHub = "wpi/ExpansionHub.hpp"
-ExpansionHubCRServo = "wpi/ExpansionHubCRServo.hpp"
-ExpansionHubMotor = "wpi/ExpansionHubMotor.hpp"
-ExpansionHubPidConstants = "wpi/ExpansionHubPidConstants.hpp"
-ExpansionHubServo = "wpi/ExpansionHubServo.hpp"
-
-```
-
-To fix this, you can copy the lines from the console, and add them to the pyproject.toml file, located here `wpilibc/src/main/python/pyproject.toml`
-
-## 2. update-yaml
-This process parses all of the header files, and creates a representation of the classes / enums / etc in YAML. Occasionally, some functions might be ignored or need custom pybind code, which can be added to these files by the user.
-
-There is a Bazel task that you can run to automatically update the files:
-
-`bazel run //wpilibc:write_robotpy-wpilib-update-yaml`
-
-
-## 3. generate-build-info
-This step takes the yaml files, and auto-generates a Bazel build script for the library.
-
-There is a Bazel task that you can run to automatically update the files:
-
-`bazel run //wpilibc:robotpy-wpilib-generator.generate_build_info`
-
-## semiwrap errors
-If all of the above steps go smoothly and have their tests pass, but the generated cpp files still won't compile, it is possible that either an update needs to be made to the semiwrap tool to handle the new complex functionality, the new functionality can be ignored, or the new functionality might be better handled with a custom pybind11 implementation. In any case, it is best to reach out to the RobotPy team for guidance.
-
-## Running multiple projects at once
-Each project has its own `scan-headers` and various pregeneration tools, but you can run all of them at once with the following commands. Note: Sometimes if something in the dependency chain for a library fails, these amalgamation commands will also fail. If that happens, fix your way up the dependency chain project by project.
-
-```
-# Scan Headers
-bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
-
-# All pregen
-bazel run //:write_robotpy_files
-
-```

README.md

@@ -3,9 +3,8 @@
 [![Gradle](https://github.com/wpilibsuite/allwpilib/actions/workflows/gradle.yml/badge.svg?branch=main)](https://github.com/wpilibsuite/allwpilib/actions/workflows/gradle.yml)
 [![C++ Documentation](https://img.shields.io/badge/documentation-c%2B%2B-blue)](https://github.wpilib.org/allwpilib/docs/development/cpp/)
 [![Java Documentation](https://img.shields.io/badge/documentation-java-orange)](https://github.wpilib.org/allwpilib/docs/development/java/)
-[![Python Documentation](https://img.shields.io/badge/documentation-python-blue)](https://robotpy.readthedocs.io/projects/robotpy/en/latest/)
 
-Welcome to the WPILib project. This repository contains the HAL, CameraServer, Commands (v2 and v3), NTCore, WPIMath, and WPILib projects. These are the core libraries for creating robot programs for Systemcore.
+Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.
 
 - [WPILib Project](#wpilib-project)
   - [WPILib Mission](#wpilib-mission)
@@ -26,7 +25,7 @@ Welcome to the WPILib project. This repository contains the HAL, CameraServer, C
 
 ## WPILib Mission
 
-The WPILib Mission is to enable FIRST Robotics Competition (FRC) and FIRST Tech Challenge (FTC) teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support the FRC Kit of Parts/FTC control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and Python), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
+The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, Python, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
 
 # Quick Start
 
@@ -39,28 +38,26 @@ Below is a list of instructions that guide you through cloning, building, publis
 
 # Building WPILib
 
-Using Gradle makes building WPILib very straightforward. It only has a few dependencies on outside tools, such as the ARM cross compiler for creating Systemcore binaries.
+Using Gradle makes building WPILib very straightforward. It only has a few dependencies on outside tools, such as the ARM cross compiler for creating roboRIO binaries.
 
 ## Requirements
 
-- [JDK 25](https://adoptium.net/temurin/releases/?version=25)
+- [JDK 17](https://adoptium.net/temurin/releases/?version=17)
     - Note that the JRE is insufficient; the full JDK is required
-    - On Ubuntu, run `sudo apt install openjdk-25-jdk`
-    - On Windows, install the JDK 25 .msi from the link above
-    - On macOS, install the JDK 25 .pkg from the link above
+    - On Ubuntu, run `sudo apt install openjdk-17-jdk`
+    - On Windows, install the JDK 17 .msi from the link above
+    - On macOS, install the JDK 17 .pkg from the link above
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
     - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
-- Raspberry Pi toolchain (optional)
-    - Run `./gradlew installArm64Toolchain` after cloning this repository
-- Systemcore toolchain (required for Systemcore development)
-    - Run `./gradlew installSystemCoreToolchain` after cloning this repository
+- ARM compiler toolchain
+    - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
+- Raspberry Pi toolchain (optional)
+    - Run `./gradlew installArm32Toolchain` after cloning this repository
 
-On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 Systemcore toolchain on ARM.
-
-On linux, run `sudo apt install libx11-dev libgl-dev libxcursor-dev libxrandr-dev libxinerama-dev libxi-dev` to be able to build things depending on glfw.
+On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
 ## Setup
 
@@ -101,7 +98,7 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 - `cscore`
 - `hal`
 - `ntcore`
-- `commandsv2`
+- `wpilibNewCommands`
 - `wpimath`
 - `wpinet`
 - `wpiunits`
@@ -127,10 +124,10 @@ Please read the documentation available [here](DevelopmentBuilds.md)
 
 ### Custom toolchain location
 
-If you have installed the WPILib Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
+If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
 
 ```bash
-./gradlew build -PtoolChainPath=some/path/to/wpilib/toolchain/bin
+./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin
 ```
 
 ### Formatting/linting
@@ -181,15 +178,15 @@ If you are building to test with other dependencies or just want to export the b
 - stable - Publishes to ~/releases/maven/stable.
 - release - Publishes to ~/releases/maven/release.
 
-The Maven artifacts are described in [MavenArtifacts.md](MavenArtifacts.md)
+The maven artifacts are described in [MavenArtifacts.md](MavenArtifacts.md)
 
 ## Structure and Organization
 
-The main WPILib code you're probably looking for is in WPILibJ and WPILibC. Those directories contain the high-level hardware/robot classes used for interacting with hardware, the Driver Station, and contain the core framework that almost all robot projects use.
+The main WPILib code you're probably looking for is in WPILibJ and WPILibC. Those directories are split into shared, sim, and athena. Athena contains the WPILib code meant to run on your roboRIO. Sim is WPILib code meant to run on your computer, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).
 
-The src/test directories under each subproject for C++ and Java contain test code that runs on GitHub Actions. When you submit code for review, it is tested by GitHub Actions' runners. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
+The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
 
-The hal directory contains more C++ code meant to run on Systemcore. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the robot controller to enable hardware interactions. The HAL is split into cpp, sim, and systemcore. The systemcore directory contains the WPILib code meant to run on your Systemcore. Sim is WPILib code meant to run on your computer, and cpp is code shared between the two. Code in the cpp directory must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, MSVC, etc...).
+The hal directory contains more C++ code meant to run on the roboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the [ni-libraries](https://github.com/wpilibsuite/ni-libraries) project.
 
 The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
 

ThirdPartyNotices.txt

@@ -19,37 +19,40 @@ Google Test           thirdparty/googletest/include
                       thirdparty/googletest/src
 LLVM                  wpiutil/src/main/native/thirdparty/llvm
                       wpiutil/src/test/native/cpp/llvm/
-JSON for Classic C++  wpiutil/src/main/native/thirdparty/json
+JSON for Modern C++   wpiutil/src/main/native/thirdparty/json
+                      wpiutil/src/test/native/cpp/json/
 libuv                 wpinet/src/main/native/thirdparty/libuv/
 fmtlib                wpiutil/src/main/native/thirdparty/fmtlib/
 sigslot               wpiutil/src/main/native/thirdparty/sigslot
 tcpsockets            wpinet/src/main/native/thirdparty/tcpsockets
 MPack                 wpiutil/src/main/native/thirdparty/mpack
-units                 wpimath/src/main/native/include/wpi/units/
+Bootstrap             wpinet/src/main/native/resources/bootstrap-*
+CoreUI                wpinet/src/main/native/resources/coreui-*
+Feather Icons         wpinet/src/main/native/resources/feather-*
+jQuery                wpinet/src/main/native/resources/jquery-*
+popper.js             wpinet/src/main/native/resources/popper-*
+units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
-Team 254 Library      wpimath/src/main/java/org/wpilib/math/spline/SplineParameterizer.java
-                      wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java
-                      wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
-                      wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
+Team 254 Library      wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
+                      wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
+                      wpimath/src/main/native/include/frc/spline/SplineParameterizer.h
+                      wpimath/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
                       wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
-Portable File Dialogs wpigui/src/main/native/include/wpi/gui/portable-file-dialogs.h
-V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.hpp
+Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
+V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 Sleipnir              wpimath/src/main/native/thirdparty/sleipnir
 Debugging             wpiutil/src/main/native/thirdparty/debugging
-double-conversion     wpiutil/src/main/native/thirdparty/double-conversion
-argparse              wpiutil/src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp
+argparse              wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h
 apriltag              apriltag/src/main/native/thirdparty/apriltag
 glfw                  thirdparty/imgui_suite/glfw
 Dear ImGui            thirdparty/imgui_suite/imgui
 implot                thirdparty/imgui_suite/implot
 nanopb                wpiutil/src/main/native/thirdparty/nanopb
-upb                   wpiutil/src/main/native/thirdparty/upb
-mrcal                 tools/wpical/src/main/native/thirdparty/mrcal
-libdogleg             tools/wpical/src/main/native/thirdparty/libdogleg
-Simd                  hal/src/main/native/systemcore/simd
-AdvantageScope        fields/src/main/native/resources/org/wpilib/fields/ftc
-Avahi                 wpinet/src/main/native/linux/AvahiClient.hpp
+protobuf              wpiutil/src/main/native/thirdparty/protobuf
+mrcal                 wpical/src/main/native/thirdparty/mrcal
+libdogleg             wpical/src/main/native/thirdparty/libdogleg
+Simd                  hal/src/main/native/athena/simd
 
 Additionally, glfw and nanopb were modified for use in WPILib.
 
@@ -366,22 +369,35 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE
 SOFTWARE.
 
 
-============================
-JSON for Classic C++ License
-============================
-Copyright 2024 Mozilla Foundation
+==============================================================================
+JSON for Modern C++ License
+==============================================================================
 
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
+    __ _____ _____ _____
+ __|  |   __|     |   | |  JSON for Modern C++
+|  |  |__   |  |  | | | |  version 2.1.1
+|_____|_____|_____|_|___|  https://github.com/nlohmann/json
 
-    http://www.apache.org/licenses/LICENSE-2.0
+Licensed under the MIT License <http://opensource.org/licenses/MIT>.
+Copyright (c) 2013-2017 Niels Lohmann <http://nlohmann.me>.
 
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
+Permission is hereby  granted, free of charge, to any  person obtaining a copy
+of this software and associated  documentation files (the "Software"), to deal
+in the Software  without restriction, including without  limitation the rights
+to  use, copy,  modify, merge,  publish, distribute,  sublicense, and/or  sell
+copies  of  the Software,  and  to  permit persons  to  whom  the Software  is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE  IS PROVIDED "AS  IS", WITHOUT WARRANTY  OF ANY KIND,  EXPRESS OR
+IMPLIED,  INCLUDING BUT  NOT  LIMITED TO  THE  WARRANTIES OF  MERCHANTABILITY,
+FITNESS FOR  A PARTICULAR PURPOSE AND  NONINFRINGEMENT. IN NO EVENT  SHALL THE
+AUTHORS  OR COPYRIGHT  HOLDERS  BE  LIABLE FOR  ANY  CLAIM,  DAMAGES OR  OTHER
+LIABILITY, WHETHER IN AN ACTION OF  CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE  OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
 
 
 ==============================================================================
@@ -482,6 +498,128 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
 
+==============================================================================
+Bootstrap License
+==============================================================================
+Copyright (c) 2011-2018 Twitter, Inc.
+Copyright (c) 2011-2018 The Bootstrap Authors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+
+==============================================================================
+CoreUI License
+==============================================================================
+Copyright (c) 2018 creativeLabs tukasz Holeczek.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+
+==============================================================================
+Feather Icons License
+==============================================================================
+Copyright (c) 2013-2017 Cole Bemis
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
+==============================================================================
+jQuery License
+==============================================================================
+Copyright JS Foundation and other contributors, https://js.foundation/
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+
+==============================================================================
+popper.js License
+==============================================================================
+Copyright (c) 2016 Federico Zivolo and contributors
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
 =============
 units License
 =============
@@ -1046,36 +1184,6 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
-=========================
-double-conversion License
-=========================
-Copyright 2006-2011, the V8 project authors. All rights reserved.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above
-      copyright notice, this list of conditions and the following
-      disclaimer in the documentation and/or other materials provided
-      with the distribution.
-    * Neither the name of Google Inc. nor the names of its
-      contributors may be used to endorse or promote products derived
-      from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
 ================
 argparse License
 ================
@@ -1247,7 +1355,7 @@ redistribute it freely, subject to the following restrictions:
    distribution.
 
 ================
-upb License
+protobuf License
 ================
 Copyright 2008 Google Inc.  All rights reserved.
 
@@ -1565,540 +1673,3 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
-
-============
-AdvantageScope License
-============
-
-Copyright (c) 2021-2026 Littleton Robotics. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-- Redistributions of source code must retain the above copyright
-  notice, this list of conditions and the following disclaimer.
-- Redistributions in binary form must reproduce the above copyright
-  notice, this list of conditions and the following disclaimer in the
-  documentation and/or other materials provided with the distribution.
-- Neither the name of Littleton Robotics, FRC 6328 ("Mechanical Advantage"),
-  AdvantageScope, nor the names of other AdvantageScope contributors may be
-  used to endorse or promote products derived from this software without
-  specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY LITTLETON ROBOTICS AND OTHER ADVANTAGESCOPE
-CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT
-NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT
-AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
-LITTLETON ROBOTICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
-NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
-OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
-NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
-EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-=============
-Avahi License
-=============
-
-                  GNU LESSER GENERAL PUBLIC LICENSE
-                       Version 2.1, February 1999
-
- Copyright (C) 1991, 1999 Free Software Foundation, Inc.
- <https://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
-[This is the first released version of the Lesser GPL.  It also counts
- as the successor of the GNU Library Public License, version 2, hence
- the version number 2.1.]
-
-                            Preamble
-
-  The licenses for most software are designed to take away your
-freedom to share and change it.  By contrast, the GNU General Public
-Licenses are intended to guarantee your freedom to share and change
-free software--to make sure the software is free for all its users.
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-specially designated software packages--typically libraries--of the
-Free Software Foundation and other authors who decide to use it.  You
-can use it too, but we suggest you first think carefully about whether
-this license or the ordinary General Public License is the better
-strategy to use in any particular case, based on the explanations below.
-
-  When we speak of free software, we are referring to freedom of use,
-not price.  Our General Public Licenses are designed to make sure that
-you have the freedom to distribute copies of free software (and charge
-for this service if you wish); that you receive source code or can get
-it if you want it; that you can change the software and use pieces of
-it in new free programs; and that you are informed that you can do
-these things.
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-distributors to deny you these rights or to ask you to surrender these
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-ordinary GNU General Public License.  This license, the GNU Lesser
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-    License as published by the Free Software Foundation; either
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-
-  <signature of Moe Ghoul>, 1 April 1990
-  Moe Ghoul, President of Vice
-
-That's all there is to it!

WORKSPACE

@@ -0,0 +1,125 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+# Download Extra java rules
+http_archive(
+    name = "rules_jvm_external",
+    sha256 = "08ea921df02ffe9924123b0686dc04fd0ff875710bfadb7ad42badb931b0fd50",
+    strip_prefix = "rules_jvm_external-6.1",
+    url = "https://github.com/bazelbuild/rules_jvm_external/releases/download/6.1/rules_jvm_external-6.1.tar.gz",
+)
+
+load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
+
+rules_jvm_external_deps()
+
+load("@rules_jvm_external//:defs.bzl", "maven_install")
+
+maven_artifacts = [
+    "org.ejml:ejml-simple:0.44.0",
+    "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
+    "com.fasterxml.jackson.core:jackson-core:2.19.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.4",
+    "com.google.code.gson:gson:2.13.1",
+]
+
+maven_install(
+    name = "maven",
+    artifacts = maven_artifacts,
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.tar.gz",
+)
+
+load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
+
+setup_legacy_setup_toolchains_dependencies()
+
+load("@rules_bzlmodrio_toolchains//toolchains:load_toolchains.bzl", "load_toolchains")
+
+load_toolchains()
+
+#
+http_archive(
+    name = "rules_bzlmodrio_jdk",
+    sha256 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.tar.gz",
+)
+
+load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
+
+setup_legacy_setup_jdk_dependencies()
+
+register_toolchains(
+    "@local_roborio//:macos",
+    "@local_roborio//:linux",
+    "@local_roborio//:windows",
+    "@local_systemcore//:macos",
+    "@local_systemcore//:linux",
+    "@local_systemcore//:windows",
+    "@local_raspi_bullseye_32//:macos",
+    "@local_raspi_bullseye_32//:linux",
+    "@local_raspi_bullseye_32//:windows",
+    "@local_raspi_bookworm_32//:macos",
+    "@local_raspi_bookworm_32//:linux",
+    "@local_raspi_bookworm_32//:windows",
+    "@local_bullseye_32//:macos",
+    "@local_bullseye_32//:linux",
+    "@local_bullseye_32//:windows",
+    "@local_bullseye_64//:macos",
+    "@local_bullseye_64//:linux",
+    "@local_bullseye_64//:windows",
+    "@local_bookworm_32//:macos",
+    "@local_bookworm_32//:linux",
+    "@local_bookworm_32//:windows",
+    "@local_bookworm_64//:macos",
+    "@local_bookworm_64//:linux",
+    "@local_bookworm_64//:windows",
+)
+
+setup_legacy_setup_jdk_dependencies()
+
+http_archive(
+    name = "bzlmodrio-ni",
+    sha256 = "fff62c3cb3e83f9a0d0a01f1739477c9ca5e9a6fac05be1ad59dafcd385801f7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.2.0/bzlmodRio-ni-2025.2.0.tar.gz",
+)
+
+load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
+
+setup_legacy_bzlmodrio_ni_cpp_dependencies()
+
+http_archive(
+    name = "bzlmodrio-opencv",
+    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.bcr1.tar.gz",
+)
+
+load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
+
+setup_legacy_bzlmodrio_opencv_cpp_dependencies()
+
+load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
+
+setup_legacy_bzlmodrio_opencv_java_dependencies()
+
+http_archive(
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
+)
+
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
+)
+
+apple_support_dependencies()

WORKSPACE.bzlmod

@@ -1,33 +0,0 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-
-http_archive(
-    name = "pybind11_bazel",
-    integrity = "sha256-iwRj1wuX2pDS6t6DqiCfhIXisv4y+7CvxSJtZoSAzGw=",
-    strip_prefix = "pybind11_bazel-2b6082a4d9d163a52299718113fa41e4b7978db5",
-    urls = ["https://github.com/pybind/pybind11_bazel/archive/2b6082a4d9d163a52299718113fa41e4b7978db5.tar.gz"],
-)
-
-http_archive(
-    name = "pybind11",
-    build_file = "@pybind11_bazel//:pybind11-BUILD.bazel",
-    integrity = "sha256-LyCgrwuSGBXg4Wnqf+xjkJhpMjWBuJ194VU0aFU/ai0=",
-    strip_prefix = "pybind11-3.0.2",
-    url = "https://github.com/pybind/pybind11/archive/refs/tags/v3.0.2.tar.gz",
-)
-
-http_archive(
-    name = "bzlmodrio-opencv",
-    sha256 = "947df6f399593a54779b7706da8abaa43865769e02b15533519c800e23be419f",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2027.4.13.0-3/bzlmodRio-opencv-2027.4.13.0-3.tar.gz",
-)
-
-load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
-
-setup_legacy_bzlmodrio_opencv_cpp_dependencies()
-
-# Capture the repository environmental variables which specify the filter list for what architectures to build in CI.
-load("//shared/bazel/rules:publishing_rule.bzl", "publishing_repo")
-
-publishing_repo(
-    name = "com_wpilib_allwpilib_publishing_config",
-)

apriltag/BUILD.bazel

@@ -1,46 +1,21 @@
-load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 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_java//java:defs.bzl", "java_binary", "java_library")
 load("@rules_python//python:defs.bzl", "py_binary")
-load("//apriltag:robotpy_native_build_info.bzl", "define_native_wrapper")
-load("//apriltag:robotpy_pybind_build_info.bzl", "apriltag_extension", "define_pybind_library")
-load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_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", "package_default_jni_project")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
-load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
-load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
-
-filegroup(
-    name = "doxygen-files",
-    srcs = glob([
-        "src/main/native/include/**/*",
-        "src/main/native/thirdparty/apriltag/include/**/*",
-    ]),
-    visibility = ["//visibility:public"],
-)
-
-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/**"]),
     hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
     copts = select({
-        "@platforms//os:osx": [
+        "@bazel_tools//src/conditions:darwin": [
             "-Wno-format-nonliteral",
             "-Wno-gnu-zero-variadic-macro-arguments",
             "-Wno-uninitialized",
             "-Wno-sign-compare",
             "-Wno-type-limits",
         ],
-        "@platforms//os:windows": [
+        "@bazel_tools//src/conditions:windows": [
             "/wd4005",
             "/wd4018",
             "/wd4244",
@@ -56,93 +31,37 @@ cc_library(
     }),
     includes = ["src/main/native/thirdparty/apriltag/include/common"],
     strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
+    visibility = ["//visibility:public"],
 )
 
 generate_resources(
     name = "generate-resources",
-    namespace = "wpi::apriltag",
+    namespace = "frc",
     prefix = "APRILTAG",
     resource_files = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
 )
 
-wpilib_cc_library(
-    name = "apriltag",
+cc_library(
+    name = "apriltag.static",
     srcs = [":generate-resources"] + glob(
         ["src/main/native/cpp/**"],
         exclude = ["src/main/native/cpp/jni/**"],
     ),
     hdrs = glob(["src/main/native/include/**/*"]),
-    extra_hdr_pkg_files = [":thirdparty-apriltag-src-pkg"],
-    extra_src_pkg_files = [":apriltag-java-jni-hdrs-pkg"],
-    local_defines = ["WPILIB_EXPORTS"],
+    defines = ["WPILIB_EXPORTS"],
     strip_include_prefix = "src/main/native/include",
     visibility = ["//visibility:public"],
     deps = [
         ":thirdparty-apriltag",
-        "//wpimath",
-        "//wpiutil",
+        "//wpimath:wpimath.static",
+        "//wpiutil:wpiutil.static",
     ],
 )
 
-wpilib_cc_shared_library(
-    name = "shared/apriltag",
-    auto_export_windows_symbols = False,
-    dynamic_deps = [
-        "//wpimath:shared/wpimath",
-        "//wpiutil:shared/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":apriltag",
-        ":thirdparty-apriltag",
-    ],
-)
-
-wpilib_cc_static_library(
-    name = "static/apriltag",
-    static_deps = [
-        "//wpimath:static/wpimath",
-        "//wpiutil:static/wpiutil",
-    ],
-    visibility = ["//visibility:public"],
-    deps = [
-        ":apriltag",
-    ],
-)
-
-wpilib_jni_cc_library(
-    name = "apriltagjni",
-    srcs = glob(["src/main/native/cpp/jni/**"]),
-    java_dep = ":apriltag-java",
-    visibility = ["//visibility:public"],
-    deps = [
-        ":apriltag",
-    ],
-)
-
-wpilib_cc_shared_library(
-    name = "shared/apriltagjni",
-    auto_export_windows_symbols = False,
-    dynamic_deps = [
-        ":shared/apriltag",
-        "//wpimath:shared/wpimath",
-        "//wpiutil:shared/wpiutil",
-    ],
-    use_debug_name = False,
-    visibility = ["//visibility:public"],
-    deps = [":apriltagjni"],
-)
-
-wpilib_jni_java_library(
+java_library(
     name = "apriltag-java",
     srcs = glob(["src/main/java/**/*.java"]),
-    extra_source_pkgs = ["resources"],
-    maven_artifact_name = "apriltag-java",
-    maven_group_id = "org.wpilib.apriltag",
-    native_libs = [":apriltagjni"],
-    plugins = [
-        "//:avaje_jsonb_generator",
-    ],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
     visibility = ["//visibility:public"],
@@ -150,17 +69,12 @@ wpilib_jni_java_library(
         "//wpimath:wpimath-java",
         "//wpiutil:wpiutil-java",
         "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:io_avaje_avaje_json_core",
-        "@maven//:io_avaje_avaje_jsonb",
+        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
+        "@maven//:com_fasterxml_jackson_core_jackson_core",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
     ],
 )
 
-pkg_files(
-    name = "resources",
-    srcs = glob(["src/main/native/resources/**"]),
-    strip_prefix = "src/main/native/resources/",
-)
-
 cc_test(
     name = "apriltag-cpp-test",
     size = "small",
@@ -169,22 +83,8 @@ cc_test(
         "no-asan",
     ],
     deps = [
-        ":apriltag",
-        "//thirdparty/googletest",
-    ],
-)
-
-wpilib_java_junit5_test(
-    name = "apriltag-java-test",
-    srcs = glob(["src/test/java/**/*.java"]),
-    resource_strip_prefix = "apriltag/src/test/resources",
-    resources = glob(["src/test/resources/**"]),
-    deps = [
-        ":apriltag-java",
-        "//wpimath:wpimath-java",
-        "//wpiutil:wpiutil-java",
-        "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:io_avaje_avaje_jsonb",
+        ":apriltag.static",
+        "//thirdparty/googletest:googletest.static",
     ],
 )
 
@@ -192,14 +92,14 @@ cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
     deps = [
-        ":apriltag",
+        ":apriltag.static",
     ],
 )
 
 java_binary(
     name = "DevMain-Java",
-    srcs = ["src/dev/java/org/wpilib/vision/apriltag/DevMain.java"],
-    main_class = "org.wpilib.vision.apriltag.DevMain",
+    srcs = ["src/dev/java/edu/wpi/first/apriltag/DevMain.java"],
+    main_class = "edu.wpi.first.apriltag.DevMain",
     deps = [
         ":apriltag-java",
     ],
@@ -208,67 +108,5 @@ java_binary(
 py_binary(
     name = "convert_apriltag_layouts",
     srcs = ["convert_apriltag_layouts.py"],
-    target_compatible_with = select({
-        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
-        "//conditions:default": [],
-    }),
-)
-
-package_default_jni_project(
-    name = "apriltag",
-    maven_artifact_name = "apriltag-cpp",
-    maven_group_id = "org.wpilib.apriltag",
-)
-
-generate_robotpy_native_wrapper_build_info(
-    name = "robotpy-native-apriltag-generator",
-    pyproject_toml = "src/main/python/native-pyproject.toml",
-    third_party_dirs = ["apriltag"],
-)
-
-define_native_wrapper(
-    name = "robotpy-native-apriltag",
-    pyproject_toml = "src/main/python/native-pyproject.toml",
-)
-
-PYBIND_PKGCFG_DEPS = [
-    "//apriltag:native/apriltag/robotpy-native-apriltag.pc",
-    "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
-    "//wpimath:robotpy-wpimath.generated_pkgcfg_files",
-    "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
-    "//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
-]
-
-generate_robotpy_pybind_build_info(
-    name = "robotpy-apriltag-generator",
-    additional_srcs = [":robotpy-native-apriltag.copy_headers"],
-    package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
-    pkgcfgs = PYBIND_PKGCFG_DEPS,
-    yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
-)
-
-apriltag_extension(
-    srcs = ["src/main/python/robotpy_apriltag/src/main.cpp"],
-    includes = [
-        "src/main/python/datalog/",
-    ],
-)
-
-define_pybind_library(
-    name = "robotpy-apriltag",
-    pkgcfgs = PYBIND_PKGCFG_DEPS,
-)
-
-robotpy_py_test(
-    "python_tests",
-    srcs = glob(["src/test/python/**/*.py"]),
-    data = glob([
-        "src/test/python/*.png",
-        "src/test/python/*.jpg",
-    ]),
-    deps = [
-        ":robotpy-apriltag",
-        requirement("pytest"),
-        requirement("opencv-python"),
-    ],
+    tags = ["manual"],
 )

apriltag/CMakeLists.txt

@@ -31,11 +31,86 @@ else()
     )
 endif()
 
+file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
+
+if(WITH_JAVA)
+    include(UseJava)
+
+    set(CMAKE_JNI_TARGET true)
+
+    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
+    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    find_file(
+        OPENCV_JAR_FILE
+        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
+        PATHS
+            ${OPENCV_JAVA_INSTALL_DIR}
+            ${OpenCV_INSTALL_PATH}/bin
+            ${OpenCV_INSTALL_PATH}/share/java
+            ${OpenCV_INSTALL_PATH}/share/java/opencv4
+            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
+        NO_DEFAULT_PATH
+    )
+
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(
+        GLOB_RECURSE JAVA_RESOURCES
+        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+        src/main/native/resources/*.json
+    )
+    add_jar(
+        apriltag_jar
+        SOURCES ${JAVA_SOURCES}
+        RESOURCES
+        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
+        INCLUDE_JARS
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            ${EJML_JARS}
+            ${OPENCV_JAR_FILE}
+            ${JACKSON_JARS}
+        OUTPUT_NAME apriltag
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+        GENERATE_NATIVE_HEADERS apriltag_jni_headers
+    )
+    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
+
+    install_jar(apriltag_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
+
+    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
+    wpilib_target_warnings(apriltagjni)
+    target_link_libraries(apriltagjni PUBLIC apriltag)
+
+    set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
+
+    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
+    add_dependencies(apriltagjni apriltag_jar)
+
+    install(TARGETS apriltagjni EXPORT apriltagjni)
+    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
+endif()
+
+if(WITH_JAVA_SOURCE)
+    include(UseJava)
+    include(CreateSourceJar)
+    add_source_jar(
+        apriltag_src_jar
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+        OUTPUT_NAME apriltag-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+    set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
+
+    install_jar(apriltag_src_jar DESTINATION ${java_lib_dest})
+endif()
+
 generate_resources(
-    src/main/native/resources/org/wpilib/vision/apriltag
+    src/main/native/resources/edu/wpi/first/apriltag
     generated/main/cpp
     APRILTAG
-    wpi::apriltag
+    frc
     apriltag_resources_src
 )
 
@@ -45,7 +120,7 @@ add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltag
 set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET apriltag PROPERTY FOLDER "libraries")
-target_compile_features(apriltag PUBLIC cxx_std_23)
+target_compile_features(apriltag PUBLIC cxx_std_20)
 wpilib_target_warnings(apriltag)
 
 target_link_libraries(apriltag wpimath)

apriltag/README.md

@@ -1,12 +1,10 @@
 # AprilTag
 
-A C++ wrapper around the [University of Michigan's AprilTag detector](https://github.com/AprilRobotics/apriltag), alongside a vendored copy of their code with some patches (patches are located in [upstream_utils](../upstream_utils/apriltag_patches/)).
-
 ## Adding new field to AprilTagFields
 
 ### Adding field JSON
 
-1. Add a field layout CSV file to `src/main/native/resources/org/wpilib/vision/apriltag`
+1. Add a field layout CSV file to `src/main/native/resources/edu/wpi/first/apriltag`
     1. See docstring in `convert_apriltag_layouts.py` for more
 2. Run `convert_apriltag_layouts.py` in the same directory as this readme to generate the JSON
 3. That script overwrites all generated JSONs, so undo undesired changes if necessary
@@ -16,15 +14,15 @@ A C++ wrapper around the [University of Michigan's AprilTag detector](https://gi
 
 ### Java updates
 
-1. Update `src/main/java/org/wpilib/vision/apriltag/AprilTagFields.java`
+1. Update `src/main/java/edu/wpi/first/apriltag/AprilTagFields.java`
     1. Add enum value for new field to `AprilTagFields`
     2. Update `AprilTagFields.kDefaultField` if necessary
 
 ### C++ updates
 
-1. Update `src/main/native/include/wpi/apriltag/AprilTagFields.hpp`
+1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h`
     1. Add enum value for new field to `AprilTagFields`
     2. Update `AprilTagFields::kDefaultField` if necessary
-2. Update `src/main/native/cpp/AprilTagFieldLayout.cpp`
+2. Update `src/main/native/cpp/AprilTagFields.cpp`
     1. Add resource getter prototype like `std::string_view GetResource_2024_crescendo_json()`
-    2. Add case for new field to switch in `LoadField(AprilTagField field)`
+    2. Add case for new field to switch in `LoadAprilTagLayoutField()`

apriltag/apriltag-config.cmake.in

@@ -5,3 +5,6 @@ include(CMakeFindDependencyMacro)
 
 @FILENAME_DEP_REPLACE@
 include(${SELF_DIR}/apriltag.cmake)
+if(@WITH_JAVA@)
+    include(${SELF_DIR}/apriltag_jar.cmake)
+endif()

apriltag/build.gradle

@@ -4,7 +4,7 @@ apply plugin: 'c'
 
 ext {
     nativeName = 'apriltag'
-    devMain = 'org.wpilib.vision.apriltag.DevMain'
+    devMain = 'edu.wpi.first.apriltag.DevMain'
     useJava = true
     useCpp = true
     sharedCvConfigs = [
@@ -12,7 +12,7 @@ ext {
         apriltagTest: []]
     staticCvConfigs = []
 
-    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'wpi::apriltag', project)
+    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'frc', project)
 
     tasks.withType(CppCompile) {
         dependsOn generateTask
@@ -46,7 +46,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
     implementation project(':wpimath')
-    annotationProcessor libs.avaje.jsonb.generator
 }
 
 sourceSets {

apriltag/robotpy_native_build_info.bzl

@@ -1,66 +0,0 @@
-# THIS FILE IS AUTO GENERATED
-
-load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
-load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "copy_native_file", "generate_native_files", "robotpy_library")
-
-def define_native_wrapper(name, pyproject_toml = None):
-    pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml"
-
-    copy_to_directory(
-        name = "{}.copy_headers".format(name),
-        srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True) + native.glob([
-            "src/main/native/thirdparty/apriltag/include/**",
-        ]),
-        out = "native/apriltag/include",
-        root_paths = ["src/main/native/include/"],
-        replace_prefixes = {
-            "apriltag/src/generated/main/native/include": "",
-            "apriltag/src/main/native/include": "",
-            "apriltag/src/main/native/thirdparty/apriltag/include": "",
-        },
-        verbose = False,
-        visibility = ["//visibility:public"],
-    )
-
-    libinit_files = ["native/apriltag/_init_robotpy_native_apriltag.py"]
-
-    generate_native_files(
-        name = name,
-        pyproject_toml = pyproject_toml,
-        pc_deps = [
-            "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
-            "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
-        ],
-        libinit_files = libinit_files,
-        pc_files = ["native/apriltag/robotpy-native-apriltag.pc"],
-    )
-
-    copy_native_file(
-        name = "apriltag",
-        library = "shared/apriltag",
-        base_path = "native/apriltag/",
-    )
-
-    robotpy_library(
-        name = name,
-        distribution = "robotpy-native-apriltag",
-        srcs = libinit_files,
-        data = [
-            name + ".pc_wrapper",
-            ":apriltag.copy_lib",
-            "{}.copy_headers".format(name),
-        ],
-        deps = [
-            "//wpimath:robotpy-native-wpimath",
-            "//wpiutil:robotpy-native-wpiutil",
-        ],
-        summary = "WPILib AprilTag Library",
-        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpimath==0.0.0"],
-        python_requires = ">=3.11",
-        strip_path_prefixes = ["apriltag"],
-        entry_points = {
-            "pkg_config": [
-                "apriltag = native.apriltag",
-            ],
-        },
-    )

apriltag/robotpy_pybind_build_info.bzl

@@ -1,252 +0,0 @@
-# THIS FILE IS AUTO GENERATED
-
-load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
-load("//shared/bazel/rules/robotpy:robotpy_rules.bzl", "create_pybind_library", "robotpy_library")
-load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
-load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
-
-def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
-    APRILTAG_HEADER_GEN = [
-        struct(
-            class_name = "AprilTag",
-            yml_file = "semiwrap/AprilTag.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTag.hpp",
-            tmpl_class_names = [],
-            trampolines = [
-                ("wpi::apriltag::AprilTag", "wpi__apriltag__AprilTag.hpp"),
-            ],
-        ),
-        struct(
-            class_name = "AprilTagDetection",
-            yml_file = "semiwrap/AprilTagDetection.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagDetection.hpp",
-            tmpl_class_names = [],
-            trampolines = [
-                ("wpi::apriltag::AprilTagDetection", "wpi__apriltag__AprilTagDetection.hpp"),
-                ("wpi::apriltag::AprilTagDetection::Point", "wpi__apriltag__AprilTagDetection__Point.hpp"),
-            ],
-        ),
-        struct(
-            class_name = "AprilTagDetector",
-            yml_file = "semiwrap/AprilTagDetector.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagDetector.hpp",
-            tmpl_class_names = [],
-            trampolines = [
-                ("wpi::apriltag::AprilTagDetector", "wpi__apriltag__AprilTagDetector.hpp"),
-                ("wpi::apriltag::AprilTagDetector::Config", "wpi__apriltag__AprilTagDetector__Config.hpp"),
-                ("wpi::apriltag::AprilTagDetector::QuadThresholdParameters", "wpi__apriltag__AprilTagDetector__QuadThresholdParameters.hpp"),
-                ("wpi::apriltag::AprilTagDetector::Results", "wpi__apriltag__AprilTagDetector__Results.hpp"),
-            ],
-        ),
-        struct(
-            class_name = "AprilTagFieldLayout",
-            yml_file = "semiwrap/AprilTagFieldLayout.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagFieldLayout.hpp",
-            tmpl_class_names = [],
-            trampolines = [
-                ("wpi::apriltag::AprilTagFieldLayout", "wpi__apriltag__AprilTagFieldLayout.hpp"),
-            ],
-        ),
-        struct(
-            class_name = "AprilTagFields",
-            yml_file = "semiwrap/AprilTagFields.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagFields.hpp",
-            tmpl_class_names = [],
-            trampolines = [],
-        ),
-        struct(
-            class_name = "AprilTagPoseEstimate",
-            yml_file = "semiwrap/AprilTagPoseEstimate.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagPoseEstimate.hpp",
-            tmpl_class_names = [],
-            trampolines = [
-                ("wpi::apriltag::AprilTagPoseEstimate", "wpi__apriltag__AprilTagPoseEstimate.hpp"),
-            ],
-        ),
-        struct(
-            class_name = "AprilTagPoseEstimator",
-            yml_file = "semiwrap/AprilTagPoseEstimator.yml",
-            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
-            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagPoseEstimator.hpp",
-            tmpl_class_names = [],
-            trampolines = [
-                ("wpi::apriltag::AprilTagPoseEstimator", "wpi__apriltag__AprilTagPoseEstimator.hpp"),
-                ("wpi::apriltag::AprilTagPoseEstimator::Config", "wpi__apriltag__AprilTagPoseEstimator__Config.hpp"),
-            ],
-        ),
-    ]
-
-    resolve_casters(
-        name = "apriltag.resolve_casters",
-        caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
-        casters_pkl_file = "apriltag.casters.pkl",
-        dep_file = "apriltag.casters.d",
-    )
-
-    gen_libinit(
-        name = "apriltag.gen_lib_init",
-        output_file = "src/main/python/robotpy_apriltag/_init__apriltag.py",
-        modules = ["native.apriltag._init_robotpy_native_apriltag", "wpiutil._init__wpiutil", "wpimath._init__wpimath"],
-    )
-
-    gen_pkgconf(
-        name = "apriltag.gen_pkgconf",
-        libinit_py = "robotpy_apriltag._init__apriltag",
-        module_pkg_name = "robotpy_apriltag._apriltag",
-        output_file = "apriltag.pc",
-        pkg_name = "apriltag",
-        install_path = "src/main/python/robotpy_apriltag",
-        project_file = "src/main/python/pyproject.toml",
-        package_root = "src/main/python/robotpy_apriltag/__init__.py",
-    )
-
-    gen_modinit_hpp(
-        name = "apriltag.gen_modinit_hpp",
-        input_dats = [x.class_name for x in APRILTAG_HEADER_GEN],
-        libname = "_apriltag",
-        output_file = "semiwrap_init.robotpy_apriltag._apriltag.hpp",
-    )
-
-    run_header_gen(
-        name = "apriltag",
-        casters_pickle = "apriltag.casters.pkl",
-        header_gen_config = APRILTAG_HEADER_GEN,
-        trampoline_subpath = "src/main/python/robotpy_apriltag",
-        deps = header_to_dat_deps,
-        local_native_libraries = [
-            "//apriltag:robotpy-native-apriltag.copy_headers",
-            "//wpimath:robotpy-native-wpimath.copy_headers",
-            "//wpiutil:robotpy-native-wpiutil.copy_headers",
-        ],
-    )
-
-    create_pybind_library(
-        name = "apriltag",
-        install_path = "src/main/python/robotpy_apriltag/",
-        extension_name = "_apriltag",
-        generated_srcs = [":apriltag.generated_srcs"],
-        semiwrap_header = [":apriltag.gen_modinit_hpp"],
-        deps = [
-            ":apriltag.tmpl_hdrs",
-            ":apriltag.trampoline_hdrs",
-            "//apriltag:apriltag",
-            "//wpimath:wpimath",
-            "//wpimath:wpimath_pybind_library",
-            "//wpiutil:wpiutil",
-            "//wpiutil:wpiutil_pybind_library",
-        ],
-        dynamic_deps = [
-            "//apriltag:shared/apriltag",
-            "//wpimath:shared/wpimath",
-            "//wpiutil:shared/wpiutil",
-        ],
-        extra_hdrs = extra_hdrs,
-        extra_srcs = srcs,
-        includes = includes,
-    )
-
-    native.filegroup(
-        name = "apriltag.generated_files",
-        srcs = [
-            "apriltag.gen_modinit_hpp.gen",
-            "apriltag.header_gen_files",
-            "apriltag.gen_pkgconf",
-            "apriltag.gen_lib_init",
-        ],
-        tags = ["manual", "robotpy"],
-    )
-
-def define_pybind_library(name, pkgcfgs = []):
-    # Helper used to generate all files with one target.
-    native.filegroup(
-        name = "{}.generated_files".format(name),
-        srcs = [
-            "apriltag.generated_files",
-        ],
-        tags = ["manual", "robotpy"],
-        visibility = ["//visibility:public"],
-    )
-
-    # Files that will be included in the wheel as data deps
-    native.filegroup(
-        name = "{}.generated_pkgcfg_files".format(name),
-        srcs = [
-            "src/main/python/robotpy_apriltag/apriltag.pc",
-        ],
-        tags = ["manual", "robotpy"],
-        visibility = ["//visibility:public"],
-    )
-
-    # Contains all of the non-python files that need to be included in the wheel
-    native.filegroup(
-        name = "{}.extra_files".format(name),
-        srcs = native.glob(["src/main/python/robotpy_apriltag/**"], exclude = ["src/main/python/robotpy_apriltag/**/*.py"], allow_empty = True),
-        tags = ["manual", "robotpy"],
-    )
-
-    generate_version_file(
-        name = "{}.generate_version".format(name),
-        output_file = "src/main/python/robotpy_apriltag/version.py",
-        template = "//shared/bazel/rules/robotpy:version_template.in",
-    )
-
-    robotpy_library(
-        name = name,
-        distribution = "robotpy-apriltag",
-        srcs = native.glob(["src/main/python/robotpy_apriltag/**/*.py"]) + [
-            "src/main/python/robotpy_apriltag/_init__apriltag.py",
-            "{}.generate_version".format(name),
-        ],
-        data = [
-            "{}.generated_pkgcfg_files".format(name),
-            "{}.extra_files".format(name),
-            ":src/main/python/robotpy_apriltag/_apriltag",
-            ":apriltag.trampoline_hdr_files",
-        ],
-        imports = ["src/main/python"],
-        deps = [
-            "//apriltag:robotpy-native-apriltag",
-            "//wpimath:robotpy-wpimath",
-            "//wpiutil:robotpy-wpiutil",
-        ],
-        strip_path_prefixes = ["apriltag/src/main/python", "apriltag"],
-        summary = "RobotPy bindings for WPILib's AprilTag library",
-        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
-        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
-        requires = ["robotpy-native-apriltag==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0"],
-        python_requires = ">=3.11",
-        entry_points = {
-            "pkg_config": ["apriltag = robotpy_apriltag"],
-        },
-        visibility = ["//visibility:public"],
-    )
-
-    update_yaml_files(
-        name = "{}-update-yaml".format(name),
-        yaml_output_directory = "src/main/python/semiwrap",
-        extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
-            "//apriltag:robotpy-native-apriltag.copy_headers",
-            "//wpimath:robotpy-native-wpimath.copy_headers",
-            "//wpiutil:robotpy-native-wpiutil.copy_headers",
-        ],
-        package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
-        pkgcfgs = pkgcfgs,
-        pyproject_toml = "src/main/python/pyproject.toml",
-        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
-    )
-
-    scan_headers(
-        name = "{}-scan-headers".format(name),
-        extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
-            "//apriltag:robotpy-native-apriltag.copy_headers",
-        ],
-        package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
-        pkgcfgs = pkgcfgs,
-        pyproject_toml = "src/main/python/pyproject.toml",
-    )

apriltag/src/dev/java/edu/wpi/first/apriltag/DevMain.java

@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {
+    System.out.println("Hello World!");
+    AprilTagDetector detector = new AprilTagDetector();
+    detector.addFamily("tag16h5");
+    AprilTagDetector.Config config = new AprilTagDetector.Config();
+    config.refineEdges = false;
+    detector.setConfig(config);
+    detector.close();
+  }
+
+  private DevMain() {}
+}

apriltag/src/dev/java/org/wpilib/vision/apriltag/DevMain.java

@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.wpilib.vision.apriltag;
-
-public final class DevMain {
-  /** Main entry point. */
-  public static void main(String[] args) {
-    System.out.println("Hello World!");
-    AprilTagDetector detector = new AprilTagDetector();
-    detector.addFamily("tag16h5");
-    AprilTagDetector.Config config = new AprilTagDetector.Config();
-    config.refineEdges = false;
-    detector.setConfig(config);
-    detector.close();
-  }
-
-  private DevMain() {}
-}

apriltag/src/dev/native/cpp/main.cpp

@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTagDetector.hpp"
+#include "frc/apriltag/AprilTagDetector.h"
 
 int main() {
-  wpi::apriltag::AprilTagDetector detector;
+  frc::AprilTagDetector detector;
   detector.AddFamily("tag16h5");
   detector.SetConfig({.refineEdges = false});
 }

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java

@@ -2,24 +2,24 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.vision.apriltag;
+package edu.wpi.first.apriltag;
 
-import io.avaje.jsonb.Json;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.util.RawFrame;
-import org.wpilib.vision.apriltag.jni.AprilTagJNI;
 
 /** Represents an AprilTag's metadata. */
-@Json
+@SuppressWarnings("MemberName")
 public class AprilTag {
   /** The tag's ID. */
-  @Json.Property("ID")
-  @SuppressWarnings("PMD.PublicFieldNamingConvention")
+  @JsonProperty(value = "ID")
   public int ID;
 
   /** The tag's pose. */
-  @Json.Property("pose")
+  @JsonProperty(value = "pose")
   public Pose3d pose;
 
   /**
@@ -29,8 +29,10 @@ public class AprilTag {
    * @param pose The tag's pose.
    */
   @SuppressWarnings("ParameterName")
-  @Json.Creator
-  public AprilTag(int ID, Pose3d pose) {
+  @JsonCreator
+  public AprilTag(
+      @JsonProperty(required = true, value = "ID") int ID,
+      @JsonProperty(required = true, value = "pose") Pose3d pose) {
     this.ID = ID;
     this.pose = pose;
   }

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetection.java

@@ -2,13 +2,13 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.vision.apriltag;
+package edu.wpi.first.apriltag;
 
+import edu.wpi.first.math.MatBuilder;
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.Nat;
+import edu.wpi.first.math.numbers.N3;
 import java.util.Arrays;
-import org.wpilib.math.linalg.MatBuilder;
-import org.wpilib.math.linalg.Matrix;
-import org.wpilib.math.numbers.N3;
-import org.wpilib.math.util.Nat;
 
 /** A detection of an AprilTag tag. */
 public class AprilTagDetection {

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java

@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.vision.apriltag;
+package edu.wpi.first.apriltag;
 
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import org.opencv.core.Mat;
-import org.wpilib.vision.apriltag.jni.AprilTagJNI;
 
 /**
  * An AprilTag detector engine. This is expensive to set up and tear down, so most use cases should
@@ -14,6 +14,7 @@ import org.wpilib.vision.apriltag.jni.AprilTagJNI;
  */
 public class AprilTagDetector implements AutoCloseable {
   /** Detector configuration. */
+  @SuppressWarnings("MemberName")
   public static class Config {
     /**
      * How many threads should be used for computation. Default is single-threaded operation (1
@@ -109,6 +110,7 @@ public class AprilTagDetector implements AutoCloseable {
   }
 
   /** Quad threshold parameters. */
+  @SuppressWarnings("MemberName")
   public static class QuadThresholdParameters {
     /** Threshold used to reject quads containing too few pixels. Default is 300 pixels. */
     public int minClusterPixels = 300;

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -0,0 +1,300 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import com.fasterxml.jackson.annotation.JsonAutoDetect;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.io.UncheckedIOException;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Path;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Optional;
+
+/**
+ * Class for representing a layout of AprilTags on a field and reading them from a JSON format.
+ *
+ * <p>The JSON format contains two top-level objects, "tags" and "field". The "tags" object is a
+ * list of all AprilTags contained within a layout. Each AprilTag serializes to a JSON object
+ * containing an ID and a Pose3d. The "field" object is a descriptor of the size of the field in
+ * meters with "width" and "length" values. This is to account for arbitrary field sizes when
+ * transforming the poses.
+ *
+ * <p>Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU with the origin
+ * at the bottom-right corner of the blue alliance wall. {@link #setOrigin(OriginPosition)} can be
+ * used to change the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be from the
+ * perspective of a specific alliance.
+ *
+ * <p>Tag poses represent the center of the tag, with a zero rotation representing a tag that is
+ * upright and facing away from the (blue) alliance wall (that is, towards the opposing alliance).
+ */
+@JsonIgnoreProperties(ignoreUnknown = true)
+@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+public class AprilTagFieldLayout {
+  /** Common origin positions for the AprilTag coordinate system. */
+  public enum OriginPosition {
+    /** Blue alliance wall, right side. */
+    kBlueAllianceWallRightSide,
+    /** Red alliance wall, right side. */
+    kRedAllianceWallRightSide,
+  }
+
+  private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
+
+  @JsonProperty(value = "field")
+  private FieldDimensions m_fieldDimensions;
+
+  private Pose3d m_origin;
+
+  /**
+   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
+   *
+   * @param path Path of the JSON file to import from.
+   * @throws IOException If reading from the file fails.
+   */
+  public AprilTagFieldLayout(String path) throws IOException {
+    this(Path.of(path));
+  }
+
+  /**
+   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
+   *
+   * @param path Path of the JSON file to import from.
+   * @throws IOException If reading from the file fails.
+   */
+  public AprilTagFieldLayout(Path path) throws IOException {
+    AprilTagFieldLayout layout =
+        new ObjectMapper().readValue(path.toFile(), AprilTagFieldLayout.class);
+    m_apriltags.putAll(layout.m_apriltags);
+    m_fieldDimensions = layout.m_fieldDimensions;
+    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
+  }
+
+  /**
+   * Construct a new AprilTagFieldLayout from a list of {@link AprilTag} objects.
+   *
+   * @param apriltags List of {@link AprilTag}.
+   * @param fieldLength Length of the field the layout is representing in meters.
+   * @param fieldWidth Width of the field the layout is representing in meters.
+   */
+  public AprilTagFieldLayout(List<AprilTag> apriltags, double fieldLength, double fieldWidth) {
+    this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
+  }
+
+  @JsonCreator
+  private AprilTagFieldLayout(
+      @JsonProperty(required = true, value = "tags") List<AprilTag> apriltags,
+      @JsonProperty(required = true, value = "field") FieldDimensions fieldDimensions) {
+    // To ensure the underlying semantics don't change with what kind of list is passed in
+    for (AprilTag tag : apriltags) {
+      m_apriltags.put(tag.ID, tag);
+    }
+    m_fieldDimensions = fieldDimensions;
+    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
+  }
+
+  /**
+   * Returns a List of the {@link AprilTag AprilTags} used in this layout.
+   *
+   * @return The {@link AprilTag AprilTags} used in this layout.
+   */
+  @JsonProperty("tags")
+  public List<AprilTag> getTags() {
+    return new ArrayList<>(m_apriltags.values());
+  }
+
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return length, in meters
+   */
+  @JsonIgnore
+  public double getFieldLength() {
+    return m_fieldDimensions.fieldLength;
+  }
+
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return width, in meters
+   */
+  @JsonIgnore
+  public double getFieldWidth() {
+    return m_fieldDimensions.fieldWidth;
+  }
+
+  /**
+   * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
+   * calculated from the field dimensions.
+   *
+   * <p>This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the
+   * correct pose relative to a predefined coordinate frame.
+   *
+   * @param origin The predefined origin
+   */
+  @JsonIgnore
+  public final void setOrigin(OriginPosition origin) {
+    var pose =
+        switch (origin) {
+          case kBlueAllianceWallRightSide -> Pose3d.kZero;
+          case kRedAllianceWallRightSide ->
+              new Pose3d(
+                  new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
+                  new Rotation3d(0, 0, Math.PI));
+        };
+    setOrigin(pose);
+  }
+
+  /**
+   * Sets the origin for tag pose transformation.
+   *
+   * <p>This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the
+   * correct pose relative to the provided origin.
+   *
+   * @param origin The new origin for tag transformations
+   */
+  @JsonIgnore
+  public final void setOrigin(Pose3d origin) {
+    m_origin = origin;
+  }
+
+  /**
+   * Returns the origin used for tag pose transformation.
+   *
+   * @return the origin
+   */
+  @JsonIgnore
+  public Pose3d getOrigin() {
+    return m_origin;
+  }
+
+  /**
+   * Gets an AprilTag pose by its ID.
+   *
+   * @param ID The ID of the tag.
+   * @return The pose corresponding to the ID passed in or an empty optional if a tag with that ID
+   *     was not found.
+   */
+  @SuppressWarnings("ParameterName")
+  public Optional<Pose3d> getTagPose(int ID) {
+    AprilTag tag = m_apriltags.get(ID);
+    if (tag == null) {
+      return Optional.empty();
+    }
+    return Optional.of(tag.pose.relativeTo(m_origin));
+  }
+
+  /**
+   * Serializes a AprilTagFieldLayout to a JSON file.
+   *
+   * @param path The path to write to.
+   * @throws IOException If writing to the file fails.
+   */
+  public void serialize(String path) throws IOException {
+    serialize(Path.of(path));
+  }
+
+  /**
+   * Serializes a AprilTagFieldLayout to a JSON file.
+   *
+   * @param path The path to write to.
+   * @throws IOException If writing to the file fails.
+   */
+  public void serialize(Path path) throws IOException {
+    new ObjectMapper().writeValue(path.toFile(), this);
+  }
+
+  /**
+   * Get an official {@link AprilTagFieldLayout}.
+   *
+   * @param field The loadable AprilTag field layout.
+   * @return AprilTagFieldLayout of the field.
+   * @throws UncheckedIOException If the layout does not exist.
+   */
+  public static AprilTagFieldLayout loadField(AprilTagFields field) {
+    if (field.m_fieldLayout == null) {
+      try {
+        field.m_fieldLayout = loadFromResource(field.m_resourceFile);
+      } catch (IOException e) {
+        throw new UncheckedIOException(
+            "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
+      }
+    }
+    // Copy layout because the layout's origin is mutable
+    return new AprilTagFieldLayout(
+        field.m_fieldLayout.getTags(),
+        field.m_fieldLayout.getFieldLength(),
+        field.m_fieldLayout.getFieldWidth());
+  }
+
+  /**
+   * Deserializes a field layout from a resource within a internal jar file.
+   *
+   * <p>Users should use {@link AprilTagFields#loadAprilTagLayoutField()} to load official layouts
+   * and {@link #AprilTagFieldLayout(String)} for custom layouts.
+   *
+   * @param resourcePath The absolute path of the resource
+   * @return The deserialized layout
+   * @throws IOException If the resource could not be loaded
+   */
+  public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
+    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
+    if (stream == null) {
+      // Class.getResourceAsStream() returns null if the resource does not exist.
+      throw new IOException("Could not locate resource: " + resourcePath);
+    }
+    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
+    try {
+      return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
+    } catch (IOException e) {
+      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
+    }
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    return obj instanceof AprilTagFieldLayout layout
+        && m_apriltags.equals(layout.m_apriltags)
+        && m_origin.equals(layout.m_origin);
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(m_apriltags, m_origin);
+  }
+
+  @JsonIgnoreProperties(ignoreUnknown = true)
+  @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+  private static class FieldDimensions {
+    @SuppressWarnings("MemberName")
+    @JsonProperty(value = "length")
+    public final double fieldLength;
+
+    @SuppressWarnings("MemberName")
+    @JsonProperty(value = "width")
+    public final double fieldWidth;
+
+    @JsonCreator()
+    FieldDimensions(
+        @JsonProperty(required = true, value = "length") double fieldLength,
+        @JsonProperty(required = true, value = "width") double fieldWidth) {
+      this.fieldLength = fieldLength;
+      this.fieldWidth = fieldWidth;
+    }
+  }
+}

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -0,0 +1,52 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import java.io.UncheckedIOException;
+
+/** Loadable AprilTag field layouts. */
+public enum AprilTagFields {
+  /** 2022 Rapid React. */
+  k2022RapidReact("2022-rapidreact.json"),
+  /** 2023 Charged Up. */
+  k2023ChargedUp("2023-chargedup.json"),
+  /** 2024 Crescendo. */
+  k2024Crescendo("2024-crescendo.json"),
+  /** 2025 Reefscape Welded (see TU 12). */
+  k2025ReefscapeWelded("2025-reefscape-welded.json"),
+  /** 2025 Reefscape AndyMark (see TU 12). */
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
+  /** 2026 Rebuilt Welded. */
+  k2026RebuiltWelded("2026-rebuilt-welded.json"),
+  /** 2026 Rebuilt AndyMark. */
+  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
+
+  /** Base resource directory. */
+  public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
+
+  /** Alias to the current game. */
+  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
+
+  /** Resource filename. */
+  public final String m_resourceFile;
+
+  AprilTagFieldLayout m_fieldLayout;
+
+  AprilTagFields(String resourceFile) {
+    m_resourceFile = kBaseResourceDir + resourceFile;
+  }
+
+  /**
+   * Get a {@link AprilTagFieldLayout} from the resource JSON.
+   *
+   * @return AprilTagFieldLayout of the field
+   * @throws UncheckedIOException If the layout does not exist
+   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
+   */
+  @Deprecated(forRemoval = true, since = "2025")
+  public AprilTagFieldLayout loadAprilTagLayoutField() {
+    return AprilTagFieldLayout.loadField(this);
+  }
+}

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagPoseEstimate.java

@@ -2,11 +2,12 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.vision.apriltag;
+package edu.wpi.first.apriltag;
 
-import org.wpilib.math.geometry.Transform3d;
+import edu.wpi.first.math.geometry.Transform3d;
 
 /** A pair of AprilTag pose estimates. */
+@SuppressWarnings("MemberName")
 public class AprilTagPoseEstimate {
   /**
    * Constructs a pose estimate.

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagPoseEstimator.java

@@ -2,14 +2,15 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.vision.apriltag;
+package edu.wpi.first.apriltag;
 
-import org.wpilib.math.geometry.Transform3d;
-import org.wpilib.vision.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
+import edu.wpi.first.math.geometry.Transform3d;
 
 /** Pose estimators for AprilTag tags. */
 public class AprilTagPoseEstimator {
   /** Configuration for the pose estimator. */
+  @SuppressWarnings("MemberName")
   public static class Config {
     /**
      * Creates a pose estimator configuration.

apriltag/src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package org.wpilib.vision.apriltag.jni;
+package edu.wpi.first.apriltag.jni;
 
+import edu.wpi.first.apriltag.AprilTagDetection;
+import edu.wpi.first.apriltag.AprilTagDetector;
+import edu.wpi.first.apriltag.AprilTagPoseEstimate;
+import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.RawFrame;
+import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
-import org.wpilib.math.geometry.Transform3d;
-import org.wpilib.util.RawFrame;
-import org.wpilib.util.runtime.RuntimeLoader;
-import org.wpilib.vision.apriltag.AprilTagDetection;
-import org.wpilib.vision.apriltag.AprilTagDetector;
-import org.wpilib.vision.apriltag.AprilTagPoseEstimate;
 
 /** AprilTag JNI. */
 public class AprilTagJNI {

apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFieldLayout.java

@@ -1,281 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.wpilib.vision.apriltag;
-
-import io.avaje.jsonb.Json;
-import io.avaje.jsonb.Jsonb;
-import java.io.IOException;
-import java.io.InputStream;
-import java.io.UncheckedIOException;
-import java.nio.file.Files;
-import java.nio.file.Path;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
-import java.util.Optional;
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.math.geometry.Rotation3d;
-import org.wpilib.math.geometry.Translation3d;
-
-/**
- * Class for representing a layout of AprilTags on a field and reading them from a JSON format.
- *
- * <p>The JSON format contains two top-level objects, "tags" and "field". The "tags" object is a
- * list of all AprilTags contained within a layout. Each AprilTag serializes to a JSON object
- * containing an ID and a Pose3d. The "field" object is a descriptor of the size of the field in
- * meters with "width" and "length" values. This is to account for arbitrary field sizes when
- * transforming the poses.
- *
- * <p>Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU with the origin
- * at the bottom-right corner of the blue alliance wall. {@link #setOrigin(OriginPosition)} can be
- * used to change the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be from the
- * perspective of a specific alliance.
- *
- * <p>Tag poses represent the center of the tag, with a zero rotation representing a tag that is
- * upright and facing away from the (blue) alliance wall (that is, towards the opposing alliance).
- */
-@Json
-public class AprilTagFieldLayout {
-  /** Common origin positions for the AprilTag coordinate system. */
-  public enum OriginPosition {
-    /** Blue alliance wall, right side. */
-    kBlueAllianceWallRightSide,
-    /** Red alliance wall, right side. */
-    kRedAllianceWallRightSide,
-  }
-
-  @Json.Ignore private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
-
-  @Json.Property("field")
-  FieldDimensions m_fieldDimensions;
-
-  @Json.Ignore private Pose3d m_origin;
-
-  /**
-   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
-   *
-   * @param path Path of the JSON file to import from.
-   * @throws IOException If reading from the file fails.
-   */
-  public AprilTagFieldLayout(String path) throws IOException {
-    this(Path.of(path));
-  }
-
-  /**
-   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
-   *
-   * @param path Path of the JSON file to import from.
-   * @throws IOException If reading from the file fails.
-   */
-  public AprilTagFieldLayout(Path path) throws IOException {
-    AprilTagFieldLayout layout =
-        Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(Files.newBufferedReader(path));
-    m_apriltags.putAll(layout.m_apriltags);
-    m_fieldDimensions = layout.m_fieldDimensions;
-    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
-  }
-
-  /**
-   * Construct a new AprilTagFieldLayout from a list of {@link AprilTag} objects.
-   *
-   * @param apriltags List of {@link AprilTag}.
-   * @param fieldLength Length of the field the layout is representing in meters.
-   * @param fieldWidth Width of the field the layout is representing in meters.
-   */
-  public AprilTagFieldLayout(List<AprilTag> apriltags, double fieldLength, double fieldWidth) {
-    this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
-  }
-
-  @Json.Creator
-  AprilTagFieldLayout(
-      @Json.Alias("tags") List<AprilTag> apriltags,
-      @Json.Alias("field") FieldDimensions fieldDimensions) {
-    // To ensure the underlying semantics don't change with what kind of list is passed in
-    for (AprilTag tag : apriltags) {
-      m_apriltags.put(tag.ID, tag);
-    }
-    m_fieldDimensions = fieldDimensions;
-    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
-  }
-
-  /**
-   * Returns a List of the {@link AprilTag AprilTags} used in this layout.
-   *
-   * @return The {@link AprilTag AprilTags} used in this layout.
-   */
-  @Json.Property("tags")
-  public List<AprilTag> getTags() {
-    return new ArrayList<>(m_apriltags.values());
-  }
-
-  /**
-   * Returns the length of the field the layout is representing in meters.
-   *
-   * @return length, in meters
-   */
-  public double getFieldLength() {
-    return m_fieldDimensions.fieldLength;
-  }
-
-  /**
-   * Returns the length of the field the layout is representing in meters.
-   *
-   * @return width, in meters
-   */
-  public double getFieldWidth() {
-    return m_fieldDimensions.fieldWidth;
-  }
-
-  /**
-   * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
-   * calculated from the field dimensions.
-   *
-   * <p>This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the
-   * correct pose relative to a predefined coordinate frame.
-   *
-   * @param origin The predefined origin
-   */
-  public final void setOrigin(OriginPosition origin) {
-    var pose =
-        switch (origin) {
-          case kBlueAllianceWallRightSide -> Pose3d.kZero;
-          case kRedAllianceWallRightSide ->
-              new Pose3d(
-                  new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
-                  new Rotation3d(0, 0, Math.PI));
-        };
-    setOrigin(pose);
-  }
-
-  /**
-   * Sets the origin for tag pose transformation.
-   *
-   * <p>This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the
-   * correct pose relative to the provided origin.
-   *
-   * @param origin The new origin for tag transformations
-   */
-  public final void setOrigin(Pose3d origin) {
-    m_origin = origin;
-  }
-
-  /**
-   * Returns the origin used for tag pose transformation.
-   *
-   * @return the origin
-   */
-  public Pose3d getOrigin() {
-    return m_origin;
-  }
-
-  /**
-   * Gets an AprilTag pose by its ID.
-   *
-   * @param ID The ID of the tag.
-   * @return The pose corresponding to the ID passed in or an empty optional if a tag with that ID
-   *     was not found.
-   */
-  @SuppressWarnings("ParameterName")
-  public Optional<Pose3d> getTagPose(int ID) {
-    AprilTag tag = m_apriltags.get(ID);
-    if (tag == null) {
-      return Optional.empty();
-    }
-    return Optional.of(tag.pose.relativeTo(m_origin));
-  }
-
-  /**
-   * Serializes a AprilTagFieldLayout to a JSON file.
-   *
-   * @param path The path to write to.
-   * @throws IOException If writing to the file fails.
-   */
-  public void serialize(String path) throws IOException {
-    serialize(Path.of(path));
-  }
-
-  /**
-   * Serializes a AprilTagFieldLayout to a JSON file.
-   *
-   * @param path The path to write to.
-   * @throws IOException If writing to the file fails.
-   */
-  public void serialize(Path path) throws IOException {
-    Jsonb.instance().type(AprilTagFieldLayout.class).toJson(this, Files.newBufferedWriter(path));
-  }
-
-  /**
-   * Get an official {@link AprilTagFieldLayout}.
-   *
-   * @param field The loadable AprilTag field layout.
-   * @return AprilTagFieldLayout of the field.
-   * @throws UncheckedIOException If the layout does not exist.
-   */
-  public static AprilTagFieldLayout loadField(AprilTagFields field) {
-    if (field.fieldLayout == null) {
-      try {
-        field.fieldLayout = loadFromResource(field.resourceFile);
-      } catch (IOException e) {
-        throw new UncheckedIOException(
-            "Could not load AprilTagFieldLayout from " + field.resourceFile, e);
-      }
-    }
-    // Copy layout because the layout's origin is mutable
-    return new AprilTagFieldLayout(
-        field.fieldLayout.getTags(),
-        field.fieldLayout.getFieldLength(),
-        field.fieldLayout.getFieldWidth());
-  }
-
-  /**
-   * Deserializes a field layout from a resource within a internal jar file.
-   *
-   * <p>Users should use {@link #loadField(AprilTagFields)} to load official layouts and {@link
-   * #AprilTagFieldLayout(String)} for custom layouts.
-   *
-   * @param resourcePath The absolute path of the resource
-   * @return The deserialized layout
-   * @throws IOException If the resource could not be loaded
-   */
-  public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath)) {
-      if (stream == null) {
-        // Class.getResourceAsStream() returns null if the resource does not exist.
-        throw new IOException("Could not locate resource: " + resourcePath);
-      }
-      return Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
-    }
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    return obj instanceof AprilTagFieldLayout layout
-        && m_apriltags.equals(layout.m_apriltags)
-        && m_origin.equals(layout.m_origin);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(m_apriltags, m_origin);
-  }
-
-  static class FieldDimensions {
-    @Json.Property(value = "length")
-    public final double fieldLength;
-
-    @Json.Property(value = "width")
-    public final double fieldWidth;
-
-    @Json.Creator()
-    FieldDimensions(
-        @Json.Alias(value = "length") double fieldLength,
-        @Json.Alias(value = "width") double fieldWidth) {
-      this.fieldLength = fieldLength;
-      this.fieldWidth = fieldWidth;
-    }
-  }
-}

apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFields.java

@@ -1,38 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package org.wpilib.vision.apriltag;
-
-/** Loadable AprilTag field layouts. */
-public enum AprilTagFields {
-  /** 2022 Rapid React. */
-  k2022RapidReact("2022-rapidreact.json"),
-  /** 2023 Charged Up. */
-  k2023ChargedUp("2023-chargedup.json"),
-  /** 2024 Crescendo. */
-  k2024Crescendo("2024-crescendo.json"),
-  /** 2025 Reefscape Welded (see TU 12). */
-  k2025ReefscapeWelded("2025-reefscape-welded.json"),
-  /** 2025 Reefscape AndyMark (see TU 12). */
-  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
-  /** 2026 Rebuilt Welded. */
-  k2026RebuiltWelded("2026-rebuilt-welded.json"),
-  /** 2026 Rebuilt AndyMark. */
-  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
-
-  /** Base resource directory. */
-  public static final String kBaseResourceDir = "/org/wpilib/vision/apriltag/";
-
-  /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
-
-  /** Resource filename. */
-  public final String resourceFile;
-
-  AprilTagFieldLayout fieldLayout;
-
-  AprilTagFields(String resourceFile) {
-    this.resourceFile = kBaseResourceDir + resourceFile;
-  }
-}

apriltag/src/main/native/cpp/AprilTag.cpp

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTag.hpp"
+#include "frc/apriltag/AprilTag.h"
 
 #include <cstring>
 
-#include "wpi/util/json.hpp"
+#include <wpi/json.h>
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
@@ -20,9 +20,9 @@
 #include "tag16h5.h"
 #include "tag36h11.h"
 
-using namespace wpi::apriltag;
+using namespace frc;
 
-static bool FamilyToImage(wpi::util::RawFrame* frame, apriltag_family_t* family,
+static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
                           int id) {
   image_u8_t* image = apriltag_to_image(family, id);
   size_t totalDataSize = image->height * image->stride;
@@ -37,25 +37,25 @@ static bool FamilyToImage(wpi::util::RawFrame* frame, apriltag_family_t* family,
   return rv;
 }
 
-bool AprilTag::Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id) {
+bool AprilTag::Generate36h11AprilTagImage(wpi::RawFrame* frame, int id) {
   apriltag_family_t* tagFamily = tag36h11_create();
   bool rv = FamilyToImage(frame, tagFamily, id);
   tag36h11_destroy(tagFamily);
   return rv;
 }
 
-bool AprilTag::Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id) {
+bool AprilTag::Generate16h5AprilTagImage(wpi::RawFrame* frame, int id) {
   apriltag_family_t* tagFamily = tag16h5_create();
   bool rv = FamilyToImage(frame, tagFamily, id);
   tag16h5_destroy(tagFamily);
   return rv;
 }
 
-void wpi::apriltag::to_json(wpi::util::json& json, const AprilTag& apriltag) {
-  json = wpi::util::json::object("ID", apriltag.ID, "pose", apriltag.pose);
+void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
+  json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
 }
 
-void wpi::apriltag::from_json(const wpi::util::json& json, AprilTag& apriltag) {
-  apriltag.ID = json.at("ID").get_int();
-  apriltag.pose = json.at("pose").get<wpi::math::Pose3d>();
+void frc::from_json(const wpi::json& json, AprilTag& apriltag) {
+  apriltag.ID = json.at("ID").get<int>();
+  apriltag.pose = json.at("pose").get<Pose3d>();
 }

apriltag/src/main/native/cpp/AprilTagDetection.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTagDetection.hpp"
+#include "frc/apriltag/AprilTagDetection.h"
 
 #include <type_traits>
 
@@ -16,7 +16,7 @@
 
 #include "apriltag.h"
 
-using namespace wpi::apriltag;
+using namespace frc;
 
 static_assert(sizeof(AprilTagDetection) == sizeof(apriltag_detection_t),
               "structure sizes don't match");

apriltag/src/main/native/cpp/AprilTagDetector.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTagDetector.hpp"
+#include "frc/apriltag/AprilTagDetector.h"
 
 #include <cmath>
 #include <utility>
@@ -19,7 +19,7 @@
 #include "tag16h5.h"
 #include "tag36h11.h"
 
-using namespace wpi::apriltag;
+using namespace frc;
 
 AprilTagDetector::Results::Results(void* impl, const private_init&)
     : span{reinterpret_cast<AprilTagDetection**>(

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -2,41 +2,38 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTagFieldLayout.hpp"
+#include "frc/apriltag/AprilTagFieldLayout.h"
 
 #include <system_error>
 #include <utility>
 #include <vector>
 
-#include "wpi/units/angle.hpp"
-#include "wpi/units/length.hpp"
-#include "wpi/util/MemoryBuffer.hpp"
-#include "wpi/util/json.hpp"
-#include "wpi/util/raw_ostream.hpp"
+#include <units/angle.h>
+#include <units/length.h>
+#include <wpi/MemoryBuffer.h>
+#include <wpi/json.h>
+#include <wpi/raw_ostream.h>
 
-using namespace wpi::apriltag;
+using namespace frc;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(path);
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
   if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  auto buf = fileBuffer.value()->GetCharBuffer();
-  auto json = wpi::util::json::parse_or_throw({buf.data(), buf.size()});
+  wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
 
-  for (auto&& jtag : json.at("tags").get_array()) {
-    auto tag = jtag.get<AprilTag>();
+  for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
   }
-  m_fieldWidth = wpi::units::meter_t{json.at("field").at("width").get_number()};
-  m_fieldLength =
-      wpi::units::meter_t{json.at("field").at("length").get_number()};
+  m_fieldWidth = units::meter_t{json.at("field").at("width").get<double>()};
+  m_fieldLength = units::meter_t{json.at("field").at("length").get<double>()};
 }
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                                         wpi::units::meter_t fieldLength,
-                                         wpi::units::meter_t fieldWidth)
+                                         units::meter_t fieldLength,
+                                         units::meter_t fieldWidth)
     : m_fieldLength(std::move(fieldLength)),
       m_fieldWidth(std::move(fieldWidth)) {
   for (const auto& tag : apriltags) {
@@ -44,11 +41,11 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
-wpi::units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+units::meter_t AprilTagFieldLayout::GetFieldLength() const {
   return m_fieldLength;
 }
 
-wpi::units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
+units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
   return m_fieldWidth;
 }
 
@@ -64,27 +61,26 @@ std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
-      SetOrigin(wpi::math::Pose3d{});
+      SetOrigin(Pose3d{});
       break;
     case OriginPosition::kRedAllianceWallRightSide:
-      SetOrigin(wpi::math::Pose3d{
-          wpi::math::Translation3d{m_fieldLength, m_fieldWidth, 0_m},
-          wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}});
+      SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
+                       Rotation3d{0_deg, 0_deg, 180_deg}});
       break;
     default:
       throw std::invalid_argument("Invalid origin");
   }
 }
 
-void AprilTagFieldLayout::SetOrigin(const wpi::math::Pose3d& origin) {
+void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
   m_origin = origin;
 }
 
-wpi::math::Pose3d AprilTagFieldLayout::GetOrigin() const {
+Pose3d AprilTagFieldLayout::GetOrigin() const {
   return m_origin;
 }
 
-std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
+std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {
     return std::nullopt;
@@ -95,46 +91,43 @@ std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
 void AprilTagFieldLayout::Serialize(std::string_view path) {
   std::error_code error_code;
 
-  wpi::util::raw_fd_ostream output{path, error_code};
+  wpi::raw_fd_ostream output{path, error_code};
   if (error_code) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::util::json json = *this;
+  wpi::json json = *this;
   output << json;
   output.flush();
 }
 
-void wpi::apriltag::to_json(wpi::util::json& json,
-                            const AprilTagFieldLayout& layout) {
+void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
   std::vector<AprilTag> tagVector;
   tagVector.reserve(layout.m_apriltags.size());
   for (const auto& pair : layout.m_apriltags) {
     tagVector.push_back(pair.second);
   }
 
-  auto field = wpi::util::json::object("length", layout.m_fieldLength.value(),
-                                       "width", layout.m_fieldWidth.value());
-  json = wpi::util::json::object("field", std::move(field), "tags",
-                                 std::move(tagVector));
+  json = wpi::json{{"field",
+                    {{"length", layout.m_fieldLength.value()},
+                     {"width", layout.m_fieldWidth.value()}}},
+                   {"tags", tagVector}};
 }
 
-void wpi::apriltag::from_json(const wpi::util::json& json,
-                              AprilTagFieldLayout& layout) {
+void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
   layout.m_apriltags.clear();
-  for (auto&& jtag : json.at("tags").get_array()) {
-    auto tag = jtag.get<AprilTag>();
+  for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     layout.m_apriltags[tag.ID] = tag;
   }
 
   layout.m_fieldLength =
-      wpi::units::meter_t{json.at("field").at("length").get_number()};
+      units::meter_t{json.at("field").at("length").get<double>()};
   layout.m_fieldWidth =
-      wpi::units::meter_t{json.at("field").at("width").get_number()};
+      units::meter_t{json.at("field").at("width").get<double>()};
 }
 
 // Use namespace declaration for forward declaration
-namespace wpi::apriltag {
+namespace frc {
 
 // C++ generated from resource files
 std::string_view GetResource_2022_rapidreact_json();
@@ -145,7 +138,7 @@ std::string_view GetResource_2025_reefscape_andymark_json();
 std::string_view GetResource_2026_rebuilt_welded_json();
 std::string_view GetResource_2026_rebuilt_andymark_json();
 
-}  // namespace wpi::apriltag
+}  // namespace frc
 
 AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
   std::string_view fieldString;
@@ -175,6 +168,10 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
       throw std::invalid_argument("Invalid Field");
   }
 
-  wpi::util::json json = wpi::util::json::parse_or_throw(fieldString);
+  wpi::json json = wpi::json::parse(fieldString);
   return json.get<AprilTagFieldLayout>();
 }
+
+AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+  return AprilTagFieldLayout::LoadField(field);
+}

apriltag/src/main/native/cpp/AprilTagPoseEstimate.cpp

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTagPoseEstimate.hpp"
+#include "frc/apriltag/AprilTagPoseEstimate.h"
 
 #include <algorithm>
 
-using namespace wpi::apriltag;
+using namespace frc;
 
 double AprilTagPoseEstimate::GetAmbiguity() const {
   auto min = (std::min)(error1, error2);

apriltag/src/main/native/cpp/AprilTagPoseEstimator.cpp

@@ -2,11 +2,11 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
+#include "frc/apriltag/AprilTagPoseEstimator.h"
 
 #include <Eigen/QR>
 
-#include "wpi/apriltag/AprilTagDetection.hpp"
+#include "frc/apriltag/AprilTagDetection.h"
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
@@ -19,7 +19,7 @@
 #include "apriltag.h"
 #include "apriltag_pose.h"
 
-using namespace wpi::apriltag;
+using namespace frc;
 
 static Eigen::Matrix3d OrthogonalizeRotationMatrix(
     const Eigen::Matrix3d& input) {
@@ -42,14 +42,14 @@ static Eigen::Matrix3d OrthogonalizeRotationMatrix(
   return Q;
 }
 
-static wpi::math::Transform3d MakePose(const apriltag_pose_t& pose) {
+static Transform3d MakePose(const apriltag_pose_t& pose) {
   if (!pose.R || !pose.t) {
     return {};
   }
-  return {wpi::math::Translation3d{wpi::units::meter_t{pose.t->data[0]},
-                                   wpi::units::meter_t{pose.t->data[1]},
-                                   wpi::units::meter_t{pose.t->data[2]}},
-          wpi::math::Rotation3d{OrthogonalizeRotationMatrix(
+  return {Translation3d{units::meter_t{pose.t->data[0]},
+                        units::meter_t{pose.t->data[1]},
+                        units::meter_t{pose.t->data[2]}},
+          Rotation3d{OrthogonalizeRotationMatrix(
               Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
                   pose.R->data})}};
 }
@@ -80,7 +80,7 @@ static apriltag_detection_t MakeBasicDet(
   return detection;
 }
 
-static wpi::math::Transform3d DoEstimateHomography(
+static Transform3d DoEstimateHomography(
     const apriltag_detection_t* detection,
     const AprilTagPoseEstimator::Config& config) {
   auto info = MakeDetectionInfo(detection, config);
@@ -89,13 +89,13 @@ static wpi::math::Transform3d DoEstimateHomography(
   return MakePose(pose);
 }
 
-wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
+Transform3d AprilTagPoseEstimator::EstimateHomography(
     const AprilTagDetection& detection) const {
   return DoEstimateHomography(
       reinterpret_cast<const apriltag_detection_t*>(&detection), m_config);
 }
 
-wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
+Transform3d AprilTagPoseEstimator::EstimateHomography(
     std::span<const double, 9> homography) const {
   auto detection = MakeBasicDet(homography, nullptr);
   auto rv = DoEstimateHomography(&detection, m_config);
@@ -130,22 +130,21 @@ AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
   return rv;
 }
 
-static wpi::math::Transform3d DoEstimate(
-    const apriltag_detection_t* detection,
-    const AprilTagPoseEstimator::Config& config) {
+static Transform3d DoEstimate(const apriltag_detection_t* detection,
+                              const AprilTagPoseEstimator::Config& config) {
   auto info = MakeDetectionInfo(detection, config);
   apriltag_pose_t pose;
   estimate_tag_pose(&info, &pose);
   return MakePose(pose);
 }
 
-wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
+Transform3d AprilTagPoseEstimator::Estimate(
     const AprilTagDetection& detection) const {
   return DoEstimate(reinterpret_cast<const apriltag_detection_t*>(&detection),
                     m_config);
 }
 
-wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
+Transform3d AprilTagPoseEstimator::Estimate(
     std::span<const double, 9> homography,
     std::span<const double, 8> corners) const {
   auto detection = MakeBasicDet(homography, &corners);

apriltag/src/main/native/cpp/jni/AprilTagJNI.cpp

@@ -8,15 +8,16 @@
 #include <cstring>
 
 #define WPI_RAWFRAME_JNI
-#include "org_wpilib_vision_apriltag_jni_AprilTagJNI.h"
-#include "wpi/apriltag/AprilTag.hpp"
-#include "wpi/apriltag/AprilTagDetector.hpp"
-#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
-#include "wpi/util/RawFrame.h"
-#include "wpi/util/jni_util.hpp"
+#include <wpi/RawFrame.h>
+#include <wpi/jni_util.h>
 
-using namespace wpi::apriltag;
-using namespace wpi::util::java;
+#include "edu_wpi_first_apriltag_jni_AprilTagJNI.h"
+#include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagDetector.h"
+#include "frc/apriltag/AprilTagPoseEstimator.h"
+
+using namespace frc;
+using namespace wpi::java;
 
 static JavaVM* jvm = nullptr;
 
@@ -33,16 +34,16 @@ static JException illegalArgEx;
 static JException nullPointerEx;
 
 static const JClassInit classes[] = {
-    {"org/wpilib/vision/apriltag/AprilTagDetection", &detectionCls},
-    {"org/wpilib/vision/apriltag/AprilTagDetector$Config", &detectorConfigCls},
-    {"org/wpilib/vision/apriltag/AprilTagDetector$QuadThresholdParameters",
+    {"edu/wpi/first/apriltag/AprilTagDetection", &detectionCls},
+    {"edu/wpi/first/apriltag/AprilTagDetector$Config", &detectorConfigCls},
+    {"edu/wpi/first/apriltag/AprilTagDetector$QuadThresholdParameters",
      &detectorQTPCls},
-    {"org/wpilib/vision/apriltag/AprilTagPoseEstimate", &poseEstimateCls},
-    {"org/wpilib/math/geometry/Quaternion", &quaternionCls},
-    {"org/wpilib/math/geometry/Rotation3d", &rotation3dCls},
-    {"org/wpilib/math/geometry/Transform3d", &transform3dCls},
-    {"org/wpilib/math/geometry/Translation3d", &translation3dCls},
-    {"org/wpilib/util/RawFrame", &rawFrameCls}};
+    {"edu/wpi/first/apriltag/AprilTagPoseEstimate", &poseEstimateCls},
+    {"edu/wpi/first/math/geometry/Quaternion", &quaternionCls},
+    {"edu/wpi/first/math/geometry/Rotation3d", &rotation3dCls},
+    {"edu/wpi/first/math/geometry/Transform3d", &transform3dCls},
+    {"edu/wpi/first/math/geometry/Translation3d", &translation3dCls},
+    {"edu/wpi/first/util/RawFrame", &rawFrameCls}};
 
 static const JExceptionInit exceptions[] = {
     {"java/lang/IllegalArgumentException", &illegalArgEx},
@@ -161,7 +162,7 @@ static AprilTagDetector::QuadThresholdParameters FromJavaDetectorQTP(
   return {
       FIELD(int, Int, minClusterPixels),
       FIELD(int, Int, maxNumMaxima),
-      .criticalAngle = wpi::units::radian_t{static_cast<double>(
+      .criticalAngle = units::radian_t{static_cast<double>(
           env->GetDoubleField(jparams, criticalAngleField))},
       FIELD(float, Float, maxLineFitMSE),
       FIELD(int, Int, minWhiteBlackDiff),
@@ -255,7 +256,7 @@ static jobject MakeJObject(
                         static_cast<jboolean>(params.deglitch));
 }
 
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Translation3d& xlate) {
+static jobject MakeJObject(JNIEnv* env, const Translation3d& xlate) {
   static jmethodID constructor =
       env->GetMethodID(translation3dCls, "<init>", "(DDD)V");
   if (!constructor) {
@@ -267,7 +268,7 @@ static jobject MakeJObject(JNIEnv* env, const wpi::math::Translation3d& xlate) {
       static_cast<jdouble>(xlate.Y()), static_cast<jdouble>(xlate.Z()));
 }
 
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Quaternion& q) {
+static jobject MakeJObject(JNIEnv* env, const Quaternion& q) {
   static jmethodID constructor =
       env->GetMethodID(quaternionCls, "<init>", "(DDDD)V");
   if (!constructor) {
@@ -280,9 +281,9 @@ static jobject MakeJObject(JNIEnv* env, const wpi::math::Quaternion& q) {
                         static_cast<jdouble>(q.Z()));
 }
 
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Rotation3d& rot) {
+static jobject MakeJObject(JNIEnv* env, const Rotation3d& rot) {
   static jmethodID constructor = env->GetMethodID(
-      rotation3dCls, "<init>", "(Lorg/wpilib/math/geometry/Quaternion;)V");
+      rotation3dCls, "<init>", "(Ledu/wpi/first/math/geometry/Quaternion;)V");
   if (!constructor) {
     return nullptr;
   }
@@ -291,11 +292,11 @@ static jobject MakeJObject(JNIEnv* env, const wpi::math::Rotation3d& rot) {
   return env->NewObject(rotation3dCls, constructor, q.obj());
 }
 
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Transform3d& xform) {
+static jobject MakeJObject(JNIEnv* env, const Transform3d& xform) {
   static jmethodID constructor =
       env->GetMethodID(transform3dCls, "<init>",
-                       "(Lorg/wpilib/math/geometry/Translation3d;"
-                       "Lorg/wpilib/math/geometry/Rotation3d;)V");
+                       "(Ledu/wpi/first/math/geometry/Translation3d;"
+                       "Ledu/wpi/first/math/geometry/Rotation3d;)V");
   if (!constructor) {
     return nullptr;
   }
@@ -308,8 +309,8 @@ static jobject MakeJObject(JNIEnv* env, const wpi::math::Transform3d& xform) {
 static jobject MakeJObject(JNIEnv* env, const AprilTagPoseEstimate& est) {
   static jmethodID constructor =
       env->GetMethodID(poseEstimateCls, "<init>",
-                       "(Lorg/wpilib/math/geometry/Transform3d;"
-                       "Lorg/wpilib/math/geometry/Transform3d;DD)V");
+                       "(Ledu/wpi/first/math/geometry/Transform3d;"
+                       "Ledu/wpi/first/math/geometry/Transform3d;DD)V");
   if (!constructor) {
     return nullptr;
   }
@@ -324,36 +325,36 @@ static jobject MakeJObject(JNIEnv* env, const AprilTagPoseEstimate& est) {
 extern "C" {
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    createDetector
  * Signature: ()J
  */
 JNIEXPORT jlong JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_createDetector
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_createDetector
   (JNIEnv* env, jclass)
 {
   return reinterpret_cast<jlong>(new AprilTagDetector);
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    destroyDetector
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_destroyDetector
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_destroyDetector
   (JNIEnv* env, jclass, jlong det)
 {
   delete reinterpret_cast<AprilTagDetector*>(det);
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    setDetectorConfig
  * Signature: (JLjava/lang/Object;)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_setDetectorConfig
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_setDetectorConfig
   (JNIEnv* env, jclass, jlong det, jobject config)
 {
   if (det == 0) {
@@ -365,12 +366,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_setDetectorConfig
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    getDetectorConfig
  * Signature: (J)Ljava/lang/Object;
  */
 JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_getDetectorConfig
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_getDetectorConfig
   (JNIEnv* env, jclass, jlong det)
 {
   if (det == 0) {
@@ -382,12 +383,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_getDetectorConfig
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    setDetectorQTP
  * Signature: (JLjava/lang/Object;)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_setDetectorQTP
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_setDetectorQTP
   (JNIEnv* env, jclass, jlong det, jobject params)
 {
   if (det == 0) {
@@ -399,12 +400,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_setDetectorQTP
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    getDetectorQTP
  * Signature: (J)Ljava/lang/Object;
  */
 JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_getDetectorQTP
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_getDetectorQTP
   (JNIEnv* env, jclass, jlong det)
 {
   if (det == 0) {
@@ -417,12 +418,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_getDetectorQTP
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    addFamily
  * Signature: (JLjava/lang/String;I)Z
  */
 JNIEXPORT jboolean JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_addFamily
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_addFamily
   (JNIEnv* env, jclass, jlong det, jstring fam, jint bitsCorrected)
 {
   if (det == 0) {
@@ -438,12 +439,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_addFamily
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    removeFamily
  * Signature: (JLjava/lang/String;)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_removeFamily
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_removeFamily
   (JNIEnv* env, jclass, jlong det, jstring fam)
 {
   if (det == 0) {
@@ -458,12 +459,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_removeFamily
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    clearFamilies
  * Signature: (J)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_clearFamilies
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_clearFamilies
   (JNIEnv* env, jclass, jlong det)
 {
   if (det == 0) {
@@ -474,12 +475,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_clearFamilies
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    detect
  * Signature: (JIIIJ)[Ljava/lang/Object;
  */
 JNIEXPORT jobjectArray JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_detect
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_detect
   (JNIEnv* env, jclass, jlong det, jint width, jint height, jint stride,
    jlong bufAddr)
 {
@@ -497,12 +498,12 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_detect
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    estimatePoseHomography
  * Signature: ([DDDDDD)Ljava/lang/Object;
  */
 JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseHomography
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseHomography
   (JNIEnv* env, jclass, jdoubleArray homography, jdouble tagSize, jdouble fx,
    jdouble fy, jdouble cx, jdouble cy)
 {
@@ -516,18 +517,17 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseHomography
     return nullptr;
   }
 
-  AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
+  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env, estimator.EstimateHomography(harr));
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    estimatePoseOrthogonalIteration
  * Signature: ([D[DDDDDDI)Ljava/lang/Object;
  */
 JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
   (JNIEnv* env, jclass, jdoubleArray homography, jdoubleArray corners,
    jdouble tagSize, jdouble fx, jdouble fy, jdouble cx, jdouble cy, jint nIters)
 {
@@ -553,19 +553,18 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     return nullptr;
   }
 
-  AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
+  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env,
                      estimator.EstimateOrthogonalIteration(harr, carr, nIters));
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    estimatePose
  * Signature: ([D[DDDDDD)Ljava/lang/Object;
  */
 JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePose
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
   (JNIEnv* env, jclass, jdoubleArray homography, jdoubleArray corners,
    jdouble tagSize, jdouble fx, jdouble fy, jdouble cx, jdouble cy)
 {
@@ -591,46 +590,45 @@ Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePose
     return nullptr;
   }
 
-  AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
+  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env, estimator.Estimate(harr, carr));
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    generate16h5AprilTagImage
  * Signature: (Ljava/lang/Object;JI)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
   (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
 {
-  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
   if (!frame) {
     nullPointerEx.Throw(env, "frame is null");
     return;
   }
   bool newData = AprilTag::Generate16h5AprilTagImage(frame, id);
-  wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 /*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
  * Method:    generate36h11AprilTagImage
  * Signature: (Ljava/lang/Object;JI)V
  */
 JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
   (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
 {
-  auto* frame = reinterpret_cast<wpi::util::RawFrame*>(framePtr);
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
   if (!frame) {
     nullPointerEx.Throw(env, "frame is null");
     return;
   }
   // function might reallocate
   bool newData = AprilTag::Generate36h11AprilTagImage(frame, id);
-  wpi::util::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 }  // extern "C"

apriltag/src/main/native/include/frc/apriltag/AprilTag.h

@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/RawFrame.h>
+#include <wpi/SymbolExports.h>
+#include <wpi/json_fwd.h>
+
+#include "frc/geometry/Pose3d.h"
+
+namespace frc {
+
+/**
+ * Represents an AprilTag's metadata.
+ */
+struct WPILIB_DLLEXPORT AprilTag {
+  /// The tag's ID.
+  int ID;
+
+  /// The tag's pose.
+  Pose3d pose;
+
+  bool operator==(const AprilTag&) const = default;
+
+  static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
+  static bool Generate16h5AprilTagImage(wpi::RawFrame* frame, int id);
+};
+
+WPILIB_DLLEXPORT
+void to_json(wpi::json& json, const AprilTag& apriltag);
+
+WPILIB_DLLEXPORT
+void from_json(const wpi::json& json, AprilTag& apriltag);
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagDetection.h

@@ -0,0 +1,160 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <span>
+#include <string_view>
+
+#include <Eigen/Core>
+#include <wpi/SymbolExports.h>
+
+namespace frc {
+
+/**
+ * A detection of an AprilTag tag.
+ */
+class WPILIB_DLLEXPORT AprilTagDetection final {
+ public:
+  AprilTagDetection() = delete;
+  AprilTagDetection(const AprilTagDetection&) = delete;
+  AprilTagDetection& operator=(const AprilTagDetection&) = delete;
+
+  /** A point. Used for center and corner points. */
+  struct Point {
+    double x;
+    double y;
+  };
+
+  /**
+   * Gets the decoded tag's family name.
+   *
+   * @return Decoded family name
+   */
+  std::string_view GetFamily() const;
+
+  /**
+   * Gets the decoded ID of the tag.
+   *
+   * @return Decoded ID
+   */
+  int GetId() const { return id; }
+
+  /**
+   * Gets how many error bits were corrected. Note: accepting large numbers of
+   * corrected errors leads to greatly increased false positive rates.
+   * NOTE: As of this implementation, the detector cannot detect tags with
+   * a hamming distance greater than 2.
+   *
+   * @return Hamming distance (number of corrected error bits)
+   */
+  int GetHamming() const { return hamming; }
+
+  /**
+   * Gets a measure of the quality of the binary decoding process: the
+   * average difference between the intensity of a data bit versus
+   * the decision threshold. Higher numbers roughly indicate better
+   * decodes. This is a reasonable measure of detection accuracy
+   * only for very small tags-- not effective for larger tags (where
+   * we could have sampled anywhere within a bit cell and still
+   * gotten a good detection.)
+   *
+   * @return Decision margin
+   */
+  float GetDecisionMargin() const { return decision_margin; }
+
+  /**
+   * Gets the 3x3 homography matrix describing the projection from an
+   * "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
+   * -1)) to pixels in the image.
+   *
+   * @return Homography matrix data
+   */
+  std::span<const double, 9> GetHomography() const;
+
+  /**
+   * Gets the 3x3 homography matrix describing the projection from an
+   * "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
+   * -1)) to pixels in the image.
+   *
+   * @return Homography matrix
+   */
+  Eigen::Matrix3d GetHomographyMatrix() const;
+
+  /**
+   * Gets the center of the detection in image pixel coordinates.
+   *
+   * @return Center point
+   */
+  const Point& GetCenter() const { return *reinterpret_cast<const Point*>(c); }
+
+  /**
+   * Gets a corner of the tag in image pixel coordinates. These always
+   * wrap counter-clock wise around the tag. Index 0 is the bottom left corner.
+   *
+   * @param ndx Corner index (range is 0-3, inclusive)
+   * @return Corner point
+   */
+  const Point& GetCorner(int ndx) const {
+    return *reinterpret_cast<const Point*>(p[ndx]);
+  }
+
+  /**
+   * Gets the corners of the tag in image pixel coordinates. These always
+   * wrap counter-clock wise around the tag. The first set of corner coordinates
+   * are the coordinates for the bottom left corner.
+   *
+   * @param cornersBuf Corner point array (X and Y for each corner in order)
+   * @return Corner point array (copy of cornersBuf span)
+   */
+  std::span<double, 8> GetCorners(std::span<double, 8> cornersBuf) const {
+    for (int i = 0; i < 4; i++) {
+      cornersBuf[i * 2] = p[i][0];
+      cornersBuf[i * 2 + 1] = p[i][1];
+    }
+    return cornersBuf;
+  }
+
+ private:
+  // This class *must* be standard-layout-compatible with apriltag_detection
+  // as we use reinterpret_cast from that structure. This means the below
+  // members must exactly match the contents of the apriltag_detection struct.
+
+  // The tag family.
+  void* family;
+
+  // The decoded ID of the tag.
+  int id;
+
+  // How many error bits were corrected? Note: accepting large numbers of
+  // corrected errors leads to greatly increased false positive rates.
+  // NOTE: As of this implementation, the detector cannot detect tags with
+  // a hamming distance greater than 2.
+  int hamming;
+
+  // A measure of the quality of the binary decoding process: the
+  // average difference between the intensity of a data bit versus
+  // the decision threshold. Higher numbers roughly indicate better
+  // decodes. This is a reasonable measure of detection accuracy
+  // only for very small tags-- not effective for larger tags (where
+  // we could have sampled anywhere within a bit cell and still
+  // gotten a good detection.)
+  float decision_margin;
+
+  // The 3x3 homography matrix describing the projection from an
+  // "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
+  // -1)) to pixels in the image.
+  void* H;
+
+  // The center of the detection in image pixel coordinates.
+  double c[2];
+
+  // The corners of the tag in image pixel coordinates. These always
+  // wrap counter-clock wise around the tag.
+  double p[4][2];
+};
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagDetector.h

@@ -0,0 +1,262 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <span>
+#include <string_view>
+#include <utility>
+
+#include <units/angle.h>
+#include <wpi/StringMap.h>
+#include <wpi/SymbolExports.h>
+
+#include "frc/apriltag/AprilTagDetection.h"
+
+namespace frc {
+
+/**
+ * An AprilTag detector engine. This is expensive to set up and tear down, so
+ * most use cases should only create one of these, add a family to it, set up
+ * any other configuration, and repeatedly call Detect().
+ */
+class WPILIB_DLLEXPORT AprilTagDetector {
+ public:
+  /** Detector configuration. */
+  struct Config {
+    bool operator==(const Config&) const = default;
+
+    /**
+     * How many threads should be used for computation. Default is
+     * single-threaded operation (1 thread).
+     */
+    int numThreads = 1;
+
+    /**
+     * Quad decimation. Detection of quads can be done on a lower-resolution
+     * image, improving speed at a cost of pose accuracy and a slight decrease
+     * in detection rate. Decoding the binary payload is still done at full
+     * resolution. Default is 2.0.
+     */
+    float quadDecimate = 2.0f;
+
+    /**
+     * What Gaussian blur should be applied to the segmented image (used for
+     * quad detection). Very noisy images benefit from non-zero values (e.g.
+     * 0.8). Default is 0.0.
+     */
+    float quadSigma = 0.0f;
+
+    /**
+     * When true, the edges of the each quad are adjusted to "snap to" strong
+     * gradients nearby. This is useful when decimation is employed, as it can
+     * increase the quality of the initial quad estimate substantially.
+     * Generally recommended to be on (true). Default is true.
+     *
+     * Very computationally inexpensive. Option is ignored if
+     * quad_decimate = 1.
+     */
+    bool refineEdges = true;
+
+    /**
+     * How much sharpening should be done to decoded images. This can help
+     * decode small tags but may or may not help in odd lighting conditions or
+     * low light conditions. Default is 0.25.
+     */
+    double decodeSharpening = 0.25;
+
+    /**
+     * Debug mode. When true, the decoder writes a variety of debugging images
+     * to the current working directory at various stages through the detection
+     * process. This is slow and should *not* be used on space-limited systems
+     * such as the RoboRIO. Default is disabled (false).
+     */
+    bool debug = false;
+  };
+
+  /** Quad threshold parameters. */
+  struct QuadThresholdParameters {
+    bool operator==(const QuadThresholdParameters&) const = default;
+
+    /**
+     * Threshold used to reject quads containing too few pixels. Default is 300
+     * pixels.
+     */
+    int minClusterPixels = 300;
+
+    /**
+     * How many corner candidates to consider when segmenting a group of pixels
+     * into a quad. Default is 10.
+     */
+    int maxNumMaxima = 10;
+
+    /**
+     * Critical angle. The detector will reject quads where pairs of edges have
+     * angles that are close to straight or close to 180 degrees. Zero means
+     * that no quads are rejected. Default is 45 degrees.
+     */
+    units::radian_t criticalAngle = 45_deg;
+
+    /**
+     * When fitting lines to the contours, the maximum mean squared error
+     * allowed. This is useful in rejecting contours that are far from being
+     * quad shaped; rejecting these quads "early" saves expensive decoding
+     * processing. Default is 10.0.
+     */
+    float maxLineFitMSE = 10.0f;
+
+    /**
+     * Minimum brightness offset. When we build our model of black & white
+     * pixels, we add an extra check that the white model must be (overall)
+     * brighter than the black model. How much brighter? (in pixel values,
+     * [0,255]). Default is 5.
+     */
+    int minWhiteBlackDiff = 5;
+
+    /**
+     * Whether the thresholded image be should be deglitched. Only useful for
+     * very noisy images. Default is disabled (false).
+     */
+    bool deglitch = false;
+  };
+
+  /**
+   * Array of detection results. Each array element is a pointer to an
+   * AprilTagDetection.
+   */
+  class WPILIB_DLLEXPORT Results
+      : public std::span<AprilTagDetection const* const> {
+    struct private_init {};
+    friend class AprilTagDetector;
+
+   public:
+    Results() = default;
+    Results(void* impl, const private_init&);
+    ~Results() { Destroy(); }
+    Results(const Results&) = delete;
+    Results& operator=(const Results&) = delete;
+    Results(Results&& rhs) : span{std::move(rhs)}, m_impl{rhs.m_impl} {
+      rhs.m_impl = nullptr;
+    }
+    Results& operator=(Results&& rhs);
+
+   private:
+    void Destroy();
+    void* m_impl = nullptr;
+  };
+
+  AprilTagDetector();
+  ~AprilTagDetector() { Destroy(); }
+  AprilTagDetector(const AprilTagDetector&) = delete;
+  AprilTagDetector& operator=(const AprilTagDetector&) = delete;
+  AprilTagDetector(AprilTagDetector&& rhs)
+      : m_impl{rhs.m_impl},
+        m_families{std::move(rhs.m_families)},
+        m_qtpCriticalAngle{rhs.m_qtpCriticalAngle} {
+    rhs.m_impl = nullptr;
+  }
+  AprilTagDetector& operator=(AprilTagDetector&& rhs);
+
+  /**
+   * @{
+   * @name Configuration functions
+   */
+
+  /**
+   * Sets detector configuration.
+   *
+   * @param config Configuration
+   */
+  void SetConfig(const Config& config);
+
+  /**
+   * Gets detector configuration.
+   *
+   * @return Configuration
+   */
+  Config GetConfig() const;
+
+  /**
+   * Sets quad threshold parameters.
+   *
+   * @param params Parameters
+   */
+  void SetQuadThresholdParameters(const QuadThresholdParameters& params);
+
+  /**
+   * Gets quad threshold parameters.
+   *
+   * @return Parameters
+   */
+  QuadThresholdParameters GetQuadThresholdParameters() const;
+
+  /** @} */
+
+  /**
+   * @{
+   * @name Tag family functions
+   */
+
+  /**
+   * Adds a family of tags to be detected.
+   *
+   * @param fam Family name, e.g. "tag16h5"
+   * @param bitsCorrected Maximum number of bits to correct
+   * @return False if family can't be found
+   */
+  bool AddFamily(std::string_view fam, int bitsCorrected = 2);
+
+  /**
+   * Removes a family of tags from the detector.
+   *
+   * @param fam Family name, e.g. "tag16h5"
+   */
+  void RemoveFamily(std::string_view fam);
+
+  /**
+   * Unregister all families.
+   */
+  void ClearFamilies();
+
+  /** @} */
+
+  /**
+   * Detect tags from an 8-bit image.
+   * The image must be grayscale.
+   *
+   * @param width width of the image
+   * @param height height of the image
+   * @param stride number of bytes between image rows (often the same as width)
+   * @param buf image buffer
+   * @return Results (array of AprilTagDetection pointers)
+   */
+  Results Detect(int width, int height, int stride, uint8_t* buf);
+
+  /**
+   * Detect tags from an 8-bit image.
+   * The image must be grayscale.
+   *
+   * @param width width of the image
+   * @param height height of the image
+   * @param buf image buffer
+   * @return Results (array of AprilTagDetection pointers)
+   */
+  Results Detect(int width, int height, uint8_t* buf) {
+    return Detect(width, height, width, buf);
+  }
+
+ private:
+  void Destroy();
+  void DestroyFamilies();
+  void DestroyFamily(std::string_view name, void* data);
+
+  void* m_impl;
+  wpi::StringMap<void*> m_families;
+  units::radian_t m_qtpCriticalAngle = 10_deg;
+};
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagDetector_cv.h

@@ -0,0 +1,18 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <opencv2/core/mat.hpp>
+
+#include "frc/apriltag/AprilTagDetector.h"
+
+namespace frc {
+
+inline AprilTagDetector::Results AprilTagDetect(AprilTagDetector& detector,
+                                                cv::Mat& image) {
+  return detector.Detect(image.cols, image.rows, image.data);
+}
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

@@ -0,0 +1,175 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <optional>
+#include <string_view>
+#include <unordered_map>
+#include <vector>
+
+#include <units/length.h>
+#include <wpi/SymbolExports.h>
+#include <wpi/json_fwd.h>
+
+#include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagFields.h"
+#include "frc/geometry/Pose3d.h"
+
+namespace frc {
+/**
+ * Class for representing a layout of AprilTags on a field and reading them from
+ * a JSON format.
+ *
+ * The JSON format contains two top-level objects, "tags" and "field".
+ * The "tags" object is a list of all AprilTags contained within a layout. Each
+ * AprilTag serializes to a JSON object containing an ID and a Pose3d. The
+ * "field" object is a descriptor of the size of the field in meters with
+ * "width" and "length" values.  This is to account for arbitrary field sizes
+ * when transforming the poses.
+ *
+ * Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU
+ * with the origin at the bottom-right corner of the blue alliance wall.
+ * SetOrigin(OriginPosition) can be used to change the poses returned from
+ * GetTagPose(int) to be from the perspective of a specific alliance.
+ *
+ * Tag poses represent the center of the tag, with a zero rotation representing
+ * a tag that is upright and facing away from the (blue) alliance wall (that is,
+ * towards the opposing alliance). */
+class WPILIB_DLLEXPORT AprilTagFieldLayout {
+ public:
+  /**
+   * Common origin positions for the AprilTag coordinate system.
+   */
+  enum class OriginPosition {
+    /// Blue alliance wall, right side.
+    kBlueAllianceWallRightSide,
+    /// Red alliance wall, right side.
+    kRedAllianceWallRightSide,
+  };
+
+  /**
+   * Loads an AprilTagFieldLayout from a predefined field
+   *
+   * @param field The predefined field
+   * @return AprilTagFieldLayout of the field
+   */
+  static AprilTagFieldLayout LoadField(AprilTagField field);
+
+  AprilTagFieldLayout() = default;
+
+  /**
+   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
+   *
+   * @param path Path of the JSON file to import from.
+   */
+  explicit AprilTagFieldLayout(std::string_view path);
+
+  /**
+   * Construct a new AprilTagFieldLayout from a vector of AprilTag objects.
+   *
+   * @param apriltags Vector of AprilTags.
+   * @param fieldLength Length of field the layout is representing.
+   * @param fieldWidth Width of field the layout is representing.
+   */
+  AprilTagFieldLayout(std::vector<AprilTag> apriltags,
+                      units::meter_t fieldLength, units::meter_t fieldWidth);
+
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return length
+   */
+  units::meter_t GetFieldLength() const;
+
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return width
+   */
+  units::meter_t GetFieldWidth() const;
+
+  /**
+   * Returns a vector of all the april tags used in this layout.
+   * @return list of tags
+   */
+  std::vector<AprilTag> GetTags() const;
+
+  /**
+   * Sets the origin based on a predefined enumeration of coordinate frame
+   * origins. The origins are calculated from the field dimensions.
+   *
+   * This transforms the Pose3ds returned by GetTagPose(int) to return the
+   * correct pose relative to a predefined coordinate frame.
+   *
+   * @param origin The predefined origin
+   */
+  void SetOrigin(OriginPosition origin);
+
+  /**
+   * Sets the origin for tag pose transformation.
+   *
+   * This transforms the Pose3ds returned by GetTagPose(int) to return the
+   * correct pose relative to the provided origin.
+   *
+   * @param origin The new origin for tag transformations
+   */
+  void SetOrigin(const Pose3d& origin);
+
+  /**
+   * Returns the origin used for tag pose transformation.
+   * @return the origin
+   */
+  Pose3d GetOrigin() const;
+
+  /**
+   * Gets an AprilTag pose by its ID.
+   *
+   * @param ID The ID of the tag.
+   * @return The pose corresponding to the ID that was passed in or an empty
+   * optional if a tag with that ID is not found.
+   */
+  std::optional<Pose3d> GetTagPose(int ID) const;
+
+  /**
+   * Serializes an AprilTagFieldLayout to a JSON file.
+   *
+   * @param path The path to write the JSON file to.
+   */
+  void Serialize(std::string_view path);
+
+  /*
+   * Checks equality between this AprilTagFieldLayout and another object.
+   */
+  bool operator==(const AprilTagFieldLayout&) const = default;
+
+ private:
+  std::unordered_map<int, AprilTag> m_apriltags;
+  units::meter_t m_fieldLength;
+  units::meter_t m_fieldWidth;
+  Pose3d m_origin;
+
+  friend WPILIB_DLLEXPORT void to_json(wpi::json& json,
+                                       const AprilTagFieldLayout& layout);
+
+  friend WPILIB_DLLEXPORT void from_json(const wpi::json& json,
+                                         AprilTagFieldLayout& layout);
+};
+
+WPILIB_DLLEXPORT
+void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
+
+WPILIB_DLLEXPORT
+void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
+
+/**
+ * Loads an AprilTagFieldLayout from a predefined field
+ *
+ * @param field The predefined field
+ * @return AprilTagFieldLayout of the field
+ * @deprecated Use AprilTagFieldLayout::LoadField() instead
+ */
+[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
+WPILIB_DLLEXPORT AprilTagFieldLayout
+LoadAprilTagLayoutField(AprilTagField field);
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+#include <wpi/SymbolExports.h>
+
+namespace frc {
+
+/**
+ * Loadable AprilTag field layouts.
+ */
+enum class AprilTagField {
+  /// 2022 Rapid React.
+  k2022RapidReact,
+  /// 2023 Charged Up.
+  k2023ChargedUp,
+  /// 2024 Crescendo.
+  k2024Crescendo,
+  /// 2025 Reefscape AndyMark (see TU12).
+  k2025ReefscapeAndyMark,
+  /// 2025 Reefscape Welded (see TU12).
+  k2025ReefscapeWelded,
+  /// 2026 Rebuilt Andymark.
+  k2026RebuiltAndyMark,
+  /// 2026 Rebuilt Welded.
+  k2026RebuiltWelded,
+  /// Alias to the current game.
+  kDefaultField = k2026RebuiltWelded,
+
+  // This is a placeholder for denoting the last supported field. This should
+  // always be the last entry in the enum and should not be used by users
+  kNumFields,
+};
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagPoseEstimate.h

@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+
+#include "frc/geometry/Transform3d.h"
+
+namespace frc {
+
+/** A pair of AprilTag pose estimates. */
+struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
+  /** Pose 1. */
+  Transform3d pose1;
+
+  /** Pose 2. */
+  Transform3d pose2;
+
+  /** Object-space error of pose 1. */
+  double error1;
+
+  /** Object-space error of pose 2. */
+  double error2;
+
+  /**
+   * Gets the ratio of pose reprojection errors, called ambiguity. Numbers
+   * above 0.2 are likely to be ambiguous.
+   *
+   * @return The ratio of pose reprojection errors.
+   */
+  double GetAmbiguity() const;
+};
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagPoseEstimator.h

@@ -0,0 +1,145 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <span>
+
+#include <units/length.h>
+#include <wpi/SymbolExports.h>
+
+#include "frc/apriltag/AprilTagPoseEstimate.h"
+#include "frc/geometry/Transform3d.h"
+
+namespace frc {
+
+class AprilTagDetection;
+
+/** Pose estimators for AprilTag tags. */
+class WPILIB_DLLEXPORT AprilTagPoseEstimator {
+ public:
+  /** Configuration for the pose estimator. */
+  struct Config {
+    bool operator==(const Config&) const = default;
+
+    /** The tag size. */
+    units::meter_t tagSize;
+
+    /** Camera horizontal focal length, in pixels. */
+    double fx;
+
+    /** Camera vertical focal length, in pixels. */
+    double fy;
+
+    /** Camera horizontal focal center, in pixels. */
+    double cx;
+
+    /** Camera vertical focal center, in pixels. */
+    double cy;
+  };
+
+  /**
+   * Creates estimator.
+   *
+   * @param config Configuration
+   */
+  explicit AprilTagPoseEstimator(const Config& config) : m_config{config} {}
+
+  /**
+   * Sets estimator configuration.
+   *
+   * @param config Configuration
+   */
+  void SetConfig(const Config& config) { m_config = config; }
+
+  /**
+   * Gets estimator configuration.
+   *
+   * @return Configuration
+   */
+  const Config& GetConfig() const { return m_config; }
+
+  /**
+   * Estimates the pose of the tag using the homography method described in [1].
+   *
+   * @param detection Tag detection
+   * @return Pose estimate
+   */
+  Transform3d EstimateHomography(const AprilTagDetection& detection) const;
+
+  /**
+   * Estimates the pose of the tag using the homography method described in [1].
+   *
+   * @param homography Homography 3x3 matrix data
+   * @return Pose estimate
+   */
+  Transform3d EstimateHomography(std::span<const double, 9> homography) const;
+
+  /**
+   * Estimates the pose of the tag. This returns one or two possible poses for
+   * the tag, along with the object-space error of each.
+   *
+   * This uses the homography method described in [1] for the initial estimate.
+   * Then Orthogonal Iteration [2] is used to refine this estimate. Then [3] is
+   * used to find a potential second local minima and Orthogonal Iteration is
+   * used to refine this second estimate.
+   *
+   * [1]: E. Olson, “Apriltag: A robust and flexible visual fiducial system,” in
+   *      2011 IEEE International Conference on Robotics and Automation,
+   *      May 2011, pp. 3400–3407.
+   * [2]: Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose
+   *      estimation from video images," in IEEE Transactions on Pattern
+   * Analysis and Machine Intelligence, vol. 22, no. 6, pp. 610-622, June 2000.
+   *      doi: 10.1109/34.862199
+   * [3]: Schweighofer and A. Pinz, "Robust Pose Estimation from a Planar
+   * Target," in IEEE Transactions on Pattern Analysis and Machine Intelligence,
+   *      vol. 28, no. 12, pp. 2024-2030, Dec. 2006. doi: 10.1109/TPAMI.2006.252
+   *
+   * @param detection Tag detection
+   * @param nIters Number of iterations
+   * @return Initial and (possibly) second pose estimates
+   */
+  AprilTagPoseEstimate EstimateOrthogonalIteration(
+      const AprilTagDetection& detection, int nIters) const;
+
+  /**
+   * Estimates the pose of the tag. This returns one or two possible poses for
+   * the tag, along with the object-space error of each.
+   *
+   * @param homography Homography 3x3 matrix data
+   * @param corners Corner point array (X and Y for each corner in order)
+   * @param nIters Number of iterations
+   * @return Initial and (possibly) second pose estimates
+   */
+  AprilTagPoseEstimate EstimateOrthogonalIteration(
+      std::span<const double, 9> homography, std::span<const double, 8> corners,
+      int nIters) const;
+
+  /**
+   * Estimates tag pose. This method is an easier to use interface to
+   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the
+   * pose with the lower object-space error.
+   *
+   * @param detection Tag detection
+   * @return Pose estimate
+   */
+  Transform3d Estimate(const AprilTagDetection& detection) const;
+
+  /**
+   * Estimates tag pose. This method is an easier to use interface to
+   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the
+   * pose with the lower object-space error.
+   *
+   * @param homography Homography 3x3 matrix data
+   * @param corners Corner point array (X and Y for each corner in order)
+   * @return Pose estimate
+   */
+  Transform3d Estimate(std::span<const double, 9> homography,
+                       std::span<const double, 8> corners) const;
+
+ private:
+  Config m_config;
+};
+
+}  // namespace frc

apriltag/src/main/native/include/wpi/apriltag/AprilTag.hpp

@@ -1,39 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "wpi/math/geometry/Pose3d.hpp"
-#include "wpi/util/RawFrame.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
-namespace wpi::util {
-class json;
-}  // namespace wpi::util
-
-namespace wpi::apriltag {
-
-/**
- * Represents an AprilTag's metadata.
- */
-struct WPILIB_DLLEXPORT AprilTag {
-  /// The tag's ID.
-  int ID;
-
-  /// The tag's pose.
-  wpi::math::Pose3d pose;
-
-  bool operator==(const AprilTag&) const = default;
-
-  static bool Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id);
-  static bool Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id);
-};
-
-WPILIB_DLLEXPORT
-void to_json(wpi::util::json& json, const AprilTag& apriltag);
-
-WPILIB_DLLEXPORT
-void from_json(const wpi::util::json& json, AprilTag& apriltag);
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetection.hpp

@@ -1,161 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <stdint.h>
-
-#include <span>
-#include <string_view>
-
-#include <Eigen/Core>
-
-#include "wpi/util/SymbolExports.hpp"
-
-namespace wpi::apriltag {
-
-/**
- * A detection of an AprilTag tag.
- */
-class WPILIB_DLLEXPORT AprilTagDetection final {
- public:
-  AprilTagDetection() = delete;
-  AprilTagDetection(const AprilTagDetection&) = delete;
-  AprilTagDetection& operator=(const AprilTagDetection&) = delete;
-
-  /** A point. Used for center and corner points. */
-  struct Point {
-    double x;
-    double y;
-  };
-
-  /**
-   * Gets the decoded tag's family name.
-   *
-   * @return Decoded family name
-   */
-  std::string_view GetFamily() const;
-
-  /**
-   * Gets the decoded ID of the tag.
-   *
-   * @return Decoded ID
-   */
-  int GetId() const { return id; }
-
-  /**
-   * Gets how many error bits were corrected. Note: accepting large numbers of
-   * corrected errors leads to greatly increased false positive rates.
-   * NOTE: As of this implementation, the detector cannot detect tags with
-   * a hamming distance greater than 2.
-   *
-   * @return Hamming distance (number of corrected error bits)
-   */
-  int GetHamming() const { return hamming; }
-
-  /**
-   * Gets a measure of the quality of the binary decoding process: the
-   * average difference between the intensity of a data bit versus
-   * the decision threshold. Higher numbers roughly indicate better
-   * decodes. This is a reasonable measure of detection accuracy
-   * only for very small tags-- not effective for larger tags (where
-   * we could have sampled anywhere within a bit cell and still
-   * gotten a good detection.)
-   *
-   * @return Decision margin
-   */
-  float GetDecisionMargin() const { return decision_margin; }
-
-  /**
-   * Gets the 3x3 homography matrix describing the projection from an
-   * "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
-   * -1)) to pixels in the image.
-   *
-   * @return Homography matrix data
-   */
-  std::span<const double, 9> GetHomography() const;
-
-  /**
-   * Gets the 3x3 homography matrix describing the projection from an
-   * "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
-   * -1)) to pixels in the image.
-   *
-   * @return Homography matrix
-   */
-  Eigen::Matrix3d GetHomographyMatrix() const;
-
-  /**
-   * Gets the center of the detection in image pixel coordinates.
-   *
-   * @return Center point
-   */
-  const Point& GetCenter() const { return *reinterpret_cast<const Point*>(c); }
-
-  /**
-   * Gets a corner of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag. Index 0 is the bottom left corner.
-   *
-   * @param ndx Corner index (range is 0-3, inclusive)
-   * @return Corner point
-   */
-  const Point& GetCorner(int ndx) const {
-    return *reinterpret_cast<const Point*>(p[ndx]);
-  }
-
-  /**
-   * Gets the corners of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag. The first set of corner coordinates
-   * are the coordinates for the bottom left corner.
-   *
-   * @param cornersBuf Corner point array (X and Y for each corner in order)
-   * @return Corner point array (copy of cornersBuf span)
-   */
-  std::span<double, 8> GetCorners(std::span<double, 8> cornersBuf) const {
-    for (int i = 0; i < 4; i++) {
-      cornersBuf[i * 2] = p[i][0];
-      cornersBuf[i * 2 + 1] = p[i][1];
-    }
-    return cornersBuf;
-  }
-
- private:
-  // This class *must* be standard-layout-compatible with apriltag_detection
-  // as we use reinterpret_cast from that structure. This means the below
-  // members must exactly match the contents of the apriltag_detection struct.
-
-  // The tag family.
-  void* family;
-
-  // The decoded ID of the tag.
-  int id;
-
-  // How many error bits were corrected? Note: accepting large numbers of
-  // corrected errors leads to greatly increased false positive rates.
-  // NOTE: As of this implementation, the detector cannot detect tags with
-  // a hamming distance greater than 2.
-  int hamming;
-
-  // A measure of the quality of the binary decoding process: the
-  // average difference between the intensity of a data bit versus
-  // the decision threshold. Higher numbers roughly indicate better
-  // decodes. This is a reasonable measure of detection accuracy
-  // only for very small tags-- not effective for larger tags (where
-  // we could have sampled anywhere within a bit cell and still
-  // gotten a good detection.)
-  float decision_margin;
-
-  // The 3x3 homography matrix describing the projection from an
-  // "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
-  // -1)) to pixels in the image.
-  void* H;
-
-  // The center of the detection in image pixel coordinates.
-  double c[2];
-
-  // The corners of the tag in image pixel coordinates. These always
-  // wrap counter-clock wise around the tag.
-  double p[4][2];
-};
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector.hpp

@@ -1,261 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <stdint.h>
-
-#include <memory>
-#include <span>
-#include <string_view>
-#include <utility>
-
-#include "wpi/apriltag/AprilTagDetection.hpp"
-#include "wpi/units/angle.hpp"
-#include "wpi/util/StringMap.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
-namespace wpi::apriltag {
-
-/**
- * An AprilTag detector engine. This is expensive to set up and tear down, so
- * most use cases should only create one of these, add a family to it, set up
- * any other configuration, and repeatedly call Detect().
- */
-class WPILIB_DLLEXPORT AprilTagDetector {
- public:
-  /** Detector configuration. */
-  struct Config {
-    bool operator==(const Config&) const = default;
-
-    /**
-     * How many threads should be used for computation. Default is
-     * single-threaded operation (1 thread).
-     */
-    int numThreads = 1;
-
-    /**
-     * Quad decimation. Detection of quads can be done on a lower-resolution
-     * image, improving speed at a cost of pose accuracy and a slight decrease
-     * in detection rate. Decoding the binary payload is still done at full
-     * resolution. Default is 2.0.
-     */
-    float quadDecimate = 2.0f;
-
-    /**
-     * What Gaussian blur should be applied to the segmented image (used for
-     * quad detection). Very noisy images benefit from non-zero values (e.g.
-     * 0.8). Default is 0.0.
-     */
-    float quadSigma = 0.0f;
-
-    /**
-     * When true, the edges of the each quad are adjusted to "snap to" strong
-     * gradients nearby. This is useful when decimation is employed, as it can
-     * increase the quality of the initial quad estimate substantially.
-     * Generally recommended to be on (true). Default is true.
-     *
-     * Very computationally inexpensive. Option is ignored if
-     * quad_decimate = 1.
-     */
-    bool refineEdges = true;
-
-    /**
-     * How much sharpening should be done to decoded images. This can help
-     * decode small tags but may or may not help in odd lighting conditions or
-     * low light conditions. Default is 0.25.
-     */
-    double decodeSharpening = 0.25;
-
-    /**
-     * Debug mode. When true, the decoder writes a variety of debugging images
-     * to the current working directory at various stages through the detection
-     * process. This is slow and should *not* be used on space-limited systems
-     * such as the RoboRIO. Default is disabled (false).
-     */
-    bool debug = false;
-  };
-
-  /** Quad threshold parameters. */
-  struct QuadThresholdParameters {
-    bool operator==(const QuadThresholdParameters&) const = default;
-
-    /**
-     * Threshold used to reject quads containing too few pixels. Default is 300
-     * pixels.
-     */
-    int minClusterPixels = 300;
-
-    /**
-     * How many corner candidates to consider when segmenting a group of pixels
-     * into a quad. Default is 10.
-     */
-    int maxNumMaxima = 10;
-
-    /**
-     * Critical angle. The detector will reject quads where pairs of edges have
-     * angles that are close to straight or close to 180 degrees. Zero means
-     * that no quads are rejected. Default is 45 degrees.
-     */
-    wpi::units::radian_t criticalAngle = 45_deg;
-
-    /**
-     * When fitting lines to the contours, the maximum mean squared error
-     * allowed. This is useful in rejecting contours that are far from being
-     * quad shaped; rejecting these quads "early" saves expensive decoding
-     * processing. Default is 10.0.
-     */
-    float maxLineFitMSE = 10.0f;
-
-    /**
-     * Minimum brightness offset. When we build our model of black & white
-     * pixels, we add an extra check that the white model must be (overall)
-     * brighter than the black model. How much brighter? (in pixel values,
-     * [0,255]). Default is 5.
-     */
-    int minWhiteBlackDiff = 5;
-
-    /**
-     * Whether the thresholded image be should be deglitched. Only useful for
-     * very noisy images. Default is disabled (false).
-     */
-    bool deglitch = false;
-  };
-
-  /**
-   * Array of detection results. Each array element is a pointer to an
-   * AprilTagDetection.
-   */
-  class WPILIB_DLLEXPORT Results
-      : public std::span<AprilTagDetection const* const> {
-    struct private_init {};
-    friend class AprilTagDetector;
-
-   public:
-    Results() = default;
-    Results(void* impl, const private_init&);
-    ~Results() { Destroy(); }
-    Results(const Results&) = delete;
-    Results& operator=(const Results&) = delete;
-    Results(Results&& rhs) : span{std::move(rhs)}, m_impl{rhs.m_impl} {
-      rhs.m_impl = nullptr;
-    }
-    Results& operator=(Results&& rhs);
-
-   private:
-    void Destroy();
-    void* m_impl = nullptr;
-  };
-
-  AprilTagDetector();
-  ~AprilTagDetector() { Destroy(); }
-  AprilTagDetector(const AprilTagDetector&) = delete;
-  AprilTagDetector& operator=(const AprilTagDetector&) = delete;
-  AprilTagDetector(AprilTagDetector&& rhs)
-      : m_impl{rhs.m_impl},
-        m_families{std::move(rhs.m_families)},
-        m_qtpCriticalAngle{rhs.m_qtpCriticalAngle} {
-    rhs.m_impl = nullptr;
-  }
-  AprilTagDetector& operator=(AprilTagDetector&& rhs);
-
-  /**
-   * @{
-   * @name Configuration functions
-   */
-
-  /**
-   * Sets detector configuration.
-   *
-   * @param config Configuration
-   */
-  void SetConfig(const Config& config);
-
-  /**
-   * Gets detector configuration.
-   *
-   * @return Configuration
-   */
-  Config GetConfig() const;
-
-  /**
-   * Sets quad threshold parameters.
-   *
-   * @param params Parameters
-   */
-  void SetQuadThresholdParameters(const QuadThresholdParameters& params);
-
-  /**
-   * Gets quad threshold parameters.
-   *
-   * @return Parameters
-   */
-  QuadThresholdParameters GetQuadThresholdParameters() const;
-
-  /** @} */
-
-  /**
-   * @{
-   * @name Tag family functions
-   */
-
-  /**
-   * Adds a family of tags to be detected.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected Maximum number of bits to correct
-   * @return False if family can't be found
-   */
-  bool AddFamily(std::string_view fam, int bitsCorrected = 2);
-
-  /**
-   * Removes a family of tags from the detector.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   */
-  void RemoveFamily(std::string_view fam);
-
-  /**
-   * Unregister all families.
-   */
-  void ClearFamilies();
-
-  /** @} */
-
-  /**
-   * Detect tags from an 8-bit image.
-   * The image must be grayscale.
-   *
-   * @param width width of the image
-   * @param height height of the image
-   * @param stride number of bytes between image rows (often the same as width)
-   * @param buf image buffer
-   * @return Results (array of AprilTagDetection pointers)
-   */
-  Results Detect(int width, int height, int stride, uint8_t* buf);
-
-  /**
-   * Detect tags from an 8-bit image.
-   * The image must be grayscale.
-   *
-   * @param width width of the image
-   * @param height height of the image
-   * @param buf image buffer
-   * @return Results (array of AprilTagDetection pointers)
-   */
-  Results Detect(int width, int height, uint8_t* buf) {
-    return Detect(width, height, width, buf);
-  }
-
- private:
-  void Destroy();
-  void DestroyFamilies();
-  void DestroyFamily(std::string_view name, void* data);
-
-  void* m_impl;
-  wpi::util::StringMap<void*> m_families;
-  wpi::units::radian_t m_qtpCriticalAngle = 10_deg;
-};
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagDetector_cv.hpp

@@ -1,18 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <opencv2/core/mat.hpp>
-
-#include "wpi/apriltag/AprilTagDetector.hpp"
-
-namespace wpi::apriltag {
-
-inline AprilTagDetector::Results AprilTagDetect(AprilTagDetector& detector,
-                                                cv::Mat& image) {
-  return detector.Detect(image.cols, image.rows, image.data);
-}
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagFieldLayout.hpp

@@ -1,167 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <optional>
-#include <string_view>
-#include <unordered_map>
-#include <vector>
-
-#include "wpi/apriltag/AprilTag.hpp"
-#include "wpi/apriltag/AprilTagFields.hpp"
-#include "wpi/math/geometry/Pose3d.hpp"
-#include "wpi/units/length.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
-namespace wpi::util {
-class json;
-}  // namespace wpi::util
-
-namespace wpi::apriltag {
-/**
- * Class for representing a layout of AprilTags on a field and reading them from
- * a JSON format.
- *
- * The JSON format contains two top-level objects, "tags" and "field".
- * The "tags" object is a list of all AprilTags contained within a layout. Each
- * AprilTag serializes to a JSON object containing an ID and a
- * wpi::math::Pose3d. The "field" object is a descriptor of the size of the
- * field in meters with "width" and "length" values.  This is to account for
- * arbitrary field sizes when transforming the poses.
- *
- * Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU
- * with the origin at the bottom-right corner of the blue alliance wall.
- * SetOrigin(OriginPosition) can be used to change the poses returned from
- * GetTagPose(int) to be from the perspective of a specific alliance.
- *
- * Tag poses represent the center of the tag, with a zero rotation representing
- * a tag that is upright and facing away from the (blue) alliance wall (that is,
- * towards the opposing alliance). */
-class WPILIB_DLLEXPORT AprilTagFieldLayout {
- public:
-  /**
-   * Common origin positions for the AprilTag coordinate system.
-   */
-  enum class OriginPosition {
-    /// Blue alliance wall, right side.
-    kBlueAllianceWallRightSide,
-    /// Red alliance wall, right side.
-    kRedAllianceWallRightSide,
-  };
-
-  /**
-   * Loads an AprilTagFieldLayout from a predefined field
-   *
-   * @param field The predefined field
-   * @return AprilTagFieldLayout of the field
-   */
-  static AprilTagFieldLayout LoadField(AprilTagField field);
-
-  AprilTagFieldLayout() = default;
-
-  /**
-   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
-   *
-   * @param path Path of the JSON file to import from.
-   */
-  explicit AprilTagFieldLayout(std::string_view path);
-
-  /**
-   * Construct a new AprilTagFieldLayout from a vector of AprilTag objects.
-   *
-   * @param apriltags Vector of AprilTags.
-   * @param fieldLength Length of field the layout is representing.
-   * @param fieldWidth Width of field the layout is representing.
-   */
-  AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                      wpi::units::meter_t fieldLength,
-                      wpi::units::meter_t fieldWidth);
-
-  /**
-   * Returns the length of the field the layout is representing.
-   * @return length
-   */
-  wpi::units::meter_t GetFieldLength() const;
-
-  /**
-   * Returns the length of the field the layout is representing.
-   * @return width
-   */
-  wpi::units::meter_t GetFieldWidth() const;
-
-  /**
-   * Returns a vector of all the april tags used in this layout.
-   * @return list of tags
-   */
-  std::vector<AprilTag> GetTags() const;
-
-  /**
-   * Sets the origin based on a predefined enumeration of coordinate frame
-   * origins. The origins are calculated from the field dimensions.
-   *
-   * This transforms the Pose3ds returned by GetTagPose(int) to return the
-   * correct pose relative to a predefined coordinate frame.
-   *
-   * @param origin The predefined origin
-   */
-  void SetOrigin(OriginPosition origin);
-
-  /**
-   * Sets the origin for tag pose transformation.
-   *
-   * This transforms the Pose3ds returned by GetTagPose(int) to return the
-   * correct pose relative to the provided origin.
-   *
-   * @param origin The new origin for tag transformations
-   */
-  void SetOrigin(const wpi::math::Pose3d& origin);
-
-  /**
-   * Returns the origin used for tag pose transformation.
-   * @return the origin
-   */
-  wpi::math::Pose3d GetOrigin() const;
-
-  /**
-   * Gets an AprilTag pose by its ID.
-   *
-   * @param ID The ID of the tag.
-   * @return The pose corresponding to the ID that was passed in or an empty
-   * optional if a tag with that ID is not found.
-   */
-  std::optional<wpi::math::Pose3d> GetTagPose(int ID) const;
-
-  /**
-   * Serializes an AprilTagFieldLayout to a JSON file.
-   *
-   * @param path The path to write the JSON file to.
-   */
-  void Serialize(std::string_view path);
-
-  /*
-   * Checks equality between this AprilTagFieldLayout and another object.
-   */
-  bool operator==(const AprilTagFieldLayout&) const = default;
-
- private:
-  std::unordered_map<int, AprilTag> m_apriltags;
-  wpi::units::meter_t m_fieldLength;
-  wpi::units::meter_t m_fieldWidth;
-  wpi::math::Pose3d m_origin;
-
-  friend WPILIB_DLLEXPORT void to_json(wpi::util::json& json,
-                                       const AprilTagFieldLayout& layout);
-
-  friend WPILIB_DLLEXPORT void from_json(const wpi::util::json& json,
-                                         AprilTagFieldLayout& layout);
-};
-
-WPILIB_DLLEXPORT
-void to_json(wpi::util::json& json, const AprilTagFieldLayout& layout);
-
-WPILIB_DLLEXPORT
-void from_json(const wpi::util::json& json, AprilTagFieldLayout& layout);
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp

@@ -1,35 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-namespace wpi::apriltag {
-
-/**
- * Loadable AprilTag field layouts.
- */
-enum class AprilTagField {
-  /// 2022 Rapid React.
-  k2022RapidReact,
-  /// 2023 Charged Up.
-  k2023ChargedUp,
-  /// 2024 Crescendo.
-  k2024Crescendo,
-  /// 2025 Reefscape AndyMark (see TU12).
-  k2025ReefscapeAndyMark,
-  /// 2025 Reefscape Welded (see TU12).
-  k2025ReefscapeWelded,
-  /// 2026 Rebuilt Andymark.
-  k2026RebuiltAndyMark,
-  /// 2026 Rebuilt Welded.
-  k2026RebuiltWelded,
-  /// Alias to the current game.
-  kDefaultField = k2026RebuiltWelded,
-
-  // This is a placeholder for denoting the last supported field. This should
-  // always be the last entry in the enum and should not be used by users
-  kNumFields,
-};
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimate.hpp

@@ -1,35 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include "wpi/math/geometry/Transform3d.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
-namespace wpi::apriltag {
-
-/** A pair of AprilTag pose estimates. */
-struct WPILIB_DLLEXPORT AprilTagPoseEstimate {
-  /** Pose 1. */
-  wpi::math::Transform3d pose1;
-
-  /** Pose 2. */
-  wpi::math::Transform3d pose2;
-
-  /** Object-space error of pose 1. */
-  double error1;
-
-  /** Object-space error of pose 2. */
-  double error2;
-
-  /**
-   * Gets the ratio of pose reprojection errors, called ambiguity. Numbers
-   * above 0.2 are likely to be ambiguous.
-   *
-   * @return The ratio of pose reprojection errors.
-   */
-  double GetAmbiguity() const;
-};
-
-}  // namespace wpi::apriltag

apriltag/src/main/native/include/wpi/apriltag/AprilTagPoseEstimator.hpp

@@ -1,146 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <span>
-
-#include "wpi/apriltag/AprilTagPoseEstimate.hpp"
-#include "wpi/math/geometry/Transform3d.hpp"
-#include "wpi/units/length.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
-namespace wpi::apriltag {
-
-class AprilTagDetection;
-
-/** Pose estimators for AprilTag tags. */
-class WPILIB_DLLEXPORT AprilTagPoseEstimator {
- public:
-  /** Configuration for the pose estimator. */
-  struct Config {
-    bool operator==(const Config&) const = default;
-
-    /** The tag size. */
-    wpi::units::meter_t tagSize;
-
-    /** Camera horizontal focal length, in pixels. */
-    double fx;
-
-    /** Camera vertical focal length, in pixels. */
-    double fy;
-
-    /** Camera horizontal focal center, in pixels. */
-    double cx;
-
-    /** Camera vertical focal center, in pixels. */
-    double cy;
-  };
-
-  /**
-   * Creates estimator.
-   *
-   * @param config Configuration
-   */
-  explicit AprilTagPoseEstimator(const Config& config) : m_config{config} {}
-
-  /**
-   * Sets estimator configuration.
-   *
-   * @param config Configuration
-   */
-  void SetConfig(const Config& config) { m_config = config; }
-
-  /**
-   * Gets estimator configuration.
-   *
-   * @return Configuration
-   */
-  const Config& GetConfig() const { return m_config; }
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param detection Tag detection
-   * @return Pose estimate
-   */
-  wpi::math::Transform3d EstimateHomography(
-      const AprilTagDetection& detection) const;
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param homography Homography 3x3 matrix data
-   * @return Pose estimate
-   */
-  wpi::math::Transform3d EstimateHomography(
-      std::span<const double, 9> homography) const;
-
-  /**
-   * Estimates the pose of the tag. This returns one or two possible poses for
-   * the tag, along with the object-space error of each.
-   *
-   * This uses the homography method described in [1] for the initial estimate.
-   * Then Orthogonal Iteration [2] is used to refine this estimate. Then [3] is
-   * used to find a potential second local minima and Orthogonal Iteration is
-   * used to refine this second estimate.
-   *
-   * [1]: E. Olson, “Apriltag: A robust and flexible visual fiducial system,” in
-   *      2011 IEEE International Conference on Robotics and Automation,
-   *      May 2011, pp. 3400–3407.
-   * [2]: Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose
-   *      estimation from video images," in IEEE Transactions on Pattern
-   * Analysis and Machine Intelligence, vol. 22, no. 6, pp. 610-622, June 2000.
-   *      doi: 10.1109/34.862199
-   * [3]: Schweighofer and A. Pinz, "Robust Pose Estimation from a Planar
-   * Target," in IEEE Transactions on Pattern Analysis and Machine Intelligence,
-   *      vol. 28, no. 12, pp. 2024-2030, Dec. 2006. doi: 10.1109/TPAMI.2006.252
-   *
-   * @param detection Tag detection
-   * @param nIters Number of iterations
-   * @return Initial and (possibly) second pose estimates
-   */
-  AprilTagPoseEstimate EstimateOrthogonalIteration(
-      const AprilTagDetection& detection, int nIters) const;
-
-  /**
-   * Estimates the pose of the tag. This returns one or two possible poses for
-   * the tag, along with the object-space error of each.
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param corners Corner point array (X and Y for each corner in order)
-   * @param nIters Number of iterations
-   * @return Initial and (possibly) second pose estimates
-   */
-  AprilTagPoseEstimate EstimateOrthogonalIteration(
-      std::span<const double, 9> homography, std::span<const double, 8> corners,
-      int nIters) const;
-
-  /**
-   * Estimates tag pose. This method is an easier to use interface to
-   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the
-   * pose with the lower object-space error.
-   *
-   * @param detection Tag detection
-   * @return Pose estimate
-   */
-  wpi::math::Transform3d Estimate(const AprilTagDetection& detection) const;
-
-  /**
-   * Estimates tag pose. This method is an easier to use interface to
-   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the
-   * pose with the lower object-space error.
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param corners Corner point array (X and Y for each corner in order)
-   * @return Pose estimate
-   */
-  wpi::math::Transform3d Estimate(std::span<const double, 9> homography,
-                                  std::span<const double, 8> corners) const;
-
- private:
-  Config m_config;
-};
-
-}  // namespace wpi::apriltag

apriltag/src/main/python/README.md

@@ -1,4 +0,0 @@
-robotpy-apriltag
-================
-
-RobotPy wrappers around WPILib's version of the apriltag library.