Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a

.bazelignore

@@ -1,20 +0,0 @@
-build_cmake
-build-cmake
-
-# Auto generated by vscode
-apriltag/bin
-cameraserver/bin
-cameraserver/multiCameraServer/bin
-cscore/bin
-fields/bin
-hal/bin
-developerRobot/bin
-ntcore/bin
-romiVendordep/bin
-commandsv2/bin
-wpilibj/bin
-wpimath/bin
-wpinet/bin
-wpiutil/bin
-wpiunits/bin
-xrpVendordep/bin

.bazelrc

@@ -1,91 +0,0 @@
-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
-
-# 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
-
-test --test_output=errors
-test --test_verbose_timeout_warnings
-
-import %workspace%/shared/bazel/compiler_flags/sanitizers.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
-import %workspace%/shared/bazel/compiler_flags/systemcore_flags.rc
-import %workspace%/shared/bazel/compiler_flags/windows_flags.rc
-import %workspace%/shared/bazel/compiler_flags/coverage_flags.rc
-
-# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
-build:athena --config=roborio
-build:linuxarm32 --config=raspibookworm32
-build:linuxarm64 --config=bookworm64
-
-build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
-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 --remote_cache=grpcs://remote.buildbuddy.io
-build:build_buddy --noslim_profile
-build:build_buddy --experimental_profile_include_target_label
-build:build_buddy --experimental_profile_include_primary_output
-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 --remote_download_toplevel
-
-common:ci --color=yes
-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 +0,0 @@
-8.5.0

.clang-format

@@ -1,298 +0,0 @@
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.clang-tidy

@@ -1,75 +0,0 @@
-Checks:
-  'bugprone-assert-side-effect,
-  bugprone-bool-pointer-implicit-conversion,
-  bugprone-copy-constructor-init,
-  bugprone-dangling-handle,
-  bugprone-dynamic-static-initializers,
-  bugprone-forward-declaration-namespace,
-  bugprone-forwarding-reference-overload,
-  bugprone-inaccurate-erase,
-  bugprone-incorrect-roundings,
-  bugprone-integer-division,
-  bugprone-lambda-function-name,
-  bugprone-misplaced-operator-in-strlen-in-alloc,
-  bugprone-misplaced-widening-cast,
-  bugprone-move-forwarding-reference,
-  bugprone-multiple-statement-macro,
-  bugprone-parent-virtual-call,
-  bugprone-posix-return,
-  bugprone-sizeof-container,
-  bugprone-sizeof-expression,
-  bugprone-spuriously-wake-up-functions,
-  bugprone-string-constructor,
-  bugprone-string-integer-assignment,
-  bugprone-string-literal-with-embedded-nul,
-  bugprone-suspicious-enum-usage,
-  bugprone-suspicious-include,
-  bugprone-suspicious-memset-usage,
-  bugprone-suspicious-missing-comma,
-  bugprone-suspicious-semicolon,
-  bugprone-suspicious-string-compare,
-  bugprone-throw-keyword-missing,
-  bugprone-too-small-loop-variable,
-  bugprone-undefined-memory-manipulation,
-  bugprone-undelegated-constructor,
-  bugprone-unhandled-self-assignment,
-  bugprone-unused-raii,
-  bugprone-virtual-near-miss,
-  cert-err52-cpp,
-  cert-err60-cpp,
-  cert-mem57-cpp,
-  cert-oop57-cpp,
-  cert-oop58-cpp,
-  clang-diagnostic-*,
-  -clang-diagnostic-deprecated-declarations,
-  -clang-diagnostic-#warnings,
-  -clang-diagnostic-pedantic,
-  clang-analyzer-*,
-  -clang-analyzer-optin.cplusplus.UninitializedObject,
-  -clang-analyzer-security.FloatLoopCounter,
-  cppcoreguidelines-slicing,
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-  misc-new-delete-overloads,
-  misc-non-copyable-objects,
-  modernize-avoid-bind,
-  modernize-concat-nested-namespaces,
-  modernize-make-shared,
-  modernize-make-unique,
-  modernize-pass-by-value,
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.gersemirc

@@ -1,4 +0,0 @@
-definitions: [cmake/modules]
-line_length: 100
-list_expansion: favour-inlining
-unsafe: false

.gitattributes

@@ -1,33 +0,0 @@
-*.adoc text eol=lf
-*.c 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
-*.h text eol=lf
-*.hpp text eol=lf
-*.in text eol=lf
-*.inc text eol=lf
-*.java text eol=lf
-*.jinja text eol=lf
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-
-# Generated files
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-*/robotpy_native_build_info.bzl linguist-generated
-*/robotpy_pybind_build_info.bzl linguist-generated

.github/CODEOWNERS

@@ -1,36 +0,0 @@
-# Lines starting with '#' are comments.
-# Each line is a file pattern followed by one or more owners.
-
-# More details are here: https://help.github.com/articles/about-codeowners/
-
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-
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-
-# The folders are ordered as a tree: by depth then alphabetically.
-# This should make it easy to add new rules without breaking existing ones.
-
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-*  @wpilibsuite/wpilib
-
-/cameraserver/  @wpilibsuite/camera-server
-
-/cscore/  @wpilibsuite/camera-server
-
-/hal/  @wpilibsuite/hardware
-/hal/src/main/java/**/sim/  @wpilibsuite/simulation
-/hal/src/main/native/include/mockdata/  @wpilibsuite/simulation
-/hal/src/main/native/include/simulation/  @wpilibsuite/simulation
-/hal/src/main/native/sim/  @wpilibsuite/simulation
-
-/ntcore/  @wpilibsuite/network-tables
-
-/simulation/  @wpilibsuite/simulation
-
-/commandsv2/  @wpilibsuite/commandbased
-
-/wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
-
-/wpilibjExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
-
-/wpiutil/  @PeterJohnson

.github/ISSUE_TEMPLATE/bug_report.md

@@ -1,31 +0,0 @@
----
-name: Bug report
-about: Create a report to help us improve
-title: ''
-labels: 'type: bug'
-assignees: ''
-
----
-
-**Describe the bug**
-A clear and concise description of what the bug is.
-
-**To Reproduce**
-Steps to reproduce the behavior:
-1. ...
-2. ...
-
- - Link to code:
-
-**Expected behavior**
-A clear and concise description of what you expected to happen.
-
-**Screenshots**
-If applicable, add screenshots to help explain your problem.
-
-**Desktop (please complete the following information):**
- - OS: [e.g. Windows 11]
- - Project Information: [In Visual Studio Code, press the WPILib button and choose WPILib: Open Project Information. Press the copy button and paste the data here. If not using VS Code, please include WPILib version, Gradle version, Java version, C++ version (if applicable), and any third party libraries and versions]
-
-**Additional context**
-Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -1,20 +0,0 @@
----
-name: Feature request
-about: Suggest an idea for this project
-title: ''
-labels: 'type: feature'
-assignees: ''
-
----
-
-**Is your feature request related to a problem? Please describe.**
-A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
-
-**Describe the solution you'd like**
-A clear and concise description of what you want to happen.
-
-**Describe alternatives you've considered**
-A clear and concise description of any alternative solutions or features you've considered.
-
-**Additional context**
-Add any other context or screenshots about the feature request here.

.github/ISSUE_TEMPLATE/question.md

@@ -1,20 +0,0 @@
----
-name: Question
-about: Ask about features or parts of this project
-title: ''
-labels: 'type: support'
-assignees: ''
-
----
-
-**Describe the question you have.**
-A clear and concise description of what you want clarification on.
-
-**Describe the reason for your confusion.**
-A clear and concise description of why the question requires clarification and what's confusing.
-
-**Is your question related to a problem? Please describe.**
-A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
-
-**Additional context**
-Add any other context or screenshots about the question here.

.github/actions/pregen/action.yml

@@ -1,71 +0,0 @@
-name: 'Setup and run pregeneration'
-description: 'Sets up the dependencies needed to generate generated files and runs all generation scripts'
-
-runs:
-  using: "composite"
-  steps:
-    - name: Set up Python 3.12
-      uses: actions/setup-python@v6
-      with:
-        python-version: '3.12'
-    - name: Install jinja and protobuf
-      run: python -m pip install jinja2 protobuf grpcio-tools
-      shell: bash
-    - name: Install protobuf and perl dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y protobuf-compiler liblist-moreutils-perl
-        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 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
-        ./thirdparty/imgui_suite/generate_gl3w.py
-      shell: bash
-
-    - name: Regenerate HIDs
-      run: |
-        ./wpilibc/generate_hids.py
-        ./wpilibj/generate_hids.py
-        ./commandsv2/generate_hids.py
-      shell: bash
-
-    - name: Regenerate PWM motor controllers
-      run: |
-        ./wpilibc/generate_pwm_motor_controllers.py
-        ./wpilibj/generate_pwm_motor_controllers.py
-      shell: bash
-
-    - name: Regenerate mrcal minimath
-      run: ./tools/wpical/generate_mrcal.py
-      shell: bash
-
-    - name: Regenerate wpimath
-      run: |
-        ./wpimath/generate_nanopb.py
-        ./wpimath/generate_numbers.py
-        ./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
-
-    - name: Regenerate wpiutil nanopb
-      run: ./wpiutil/generate_nanopb.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/labeler.yml

@@ -1,96 +0,0 @@
-"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/**"

.github/workflows/aql/wpilib-generic-gradle-cache_unused.aql

@@ -1,23 +0,0 @@
-{
-  "files": [
-    {
-      "aql": {
-        "items.find": {
-          "$or":[
-            { "repo": "wpilib-generic-gradlecache" },
-            { "repo": "wpilib-generic-cache-cmake" }
-          ],
-          "$or":[
-            {
-                "stat.downloaded": { "$before":"1mo" }
-            },
-            {
-                "stat.downloaded": { "$eq":null }
-            }
-          ],
-          "created": { "$before":"1mo" }
-        }
-      }
-    }
-  ]
-}

.github/workflows/aql/wpilib-mvn-development_unused.aql

@@ -1,32 +0,0 @@
-{
-  "files": [
-    {
-      "aql": {
-        "items.find": {
-          "$or":[
-            { "repo": "wpilib-mvn-development-local" },
-            { "repo": "wpilib-mvn-development-2027-local" }
-          ],
-          "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
-          "$or":[
-            {
-                "artifact.module.build.name": { "$eq":"allwpilib" }
-            },
-            {
-                "artifact.module.build.name": { "$eq":"combiner" }
-            }
-          ],
-          "$or":[
-            {
-                "stat.downloaded": { "$before":"3mo" }
-            },
-            {
-                "stat.downloaded": { "$eq":null }
-            }
-          ],
-          "created": { "$before":"3mo" }
-        }
-      }
-    }
-  ]
-}

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

@@ -1,33 +0,0 @@
-name: Artifactory Nightly Cleanup
-
-on:
-  workflow_dispatch:
-  schedule:
-    - cron: '15 2 * * *'
-
-jobs:
-  wpilib-mvn-development_unused_cleanup:
-    runs-on: ubuntu-latest
-    if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: jfrog/setup-jfrog-cli@v4
-        env:
-          JF_ENV_1: ${{ secrets.ARTIFACTORY_CLI_SECRET }}
-      - name: Cleanup
-        run: jf rt del --spec=.github/workflows/aql/wpilib-mvn-development_unused.aql
-
-  wpilib-generic-gradle-cache_unused_cleanup:
-    runs-on: ubuntu-latest
-    if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: jfrog/setup-jfrog-cli@v4
-        env:
-          JF_ENV_1: ${{ secrets.ARTIFACTORY_CLI_SECRET }}
-      - name: Cleanup
-        run: jf rt del --spec=.github/workflows/aql/wpilib-generic-gradle-cache_unused.aql

.github/workflows/bazel.yml

@@ -1,235 +0,0 @@
-name: Bazel
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    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: "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 }}"
-    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
-        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: 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
-        with:
-          bazelisk-cache: true
-          repository-cache: true
-          bazelisk-version: 1.x
-
-      - 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
-        shell: bash
-
-      - name: Check disk free space
-        if: always()
-        run: df -h
-
-  buildifier:
-    name: "buildifier"
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Set up Go 1.15.x
-        uses: actions/setup-go@v6
-        with:
-          cache: false
-          go-version: 1.15.x
-        id: go
-
-      - name: Install Buildifier
-        run: |
-          cd $(mktemp -d)
-          GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
-
-      - uses: actions/checkout@v6
-        with: { fetch-depth: 0 }
-
-      - name: Run buildifier
-        run: buildifier -warnings all --lint=fix -r .
-
-      - name: Check Output
-        run: git --no-pager diff --exit-code HEAD
-
-      - name: Generate diff
-        run: git diff HEAD > ${{ matrix.platform }}-bazel-lint-fixes.patch
-        if: ${{ failure() }}
-
-      - uses: actions/upload-artifact@v7
-        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
-        if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -1,52 +0,0 @@
-name: CMake Android
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-env:
-  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-24.04
-            name: Android Arm64
-            abi: arm64-v8a
-          - os: ubuntu-24.04
-            name: Android X64
-            abi: "x86_64"
-
-    name: "Build - ${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    steps:
-      - uses: actions/checkout@v6
-      - uses: nttld/setup-ndk@v1
-        id: setup-ndk
-        with:
-          ndk-version: r27d
-          add-to-path: false
-
-      - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.9
-
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get install -y ninja-build
-
-      - name: configure
-        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: build
-        run: cmake --build build-cmake --parallel $(nproc)
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/cmake.yml

@@ -1,90 +0,0 @@
-name: CMake
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-env:
-  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-24.04
-            name: Linux
-            container: wpilib/systemcore-cross-debian:trixie
-            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-15
-            name: macOS
-            container: ""
-            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: windows-2022
-            name: Windows
-            container: ""
-            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env:RUNNER_WORKSPACE/vcpkg/scripts/buildsystems/vcpkg.cmake" -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release'
-
-    name: "Build - ${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
-    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
-
-      - name: Install dependencies (macOS)
-        if: runner.os == 'macOS'
-        run: brew install opencv ninja
-
-      - uses: ilammy/msvc-dev-cmd@v1.13.0
-        if: runner.os == 'Windows'
-
-      - name: Install CMake (Windows only)
-        if: runner.os == 'Windows'
-        uses: lukka/get-cmake@v3.29.3
-
-      - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.10
-
-      - uses: actions/checkout@v6
-
-      - name: Run vcpkg (Windows only)
-        if: runner.os == 'Windows'
-        uses: lukka/run-vcpkg@v11.5
-        with:
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17
-
-      - name: configure
-        run: cmake ${{ matrix.flags }}
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: build
-        run: cmake --build build-cmake --parallel $(nproc)
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: test
-        if: runner.os != 'Windows'
-        working-directory: build-cmake
-        run: ctest --output-on-failure
-
-      - name: test (windows)
-        if: runner.os == 'Windows'
-        working-directory: build-cmake
-        # UnitTest_test segfaults on exit occasionally
-        run: ctest --output-on-failure -E 'UnitTest'

.github/workflows/fix_compile_commands.py

@@ -1,48 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import json
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Fix compile_commands.json generated by Gradle"
-    )
-    parser.add_argument("filename", help="compile_commands.json location")
-    cmd_args = parser.parse_args()
-
-    # Read JSON
-    with open(cmd_args.filename) as f:
-        data = json.load(f)
-
-    for obj in data:
-        out_args = []
-
-        iter_args = iter(obj["arguments"])
-        for arg in iter_args:
-            # Filter out -isystem flags that cause false positives
-            if arg == "-isystem":
-                next_arg = next(iter_args)
-
-                # /usr/lib/gcc/x86_64-pc-linux-gnu/13.2.1/include/xmmintrin.h:54:1:
-                # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
-                if not next_arg.startswith("/usr/lib/gcc/"):
-                    out_args += ["-isystem", next_arg]
-            # Replace GCC warning argument with one Clang recognizes
-            elif arg == "-Wno-maybe-uninitialized":
-                out_args.append("-Wno-uninitialized")
-            # Skip GCC-specific warning argument
-            elif arg == "-Wno-error=restrict":
-                pass
-            else:
-                out_args.append(arg)
-
-        obj["arguments"] = out_args
-
-    # Write JSON
-    with open(cmd_args.filename, "w") as f:
-        json.dump(data, f, indent=2)
-
-
-if __name__ == "__main__":
-    main()

.github/workflows/gradle.yml

@@ -1,348 +0,0 @@
-name: Gradle
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-      - uses: gradle/actions/wrapper-validation@v5
-
-  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
-            artifact-name: Arm64
-            build-options: "-Ponlylinuxarm64"
-          - container: wpilib/systemcore-cross-debian:trixie
-            artifact-name: Linux
-            build-options: "-Ponlylinuxx86-64"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-24.04
-    needs: [validation]
-    steps:
-      - name: Check disk free space pre-cleanup
-        run: df -h
-
-      - 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
-
-      - name: Check disk free space post-cleanup
-        run: df -h
-
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
-      - 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 }}
-        env:
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v7
-        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
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            artifact-name: Win64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: macOS-15
-            artifact-name: macOS
-            architecture: aarch64
-            task: "build"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win64FFI
-            architecture: x64
-            task: ":ntcoreffi:build"
-            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
-            outputs: "ntcoreffi/build/outputs"
-    name: "Build - ${{ matrix.artifact-name }}"
-    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'
-        # 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
-        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')
-      - name: Build with Gradle
-        run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        env:
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Sign Libraries with Developer ID
-        run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ 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
-        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
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v5
-        with:
-          distribution: 'temurin'
-          java-version: 26
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
-      - 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
-        with:
-          name: Documentation
-          path: docs/build/outputs
-
-  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'))
-    needs: [build-documentation]
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - name: Download docs artifacts
-        uses: actions/download-artifact@v7
-        with:
-          name: Documentation
-      - name: Make output directories
-        run: |
-          mkdir -p docs/tmp/doxygen/html
-          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
-      - name: Set environment variables (Development)
-        run: |
-          echo "BRANCH=development" >> $GITHUB_ENV
-        if: github.ref == 'refs/heads/main'
-      - name: Set environment variables (Tag)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
-      - 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')
-      - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.9.1
-        with:
-          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy 🚀
-        uses: JamesIves/github-pages-deploy-action@v4.6.1
-        with:
-          ssh-key: true
-          repository-name: wpilibsuite/wpilibsuite.github.io
-          branch: allwpilib-${{ env.BRANCH }}
-          clean: true
-          single-commit: true
-          folder: docs/tmp
-      - name: Trigger Workflow
-        uses: actions/github-script@v8
-        with:
-          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
-          script: |
-            github.rest.actions.createWorkflowDispatch({
-              owner: context.repo.owner,
-              repo: 'wpilibsuite.github.io',
-              workflow_id: 'static.yml',
-              ref: 'main',
-            })
-
-  combine:
-    name: Combine
-    needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-24.04
-    steps:
-      - name: Free disk space
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-        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@v6
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-        with:
-          repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v7
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-        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'))
-        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'))
-        run: |
-          cat combiner/products/build/allOutputs/version.txt
-          test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v5
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-        with:
-          distribution: 'temurin'
-          java-version: 25
-      - name: Combine
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          github.ref == 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib -Pbuild2027
-        env:
-          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (Release)
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish -Pbuild2027
-        env:
-          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v7
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-        with:
-          name: Maven
-          path: ~/releases

.github/workflows/labeler.yml

@@ -1,14 +0,0 @@
-name: "Pull Request Labeler"
-on:
-  - pull_request_target
-
-jobs:
-  labeler:
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/labeler@v6
-        with:
-          sync-labels: true

.github/workflows/lint-format.yml

@@ -1,149 +0,0 @@
-name: Lint and Format
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-      - uses: gradle/actions/wrapper-validation@v5
-
-  wpiformat:
-    name: "wpiformat"
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v6
-        with:
-          python-version: '3.12'
-      - name: Install wpiformat
-        run: |
-          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
-      - name: Run
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v7
-        with:
-          archive: false
-          path: wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - name: Write to job summary
-        run: |
-          echo '```diff' >> $GITHUB_STEP_SUMMARY
-          cat wpiformat-fixes.patch >> $GITHUB_STEP_SUMMARY
-          echo '' >> $GITHUB_STEP_SUMMARY
-          echo '```' >> $GITHUB_STEP_SUMMARY
-        if: ${{ failure() }}
-
-  tidy:
-    name: "clang-tidy"
-    runs-on: ubuntu-24.04
-    needs: [validation]
-    container: wpilib/debian-base:trixie
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v6
-        with:
-          python-version: '3.12'
-      - name: Install wpiformat
-        run: |
-          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2026.64
-      - name: Create compile_commands.json
-        run: |
-          ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
-          ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
-          ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
-      - 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
-      - name: Run clang-tidy debug
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug
-  javaformat:
-    name: "Java format"
-    runs-on: ubuntu-24.04
-    needs: [validation]
-    container: wpilib/debian-base:trixie
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Run Java format
-        run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > javaformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v7
-        with:
-          archive: false
-          path: javaformat-fixes.patch
-        if: ${{ failure() }}
-      - name: Write to job summary
-        run: |
-          echo '```diff' >> $GITHUB_STEP_SUMMARY
-          cat javaformat-fixes.patch >> $GITHUB_STEP_SUMMARY
-          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

@@ -1,34 +0,0 @@
-name: Check Pregenerated Files
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  update:
-    name: "Update"
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Run pregen
-        uses: ./.github/actions/pregen
-      - name: Add untracked files to index so they count as changes
-        run: git add -A
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > pregenerated-files-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v7
-        with:
-          archive: false
-          path: pregenerated-files-fixes.patch
-        if: ${{ failure() }}

.github/workflows/sanitizers.yml

@@ -1,63 +0,0 @@
-name: Sanitizers
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-env:
-  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - name: asan
-            cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
-            ctest-env: ""
-            ctest-flags: ""
-          - name: tsan
-            cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
-            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1:suppressions=$GITHUB_WORKSPACE/tsan_suppressions.txt"
-            ctest-flags: "-E 'cscore|cameraserver'"
-          - name: ubsan
-            cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
-            ctest-env: ""
-            ctest-flags: ""
-    name: "${{ matrix.name }}"
-    runs-on: ubuntu-24.04
-    container: wpilib/debian-base:trixie
-    steps:
-      - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev clang-18 ninja-build avahi-daemon
-
-      - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.10
-
-      - uses: actions/checkout@v6
-
-      - 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 }} ..
-        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)
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: test
-        working-directory: build
-        run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.github/workflows/sentinel-build.yml

@@ -1,169 +0,0 @@
-name: Sentinel Build (No Cache)
-
-on:
-  workflow_dispatch:
-  schedule:
-    - cron: "15 3 * * Sat" # 11:15PM EST every Friday
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-      - uses: gradle/actions/wrapper-validation@v5
-
-  build-docker:
-    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/systemcore-cross-debian:trixie
-            artifact-name: Systemcore
-            build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/aarch64-cross-debian:trixie
-            artifact-name: Arm64
-            build-options: "-Ponlylinuxarm64"
-          - container: wpilib/systemcore-cross-debian:trixie
-            artifact-name: Linux
-            build-options: "-Ponlylinuxx86-64"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-24.04
-    needs: [validation]
-    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@v6
-        with:
-          fetch-depth: 0
-      - name: Build with Gradle
-        uses: wpilibsuite/docker-run-action@v4
-        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 }}
-      - name: Check free disk space
-        run: df .
-      - uses: actions/upload-artifact@v7
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
-
-  build-host:
-    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 13.3
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            artifact-name: Win64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: macOS-15
-            artifact-name: macOS
-            architecture: aarch64
-            task: "build"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win64FFI
-            architecture: x64
-            task: ":ntcoreffi:build"
-            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
-            outputs: "ntcoreffi/build/outputs"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ${{ matrix.os }}
-    needs: [validation]
-    steps:
-      - 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_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
-      - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 21600
-        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
-      - name: Check disk free space pre-cleanup (macOS)
-        if: runner.os == 'macOS'
-        run: df -h .
-      - name: Cleanup disk space
-        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 (macOS)
-        if: runner.os == 'macOS'
-        run: df -h .
-      - name: Build with Gradle
-        run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
-      - name: Sign Libraries with Developer ID
-        run: ./gradlew copyAllOutputs -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }}
-        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
-      - name: Check disk free space (macOS)
-        if: runner.os == 'macOS'
-        run: df -h .
-      - uses: actions/upload-artifact@v7
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.outputs }}

.github/workflows/upstream-utils.yml

@@ -1,163 +0,0 @@
-name: Upstream utils
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  update:
-    name: "Update"
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v6
-        with:
-          python-version: '3.12'
-      - name: Configure committer identity
-        run: |
-          git config --global user.email "you@example.com"
-          git config --global user.name "Your Name"
-      - name: Run apriltag.py
-        run: |
-          cd upstream_utils
-          ./apriltag.py clone
-          ./apriltag.py copy-src
-          ./apriltag.py format-patch
-      - name: Run argparse_lib.py
-        run: |
-          cd upstream_utils
-          ./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
-          ./eigen.py clone
-          ./eigen.py copy-src
-          ./eigen.py format-patch
-      - name: Run expected.py
-        run: |
-          cd upstream_utils
-          ./expected.py clone
-          ./expected.py copy-src
-          ./expected.py format-patch
-      - name: Run fmt.py
-        run: |
-          cd upstream_utils
-          ./fmt.py clone
-          ./fmt.py copy-src
-          ./fmt.py format-patch
-      - name: Run gcem.py
-        run: |
-          cd upstream_utils
-          ./gcem.py clone
-          ./gcem.py copy-src
-          ./gcem.py format-patch
-      - name: Run gl3w.py
-        run: |
-          cd upstream_utils
-          ./gl3w.py clone
-          ./gl3w.py copy-src
-          ./gl3w.py format-patch
-      - name: Run glfw.py
-        run: |
-          cd upstream_utils
-          ./glfw.py clone
-          ./glfw.py copy-src
-          ./glfw.py format-patch
-      - name: Run googletest.py
-        run: |
-          cd upstream_utils
-          ./googletest.py clone
-          ./googletest.py copy-src
-          ./googletest.py format-patch
-      - name: Run imgui.py
-        run: |
-          cd upstream_utils
-          ./imgui.py clone
-          ./imgui.py copy-src
-          ./imgui.py format-patch
-      - name: Run implot.py
-        run: |
-          cd upstream_utils
-          ./implot.py clone
-          ./implot.py copy-src
-          ./implot.py format-patch
-      - name: Run json.py
-        run: |
-          cd upstream_utils
-          ./json.py clone
-          ./json.py copy-src
-          ./json.py format-patch
-      - name: Run libuv.py
-        run: |
-          cd upstream_utils
-          ./libuv.py clone
-          ./libuv.py copy-src
-          ./libuv.py format-patch
-      - name: Run llvm.py
-        run: |
-          cd upstream_utils
-          ./llvm.py clone
-          ./llvm.py copy-src
-          ./llvm.py format-patch
-      - name: Run mpack.py
-        run: |
-          cd upstream_utils
-          ./mpack.py clone
-          ./mpack.py copy-src
-          ./mpack.py format-patch
-      - name: Run sleipnir.py
-        run: |
-          cd upstream_utils
-          ./sleipnir.py clone
-          ./sleipnir.py copy-src
-          ./sleipnir.py format-patch
-      - name: Run stb.py
-        run: |
-          cd upstream_utils
-          ./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
-        run: |
-          set +e
-          git --no-pager diff --exit-code HEAD ':!*.bazel'
-          git_exit_code=$?
-          if test "$git_exit_code" -ne "0"; then
-            echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md"
-            exit $git_exit_code
-          fi

.gitignore

@@ -1,95 +1,21 @@
-# WPIlib Specific
-
-dependency-reduced-pom.xml
-doxygen.log
-build*/
-!buildSrc/
-
-simgui-ds.json
-simgui-window.json
-simgui.json
-
-networktables.json
-*.bck
-
-ntcore/connectionlistenertest.json
-ntcore/timesynctest.json
-
-nanopb_pb2.py
-
-# Created by the jenkins test script
-test-reports
-
-# IntelliJ
-*.iml
-*.ipr
-*.iws
-.idea/
-out/
-
-# Fleet
-.fleet
-
-# jdtls
-.factorypath
-
-# Created by http://www.gitignore.io
-
-### Linux ###
+wpilibc/build/
+hal/build/
+networktables/cpp/build/
+build/
+networktables/OutlineViewer/nbproject/private
 *~
+target/
+dist/
+bin/
+.project
+.cproject
+.settings/
+.classpath
+**/dependency-reduced-pom.xml
 
-# KDE directory preferences
-.directory
-
-
-### Windows ###
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-
-### OSX ###
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Icon must end with two \r
-Icon
-
-
-# Thumbnails
-._*
-
-# Files that might appear on external disk
-.Spotlight-V100
-.Trashes
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
-
-
-### Java ###
+#Java File extentions
 *.class
 
-# Mobile Tools for Java (J2ME)
-.mtj.tmp/
-
 # Package Files #
 *.jar
 *.war
@@ -97,172 +23,3 @@ Temporary Items
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
-
-
-### C++ ###
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Compiled Dynamic libraries
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
-### Maven ###
-target/
-pom.xml.tag
-pom.xml.releaseBackup
-pom.xml.versionsBackup
-pom.xml.next
-release.properties
-
-
-### CMake ###
-CMakeCache.txt
-CMakeFiles
-cmake_install.cmake
-install_manifest.txt
-CMakeUserPresets.json
-
-
-### Gradle ###
-.gradle
-build/
-
-# Ignore Gradle GUI config
-gradle-app.setting
-
-
-### Vagrant ###
-.vagrant/
-
-
-### Eclipse ###
-*.pydevproject
-.metadata
-.gradle
-bin/
-tmp/
-*.tmp
-*.bak
-*.swp
-*~.nib
-local.properties
-.settings/
-.loadpath
-
-### Python ###
-*.pyc
-__pycache__
-
-# Gradle wrapper
-!gradle-wrapper.jar
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-# sbteclipse plugin
-.target
-
-# TeXlipse plugin
-.texlipse
-
-#catkin stuff
-package.xml
-
-# Doxygen stuff
-NO
-
-# Simulation folder stuff
-!simulation/install_resources/*
-
-# VSCode
-.vscode/
-
-#classpaths and projects
-.project
-.classpath
-
-#Visual Studio
-# User-specific files
-*.suo
-*.user
-*.userosscache
-*.sln.docstates
-CMakeSettings.json
-
-# Visual C++ cache files
-ipch/
-*.aps
-*.ncb
-*.opendb
-*.opensdf
-*.cachefile
-*.VC.db
-*.VC.VC.opendb
-*.VC.db-shm
-*.VC.db-wal
-
-*.sln
-*.vcxproj
-*.vcxproj.filters
-
-# Visual Studio 2015 cache/options directory
-.vs/
-
-# compile_commands
-compile_commands.json
-
-# clang configuration and clangd cache
-.clang
-.clangd
-.cache/
-
-imgui.ini
-
-# Bazel
-/.ijwb/
-/bazel-*
-user.bazelrc
-coverage_report/
-bazel_auth.rc
-
-# ctest
-/Testing/
-
-# Meson
-.meson-subproject*
-
-# Copybara user config
-shared/bazel/copybara/.copybara.json
-
-# Nix files
-shell.nix
-flake.nix
-flake.lock

.gitreview

@@ -0,0 +1,5 @@
+[gerrit]
+host=usfirst.collab.net
+port=29418
+project=allwpilib
+defaultbranch=master

.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$
-}

.wpiformat-license

@@ -1,3 +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.

.wpilib/wpilib_preferences.json

@@ -1,6 +0,0 @@
-{
-  "enableCppIntellisense": true,
-  "currentLanguage": "cpp",
-  "projectYear": "intellisense",
-  "teamNumber": 0
-}

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(),
-)

Building.md

@@ -0,0 +1,29 @@
+Building everything requires Maven
+mvn package -DembeddedJDKHome=/home/patrick/Downloads/arm-jdk1.7.0_45/
+TODO... Explain maven....
+TODO.. how to import into eclipse correctly...
+
+Building C++ only
+------------------
+
+C++ requires cmake if not run from maven, and is much faster. 
+Make a new directory and then run:
+```
+mkdir build && cd build
+cmake .. -DCMAKE_TOOLCHAIN_FILE=../arm-toolchain.cmake
+make # multicore add -j(num of cpu cores + 1), so -j3 on dual core for faster compile
+make install DESTDIR=/some/dir/you/want/to/put/all/headers/and/libs #optional
+``
+
+Alternatively, if you like IDEs, you can import it directly into QtDeveloper, or a number of other IDEs such as Code::Blocks or Eclipse. See CMake documentation for details.
+Eclipse demo:
+```
+cd ..
+mkdir build && cd build
+cmake -DCMAKE_TOOLCHAIN_FILE=../allwpilib/arm-toolchain.cmake .. -G "Eclipse CDT4 - Unix Makefiles"
+```
+and then import that directory into eclipse. Eclipse will detect a CDT project and standard tools will work.
+
+GCC versions
+------------
+Update arm-toolchain.cmake if the triplet changes (eg using Ubuntu repo arm compiler is arm-linux-gnueabi) or in a non-standard location. Currently it assumes that the compiler is on the path.

CMakeLists.txt

@@ -1,321 +1,13 @@
-# Disable in-source builds to prevent source tree corruption.
-if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
-    message(
-        FATAL_ERROR
-        "
-FATAL: In-source builds are not allowed.
-       You should create a separate directory for build files.
-"
-    )
-endif()
+cmake_minimum_required(VERSION 2.8)
+project(All-WPILib)
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
+SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
-    set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
-    set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
-    message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
-endif()
-
-# Set default build type to release with debug info (i.e. release mode optimizations
-# are performed, but debug info still exists).
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
-endif()
-
-cmake_minimum_required(VERSION 3.21)
-project(allwpilib)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
-
-# Make timestamps of extracted files from FetchContent the time of extraction
-if(POLICY CMP0135)
-    cmake_policy(SET CMP0135 NEW)
-endif()
-
-set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
-
-include(CMakeDependentOption)
-include(CPack)
-include(OptionValidation)
-
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
-set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
-if(MSVC)
-    add_compile_options(/Zc:__cplusplus)
-endif()
-set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
-
-# use, i.e. don't skip the full RPATH for the build tree
-set(CMAKE_SKIP_BUILD_RPATH FALSE)
-
-# when building, don't use the install RPATH already
-# (but later on when installing)
-set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-
-set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-
-# add the automatically determined parts of the RPATH
-# which point to directories outside the build tree to the install RPATH
-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(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
-cmake_dependent_option(
-    DOCS_WARNINGS_AS_ERRORS
-    "Make docs warnings into errors"
-    OFF
-    WITH_DOCS
-    OFF
-)
-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)
-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_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 compilation flags.
-option(NO_WERROR "Disable -Werror flag during compilation" OFF)
-
-wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
-
-wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
-
-wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
-
-wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
-
-set(include_dest include)
-
-if(WITH_DOCS)
-    find_package(Doxygen REQUIRED)
-    find_package(Git REQUIRED)
-    include(AddDoxygenDocs)
-    add_doxygen_docs()
-endif()
-
-if(WITH_WPICAL)
-    find_package(Ceres CONFIG REQUIRED)
-endif()
-
-find_package(LIBSSH CONFIG 0.7.1)
-
-get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-
-if(isMultiConfig)
-    if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
-    endif()
-    if(NOT "Tsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Tsan)
-    endif()
-    if(NOT "Ubsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
-    endif()
-else()
-    set(allowedBuildTypes
-        Asan
-        Tsan
-        Ubsan
-        Debug
-        Release
-        RelWithDebInfo
-        MinSizeRel
-    )
-    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
-
-    if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
-        message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
-    endif()
-endif()
-
-set(CMAKE_C_FLAGS_ASAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C compiler for Asan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_CXX_FLAGS_ASAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C++ compiler for Asan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_EXE_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
-    CACHE STRING
-    "Linker flags to be used to create executables for Asan build type."
-    FORCE
-)
-
-set(CMAKE_SHARED_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
-    CACHE STRING
-    "Linker flags to be used to create shared libraries for Asan build type."
-    FORCE
-)
-
-set(CMAKE_C_FLAGS_TSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C compiler for Tsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_CXX_FLAGS_TSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C++ compiler for Tsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_EXE_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
-    CACHE STRING
-    "Linker flags to be used to create executables for Tsan build type."
-    FORCE
-)
-
-set(CMAKE_SHARED_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
-    CACHE STRING
-    "Linker flags to be used to create shared libraries for Tsan build type."
-    FORCE
-)
-
-set(CMAKE_C_FLAGS_UBSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C compiler for Ubsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_CXX_FLAGS_UBSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C++ compiler for Ubsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_EXE_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all"
-    CACHE STRING
-    "Linker flags to be used to create executables for Ubsan build type."
-    FORCE
-)
-
-set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined"
-    CACHE STRING
-    "Linker flags to be used to create shared libraries for Ubsan build type."
-    FORCE
-)
-
-if(WITH_TESTS)
-    enable_testing()
-    add_subdirectory(thirdparty/googletest)
-    include(GoogleTest)
-    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/catch2/extras")
-    add_subdirectory(thirdparty/catch2)
-    include(Catch)
-endif()
-
-if(USE_SYSTEM_LIBUV)
-    set(LIBUV_SYSTEM_REPLACE "find_dependency(libuv CONFIG)")
-endif()
-
-if(USE_SYSTEM_EIGEN)
-    set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
-endif()
-
-set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
-set(SELF_DIR "$\{SELF_DIR\}")
-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)")
-    add_subdirectory(wpinet)
-    add_subdirectory(ntcore)
-endif()
-
-if(WITH_WPIMATH)
-    set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
-    add_subdirectory(wpimath)
-endif()
-
-if(WITH_GUI)
-    add_subdirectory(fields)
-    add_subdirectory(thirdparty/imgui_suite)
-    add_subdirectory(wpigui)
-    add_subdirectory(glass)
-    add_subdirectory(tools/outlineviewer)
-    add_subdirectory(tools/sysid)
-    if(WITH_WPICAL)
-        add_subdirectory(tools/wpical)
-    endif()
-    if(LIBSSH_FOUND)
-        add_subdirectory(tools/datalogtool)
-    endif()
-endif()
-
-if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
-    set(HAL_DEP_REPLACE "find_dependency(hal)")
-    add_subdirectory(hal)
-endif()
-
-if(WITH_CSCORE)
-    set(CAMERASERVER_DEP_REPLACE "find_dependency(cameraserver)")
-    set(CSCORE_DEP_REPLACE "find_dependency(cscore)")
-    find_package(OpenCV REQUIRED)
-    add_subdirectory(cscore)
-    add_subdirectory(cameraserver)
-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)")
-    add_subdirectory(apriltag)
-    add_subdirectory(wpilibc)
-    add_subdirectory(commandsv2)
-    add_subdirectory(romiVendordep)
-    add_subdirectory(xrpVendordep)
-    if(WITH_EXAMPLES)
-        add_subdirectory(wpilibcExamples)
-    endif()
-    add_subdirectory(developerRobot)
-endif()
-
-if(WITH_BENCHMARK)
-    add_subdirectory(benchmark)
-endif()
-
-if(WITH_SIMULATION_MODULES)
-    add_subdirectory(simulation)
-endif()
-
-configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
-install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)
+file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
+get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
+get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
+get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
+add_subdirectory(hal)
+add_subdirectory(networktables/cpp)
+add_subdirectory(wpilibc)

CMakePresets.json

@@ -1,29 +0,0 @@
-{
-  "version": 3,
-  "cmakeMinimumRequired": {
-    "major": 3,
-    "minor": 21,
-    "patch": 0
-  },
-  "configurePresets": [
-    {
-      "name": "default",
-      "displayName": "Default Config",
-      "description": "Default build using Ninja generator",
-      "binaryDir": "build-cmake",
-      "generator": "Ninja",
-      "cacheVariables": {}
-    },
-    {
-      "name": "with-sccache",
-      "displayName": "",
-      "description": "Ninja config with sccache",
-      "generator": "Ninja",
-      "binaryDir": "build-cmake",
-      "cacheVariables": {
-        "CMAKE_C_COMPILER_LAUNCHER": "sccache",
-        "CMAKE_CXX_COMPILER_LAUNCHER": "sccache"
-      }
-    }
-  ]
-}

CODE_OF_CONDUCT.md

@@ -1,111 +0,0 @@
-# Contributor Community Code of Conduct
-
-## Our Pledge
-
-As members, contributors, and leaders, we commit to fostering a community where everyone feels safe, respected, and valued. We are dedicated to ensuring that participation in this community is harassment-free, inclusive, and welcoming, regardless of age, body type, abilities (visible or invisible), ethnicity, gender identity or expression, sexual orientation, socioeconomic background, education, nationality, personal appearance, race, or religion.
-
-We pledge to act and interact in ways that contribute to an open, welcoming, diverse, inclusive, and healthy community.
-
-## Our Standards
-
-Positive and respectful behavior is essential to creating a thriving community. This includes:
-
-* Practicing **Gracious Professionalism®** at all times. Gracious Professionalism
-  is a way of doing things that encourages high-quality work, emphasizes the
-  value of others, and respects individuals and the community.
-* Showing empathy, kindness, and patience.
-* Respecting diverse perspectives and experiences.
-* Giving and receiving constructive feedback with openness and humility.
-* Owning mistakes, apologizing when necessary, and learning from them.
-* Prioritizing the well-being and success of the entire community over individual interests.
-
-Unacceptable behavior include:
-
-* Using sexualized language, imagery, or making inappropriate advances
-* Trolling, insulting or derogatory comments, and personal or political attacks
-* Harassment in any form, whether public or private.
-* Sharing private information (e.g., email or physical addresses) without explicit consent.
-
-* Any behavior that is unprofessional, harmful, or exclusionary.
-
-## Enforcement Responsibilities
-
-Community leaders are responsible for maintaining these standards and will take appropriate action to address any behavior deemed harmful, threatening, or inappropriate. Actions may include removing content, issuing warnings, or, when necessary, banning individuals. Moderation decisions will be communicated transparently where appropriate.
-
-## Scope
-
-This Code of Conduct applies to all community spaces, events, and instances where individuals represent the community (e.g., official email accounts, social media posts, or in-person/virtual events).
-
-## Enforcement
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be
-reported to the community leaders responsible for enforcement at
-[wpilib@wpi.edu](mailto:wpilib@wpi.edu).
-All complaints will be reviewed and investigated promptly and fairly.
-
-All community leaders are obligated to respect the privacy and security of the
-reporter of any incident.
-
-## Enforcement Guidelines
-
-Community leaders will follow these Community Impact Guidelines in determining
-the consequences for any action they deem in violation of this Code of Conduct:
-
-### 1. Correction
-
-**Community Impact**: Use of inappropriate language or other behavior deemed
-unprofessional or unwelcome in the community.
-
-**Consequence**: A warning from community leaders, providing
-clarity around the nature of the violation and an explanation of why the
-behavior was inappropriate. A public apology may be requested.
-
-### 2. Warning
-
-**Community Impact**: A violation through a single incident or series
-of actions.
-
-**Consequence**: A warning with consequences for continued behavior. No
-interaction with the people involved, including unsolicited interaction with
-those enforcing the Code of Conduct, for a specified period of time. This
-includes avoiding interactions in community spaces as well as external channels
-like social media. Violating these terms may lead to a temporary or
-permanent ban.
-
-### 3. Temporary Ban
-
-**Community Impact**: A serious violation of community standards, including
-sustained inappropriate behavior.
-
-**Consequence**: A temporary ban from any sort of interaction or public
-communication with the community for a specified period of time. No public or
-private interaction with the people involved, including unsolicited interaction
-with those enforcing the Code of Conduct, is allowed during this period.
-Violating these terms may lead to a permanent ban.
-
-### 4. Permanent Ban
-
-**Community Impact**: Demonstrating a pattern of violation of community
-standards, including sustained inappropriate behavior, harassment of an
-individual, or aggression toward or disparagement of classes of individuals.
-
-**Consequence**: A permanent ban from any sort of public interaction within
-the community.
-
-## A Note on Kindness
-Building a community isn’t just about rules—it’s about connection. Every interaction is an opportunity to be understanding, compassionate, and supportive. Being a good human is the key to our ethos.
-
-## Attribution
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage],
-version 2.0, available at
-https://www.contributor-covenant.org/version/2/0/code_of_conduct.html.
-
-Community Impact Guidelines were inspired by [Mozilla's code of conduct
-enforcement ladder](https://github.com/mozilla/diversity).
-
-[homepage]: https://www.contributor-covenant.org
-
-For answers to common questions about this code of conduct, see the FAQ at
-https://www.contributor-covenant.org/faq. Translations are available at
-https://www.contributor-covenant.org/translations.

CONTRIBUTING.md

@@ -1,81 +0,0 @@
-# Contributing to WPILib
-
-So you want to contribute your changes back to WPILib. Great! We have a few contributing rules that will help you make sure your changes will be accepted into the project. Please remember to follow the rules in the [code of conduct](https://github.com/wpilibsuite/allwpilib/blob/main/CODE_OF_CONDUCT.md), and behave with Gracious Professionalism.
-
-- [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)
-    - [Pull Request Format](#pull-request-format)
-    - [Merge Process](#merge-process)
-- [Licensing](#licensing)
-
-## General Contribution Rules
-
-- Everything in the library must work for the 14000+ 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).
-- 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.
-
-## 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.
-    - 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.
-
-## Contribution Process
-
-Have an idea to make WPILib better? Here's some steps to go from idea to implementation:
-
-1. (Optional) **Discuss it in the Discord.** The programming discussion channel in the [Unofficial FIRST Robotics Competition Discord Server](https://discord.com/invite/frc) is a popular choice for initial discussion about ideas because many WPILib developers are active there and the live messaging nature of the platform is well suited for initial discussion (particularly for smaller changes). Note that the unofficial Discord server is not a mandatory step in the development process and is not endorsed by FIRST®.
-2. (Recommended) **Open a GitHub issue.** GitHub issues are another way to get initial feedback about an idea before working on an implementation. Compared to the unofficial Discord server, GitHub issues have much wider visibility and are better suited for serious discussions about major changes. Getting feedback about an idea (whether in the unofficial Discord server or in a GitHub issue) before working on the implementation is recommended to avoid working on a change that will be rejected, though some ideas are pretty safe.
-3. (Rare) **Create a design document in GitHub.** Sometimes, a change is so large that a design document is necessary to fully flesh out the details (and get feedback on them) before starting on an implementation. This is done through a pull request that adds the design document (as a Markdown file) to the repository. This is extremely rare, and it is sometimes done concurrently with the implementation if the change doesn't need much debate but is large enough to require a design document.
-4. (Mandatory) **Create a GitHub pull request.** This is how you implement the changes, and is the focus of most of the rest of this document.
-
-## Coding Guidelines
-
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system.
-While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
-
-## Submitting Changes
-
-### Pull Request Format
-
-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.
-
-### Merge Process
-
-When you first submit changes, GitHub Actions will attempt to run `./gradlew check` on your change. If this fails, you will need to fix any issues that it sees. Once Actions passes, we will begin the review process in more earnest. One or more WPILib team members will review your change. This will be a back-and-forth process with the WPILib team and the greater community. Once we are satisfied that your change is ready, we will allow our hosted instance to test it. This will run the full gamut of checks, including integration tests on actual hardware. Once all tests have passed and the team is satisfied, we will merge your change into the WPILib repository.
-
-## Licensing
-
-By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](LICENSE.md).

DevelopmentBuilds.md

@@ -1,87 +0,0 @@
-# Installing Development Builds
-
-This article contains instructions on building projects using a development build and a local WPILib build.
-
-**Note:** This only applies to Java/C++ teams.
-
-> [!WARNING]
-> **There are no stability or compatibility guarantees for builds outside of [tagged releases](https://github.com/wpilibsuite/allwpilib/releases). Changes may not be fully documented. Use them at your own risk!**
->
-> Development builds may be non-functional between the end of the season and the start of beta testing. Development builds are also likely to be incompatible with vendor libraries during this time.
-
-## Development Build
-
-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`
-
-```groovy
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.+'
-```
-
-The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
-
-Java
-```groovy
-plugins {
-  id "java"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2027.+'
-```
-
-C++
-```groovy
-plugins {
-  id "cpp"
-  id "google-test-test-suite"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2027.+'
-```
-
-### Development Build Documentation
-
-* C++: https://github.wpilib.org/allwpilib/docs/development/cpp/
-* Java: https://github.wpilib.org/allwpilib/docs/development/java/
-
-## Local Build
-
-Building with a local build is very similar to building with a development build. Ensure you have built and published WPILib by following the instructions attached [here](https://github.com/wpilibsuite/allwpilib#building-wpilib). Next, find the ``build.gradle`` file in your robot project and open it. Then, add the following code below the plugin section and replace ``YEAR`` with the year of the local version.
-
-Java
-```groovy
-plugins {
-  id "java"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useWpilibMavenLocalDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.424242.+'
-```
-
-C++
-```groovy
-plugins {
-  id "cpp"
-  id "google-test-test-suite"
-  id "org.wpilib.GradleRIO" version "2027.0.0-alpha-5"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useWpilibMavenLocalDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.424242.+'
-```
-
-# Systemcore Development
-
-See the [developerRobot](developerRobot/README.md) subproject.

GeneratedFiles.md

@@ -1,28 +0,0 @@
-# Maintaining Generated Files
-WPILib extensively uses [metaprogramming](https://en.wikipedia.org/wiki/Metaprogramming#Code_generation) to generate code that would otherwise be tedious and error-prone to maintain. We use [Jinja](https://jinja.palletsprojects.com), a templating engine with a Python API, alongside JSON files that contain data to generate code. This document explains how to maintain these generated files and create new ones.
-
-## File hierarchy
-The Python script used to generate a subproject's files will always be located in the subproject's directory, e.g. wpilibc. It will always be called `generate_<thing>.py` where `<thing>` is the name for what you're generating.
-
-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 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`
-
-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.
-
-## Using code generation
-If you've identified a set of files which are extremely similar, one file with lots of repetitive code, or both, you can create Jinja templates, a JSON file, and a Python script to automatically generate the code instead.
-
-### Preparing files for codegen
-Once you've identified the files you want to codegen, you will need to identify parts of code that are similar, and extract the data that's different. Code needs to go into your Jinja template, while data that will be used to fill in the template goes into a JSON file. Using game controllers as an example, they have lots of similar methods to read the value of a button, check if a button has been pressed since the last check, and check if a button has been released since the last check. Those methods are code that goes in a Jinja template, with the specific button replaced with a Jinja expression. The buttons, both the name and value, go into a JSON file.
-
-### Writing a Python script
-To maintain consistency with other Python scripts, copy an existing `generate_*.py` script. [generate_pwm_motor_controllers.py](./wpilibj/generate_pwm_motor_controllers.py) is a good start, since it's relatively basic. Modify the script to reference your templates and JSON file, modify the paths so the files end up in the right place, and rename the functions so they match what you're generating. An important part of the script is to give the files the correct name. Depending on files you're generating, this could be the name of the template itself (see [ntcore/generate_topics.py](./ntcore/generate_topics.py)) or it could be part of the data in the JSON file.
-
-### (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.

LICENSE.md

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2026 FIRST and other WPILib contributors
-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 FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB 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 FIRST 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.

MAINTAINERS.md

@@ -1,27 +0,0 @@
-## Publishing Third Party Dependencies
-Currently the 3rd party external deps are opencv, libssh, ceres, and gtsam.
-
-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.
-
-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.
-
-## 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 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.
-Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub.
-
-## Publishing GradleRIO
-Before publishing, make sure to update the version in build.gradle. Publishing must happen locally, using the command `./gradlew publishPlugin`. This does require your API key for publishing to be set.
-
-## Building the installer
-Update the GradleRIO version in gradle.properties, and in the scripts folder in vscode, update the vscode extension. To publish a release build, upload a new tag, and a release will automatically be built and published to artifactory and cloudflare.

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

@@ -1,142 +0,0 @@
-# WPILib Maven Artifacts
-
-WPILib publishes its built artifacts to our Maven server for use by downstream projects. This document explains these locations, and the meanings of artifact names, classifiers, and versions.
-
-## Repositories
-We provide two repositories. These repositories are:
-
-* (Release)     https://frcmaven.wpi.edu/artifactory/release/
-* (Development) https://frcmaven.wpi.edu/artifactory/development/
-
-The release repository is where official WPILib releases are pushed.
-The development repository is where development releases of every commit to [main](https://github.com/wpilibsuite/allwpilib/tree/main) is pushed.
-
-## Artifact classifiers
-We provide two base types of artifacts.
-
-The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier. These artifacts are published with the base artifact name as their artifact ID, with a `-java` extension.
-
-Example:
-```
-org.wpilib.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.
-
-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.
-
-Native artifacts are published with the base artifact name as their artifact ID, with a `-cpp` extension.
-
-Example:
-```
-org.wpilib.wpimath:wpimath-cpp:version:classifier@zip
-org.wpilib.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip
-```
-
-## Provided Artifacts
-This repository provides the following artifacts. Below each artifact is its dependencies.
-
-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.
-
-* wpiutil
-
-* wpigui
-  * imgui
-
-* wpimath
-  * wpiutil
-
-* wpinet
-  * wpiutil
-
-* ntcore
-  * wpinet
-  * wpiutil
-
-* glass/libglass
-  * wpigui
-  * wpimath
-  * wpiutil
-
-* glass/libglassnt
-  * wpigui
-  * ntcore
-  * wpinet
-  * wpimath
-  * wpiutil
-
-* hal
-  * ntcore
-  * wpiutil
-
-* halsim
-  * libglassnt
-  * libglass
-  * ntcore
-  * wpimath
-  * wpigui
-  * wpinet
-  * wpiutil
-
-* cscore
-  * opencv
-  * wpinet
-  * wpiutil
-
-* cameraserver
-  * ntcore
-  * cscore
-  * opencv
-  * wpinet
-  * wpiutil
-
-* wpilibj
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpinet
-  * wpiutil
-
-* wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpimath
-  * wpinet
-  * wpiutil
-
-* commandsv2
-  * wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpimath
-  * wpinet
-  * wpiutil
-
-* wpiunits
-
-* apriltag
-  * wpiutil
-  * wpimath
-
-### Third Party Artifacts
-
-This repository provides the builds of the following third party software:
-
-* 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.

README-Bazel.md

@@ -1,55 +0,0 @@
-# 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).
-
-
-## 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.
-
-## Building
-To build the entire repository, simply run `bazel build //...`. To run all of the unit tests, run `bazel test //...`
-Other examples:
-- `bazel build //wpimath/...` - Builds every target in the wpimath folder
-- `bazel test //wpiutil:wpiutil-cpp-test` - Runs only the cpp test target in the wpiutil folder
-- `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.
-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
-  ```
-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

@@ -1,163 +0,0 @@
-# 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++.
-
-## Libraries that get built
-* apriltag
-* cameraserver
-* commandsv2
-* cscore
-* datalog
-* fields
-* hal (simulation HAL only)
-* ntcore
-* romiVendordep
-* simulation extensions
-* wpigui
-* wpilib (wpilibc, wpilibj, and developerRobot)
-* wpimath
-* wpinet
-* wpiutil
-* xrpVendordep
-
-## GUI apps that get built
-* datalogtool
-* glass
-* outlineviewer
-* 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.
-
-## Prerequisites
-
-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.
-
-## 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.
-* `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_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)
-  * This option will build simulation modules.
-* `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.
-* `WITH_WPIMATH` (ON Default)
-  * This option will build the wpimath library. This option must be on to build wpilib.
-* `NO_WERROR` (OFF Default)
-  * This option will disable the `-Werror` compilation flag for non-MSVC builds.
-* `WPILIB_TARGET_WARNINGS`
-  * Add compiler flags to this option to customize compiler options like warnings.
-
-## Build Setup
-
-The WPILib CMake build does not allow in source builds. Because the `build` directory is used by Gradle, we recommend a `build-cmake` directory in the root. This folder is included in the gitignore. We support building with Ninja; other options like Makefiles may be broken.
-
-Once you have a build folder, run CMake configuration in the root directory with the following command.
-
-```
-cmake --preset default
-```
-
-If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake` command. This will check for any dependencies. If everything works properly this will succeed. If not, please check out the troubleshooting section for help.
-
-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.
-
-## 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).
-
-## 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.
-
-```
-cmake --build . --parallel x
-```
-
-Note: wpimath takes gigabytes of RAM to compile. Because of this, the compilers may crash while building due to a lack of memory and your computer may slow down. If you have less than 16 GB of RAM available, you may want to consider building it separately first by adding `--target wpimath` and running it with ~3 jobs to prevent crashes from running out of memory.
-
-To build with a certain configuration, like `Debug` or `Release`, add `--config <config>`, where `<config>` is the name of the configuration you want to build with.
-
-## Installing
-
-After build, the easiest way to use the libraries is to install them. Run the following command to install the libraries. This will install them so that they can be used from external CMake projects.
-
-```
-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.
-
-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.
-
-## Using the installed libraries for C++.
-
-Using the libraries from C++ is the easiest way to use the built libraries.
-
-To do so, 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(vision_app) # Project Name Here
-
-find_package(wpilib REQUIRED)
-
-add_executable(my_vision_app main.cpp) # executable name as first parameter
-target_link_libraries(my_vision_app cameraserver ntcore cscore wpiutil)
-```
-
-If you want to use other libraries or are building a robot program, `wpilibc` and `hal` should be added in the `target_link_libraries` function, along with any other libraries you plan on using, e.g. `wpimath`.
-
-Add a `main.cpp` 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 .`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
-
-## 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`).
-
-## Troubleshooting
-Below are some common issues that are run into when building.
-
-#### Missing OpenCV
-
-If you are missing OpenCV, you will get an error message similar to this.
-
-```
-CMake Error at cscore/CMakeLists.txt:3 (find_package):
-  By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
-  asked CMake to find a package configuration file provided by "OpenCV", but
-  CMake did not find one.
-
-  Could not find a package configuration file provided by "OpenCV" with any
-  of the following names:
-
-    OpenCVConfig.cmake
-    opencv-config.cmake
-
-  Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
-  "OpenCV_DIR" to a directory containing one of the above files.  If "OpenCV"
-  provides a separate development package or SDK, be sure it has been
-  installed.
-```
-
-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.

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

@@ -1,196 +0,0 @@
-# WPILib Project
-
-[![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.
-
-- [WPILib Project](#wpilib-project)
-  - [WPILib Mission](#wpilib-mission)
-- [Building WPILib](#building-wpilib)
-  - [Requirements](#requirements)
-  - [Setup](#setup)
-  - [Building](#building)
-    - [Faster builds](#faster-builds)
-    - [Using Development Builds](#using-development-builds)
-    - [Custom toolchain location](#custom-toolchain-location)
-    - [Formatting/Linting](#formattinglinting)
-    - [CMake](#cmake)
-    - [Bazel](#bazel)
-  - [Running examples in simulation](#running-examples-in-simulation)
-  - [Publishing](#publishing)
-  - [Structure and Organization](#structure-and-organization)
-- [Contributing to WPILib](./CONTRIBUTING.md)
-
-## 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).
-
-# Quick Start
-
-Below is a list of instructions that guide you through cloning, building, publishing and using local allwpilib binaries in a robot project. This quick start is not intended as a replacement for the information further listed in this document.
-
-1. Clone the repository with `git clone https://github.com/wpilibsuite/allwpilib.git`
-2. Build the repository with `./gradlew build` or `./gradlew build --build-cache` if you have an internet connection
-3. Publish the artifacts locally by running `./gradlew publish`
-4. [Update your](DevelopmentBuilds.md) `build.gradle` [to use the artifacts](DevelopmentBuilds.md)
-
-# 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.
-
-## Requirements
-
-- [JDK 25](https://adoptium.net/temurin/releases/?version=25)
-    - 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
-- 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
-    - If the WPILib installer was used, this toolchain is already installed
-
-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.
-
-## Setup
-
-Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.
-
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
-
-## Building
-
-All build steps are executed using the Gradle wrapper, `gradlew`. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is `build`. This will build all the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:
-
-```bash
-./gradlew build
-```
-
-To build a specific subproject, such as WPILibC, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use `:subproject_name:task_name` with the Gradle wrapper. For example, building just WPILibC:
-
-```bash
-./gradlew :wpilibc:build
-```
-
-The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change in the HAL and then run `./gradlew :wpilibc:build`, the HAL will be rebuilt, then WPILibC.
-
-There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
-
-If opening from a fresh clone, generated java dependencies will not exist. Most IDEs will not run the generation tasks, which will cause lots of IDE errors. Manually run `./gradlew compileJava` from a terminal to run all the compile tasks, and then refresh your IDE's configuration (In VS Code open settings.gradle and save).
-
-### Faster builds
-
-`./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
-
-`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests. `./gradlew testDesktop` will run both `testDesktopJava` and `testDesktopCpp`.
-
-`testDesktopCpp`, `testDesktopJava`, and `testDesktop` tasks also exist for the following projects:
-
-- `apriltag`
-- `cameraserver`
-- `cscore`
-- `hal`
-- `ntcore`
-- `commandsv2`
-- `wpimath`
-- `wpinet`
-- `wpiunits`
-- `wpiutil`
-- `romiVendordep`
-- `xrpVendordep`
-
-These can be ran with `./gradlew :projectName:task`.
-
-`./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
-
-### Build Cache
-
-Run with `--build-cache` on the command-line to use the shared [build cache](https://docs.gradle.org/current/userguide/build_cache.html) artifacts generated by the continuous integration server. Example:
-
-```bash
-./gradlew build --build-cache
-```
-
-### Using Development Builds
-
-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:
-
-```bash
-./gradlew build -PtoolChainPath=some/path/to/wpilib/toolchain/bin
-```
-
-### Formatting/linting
-
-Once a PR has been submitted, formatting can be run in CI by commenting `/format` on the PR. A new commit will be pushed with the formatting changes.
-
-> [!NOTE]
-> The `/format` action has been temporarily disabled. The individual formatting commands can be run locally as shown below. Alternately, the Lint and Format action for a PR will upload a patch file that can be downloaded and applied manually.
-
-#### wpiformat
-
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
-
-#### Java Code Quality Tools
-
-The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./gradlew javaFormat`. SpotBugs can be run via the `spotbugsMain`, `spotbugsTest`, and `spotbugsDev` tasks. These tools will all be run automatically by the `build` task. To disable this behavior, pass the `-PskipJavaFormat` flag.
-
-If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
-
-### Generated files
-
-Several files within WPILib are generated using Jinja. If a PR is opened that modifies these templates then the files can be generated through CI by commenting `/pregen` on the PR. A new commit will be pushed with the regenerated files. See [GeneratedFiles.md](GeneratedFiles.md) for more information.
-
-### CMake
-
-CMake is also supported for building. See [README-CMake.md](README-CMake.md).
-
-### Bazel
-
-Bazel is also supported for building. See [README-Bazel.md](README-Bazel.md).
-
-## Running examples in simulation
-
-Examples can be run in simulation with the following command:
-
-```bash
-./gradlew wpilibcExamples:runExample
-./gradlew wpilibjExamples:runExample
-```
-where `Example` is the example's folder name.
-
-## Publishing
-
-If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:
-
-- development - The default repo.
-- beta - Publishes to ~/releases/maven/beta.
-- stable - Publishes to ~/releases/maven/stable.
-- release - Publishes to ~/releases/maven/release.
-
-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 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 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 upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
-
-The [styleguide repository](https://github.com/wpilibsuite/styleguide) contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document [here](CONTRIBUTING.md#coding-guidelines).

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

@@ -1,274 +0,0 @@
-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_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": [
-            "-Wno-format-nonliteral",
-            "-Wno-gnu-zero-variadic-macro-arguments",
-            "-Wno-uninitialized",
-            "-Wno-sign-compare",
-            "-Wno-type-limits",
-        ],
-        "@platforms//os:windows": [
-            "/wd4005",
-            "/wd4018",
-            "/wd4244",
-            "/wd4267",
-            "/wd4996",
-        ],
-        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [
-            "-Wno-format-nonliteral",
-            "-Wno-maybe-uninitialized",
-            "-Wno-sign-compare",
-            "-Wno-type-limits",
-        ],
-    }),
-    includes = ["src/main/native/thirdparty/apriltag/include/common"],
-    strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
-)
-
-generate_resources(
-    name = "generate-resources",
-    namespace = "wpi::apriltag",
-    prefix = "APRILTAG",
-    resource_files = glob(["src/main/native/resources/**"]),
-)
-
-wpilib_cc_library(
-    name = "apriltag",
-    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"],
-    strip_include_prefix = "src/main/native/include",
-    visibility = ["//visibility:public"],
-    deps = [
-        ":thirdparty-apriltag",
-        "//wpimath",
-        "//wpiutil",
-    ],
-)
-
-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(
-    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"],
-    deps = [
-        "//wpimath:wpimath-java",
-        "//wpiutil:wpiutil-java",
-        "@bzlmodrio-opencv//libraries/java/opencv",
-        "@maven//:io_avaje_avaje_json_core",
-        "@maven//:io_avaje_avaje_jsonb",
-    ],
-)
-
-pkg_files(
-    name = "resources",
-    srcs = glob(["src/main/native/resources/**"]),
-    strip_prefix = "src/main/native/resources/",
-)
-
-cc_test(
-    name = "apriltag-cpp-test",
-    size = "small",
-    srcs = glob(["src/test/native/cpp/**"]),
-    tags = [
-        "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",
-    ],
-)
-
-cc_binary(
-    name = "DevMain-Cpp",
-    srcs = ["src/dev/native/cpp/main.cpp"],
-    deps = [
-        ":apriltag",
-    ],
-)
-
-java_binary(
-    name = "DevMain-Java",
-    srcs = ["src/dev/java/org/wpilib/vision/apriltag/DevMain.java"],
-    main_class = "org.wpilib.vision.apriltag.DevMain",
-    deps = [
-        ":apriltag-java",
-    ],
-)
-
-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"),
-    ],
-)

apriltag/CMakeLists.txt

@@ -1,83 +0,0 @@
-project(apriltag)
-
-include(CompileWarnings)
-include(GenResources)
-
-file(
-    GLOB_RECURSE apriltaglib_src
-    src/main/native/thirdparty/apriltag/src/*.c
-    src/main/native/thirdparty/apriltag/src/*.cpp
-)
-
-# Disable apriltag C library warnings
-if(MSVC)
-    set_source_files_properties(
-        ${apriltaglib_src}
-        PROPERTIES COMPILE_FLAGS "/wd4005 /wd4018 /wd4244 /wd4267 /wd4996"
-    )
-elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    set_source_files_properties(
-        ${apriltaglib_src}
-        PROPERTIES
-            COMPILE_FLAGS
-                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-uninitialized -Wno-sign-compare -Wno-type-limits"
-    )
-else()
-    set_source_files_properties(
-        ${apriltaglib_src}
-        PROPERTIES
-            COMPILE_FLAGS
-                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-maybe-uninitialized -Wno-sign-compare -Wno-type-limits"
-    )
-endif()
-
-generate_resources(
-    src/main/native/resources/org/wpilib/vision/apriltag
-    generated/main/cpp
-    APRILTAG
-    wpi::apriltag
-    apriltag_resources_src
-)
-
-file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
-
-add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltaglib_src})
-set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
-
-set_property(TARGET apriltag PROPERTY FOLDER "libraries")
-target_compile_features(apriltag PUBLIC cxx_std_23)
-wpilib_target_warnings(apriltag)
-
-target_link_libraries(apriltag wpimath)
-
-target_include_directories(
-    apriltag
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-        $<INSTALL_INTERFACE:${include_dest}/apriltag>
-)
-
-install(
-    DIRECTORY src/main/native/include/ src/main/native/thirdparty/apriltag/include/
-    DESTINATION "${include_dest}/apriltag"
-)
-target_include_directories(
-    apriltag
-    SYSTEM
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include/common>
-)
-
-install(TARGETS apriltag EXPORT apriltag)
-export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)
-
-configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake)
-install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/apriltag)
-install(EXPORT apriltag DESTINATION share/apriltag)
-
-if(WITH_TESTS)
-    wpilib_add_test(apriltag src/test/native/cpp)
-    target_include_directories(apriltag_test PRIVATE src/test/native/include)
-    target_link_libraries(apriltag_test apriltag googletest)
-endif()

apriltag/README.md

@@ -1,30 +0,0 @@
-# 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. 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
-4. Update the field dimensions at the bottom of the JSON
-    1. Length should be in meters from alliance wall to alliance wall
-    2. Width should be in meters from inside guardrail plastic to plastic
-
-### Java updates
-
-1. Update `src/main/java/org/wpilib/vision/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. Add enum value for new field to `AprilTagFields`
-    2. Update `AprilTagFields::kDefaultField` if necessary
-2. Update `src/main/native/cpp/AprilTagFieldLayout.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)`

apriltag/apriltag-config.cmake.in

@@ -1,7 +0,0 @@
-include(CMakeFindDependencyMacro)
-@FILENAME_DEP_REPLACE@
-@WPIMATH_DEP_REPLACE@
-@WPIUTIL_DEP_REPLACE@
-
-@FILENAME_DEP_REPLACE@
-include(${SELF_DIR}/apriltag.cmake)

apriltag/build.gradle

@@ -1,130 +0,0 @@
-apply from: "${rootDir}/shared/resources.gradle"
-
-apply plugin: 'c'
-
-ext {
-    nativeName = 'apriltag'
-    devMain = 'org.wpilib.vision.apriltag.DevMain'
-    useJava = true
-    useCpp = true
-    sharedCvConfigs = [
-        apriltagDev : [],
-        apriltagTest: []]
-    staticCvConfigs = []
-
-    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'wpi::apriltag', project)
-
-    tasks.withType(CppCompile) {
-        dependsOn generateTask
-    }
-    splitSetup = {
-        it.sources {
-            resourcesCpp(CppSourceSet) {
-                source {
-                    srcDirs "$buildDir/generated/main/cpp", "$rootDir/shared/singlelib"
-                    include '*.cpp'
-                }
-            }
-            apriltagC(CSourceSet) {
-                source {
-                    srcDirs 'src/main/native/thirdparty/apriltag/src'
-                    include '**/*.c', '**/*.cpp'
-                }
-                exportedHeaders {
-                    srcDirs 'src/main/native/thirdparty/apriltag/include',
-                            'src/main/native/thirdparty/apriltag/include/common'
-                }
-            }
-        }
-    }
-}
-
-evaluationDependsOn(':wpimath')
-
-apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-apply from: "${rootDir}/shared/opencv.gradle"
-
-dependencies {
-    implementation project(':wpimath')
-    annotationProcessor libs.avaje.jsonb.generator
-}
-
-sourceSets {
-    main {
-        resources {
-            srcDirs 'src/main/native/resources'
-        }
-    }
-}
-
-cppHeadersZip {
-    from('src/main/native/thirdparty/apriltag/include') {
-        into '/'
-    }
-}
-
-// Suppress sign-compare warnings
-nativeUtils.platformConfigs.each {
-    if (it.name.contains('windows')) {
-        it.cCompiler.args.add("/wd4005")
-        it.cCompiler.args.add("/wd4018")
-        it.cCompiler.args.add("/wd4244")
-        it.cCompiler.args.add("/wd4267")
-        it.cCompiler.args.add("/wd4996")
-    } else if (it.name.contains('osx')) {
-        it.cCompiler.args.add("-Wno-format-nonliteral")
-        it.cCompiler.args.add("-Wno-gnu-zero-variadic-macro-arguments")
-        it.cCompiler.args.add("-Wno-uninitialized")
-        it.cCompiler.args.add("-Wno-sign-compare")
-        it.cCompiler.args.add("-Wno-type-limits")
-    } else {
-        it.cCompiler.args.add("-Wno-format-nonliteral")
-        it.cCompiler.args.add("-Wno-gnu-zero-variadic-macro-arguments")
-        it.cCompiler.args.add("-Wno-maybe-uninitialized")
-        it.cCompiler.args.add("-Wno-sign-compare")
-        it.cCompiler.args.add("-Wno-type-limits")
-    }
-}
-
-model {
-    components {
-        all {
-            it.sources.each {
-                it.exportedHeaders {
-                    srcDirs 'src/main/native/include',
-                            'src/main/native/thirdparty/apriltag/include',
-                            'src/main/native/thirdparty/apriltag/include/common'
-                }
-            }
-        }
-    }
-    binaries {
-        all {
-            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
-                return
-            }
-            it.cppCompiler.define 'WPILIB_EXPORTS'
-            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
-            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-        }
-    }
-    tasks {
-        def c = $.components
-        def found = false
-        def systemArch = getCurrentArch()
-        c.each {
-            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
-                it.binaries.each {
-                    if (!found) {
-                        def arch = it.targetPlatform.name
-                        if (arch == systemArch) {
-                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
-
-                            found = true
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

apriltag/convert_apriltag_layouts.py

@@ -1,90 +0,0 @@
-#!/usr/bin/env python3
-
-"""
-This script converts all AprilTag field layout CSV files in
-src/main/native/resources/edu/wpi/first/apriltag to the JSON format
-AprilTagFields expects.
-
-The input CSV has the following format:
-
-* Columns: ID, X, Y, Z, Z Rotation, Y Rotation
-* ID is a positive integer
-* X, Y, and Z are decimal inches
-* Z Rotation is yaw in degrees
-* Y Rotation is pitch in degrees
-
-The values come from a table in the layout marking diagram (e.g.,
-https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024LayoutMarkingDiagram.pdf).
-"""
-
-import csv
-import json
-import os
-
-from wpimath import geometry, units
-
-
-def main():
-    # Find AprilTag field layout CSVs
-    filenames = [
-        os.path.join(dp, f)
-        for dp, dn, fn in os.walk("src/main/native/resources/edu/wpi/first/apriltag")
-        for f in fn
-        if f.endswith(".csv")
-    ]
-
-    for filename in filenames:
-        json_data = {"tags": [], "field": {"length": 0.0, "width": 0.0}}
-
-        # Read CSV and fill in JSON data
-        with open(filename, newline="") as csvfile:
-            reader = csv.reader(csvfile, delimiter=",")
-
-            # Skip header
-            next(reader)
-
-            for row in reader:
-                # Unpack row elements
-                id = int(row[0])
-                x = float(row[1])
-                y = float(row[2])
-                z = float(row[3])
-                zRotation = float(row[4])
-                yRotation = float(row[5])
-
-                # Turn yaw into quaternion
-                q = geometry.Rotation3d(
-                    units.radians(0),
-                    units.degreesToRadians(yRotation),
-                    units.degreesToRadians(zRotation),
-                ).getQuaternion()
-
-                json_data["tags"].append(
-                    {
-                        "ID": id,
-                        "pose": {
-                            "translation": {
-                                "x": units.inchesToMeters(x),
-                                "y": units.inchesToMeters(y),
-                                "z": units.inchesToMeters(z),
-                            },
-                            "rotation": {
-                                "quaternion": {
-                                    "W": q.W(),
-                                    "X": q.X(),
-                                    "Y": q.Y(),
-                                    "Z": q.Z(),
-                                }
-                            },
-                        },
-                    }
-                )
-
-        # Write JSON
-        with open(filename.replace(".csv", ".json"), "w") as f:
-            json.dump(json_data, f, indent=2)
-            f.write("\n")
-
-
-if __name__ == "__main__":
-    main()

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/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

@@ -1,11 +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.
-
-#include "wpi/apriltag/AprilTagDetector.hpp"
-
-int main() {
-  wpi::apriltag::AprilTagDetector detector;
-  detector.AddFamily("tag16h5");
-  detector.SetConfig({.refineEdges = false});
-}

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

@@ -1,76 +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 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
-public class AprilTag {
-  /** The tag's ID. */
-  @Json.Property("ID")
-  @SuppressWarnings("PMD.PublicFieldNamingConvention")
-  public int ID;
-
-  /** The tag's pose. */
-  @Json.Property("pose")
-  public Pose3d pose;
-
-  /**
-   * Constructs an AprilTag.
-   *
-   * @param ID The tag's ID.
-   * @param pose The tag's pose.
-   */
-  @SuppressWarnings("ParameterName")
-  @Json.Creator
-  public AprilTag(int ID, Pose3d pose) {
-    this.ID = ID;
-    this.pose = pose;
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    return obj instanceof AprilTag tag && ID == tag.ID && pose.equals(tag.pose);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(ID, pose);
-  }
-
-  @Override
-  public String toString() {
-    return "AprilTag(ID: " + ID + ", pose: " + pose + ")";
-  }
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
-   *
-   * @param id id
-   * @return A RawFrame containing the AprilTag image
-   */
-  public static RawFrame generate16h5AprilTagImage(int id) {
-    RawFrame frame = new RawFrame();
-    AprilTagJNI.generate16h5AprilTagImage(frame, frame.getNativeObj(), id);
-    return frame;
-  }
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
-   *
-   * @param id id
-   * @return A RawFrame containing the AprilTag image
-   */
-  public static RawFrame generate36h11AprilTagImage(int id) {
-    RawFrame frame = new RawFrame();
-    AprilTagJNI.generate36h11AprilTagImage(frame, frame.getNativeObj(), id);
-    return frame;
-  }
-}

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

@@ -1,191 +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 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 {
-  /**
-   * Gets the decoded tag's family name.
-   *
-   * @return Decoded family name
-   */
-  public String getFamily() {
-    return m_family;
-  }
-
-  /**
-   * Gets the decoded ID of the tag.
-   *
-   * @return Decoded ID
-   */
-  public int getId() {
-    return m_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)
-   */
-  public int getHamming() {
-    return m_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
-   */
-  public float getDecisionMargin() {
-    return m_decisionMargin;
-  }
-
-  /**
-   * 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
-   */
-  @SuppressWarnings("PMD.MethodReturnsInternalArray")
-  public double[] getHomography() {
-    return m_homography;
-  }
-
-  /**
-   * 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
-   */
-  public Matrix<N3, N3> getHomographyMatrix() {
-    return MatBuilder.fill(Nat.N3(), Nat.N3(), m_homography);
-  }
-
-  /**
-   * Gets the center of the detection in image pixel coordinates.
-   *
-   * @return Center point X coordinate
-   */
-  public double getCenterX() {
-    return m_centerX;
-  }
-
-  /**
-   * Gets the center of the detection in image pixel coordinates.
-   *
-   * @return Center point Y coordinate
-   */
-  public double getCenterY() {
-    return m_centerY;
-  }
-
-  /**
-   * 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 X coordinate
-   */
-  public double getCornerX(int ndx) {
-    return m_corners[ndx * 2];
-  }
-
-  /**
-   * 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 Y coordinate
-   */
-  public double getCornerY(int ndx) {
-    return m_corners[ndx * 2 + 1];
-  }
-
-  /**
-   * 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.
-   *
-   * @return Corner point array (X and Y for each corner in order)
-   */
-  @SuppressWarnings("PMD.MethodReturnsInternalArray")
-  public double[] getCorners() {
-    return m_corners;
-  }
-
-  private final String m_family;
-  private final int m_id;
-  private final int m_hamming;
-  private final float m_decisionMargin;
-  private final double[] m_homography;
-  private final double m_centerX;
-  private final double m_centerY;
-  private final double[] m_corners;
-
-  /**
-   * Constructs a new detection result. Used from JNI.
-   *
-   * @param family family
-   * @param id id
-   * @param hamming hamming
-   * @param decisionMargin dm
-   * @param homography homography
-   * @param centerX centerX
-   * @param centerY centerY
-   * @param corners corners
-   */
-  @SuppressWarnings("PMD.ArrayIsStoredDirectly")
-  public AprilTagDetection(
-      String family,
-      int id,
-      int hamming,
-      float decisionMargin,
-      double[] homography,
-      double centerX,
-      double centerY,
-      double[] corners) {
-    m_family = family;
-    m_id = id;
-    m_hamming = hamming;
-    m_decisionMargin = decisionMargin;
-    m_homography = homography;
-    m_centerX = centerX;
-    m_centerY = centerY;
-    m_corners = corners;
-  }
-
-  @Override
-  public String toString() {
-    return "DetectionResult [centerX="
-        + m_centerX
-        + ", centerY="
-        + m_centerY
-        + ", corners="
-        + Arrays.toString(m_corners)
-        + ", decisionMargin="
-        + m_decisionMargin
-        + ", hamming="
-        + m_hamming
-        + ", homography="
-        + Arrays.toString(m_homography)
-        + ", family="
-        + m_family
-        + ", id="
-        + m_id
-        + "]";
-  }
-}

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

@@ -1,302 +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 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
- * only create one of these, add a family to it, set up any other configuration, and repeatedly call
- * Detect().
- */
-public class AprilTagDetector implements AutoCloseable {
-  /** Detector configuration. */
-  public static class Config {
-    /**
-     * How many threads should be used for computation. Default is single-threaded operation (1
-     * thread).
-     */
-    public 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.
-     */
-    public 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.
-     */
-    public float quadSigma;
-
-    /**
-     * 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.
-     *
-     * <p>Very computationally inexpensive. Option is ignored if quad_decimate = 1.
-     */
-    public boolean 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.
-     */
-    public 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).
-     */
-    public boolean debug;
-
-    /** Default constructor. */
-    public Config() {}
-
-    /**
-     * Constructs a detector configuration.
-     *
-     * @param numThreads How many threads should be used for computation.
-     * @param quadDecimate Quad decimation.
-     * @param quadSigma What Gaussian blur should be applied to the segmented image (used for quad
-     *     detection).
-     * @param refineEdges When true, the edges of the each quad are adjusted to "snap to" strong
-     *     gradients nearby.
-     * @param decodeSharpening How much sharpening should be done to decoded images.
-     * @param debug Debug mode.
-     */
-    Config(
-        int numThreads,
-        float quadDecimate,
-        float quadSigma,
-        boolean refineEdges,
-        double decodeSharpening,
-        boolean debug) {
-      this.numThreads = numThreads;
-      this.quadDecimate = quadDecimate;
-      this.quadSigma = quadSigma;
-      this.refineEdges = refineEdges;
-      this.decodeSharpening = decodeSharpening;
-      this.debug = debug;
-    }
-
-    @Override
-    public int hashCode() {
-      return numThreads
-          + Float.hashCode(quadDecimate)
-          + Float.hashCode(quadSigma)
-          + Boolean.hashCode(refineEdges)
-          + Double.hashCode(decodeSharpening)
-          + Boolean.hashCode(debug);
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-      return obj instanceof Config other
-          && numThreads == other.numThreads
-          && quadDecimate == other.quadDecimate
-          && quadSigma == other.quadSigma
-          && refineEdges == other.refineEdges
-          && decodeSharpening == other.decodeSharpening
-          && debug == other.debug;
-    }
-  }
-
-  /** Quad threshold parameters. */
-  public static class QuadThresholdParameters {
-    /** Threshold used to reject quads containing too few pixels. Default is 300 pixels. */
-    public int minClusterPixels = 300;
-
-    /**
-     * How many corner candidates to consider when segmenting a group of pixels into a quad. Default
-     * is 10.
-     */
-    public int maxNumMaxima = 10;
-
-    /**
-     * Critical angle, in radians. 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.
-     */
-    public double criticalAngle = 45 * Math.PI / 180.0;
-
-    /**
-     * 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.
-     */
-    public float maxLineFitMSE = 10.0f;
-
-    /**
-     * Minimum brightness offset. When we build our model of black &amp; 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.
-     */
-    public int minWhiteBlackDiff = 5;
-
-    /**
-     * Whether the thresholded image be should be deglitched. Only useful for very noisy images.
-     * Default is disabled (false).
-     */
-    public boolean deglitch;
-
-    /** Default constructor. */
-    public QuadThresholdParameters() {}
-
-    /**
-     * Constructs quad threshold parameters.
-     *
-     * @param minClusterPixels Threshold used to reject quads containing too few pixels.
-     * @param maxNumMaxima How many corner candidates to consider when segmenting a group of pixels
-     *     into a quad.
-     * @param criticalAngle Critical angle, in radians.
-     * @param maxLineFitMSE When fitting lines to the contours, the maximum mean squared error
-     *     allowed.
-     * @param minWhiteBlackDiff Minimum brightness offset.
-     * @param deglitch Whether the thresholded image be should be deglitched.
-     */
-    QuadThresholdParameters(
-        int minClusterPixels,
-        int maxNumMaxima,
-        double criticalAngle,
-        float maxLineFitMSE,
-        int minWhiteBlackDiff,
-        boolean deglitch) {
-      this.minClusterPixels = minClusterPixels;
-      this.maxNumMaxima = maxNumMaxima;
-      this.criticalAngle = criticalAngle;
-      this.maxLineFitMSE = maxLineFitMSE;
-      this.minWhiteBlackDiff = minWhiteBlackDiff;
-      this.deglitch = deglitch;
-    }
-
-    @Override
-    public int hashCode() {
-      return minClusterPixels
-          + maxNumMaxima
-          + Double.hashCode(criticalAngle)
-          + Float.hashCode(maxLineFitMSE)
-          + minWhiteBlackDiff
-          + Boolean.hashCode(deglitch);
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-      return obj instanceof QuadThresholdParameters other
-          && minClusterPixels == other.minClusterPixels
-          && maxNumMaxima == other.maxNumMaxima
-          && criticalAngle == other.criticalAngle
-          && maxLineFitMSE == other.maxLineFitMSE
-          && minWhiteBlackDiff == other.minWhiteBlackDiff
-          && deglitch == other.deglitch;
-    }
-  }
-
-  /** Constructs an AprilTagDetector. */
-  @SuppressWarnings("this-escape")
-  public AprilTagDetector() {
-    m_native = AprilTagJNI.createDetector();
-    setQuadThresholdParameters(new QuadThresholdParameters());
-  }
-
-  @Override
-  public void close() {
-    if (m_native != 0) {
-      AprilTagJNI.destroyDetector(m_native);
-    }
-    m_native = 0;
-  }
-
-  /**
-   * Sets detector configuration.
-   *
-   * @param config Configuration
-   */
-  public void setConfig(Config config) {
-    AprilTagJNI.setDetectorConfig(m_native, config);
-  }
-
-  /**
-   * Gets detector configuration.
-   *
-   * @return Configuration
-   */
-  public Config getConfig() {
-    return AprilTagJNI.getDetectorConfig(m_native);
-  }
-
-  /**
-   * Sets quad threshold parameters.
-   *
-   * @param params Parameters
-   */
-  public void setQuadThresholdParameters(QuadThresholdParameters params) {
-    AprilTagJNI.setDetectorQTP(m_native, params);
-  }
-
-  /**
-   * Gets quad threshold parameters.
-   *
-   * @return Parameters
-   */
-  public QuadThresholdParameters getQuadThresholdParameters() {
-    return AprilTagJNI.getDetectorQTP(m_native);
-  }
-
-  /**
-   * Adds a family of tags to be detected.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   * @throws IllegalArgumentException if family name not recognized
-   */
-  public void addFamily(String fam) {
-    addFamily(fam, 2);
-  }
-
-  /**
-   * Adds a family of tags to be detected.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected Maximum number of bits to correct
-   * @throws IllegalArgumentException if family name not recognized
-   */
-  public void addFamily(String fam, int bitsCorrected) {
-    if (!AprilTagJNI.addFamily(m_native, fam, bitsCorrected)) {
-      throw new IllegalArgumentException("unknown family name '" + fam + "'");
-    }
-  }
-
-  /**
-   * Removes a family of tags from the detector.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   */
-  public void removeFamily(String fam) {
-    AprilTagJNI.removeFamily(m_native, fam);
-  }
-
-  /** Unregister all families. */
-  public void clearFamilies() {
-    AprilTagJNI.clearFamilies(m_native);
-  }
-
-  /**
-   * Detect tags from an 8-bit image.
-   *
-   * <p>The image must be grayscale.
-   *
-   * @param img 8-bit OpenCV Mat image
-   * @return Results (array of AprilTagDetection)
-   */
-  public AprilTagDetection[] detect(Mat img) {
-    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), (int) img.step1(), img.dataAddr());
-  }
-
-  private long m_native;
-}

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/java/org/wpilib/vision/apriltag/AprilTagPoseEstimate.java

@@ -1,54 +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 org.wpilib.math.geometry.Transform3d;
-
-/** A pair of AprilTag pose estimates. */
-public class AprilTagPoseEstimate {
-  /**
-   * Constructs a pose estimate.
-   *
-   * @param pose1 first pose
-   * @param pose2 second pose
-   * @param error1 error of first pose
-   * @param error2 error of second pose
-   */
-  public AprilTagPoseEstimate(Transform3d pose1, Transform3d pose2, double error1, double error2) {
-    this.pose1 = pose1;
-    this.pose2 = pose2;
-    this.error1 = error1;
-    this.error2 = error2;
-  }
-
-  /**
-   * Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be
-   * ambiguous.
-   *
-   * @return The ratio of pose reprojection errors.
-   */
-  public double getAmbiguity() {
-    double min = Math.min(error1, error2);
-    double max = Math.max(error1, error2);
-
-    if (max > 0) {
-      return min / max;
-    } else {
-      return -1;
-    }
-  }
-
-  /** Pose 1. */
-  public final Transform3d pose1;
-
-  /** Pose 2. */
-  public final Transform3d pose2;
-
-  /** Object-space error of pose 1. */
-  public final double error1;
-
-  /** Object-space error of pose 2. */
-  public final double error2;
-}

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

@@ -1,194 +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 org.wpilib.math.geometry.Transform3d;
-import org.wpilib.vision.apriltag.jni.AprilTagJNI;
-
-/** Pose estimators for AprilTag tags. */
-public class AprilTagPoseEstimator {
-  /** Configuration for the pose estimator. */
-  public static class Config {
-    /**
-     * Creates a pose estimator configuration.
-     *
-     * @param tagSize tag size, in meters
-     * @param fx camera horizontal focal length, in pixels
-     * @param fy camera vertical focal length, in pixels
-     * @param cx camera horizontal focal center, in pixels
-     * @param cy camera vertical focal center, in pixels
-     */
-    public Config(double tagSize, double fx, double fy, double cx, double cy) {
-      this.tagSize = tagSize;
-      this.fx = fx;
-      this.fy = fy;
-      this.cx = cx;
-      this.cy = cy;
-    }
-
-    /** Tag size, in meters. */
-    public double tagSize;
-
-    /** Camera horizontal focal length, in pixels. */
-    public double fx;
-
-    /** Camera vertical focal length, in pixels. */
-    public double fy;
-
-    /** Camera horizontal focal center, in pixels. */
-    public double cx;
-
-    /** Camera vertical focal center, in pixels. */
-    public double cy;
-
-    @Override
-    public int hashCode() {
-      return Double.hashCode(tagSize)
-          + Double.hashCode(fx)
-          + Double.hashCode(fy)
-          + Double.hashCode(cx)
-          + Double.hashCode(cy);
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-      return obj instanceof Config other
-          && tagSize == other.tagSize
-          && fx == other.fx
-          && fy == other.fy
-          && cx == other.cx
-          && cy == other.cy;
-    }
-  }
-
-  /**
-   * Creates estimator.
-   *
-   * @param config Configuration
-   */
-  public AprilTagPoseEstimator(Config config) {
-    m_config = new Config(config.tagSize, config.fx, config.fy, config.cx, config.cy);
-  }
-
-  /**
-   * Sets estimator configuration.
-   *
-   * @param config Configuration
-   */
-  public void setConfig(Config config) {
-    m_config.tagSize = config.tagSize;
-    m_config.fx = config.fx;
-    m_config.fy = config.fy;
-    m_config.cx = config.cx;
-    m_config.cy = config.cy;
-  }
-
-  /**
-   * Gets estimator configuration.
-   *
-   * @return Configuration
-   */
-  public Config getConfig() {
-    return new Config(m_config.tagSize, m_config.fx, m_config.fy, m_config.cx, m_config.cy);
-  }
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param detection Tag detection
-   * @return Pose estimate
-   */
-  public Transform3d estimateHomography(AprilTagDetection detection) {
-    return estimateHomography(detection.getHomography());
-  }
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param homography Homography 3x3 matrix data
-   * @return Pose estimate
-   */
-  public Transform3d estimateHomography(double[] homography) {
-    return AprilTagJNI.estimatePoseHomography(
-        homography, m_config.tagSize, m_config.fx, m_config.fy, m_config.cx, m_config.cy);
-  }
-
-  /**
-   * Estimates the pose of the tag. This returns one or two possible poses for the tag, along with
-   * the object-space error of each.
-   *
-   * <p>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.
-   *
-   * <p>[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.
-   *
-   * <p>[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
-   *
-   * <p>[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
-   */
-  public AprilTagPoseEstimate estimateOrthogonalIteration(AprilTagDetection detection, int nIters) {
-    return estimateOrthogonalIteration(detection.getHomography(), detection.getCorners(), nIters);
-  }
-
-  /**
-   * 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
-   */
-  public AprilTagPoseEstimate estimateOrthogonalIteration(
-      double[] homography, double[] corners, int nIters) {
-    return AprilTagJNI.estimatePoseOrthogonalIteration(
-        homography,
-        corners,
-        m_config.tagSize,
-        m_config.fx,
-        m_config.fy,
-        m_config.cx,
-        m_config.cy,
-        nIters);
-  }
-
-  /**
-   * 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
-   */
-  public Transform3d estimate(AprilTagDetection detection) {
-    return estimate(detection.getHomography(), detection.getCorners());
-  }
-
-  /**
-   * 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
-   */
-  public Transform3d estimate(double[] homography, double[] corners) {
-    return AprilTagJNI.estimatePose(
-        homography, corners, m_config.tagSize, m_config.fx, m_config.fy, m_config.cx, m_config.cy);
-  }
-
-  private final Config m_config;
-}

apriltag/src/main/java/org/wpilib/vision/apriltag/jni/AprilTagJNI.java

@@ -1,224 +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.jni;
-
-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 {
-  static boolean libraryLoaded = false;
-
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("apriltagjni");
-      } catch (IOException ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Constructs an AprilTag detector engine.
-   *
-   * @return The detector engine handle
-   */
-  public static native long createDetector();
-
-  /**
-   * Destroys an AprilTag detector engine.
-   *
-   * @param det The detector engine handle
-   */
-  public static native void destroyDetector(long det);
-
-  /**
-   * Sets the detector engine configuration.
-   *
-   * @param det The detector engine handle
-   * @param config A configuration
-   */
-  public static native void setDetectorConfig(long det, AprilTagDetector.Config config);
-
-  /**
-   * Gets the detector engine configuration.
-   *
-   * @param det The detector engine handle
-   * @return The configuration
-   */
-  public static native AprilTagDetector.Config getDetectorConfig(long det);
-
-  /**
-   * Sets the detector engine quad threshold parameters.
-   *
-   * @param det The detector engine handle
-   * @param params Quad threshold parameters
-   */
-  public static native void setDetectorQTP(
-      long det, AprilTagDetector.QuadThresholdParameters params);
-
-  /**
-   * Gets the detector engine quad threshold parameters.
-   *
-   * @param det The detector engine handle
-   * @return Quad threshold parameters
-   */
-  public static native AprilTagDetector.QuadThresholdParameters getDetectorQTP(long det);
-
-  /**
-   * Adds a family of tags to be detected by the detector engine.
-   *
-   * @param det The detector engine handle
-   * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected Maximum number of bits to correct
-   * @return False if family can't be found
-   */
-  public static native boolean addFamily(long det, String fam, int bitsCorrected);
-
-  /**
-   * Removes a family of tags from the detector.
-   *
-   * @param det The detector engine handle
-   * @param fam Family name, e.g. "tag16h5"
-   */
-  public static native void removeFamily(long det, String fam);
-
-  /**
-   * Unregister all families.
-   *
-   * @param det The detector engine handle
-   */
-  public static native void clearFamilies(long det);
-
-  /**
-   * Detect tags from an 8-bit image.
-   *
-   * @param det The detector engine handle
-   * @param width The width of the image
-   * @param height The height of the image
-   * @param stride The number of bytes between image rows (often the same as width)
-   * @param bufAddr The address of the image buffer
-   * @return The results (array of AprilTagDetection)
-   */
-  public static native AprilTagDetection[] detect(
-      long det, int width, int height, int stride, long bufAddr);
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param tagSize The tag size, in meters
-   * @param fx The camera horizontal focal length, in pixels
-   * @param fy The camera vertical focal length, in pixels
-   * @param cx The camera horizontal focal center, in pixels
-   * @param cy The camera vertical focal center, in pixels
-   * @return Pose estimate
-   */
-  public static native Transform3d estimatePoseHomography(
-      double[] homography, double tagSize, double fx, double fy, double cx, double cy);
-
-  /**
-   * 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 tagSize The tag size, in meters
-   * @param fx The camera horizontal focal length, in pixels
-   * @param fy The camera vertical focal length, in pixels
-   * @param cx The camera horizontal focal center, in pixels
-   * @param cy The camera vertical focal center, in pixels
-   * @param nIters Number of iterations
-   * @return Initial and (possibly) second pose estimates
-   */
-  public static native AprilTagPoseEstimate estimatePoseOrthogonalIteration(
-      double[] homography,
-      double[] corners,
-      double tagSize,
-      double fx,
-      double fy,
-      double cx,
-      double cy,
-      int nIters);
-
-  /**
-   * 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)
-   * @param tagSize The tag size, in meters
-   * @param fx The camera horizontal focal length, in pixels
-   * @param fy The camera vertical focal length, in pixels
-   * @param cx The camera horizontal focal center, in pixels
-   * @param cy The camera vertical focal center, in pixels
-   * @return Pose estimate
-   */
-  public static native Transform3d estimatePose(
-      double[] homography,
-      double[] corners,
-      double tagSize,
-      double fx,
-      double fy,
-      double cx,
-      double cy);
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
-   *
-   * @param frameObj generated frame (output parameter).
-   * @param frame raw frame handle
-   * @param id id
-   */
-  public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
-   *
-   * @param frameObj generated frame (output parameter).
-   * @param frame raw frame handle
-   * @param id id
-   */
-  public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
-
-  /** Utility class. */
-  private AprilTagJNI() {}
-}

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

@@ -1,61 +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.
-
-#include "wpi/apriltag/AprilTag.hpp"
-
-#include <cstring>
-
-#include "wpi/util/json.hpp"
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-#include "tag16h5.h"
-#include "tag36h11.h"
-
-using namespace wpi::apriltag;
-
-static bool FamilyToImage(wpi::util::RawFrame* frame, apriltag_family_t* family,
-                          int id) {
-  image_u8_t* image = apriltag_to_image(family, id);
-  size_t totalDataSize = image->height * image->stride;
-  bool rv = frame->Reserve(totalDataSize);
-  std::memcpy(frame->data, image->buf, totalDataSize);
-  frame->size = totalDataSize;
-  frame->width = image->width;
-  frame->height = image->height;
-  frame->stride = image->stride;
-  frame->pixelFormat = WPI_PIXFMT_GRAY;
-  image_u8_destroy(image);
-  return rv;
-}
-
-bool AprilTag::Generate36h11AprilTagImage(wpi::util::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) {
-  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 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>();
-}

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

@@ -1,37 +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.
-
-#include "wpi/apriltag/AprilTagDetection.hpp"
-
-#include <type_traits>
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-
-using namespace wpi::apriltag;
-
-static_assert(sizeof(AprilTagDetection) == sizeof(apriltag_detection_t),
-              "structure sizes don't match");
-static_assert(std::is_standard_layout_v<AprilTagDetection>,
-              "AprilTagDetection is not standard layout?");
-
-std::string_view AprilTagDetection::GetFamily() const {
-  return static_cast<const apriltag_family_t*>(family)->name;
-}
-
-std::span<const double, 9> AprilTagDetection::GetHomography() const {
-  return std::span<const double, 9>{static_cast<matd_t*>(H)->data, 9};
-}
-
-Eigen::Matrix3d AprilTagDetection::GetHomographyMatrix() const {
-  return Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
-      static_cast<matd_t*>(H)->data};
-}

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

@@ -1,172 +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.
-
-#include "wpi/apriltag/AprilTagDetector.hpp"
-
-#include <cmath>
-#include <utility>
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-#include "tag16h5.h"
-#include "tag36h11.h"
-
-using namespace wpi::apriltag;
-
-AprilTagDetector::Results::Results(void* impl, const private_init&)
-    : span{reinterpret_cast<AprilTagDetection**>(
-               static_cast<zarray_t*>(impl)->data),
-           static_cast<size_t>(static_cast<zarray_t*>(impl)->size)},
-      m_impl{impl} {}
-
-AprilTagDetector::Results& AprilTagDetector::Results::operator=(Results&& rhs) {
-  Destroy();
-  m_impl = rhs.m_impl;
-  rhs.m_impl = nullptr;
-  return *this;
-}
-
-void AprilTagDetector::Results::Destroy() {
-  if (m_impl) {
-    apriltag_detections_destroy(static_cast<zarray_t*>(m_impl));
-  }
-}
-
-AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {
-  SetQuadThresholdParameters({});
-}
-
-AprilTagDetector& AprilTagDetector::operator=(AprilTagDetector&& rhs) {
-  Destroy();
-  m_impl = rhs.m_impl;
-  rhs.m_impl = nullptr;
-  m_families = std::move(rhs.m_families);
-  rhs.m_families.clear();
-  m_qtpCriticalAngle = rhs.m_qtpCriticalAngle;
-  return *this;
-}
-
-void AprilTagDetector::SetConfig(const Config& config) {
-  auto& impl = *static_cast<apriltag_detector_t*>(m_impl);
-  impl.nthreads = config.numThreads;
-  impl.quad_decimate = config.quadDecimate;
-  impl.quad_sigma = config.quadSigma;
-  impl.refine_edges = config.refineEdges;
-  impl.decode_sharpening = config.decodeSharpening;
-  impl.debug = config.debug;
-}
-
-AprilTagDetector::Config AprilTagDetector::GetConfig() const {
-  auto& impl = *static_cast<apriltag_detector_t*>(m_impl);
-  return {
-      .numThreads = impl.nthreads,
-      .quadDecimate = impl.quad_decimate,
-      .quadSigma = impl.quad_sigma,
-      .refineEdges = impl.refine_edges,
-      .decodeSharpening = impl.decode_sharpening,
-      .debug = impl.debug,
-  };
-}
-
-void AprilTagDetector::SetQuadThresholdParameters(
-    const QuadThresholdParameters& params) {
-  auto& qtp = static_cast<apriltag_detector_t*>(m_impl)->qtp;
-  qtp.min_cluster_pixels = params.minClusterPixels;
-  qtp.max_nmaxima = params.maxNumMaxima;
-  qtp.critical_rad = params.criticalAngle.value();
-  qtp.cos_critical_rad = std::cos(params.criticalAngle.value());
-  qtp.max_line_fit_mse = params.maxLineFitMSE;
-  qtp.min_white_black_diff = params.minWhiteBlackDiff;
-  qtp.deglitch = params.deglitch;
-
-  m_qtpCriticalAngle = params.criticalAngle;
-}
-
-AprilTagDetector::QuadThresholdParameters
-AprilTagDetector::GetQuadThresholdParameters() const {
-  auto& qtp = static_cast<apriltag_detector_t*>(m_impl)->qtp;
-  return {
-      .minClusterPixels = qtp.min_cluster_pixels,
-      .maxNumMaxima = qtp.max_nmaxima,
-      .criticalAngle = m_qtpCriticalAngle,
-      .maxLineFitMSE = qtp.max_line_fit_mse,
-      .minWhiteBlackDiff = qtp.min_white_black_diff,
-      .deglitch = qtp.deglitch != 0,
-  };
-}
-
-bool AprilTagDetector::AddFamily(std::string_view fam, int bitsCorrected) {
-  auto& data = m_families[fam];
-  if (data) {
-    return true;  // already detecting
-  }
-  // create the family
-  if (fam == "tag16h5") {
-    data = tag16h5_create();
-  } else if (fam == "tag36h11") {
-    data = tag36h11_create();
-  }
-  if (!data) {
-    m_families.erase(fam);  // don't keep null value
-    return false;           // can't add
-  }
-  apriltag_detector_add_family_bits(static_cast<apriltag_detector_t*>(m_impl),
-                                    static_cast<apriltag_family_t*>(data),
-                                    bitsCorrected);
-  return true;
-}
-
-void AprilTagDetector::RemoveFamily(std::string_view fam) {
-  auto it = m_families.find(fam);
-  if (it != m_families.end()) {
-    apriltag_detector_remove_family(
-        static_cast<apriltag_detector_t*>(m_impl),
-        static_cast<apriltag_family_t*>(it->second));
-    DestroyFamily(it->first, it->second);
-    m_families.erase(it);
-  }
-}
-
-void AprilTagDetector::ClearFamilies() {
-  apriltag_detector_clear_families(static_cast<apriltag_detector_t*>(m_impl));
-  DestroyFamilies();
-  m_families.clear();
-}
-
-AprilTagDetector::Results AprilTagDetector::Detect(int width, int height,
-                                                   int stride, uint8_t* buf) {
-  image_u8_t img{width, height, stride, buf};
-  return {
-      apriltag_detector_detect(static_cast<apriltag_detector_t*>(m_impl), &img),
-      Results::private_init{}};
-}
-
-void AprilTagDetector::Destroy() {
-  if (m_impl) {
-    apriltag_detector_destroy(static_cast<apriltag_detector_t*>(m_impl));
-  }
-  DestroyFamilies();
-}
-
-void AprilTagDetector::DestroyFamilies() {
-  for (auto&& entry : m_families) {
-    DestroyFamily(entry.first, entry.second);
-  }
-}
-
-void AprilTagDetector::DestroyFamily(std::string_view name, void* data) {
-  auto fam = static_cast<apriltag_family_t*>(data);
-  if (name == "tag16h5") {
-    tag16h5_destroy(fam);
-  } else if (name == "tag36h11") {
-    tag36h11_destroy(fam);
-  }
-}

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

@@ -1,180 +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.
-
-#include "wpi/apriltag/AprilTagFieldLayout.hpp"
-
-#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"
-
-using namespace wpi::apriltag;
-
-AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  auto fileBuffer = wpi::util::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()});
-
-  for (auto&& jtag : json.at("tags").get_array()) {
-    auto tag = jtag.get<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()};
-}
-
-AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                                         wpi::units::meter_t fieldLength,
-                                         wpi::units::meter_t fieldWidth)
-    : m_fieldLength(std::move(fieldLength)),
-      m_fieldWidth(std::move(fieldWidth)) {
-  for (const auto& tag : apriltags) {
-    m_apriltags[tag.ID] = tag;
-  }
-}
-
-wpi::units::meter_t AprilTagFieldLayout::GetFieldLength() const {
-  return m_fieldLength;
-}
-
-wpi::units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
-  return m_fieldWidth;
-}
-
-std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
-  std::vector<AprilTag> tags;
-  tags.reserve(m_apriltags.size());
-  for (const auto& tag : m_apriltags) {
-    tags.emplace_back(tag.second);
-  }
-  return tags;
-}
-
-void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
-  switch (origin) {
-    case OriginPosition::kBlueAllianceWallRightSide:
-      SetOrigin(wpi::math::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}});
-      break;
-    default:
-      throw std::invalid_argument("Invalid origin");
-  }
-}
-
-void AprilTagFieldLayout::SetOrigin(const wpi::math::Pose3d& origin) {
-  m_origin = origin;
-}
-
-wpi::math::Pose3d AprilTagFieldLayout::GetOrigin() const {
-  return m_origin;
-}
-
-std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
-  const auto& it = m_apriltags.find(ID);
-  if (it == m_apriltags.end()) {
-    return std::nullopt;
-  }
-  return it->second.pose.RelativeTo(m_origin);
-}
-
-void AprilTagFieldLayout::Serialize(std::string_view path) {
-  std::error_code error_code;
-
-  wpi::util::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;
-  output << json;
-  output.flush();
-}
-
-void wpi::apriltag::to_json(wpi::util::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));
-}
-
-void wpi::apriltag::from_json(const wpi::util::json& json,
-                              AprilTagFieldLayout& layout) {
-  layout.m_apriltags.clear();
-  for (auto&& jtag : json.at("tags").get_array()) {
-    auto tag = jtag.get<AprilTag>();
-    layout.m_apriltags[tag.ID] = tag;
-  }
-
-  layout.m_fieldLength =
-      wpi::units::meter_t{json.at("field").at("length").get_number()};
-  layout.m_fieldWidth =
-      wpi::units::meter_t{json.at("field").at("width").get_number()};
-}
-
-// Use namespace declaration for forward declaration
-namespace wpi::apriltag {
-
-// C++ generated from resource files
-std::string_view GetResource_2022_rapidreact_json();
-std::string_view GetResource_2023_chargedup_json();
-std::string_view GetResource_2024_crescendo_json();
-std::string_view GetResource_2025_reefscape_welded_json();
-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
-
-AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
-  std::string_view fieldString;
-  switch (field) {
-    case AprilTagField::k2022RapidReact:
-      fieldString = GetResource_2022_rapidreact_json();
-      break;
-    case AprilTagField::k2023ChargedUp:
-      fieldString = GetResource_2023_chargedup_json();
-      break;
-    case AprilTagField::k2024Crescendo:
-      fieldString = GetResource_2024_crescendo_json();
-      break;
-    case AprilTagField::k2025ReefscapeWelded:
-      fieldString = GetResource_2025_reefscape_welded_json();
-      break;
-    case AprilTagField::k2025ReefscapeAndyMark:
-      fieldString = GetResource_2025_reefscape_andymark_json();
-      break;
-    case AprilTagField::k2026RebuiltWelded:
-      fieldString = GetResource_2026_rebuilt_welded_json();
-      break;
-    case AprilTagField::k2026RebuiltAndyMark:
-      fieldString = GetResource_2026_rebuilt_andymark_json();
-      break;
-    case AprilTagField::kNumFields:
-      throw std::invalid_argument("Invalid Field");
-  }
-
-  wpi::util::json json = wpi::util::json::parse_or_throw(fieldString);
-  return json.get<AprilTagFieldLayout>();
-}

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

@@ -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.
-
-#include "wpi/apriltag/AprilTagPoseEstimate.hpp"
-
-#include <algorithm>
-
-using namespace wpi::apriltag;
-
-double AprilTagPoseEstimate::GetAmbiguity() const {
-  auto min = (std::min)(error1, error2);
-  auto max = (std::max)(error1, error2);
-
-  if (max > 0) {
-    return min / max;
-  } else {
-    return -1;
-  }
-}

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

@@ -1,155 +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.
-
-#include "wpi/apriltag/AprilTagPoseEstimator.hpp"
-
-#include <Eigen/QR>
-
-#include "wpi/apriltag/AprilTagDetection.hpp"
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-#include "apriltag_pose.h"
-
-using namespace wpi::apriltag;
-
-static Eigen::Matrix3d OrthogonalizeRotationMatrix(
-    const Eigen::Matrix3d& input) {
-  Eigen::HouseholderQR<Eigen::Matrix3d> qr{input};
-
-  Eigen::Matrix3d Q = qr.householderQ();
-  Eigen::Matrix3d R = qr.matrixQR().triangularView<Eigen::Upper>();
-
-  // Fix signs in R if they're < 0 so it's close to an identity matrix
-  // (our QR decomposition implementation sometimes flips the signs of
-  // columns)
-  for (int colR = 0; colR < 3; ++colR) {
-    if (R(colR, colR) < 0) {
-      for (int rowQ = 0; rowQ < 3; ++rowQ) {
-        Q(rowQ, colR) = -Q(rowQ, colR);
-      }
-    }
-  }
-
-  return Q;
-}
-
-static wpi::math::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(
-              Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
-                  pose.R->data})}};
-}
-
-static apriltag_detection_info_t MakeDetectionInfo(
-    const apriltag_detection_t* det,
-    const AprilTagPoseEstimator::Config& config) {
-  return {const_cast<apriltag_detection_t*>(det),
-          config.tagSize.value(),
-          config.fx,
-          config.fy,
-          config.cx,
-          config.cy};
-}
-
-static apriltag_detection_t MakeBasicDet(
-    std::span<const double, 9> homography,
-    const std::span<const double, 8>* corners) {
-  apriltag_detection_t detection;
-  detection.H = matd_create(3, 3);
-  std::memcpy(detection.H->data, homography.data(), 9 * sizeof(double));
-  if (corners) {
-    for (int i = 0; i < 4; i++) {
-      detection.p[i][0] = (*corners)[i * 2];
-      detection.p[i][1] = (*corners)[i * 2 + 1];
-    }
-  }
-  return detection;
-}
-
-static wpi::math::Transform3d DoEstimateHomography(
-    const apriltag_detection_t* detection,
-    const AprilTagPoseEstimator::Config& config) {
-  auto info = MakeDetectionInfo(detection, config);
-  apriltag_pose_t pose;
-  estimate_pose_for_tag_homography(&info, &pose);
-  return MakePose(pose);
-}
-
-wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
-    const AprilTagDetection& detection) const {
-  return DoEstimateHomography(
-      reinterpret_cast<const apriltag_detection_t*>(&detection), m_config);
-}
-
-wpi::math::Transform3d AprilTagPoseEstimator::EstimateHomography(
-    std::span<const double, 9> homography) const {
-  auto detection = MakeBasicDet(homography, nullptr);
-  auto rv = DoEstimateHomography(&detection, m_config);
-  matd_destroy(detection.H);
-  return rv;
-}
-
-static AprilTagPoseEstimate DoEstimateOrthogonalIteration(
-    const apriltag_detection_t* detection,
-    const AprilTagPoseEstimator::Config& config, int nIters) {
-  auto info = MakeDetectionInfo(detection, config);
-  apriltag_pose_t pose1, pose2;
-  double err1, err2;
-  estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2,
-                                         nIters, 1e-7);
-  return {MakePose(pose1), MakePose(pose2), err1, err2};
-}
-
-AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
-    const AprilTagDetection& detection, int nIters) const {
-  return DoEstimateOrthogonalIteration(
-      reinterpret_cast<const apriltag_detection_t*>(&detection), m_config,
-      nIters);
-}
-
-AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
-    std::span<const double, 9> homography, std::span<const double, 8> corners,
-    int nIters) const {
-  auto detection = MakeBasicDet(homography, &corners);
-  auto rv = DoEstimateOrthogonalIteration(&detection, m_config, nIters);
-  matd_destroy(detection.H);
-  return rv;
-}
-
-static wpi::math::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(
-    const AprilTagDetection& detection) const {
-  return DoEstimate(reinterpret_cast<const apriltag_detection_t*>(&detection),
-                    m_config);
-}
-
-wpi::math::Transform3d AprilTagPoseEstimator::Estimate(
-    std::span<const double, 9> homography,
-    std::span<const double, 8> corners) const {
-  auto detection = MakeBasicDet(homography, &corners);
-  auto rv = DoEstimate(&detection, m_config);
-  matd_destroy(detection.H);
-  return rv;
-}

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

@@ -1,636 +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.
-
-#include <jni.h>
-
-#include <cstdio>
-#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"
-
-using namespace wpi::apriltag;
-using namespace wpi::util::java;
-
-static JavaVM* jvm = nullptr;
-
-static JClass detectionCls;
-static JClass detectorConfigCls;
-static JClass detectorQTPCls;
-static JClass poseEstimateCls;
-static JClass quaternionCls;
-static JClass rotation3dCls;
-static JClass transform3dCls;
-static JClass translation3dCls;
-static JClass rawFrameCls;
-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",
-     &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}};
-
-static const JExceptionInit exceptions[] = {
-    {"java/lang/IllegalArgumentException", &illegalArgEx},
-    {"java/lang/NullPointerException", &nullPointerEx}};
-
-extern "C" {
-
-JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
-  jvm = vm;
-
-  JNIEnv* env;
-  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
-    return JNI_ERR;
-  }
-
-  // Cache references to classes
-  for (auto& c : classes) {
-    *c.cls = JClass(env, c.name);
-    if (!*c.cls) {
-      std::fprintf(stderr, "could not load class %s\n", c.name);
-      return JNI_ERR;
-    }
-  }
-
-  for (auto& c : exceptions) {
-    *c.cls = JException(env, c.name);
-    if (!*c.cls) {
-      std::fprintf(stderr, "could not load exception %s\n", c.name);
-      return JNI_ERR;
-    }
-  }
-
-  return JNI_VERSION_1_6;
-}
-
-JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
-  JNIEnv* env;
-  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
-    return;
-  }
-  // Delete global references
-  for (auto& c : classes) {
-    c.cls->free(env);
-  }
-  for (auto& c : exceptions) {
-    c.cls->free(env);
-  }
-  jvm = nullptr;
-}
-
-}  // extern "C"
-
-//
-// Conversions from Java to C++ objects
-//
-
-static AprilTagDetector::Config FromJavaDetectorConfig(JNIEnv* env,
-                                                       jobject jconfig) {
-  if (!jconfig) {
-    return {};
-  }
-#define FIELD(name, sig)                                          \
-  static jfieldID name##Field = nullptr;                          \
-  if (!name##Field) {                                             \
-    name##Field = env->GetFieldID(detectorConfigCls, #name, sig); \
-  }
-
-  FIELD(numThreads, "I");
-  FIELD(quadDecimate, "F");
-  FIELD(quadSigma, "F");
-  FIELD(refineEdges, "Z");
-  FIELD(decodeSharpening, "D");
-  FIELD(debug, "Z");
-
-#undef FIELD
-
-#define FIELD(ctype, jtype, name) \
-  .name = static_cast<ctype>(env->Get##jtype##Field(jconfig, name##Field))
-
-  return {
-      FIELD(int, Int, numThreads),
-      FIELD(float, Float, quadDecimate),
-      FIELD(float, Float, quadSigma),
-      FIELD(bool, Boolean, refineEdges),
-      FIELD(double, Double, decodeSharpening),
-      FIELD(bool, Boolean, debug),
-  };
-
-#undef GET
-#undef FIELD
-}
-
-static AprilTagDetector::QuadThresholdParameters FromJavaDetectorQTP(
-    JNIEnv* env, jobject jparams) {
-  if (!jparams) {
-    return {};
-  }
-#define FIELD(name, sig)                                       \
-  static jfieldID name##Field = nullptr;                       \
-  if (!name##Field) {                                          \
-    name##Field = env->GetFieldID(detectorQTPCls, #name, sig); \
-  }
-
-  FIELD(minClusterPixels, "I");
-  FIELD(maxNumMaxima, "I");
-  FIELD(criticalAngle, "D");
-  FIELD(maxLineFitMSE, "F");
-  FIELD(minWhiteBlackDiff, "I");
-  FIELD(deglitch, "Z");
-
-#undef FIELD
-
-#define FIELD(ctype, jtype, name) \
-  .name = static_cast<ctype>(env->Get##jtype##Field(jparams, name##Field))
-
-  return {
-      FIELD(int, Int, minClusterPixels),
-      FIELD(int, Int, maxNumMaxima),
-      .criticalAngle = wpi::units::radian_t{static_cast<double>(
-          env->GetDoubleField(jparams, criticalAngleField))},
-      FIELD(float, Float, maxLineFitMSE),
-      FIELD(int, Int, minWhiteBlackDiff),
-      FIELD(bool, Boolean, deglitch),
-  };
-
-#undef GET
-#undef FIELD
-}
-
-//
-// Conversions from C++ to Java objects
-//
-
-static jobject MakeJObject(JNIEnv* env, const AprilTagDetection& detect) {
-  static jmethodID constructor = env->GetMethodID(
-      detectionCls, "<init>", "(Ljava/lang/String;IIF[DDD[D)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jstring> fam{env, MakeJString(env, detect.GetFamily())};
-
-  auto homography = detect.GetHomography();
-  JLocal<jdoubleArray> harr{
-      env, MakeJDoubleArray(
-               env, {reinterpret_cast<const jdouble*>(homography.data()),
-                     homography.size()})};
-
-  double cornersBuf[8];
-  auto corners = detect.GetCorners(cornersBuf);
-  JLocal<jdoubleArray> carr{
-      env,
-      MakeJDoubleArray(env, {reinterpret_cast<const jdouble*>(corners.data()),
-                             corners.size()})};
-
-  auto center = detect.GetCenter();
-
-  return env->NewObject(detectionCls, constructor, fam.obj(),
-                        static_cast<jint>(detect.GetId()),
-                        static_cast<jint>(detect.GetHamming()),
-                        static_cast<jfloat>(detect.GetDecisionMargin()),
-                        harr.obj(), static_cast<jdouble>(center.x),
-                        static_cast<jdouble>(center.y), carr.obj());
-}
-
-static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const AprilTagDetection* const> arr) {
-  jobjectArray jarr = env->NewObjectArray(arr.size(), detectionCls, nullptr);
-  if (!jarr) {
-    return nullptr;
-  }
-  for (size_t i = 0; i < arr.size(); ++i) {
-    JLocal<jobject> elem{env, MakeJObject(env, *arr[i])};
-    env->SetObjectArrayElement(jarr, i, elem.obj());
-  }
-  return jarr;
-}
-
-static jobject MakeJObject(JNIEnv* env,
-                           const AprilTagDetector::Config& config) {
-  static jmethodID constructor =
-      env->GetMethodID(detectorConfigCls, "<init>", "(IFFZDZ)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(detectorConfigCls, constructor,
-                        static_cast<jint>(config.numThreads),
-                        static_cast<jfloat>(config.quadDecimate),
-                        static_cast<jfloat>(config.quadSigma),
-                        static_cast<jboolean>(config.refineEdges),
-                        static_cast<jdouble>(config.decodeSharpening),
-                        static_cast<jboolean>(config.debug));
-}
-
-static jobject MakeJObject(
-    JNIEnv* env, const AprilTagDetector::QuadThresholdParameters& params) {
-  static jmethodID constructor =
-      env->GetMethodID(detectorQTPCls, "<init>", "(IIDFIZ)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(detectorQTPCls, constructor,
-                        static_cast<jint>(params.minClusterPixels),
-                        static_cast<jint>(params.maxNumMaxima),
-                        static_cast<jdouble>(params.criticalAngle),
-                        static_cast<jfloat>(params.maxLineFitMSE),
-                        static_cast<jint>(params.minWhiteBlackDiff),
-                        static_cast<jboolean>(params.deglitch));
-}
-
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Translation3d& xlate) {
-  static jmethodID constructor =
-      env->GetMethodID(translation3dCls, "<init>", "(DDD)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(
-      translation3dCls, constructor, static_cast<jdouble>(xlate.X()),
-      static_cast<jdouble>(xlate.Y()), static_cast<jdouble>(xlate.Z()));
-}
-
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Quaternion& q) {
-  static jmethodID constructor =
-      env->GetMethodID(quaternionCls, "<init>", "(DDDD)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(quaternionCls, constructor, static_cast<jdouble>(q.W()),
-                        static_cast<jdouble>(q.X()),
-                        static_cast<jdouble>(q.Y()),
-                        static_cast<jdouble>(q.Z()));
-}
-
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Rotation3d& rot) {
-  static jmethodID constructor = env->GetMethodID(
-      rotation3dCls, "<init>", "(Lorg/wpilib/math/geometry/Quaternion;)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jobject> q{env, MakeJObject(env, rot.GetQuaternion())};
-  return env->NewObject(rotation3dCls, constructor, q.obj());
-}
-
-static jobject MakeJObject(JNIEnv* env, const wpi::math::Transform3d& xform) {
-  static jmethodID constructor =
-      env->GetMethodID(transform3dCls, "<init>",
-                       "(Lorg/wpilib/math/geometry/Translation3d;"
-                       "Lorg/wpilib/math/geometry/Rotation3d;)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jobject> xlate{env, MakeJObject(env, xform.Translation())};
-  JLocal<jobject> rot{env, MakeJObject(env, xform.Rotation())};
-  return env->NewObject(transform3dCls, constructor, xlate.obj(), rot.obj());
-}
-
-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");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jobject> pose1{env, MakeJObject(env, est.pose1)};
-  JLocal<jobject> pose2{env, MakeJObject(env, est.pose2)};
-  return env->NewObject(poseEstimateCls, constructor, pose1.obj(), pose2.obj(),
-                        static_cast<jdouble>(est.error1),
-                        static_cast<jdouble>(est.error2));
-}
-
-extern "C" {
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    createDetector
- * Signature: ()J
- */
-JNIEXPORT jlong JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_createDetector
-  (JNIEnv* env, jclass)
-{
-  return reinterpret_cast<jlong>(new AprilTagDetector);
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    destroyDetector
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_destroyDetector
-  (JNIEnv* env, jclass, jlong det)
-{
-  delete reinterpret_cast<AprilTagDetector*>(det);
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    setDetectorConfig
- * Signature: (JLjava/lang/Object;)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_setDetectorConfig
-  (JNIEnv* env, jclass, jlong det, jobject config)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->SetConfig(
-      FromJavaDetectorConfig(env, config));
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    getDetectorConfig
- * Signature: (J)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_getDetectorConfig
-  (JNIEnv* env, jclass, jlong det)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return nullptr;
-  }
-  return MakeJObject(env,
-                     reinterpret_cast<AprilTagDetector*>(det)->GetConfig());
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    setDetectorQTP
- * Signature: (JLjava/lang/Object;)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_setDetectorQTP
-  (JNIEnv* env, jclass, jlong det, jobject params)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->SetQuadThresholdParameters(
-      FromJavaDetectorQTP(env, params));
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    getDetectorQTP
- * Signature: (J)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_getDetectorQTP
-  (JNIEnv* env, jclass, jlong det)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return nullptr;
-  }
-  return MakeJObject(
-      env,
-      reinterpret_cast<AprilTagDetector*>(det)->GetQuadThresholdParameters());
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    addFamily
- * Signature: (JLjava/lang/String;I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_addFamily
-  (JNIEnv* env, jclass, jlong det, jstring fam, jint bitsCorrected)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return false;
-  }
-  if (!fam) {
-    nullPointerEx.Throw(env, "fam cannot be null");
-    return false;
-  }
-  return reinterpret_cast<AprilTagDetector*>(det)->AddFamily(
-      JStringRef{env, fam}, bitsCorrected);
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    removeFamily
- * Signature: (JLjava/lang/String;)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_removeFamily
-  (JNIEnv* env, jclass, jlong det, jstring fam)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  if (!fam) {
-    nullPointerEx.Throw(env, "fam cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->RemoveFamily(JStringRef{env, fam});
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    clearFamilies
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_clearFamilies
-  (JNIEnv* env, jclass, jlong det)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->ClearFamilies();
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    detect
- * Signature: (JIIIJ)[Ljava/lang/Object;
- */
-JNIEXPORT jobjectArray JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_detect
-  (JNIEnv* env, jclass, jlong det, jint width, jint height, jint stride,
-   jlong bufAddr)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return nullptr;
-  }
-  if (bufAddr == 0) {
-    nullPointerEx.Throw(env, "bufAddr cannot be null");
-    return nullptr;
-  }
-  return MakeJObject(
-      env, reinterpret_cast<AprilTagDetector*>(det)->Detect(
-               width, height, stride, reinterpret_cast<uint8_t*>(bufAddr)));
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    estimatePoseHomography
- * Signature: ([DDDDDD)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseHomography
-  (JNIEnv* env, jclass, jdoubleArray homography, jdouble tagSize, jdouble fx,
-   jdouble fy, jdouble cx, jdouble cy)
-{
-  if (!homography) {
-    nullPointerEx.Throw(env, "homography cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 9> harr{env, homography};
-  if (harr.size() != 9) {
-    illegalArgEx.Throw(env, "homography array must be size 9");
-    return nullptr;
-  }
-
-  AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.EstimateHomography(harr));
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    estimatePoseOrthogonalIteration
- * Signature: ([D[DDDDDDI)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
-  (JNIEnv* env, jclass, jdoubleArray homography, jdoubleArray corners,
-   jdouble tagSize, jdouble fx, jdouble fy, jdouble cx, jdouble cy, jint nIters)
-{
-  // homography
-  if (!homography) {
-    nullPointerEx.Throw(env, "homography cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 9> harr{env, homography};
-  if (harr.size() != 9) {
-    illegalArgEx.Throw(env, "homography array must be size 9");
-    return nullptr;
-  }
-
-  // corners
-  if (!corners) {
-    nullPointerEx.Throw(env, "corners cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 8> carr{env, corners};
-  if (carr.size() != 8) {
-    illegalArgEx.Throw(env, "corners array must be size 8");
-    return nullptr;
-  }
-
-  AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env,
-                     estimator.EstimateOrthogonalIteration(harr, carr, nIters));
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    estimatePose
- * Signature: ([D[DDDDDD)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_estimatePose
-  (JNIEnv* env, jclass, jdoubleArray homography, jdoubleArray corners,
-   jdouble tagSize, jdouble fx, jdouble fy, jdouble cx, jdouble cy)
-{
-  // homography
-  if (!homography) {
-    nullPointerEx.Throw(env, "homography cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 9> harr{env, homography};
-  if (harr.size() != 9) {
-    illegalArgEx.Throw(env, "homography array must be size 9");
-    return nullptr;
-  }
-
-  // corners
-  if (!corners) {
-    nullPointerEx.Throw(env, "corners cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 8> carr{env, corners};
-  if (carr.size() != 8) {
-    illegalArgEx.Throw(env, "corners array must be size 8");
-    return nullptr;
-  }
-
-  AprilTagPoseEstimator estimator(
-      {wpi::units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.Estimate(harr, carr));
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    generate16h5AprilTagImage
- * Signature: (Ljava/lang/Object;JI)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
-  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
-{
-  auto* frame = reinterpret_cast<wpi::util::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);
-}
-
-/*
- * Class:     org_wpilib_vision_apriltag_jni_AprilTagJNI
- * Method:    generate36h11AprilTagImage
- * Signature: (Ljava/lang/Object;JI)V
- */
-JNIEXPORT void JNICALL
-Java_org_wpilib_vision_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
-  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
-{
-  auto* frame = reinterpret_cast<wpi::util::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);
-}
-
-}  // extern "C"

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/native/resources/org/wpilib/vision/apriltag/2022-rapidreact.json

@@ -1,440 +0,0 @@
-{
-  "tags": [
-    {
-      "ID": 0,
-      "pose": {
-        "translation": {
-          "x": -0.0035306,
-          "y": 7.578928199999999,
-          "z": 0.8858503999999999
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 1,
-      "pose": {
-        "translation": {
-          "x": 3.2327088,
-          "y": 5.486654,
-          "z": 1.7254728
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 2,
-      "pose": {
-        "translation": {
-          "x": 3.067812,
-          "y": 5.3305202,
-          "z": 1.3762228
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 0.7071067811865476,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": -0.7071067811865475
-          }
-        }
-      }
-    },
-    {
-      "ID": 3,
-      "pose": {
-        "translation": {
-          "x": 0.0039878,
-          "y": 5.058536999999999,
-          "z": 0.80645
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 4,
-      "pose": {
-        "translation": {
-          "x": 0.0039878,
-          "y": 3.5124898,
-          "z": 0.80645
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 5,
-      "pose": {
-        "translation": {
-          "x": 0.12110719999999998,
-          "y": 1.7178274,
-          "z": 0.8906002000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 0.9196502204050923,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.39273842708457407
-          }
-        }
-      }
-    },
-    {
-      "ID": 6,
-      "pose": {
-        "translation": {
-          "x": 0.8733027999999999,
-          "y": 0.9412985999999999,
-          "z": 0.8906002000000001
-        },
-        "rotation": {
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-          }
-        }
-      }
-    },
-    {
-      "ID": 7,
-      "pose": {
-        "translation": {
-          "x": 1.6150844,
-          "y": 0.15725139999999999,
-          "z": 0.8906002000000001
-        },
-        "rotation": {
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-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.39273842708457407
-          }
-        }
-      }
-    },
-    {
-      "ID": 10,
-      "pose": {
-        "translation": {
-          "x": 16.4627306,
-          "y": 0.6506718,
-          "z": 0.8858503999999999
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766E-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 11,
-      "pose": {
-        "translation": {
-          "x": 13.2350002,
-          "y": 2.743454,
-          "z": 1.7254728
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-    },
-    {
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-      "pose": {
-        "translation": {
-          "x": 13.391388000000001,
-          "y": 2.8998418,
-          "z": 1.3762228
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 0.7071067811865476,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865475
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-        }
-      }
-    },
-    {
-      "ID": 13,
-      "pose": {
-        "translation": {
-          "x": 16.4552122,
-          "y": 3.1755079999999998,
-          "z": 0.80645
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-        "rotation": {
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-          }
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-    },
-    {
-      "ID": 14,
-      "pose": {
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-          "y": 4.7171356,
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-    {
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-      "pose": {
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-          "x": 16.3350194,
-          "y": 6.5149729999999995,
-          "z": 0.8937752
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-        "rotation": {
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-    },
-    {
-      "ID": 16,
-      "pose": {
-        "translation": {
-          "x": 15.5904946,
-          "y": 7.292695599999999,
-          "z": 0.8906002000000001
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-        "rotation": {
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-        }
-      }
-    },
-    {
-      "ID": 17,
-      "pose": {
-        "translation": {
-          "x": 14.847188999999998,
-          "y": 8.0691228,
-          "z": 0.8906002000000001
-        },
-        "rotation": {
-          "quaternion": {
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-          }
-        }
-      }
-    },
-    {
-      "ID": 40,
-      "pose": {
-        "translation": {
-          "x": 7.874127,
-          "y": 4.9131728,
-          "z": 0.7032752
-        },
-        "rotation": {
-          "quaternion": {
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-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.838670567945424
-          }
-        }
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-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 26,
-      "pose": {
-        "translation": {
-          "x": 4.0218614,
-          "y": 4.0346376,
-          "z": 1.12395
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 27,
-      "pose": {
-        "translation": {
-          "x": 4.2700194,
-          "y": 3.4312351999999997,
-          "z": 1.12395
-        },
-        "rotation": {
-          "quaternion": {
-            "W": -0.7071067811865475,
-            "X": -0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865476
-          }
-        }
-      }
-    },
-    {
-      "ID": 28,
-      "pose": {
-        "translation": {
-          "x": 4.5881798,
-          "y": 0.6444996,
-          "z": 0.889
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
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-      }
-    },
-    {
-      "ID": 29,
-      "pose": {
-        "translation": {
-          "x": 0.0077469999999999995,
-          "y": 0.6659626,
-          "z": 0.55245
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 30,
-      "pose": {
-        "translation": {
-          "x": 0.0077469999999999995,
-          "y": 1.0977626,
-          "z": 0.55245
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-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
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-      }
-    },
-    {
-      "ID": 31,
-      "pose": {
-        "translation": {
-          "x": 0.0080772,
-          "y": 3.7457125999999996,
-          "z": 0.55245
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 32,
-      "pose": {
-        "translation": {
-          "x": 0.0080772,
-          "y": 4.1775126,
-          "z": 0.55245
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    }
-  ],
-  "field": {
-    "length": 16.541,
-    "width": 8.069
-  }
-}

apriltag/src/main/native/thirdparty/apriltag/include/apriltag.h

@@ -1,276 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. 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.
-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.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdlib.h>
-
-#include "common/matd.h"
-#include "common/image_u8.h"
-#include "common/zarray.h"
-#include "common/workerpool.h"
-#include "common/timeprofile.h"
-#include "common/pthreads_cross.h"
-
-#define APRILTAG_TASKS_PER_THREAD_TARGET 10
-
-struct quad
-{
-    float p[4][2]; // corners
-
-    bool reversed_border;
-
-    // H: tag coordinates ([-1,1] at the black corners) to pixels
-    // Hinv: pixels to tag
-    matd_t *H, *Hinv;
-};
-
-// Represents a tag family. Every tag belongs to a tag family. Tag
-// families are generated by the Java tool
-// april.tag.TagFamilyGenerator and can be converted to C using
-// april.tag.TagToC.
-typedef struct apriltag_family apriltag_family_t;
-struct apriltag_family
-{
-    // How many codes are there in this tag family?
-    uint32_t ncodes;
-
-    // The codes in the family.
-    uint64_t *codes;
-
-    int width_at_border;
-    int total_width;
-    bool reversed_border;
-
-    // The bit locations.
-    uint32_t nbits;
-    uint32_t *bit_x;
-    uint32_t *bit_y;
-
-    // minimum hamming distance between any two codes. (e.g. 36h11 => 11)
-    uint32_t h;
-
-    // a human-readable name, e.g., "tag36h11"
-    char *name;
-
-    // some detector implementations may preprocess codes in order to
-    // accelerate decoding.  They put their data here. (Do not use the
-    // same apriltag_family instance in more than one implementation)
-    void *impl;
-};
-
-
-struct apriltag_quad_thresh_params
-{
-    // reject quads containing too few pixels
-    int min_cluster_pixels;
-
-    // how many corner candidates to consider when segmenting a group
-    // of pixels into a quad.
-    int max_nmaxima;
-
-    // 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. (In radians).
-    float critical_rad;
-    float cos_critical_rad;
-
-    // When fitting lines to the contours, what is 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.
-    float max_line_fit_mse;
-
-    // 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]). .
-    int min_white_black_diff;
-
-    // should the thresholded image be deglitched? Only useful for
-    // very noisy images
-    int deglitch;
-};
-
-// Represents a detector object. Upon creating a detector, all fields
-// are set to reasonable values, but can be overridden by accessing
-// these fields.
-typedef struct apriltag_detector apriltag_detector_t;
-struct apriltag_detector
-{
-    ///////////////////////////////////////////////////////////////
-    // User-configurable parameters.
-
-    // How many threads should be used?
-    int nthreads;
-
-    // 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. .
-    float quad_decimate;
-
-    // What Gaussian blur should be applied to the segmented image
-    // (used for quad detection?)  Parameter is the standard deviation
-    // in pixels.  Very noisy images benefit from non-zero values
-    // (e.g. 0.8).
-    float quad_sigma;
-
-    // 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).
-    //
-    // Very computationally inexpensive. Option is ignored if
-    // quad_decimate = 1.
-    bool refine_edges;
-
-    // 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.
-    //
-    // The default value is 0.25.
-    double decode_sharpening;
-
-    // When true, write a variety of debugging images to the
-    // current working directory at various stages through the
-    // detection process. (Somewhat slow).
-    bool debug;
-
-    struct apriltag_quad_thresh_params qtp;
-
-    ///////////////////////////////////////////////////////////////
-    // Statistics relating to last processed frame
-    timeprofile_t *tp;
-
-    uint32_t nedges;
-    uint32_t nsegments;
-    uint32_t nquads;
-
-    ///////////////////////////////////////////////////////////////
-    // Internal variables below
-
-    // Not freed on apriltag_destroy; a tag family can be shared
-    // between multiple users. The user should ultimately destroy the
-    // tag family passed into the constructor.
-    zarray_t *tag_families;
-
-    // Used to manage multi-threading.
-    workerpool_t *wp;
-
-    // Used for thread safety.
-    pthread_mutex_t mutex;
-};
-
-// Represents the detection of a tag. These are returned to the user
-// and must be individually destroyed by the user.
-typedef struct apriltag_detection apriltag_detection_t;
-struct apriltag_detection
-{
-    // a pointer for convenience. not freed by apriltag_detection_destroy.
-    apriltag_family_t *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. This matrix will be freed by
-    // apriltag_detection_destroy.
-    matd_t *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];
-};
-
-// don't forget to add a family!
-apriltag_detector_t *apriltag_detector_create(void);
-
-// add a family to the apriltag detector. caller still "owns" the family.
-// a single instance should only be provided to one apriltag detector instance.
-void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected);
-
-// Tunable, but really, 2 is a good choice. Values of >=3
-// consume prohibitively large amounts of memory, and otherwise
-// you want the largest value possible.
-static inline void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam)
-{
-    apriltag_detector_add_family_bits(td, fam, 2);
-}
-
-// does not deallocate the family.
-void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam);
-
-// unregister all families, but does not deallocate the underlying tag family objects.
-void apriltag_detector_clear_families(apriltag_detector_t *td);
-
-// Destroy the april tag detector (but not the underlying
-// apriltag_family_t used to initialize it.)
-void apriltag_detector_destroy(apriltag_detector_t *td);
-
-// Detect tags from an image and return an array of
-// apriltag_detection_t*. You can use apriltag_detections_destroy to
-// free the array and the detections it contains, or call
-// _detection_destroy and zarray_destroy yourself.
-zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig);
-
-// Call this method on each of the tags returned by apriltag_detector_detect
-void apriltag_detection_destroy(apriltag_detection_t *det);
-
-// destroys the array AND the detections within it.
-void apriltag_detections_destroy(zarray_t *detections);
-
-// Renders the apriltag.
-// Caller is responsible for calling image_u8_destroy on the image
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx);
-
-#ifdef __cplusplus
-}
-#endif

apriltag/src/main/native/thirdparty/apriltag/include/apriltag_math.h

@@ -1,101 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. 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.
-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.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#include <math.h>
-
-// Computes the cholesky factorization of A, putting the lower
-// triangular matrix into R.
-static inline void mat33_chol(const double *A,
-                              double *R)
-{
-    // A[0] = R[0]*R[0]
-    R[0] = sqrt(A[0]);
-
-    // A[1] = R[0]*R[3];
-    R[3] = A[1] / R[0];
-
-    // A[2] = R[0]*R[6];
-    R[6] = A[2] / R[0];
-
-    // A[4] = R[3]*R[3] + R[4]*R[4]
-    R[4] = sqrt(A[4] - R[3]*R[3]);
-
-    // A[5] = R[3]*R[6] + R[4]*R[7]
-    R[7] = (A[5] - R[3]*R[6]) / R[4];
-
-    // A[8] = R[6]*R[6] + R[7]*R[7] + R[8]*R[8]
-    R[8] = sqrt(A[8] - R[6]*R[6] - R[7]*R[7]);
-
-    R[1] = 0;
-    R[2] = 0;
-    R[5] = 0;
-}
-
-static inline void mat33_lower_tri_inv(const double *A,
-                                       double *R)
-{
-    // A[0]*R[0] = 1
-    R[0] = 1 / A[0];
-
-    // A[3]*R[0] + A[4]*R[3] = 0
-    R[3] = -A[3]*R[0] / A[4];
-
-    // A[4]*R[4] = 1
-    R[4] = 1 / A[4];
-
-    // A[6]*R[0] + A[7]*R[3] + A[8]*R[6] = 0
-    R[6] = (-A[6]*R[0] - A[7]*R[3]) / A[8];
-
-    // A[7]*R[4] + A[8]*R[7] = 0
-    R[7] = -A[7]*R[4] / A[8];
-
-    // A[8]*R[8] = 1
-    R[8] = 1 / A[8];
-}
-
-
-static inline void mat33_sym_solve(const double *A,
-                                   const double *B,
-                                   double *R)
-{
-    double L[9];
-    mat33_chol(A, L);
-
-    double M[9];
-    mat33_lower_tri_inv(L, M);
-
-    double tmp[3];
-    tmp[0] = M[0]*B[0];
-    tmp[1] = M[3]*B[0] + M[4]*B[1];
-    tmp[2] = M[6]*B[0] + M[7]*B[1] + M[8]*B[2];
-
-    R[0] = M[0]*tmp[0] + M[3]*tmp[1] + M[6]*tmp[2];
-    R[1] = M[4]*tmp[1] + M[7]*tmp[2];
-    R[2] = M[8]*tmp[2];
-}

apriltag/src/main/native/thirdparty/apriltag/include/apriltag_pose.h

@@ -1,81 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-#include "apriltag.h"
-#include "common/matd.h"
-
-typedef struct {
-    apriltag_detection_t* det;
-    double tagsize; // In meters.
-    double fx; // In pixels.
-    double fy; // In pixels.
-    double cx; // In pixels.
-    double cy; // In pixels.
-} apriltag_detection_info_t;
-
-/**
- * This struct holds the transformation from the camera optical frame to
- * the April tag frame. The pose refers to the position of the tag within
- * the camera frame.
- */
-typedef struct {
-    matd_t* R; // Rotation matrix 3x3 of doubles.
-    matd_t* t; // Translation matrix 3x1 of doubles.
-} apriltag_pose_t;
-
-/**
- * Estimate pose of the tag using the homography method described in [1].
- * @outparam pose
- */
-void estimate_pose_for_tag_homography(
-        apriltag_detection_info_t* info,
-        apriltag_pose_t* pose);
-
-/**
- * Estimate 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
- *
- * @outparam err1, pose1, err2, pose2
- */
-void estimate_tag_pose_orthogonal_iteration(
-        apriltag_detection_info_t* info,
-        double* err1,
-        apriltag_pose_t* pose1,
-        double* err2,
-        apriltag_pose_t* pose2,
-        int nIters,
-        double min_improvement_per_iteration);
-
-/**
- * Estimate tag pose.
- * This method is an easier to use interface to estimate_tag_pose_orthogonal_iteration.
- *
- * @outparam pose 
- * @return Object-space error of returned pose.
- */
-double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose);
-
-#ifdef __cplusplus
-}
-#endif
-

apriltag/src/main/native/thirdparty/apriltag/include/common/debug_print.h

@@ -1,41 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. 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.
-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.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-#pragma once
-
-#if !defined(NDEBUG) || defined(_DEBUG)
-
-#include <string.h>
-#include <stdio.h>
-#define DEBUG 1
-
-#else
-#define DEBUG 0
-#endif
-
-#define debug_print(fmt, ...) \
-        do { if (DEBUG) fprintf(stderr, "%s:%d:%s(): " fmt, strrchr("/"__FILE__,'/')+1, \
-                                __LINE__, __func__, ##__VA_ARGS__); fflush(stderr);} while (0)