[wpimath] Fix UnscentedKalmanFilter and improve math docs (#7850)

Throughout the code the state sqrt covariance S and innovation covariance Sy are maintained as upper triangular cholesky factors of those covariance matrices. The original paper defines P=S*S', so S should be lower triangular. The functions in the paper reflect this. In the code implementation, the sqrt covariance matrices are upper triangular, but the algorithm expects them to be lower triangular.

This bug was likely missed because the incorrect version of the filter is able to converge for some systems where all the states are observed, and the test case is set up such that all states are observed.

To fix the bug, a couple things needed to be changed:
all instances of rankUpdate() needed to be changed to use the lower triangular cholesky factor,
In the unscented transform, when S is found via QR decomposition, we need to take the transpose because R is upper triangular,
P() and SetP() functions need to be modified to be P=S*S' instead of P=S'*S, and P.llt().matrixL() instead of P.llt().matrixU() respectively.

Each part of the algorithm has also had the comments changed to clarify exactly which equation from the paper it implements.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

.bazelignore

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

.bazelrc

@@ -0,0 +1,57 @@
+try-import %workspace%/bazel_auth.rc
+try-import %workspace%/user.bazelrc
+
+common --noenable_bzlmod
+
+build --java_language_version=17
+build --java_runtime_version=roboriojdk_17
+build --tool_java_language_version=17
+build --tool_java_runtime_version=remotejdk_17
+
+test --test_output=errors
+test --test_verbose_timeout_warnings
+
+import shared/bazel/compiler_flags/sanitizers.rc
+import shared/bazel/compiler_flags/base_linux_flags.rc
+import shared/bazel/compiler_flags/linux_flags.rc
+import shared/bazel/compiler_flags/osx_flags.rc
+import shared/bazel/compiler_flags/roborio_flags.rc
+import shared/bazel/compiler_flags/systemcore_flags.rc
+import shared/bazel/compiler_flags/windows_flags.rc
+import 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
+
+# Build Buddy Cache Setup
+build:build_buddy --bes_results_url=https://app.buildbuddy.io/invocation/
+build:build_buddy --bes_backend=grpcs://remote.buildbuddy.io
+build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
+build:build_buddy --remote_timeout=3600
+
+# Additional suggestions from buildbuddy for speed
+build:build_buddy --experimental_remote_cache_compression
+build:build_buddy --experimental_remote_cache_compression_threshold=100
+build:build_buddy --noslim_profile
+build:build_buddy --experimental_profile_include_target_label
+build:build_buddy --experimental_profile_include_primary_output
+build:build_buddy --nolegacy_important_outputs
+
+common:build_buddy_readonly --noremote_upload_local_results
+
+# This config should be used locally. It downloads more than the CI version
+build:remote_user --config=build_buddy
+build:remote_user --config=build_buddy_readonly
+build:remote_user --remote_download_toplevel
+
+build:ci --config=build_buddy
+build:ci --remote_download_minimal
+
+build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git

.bazelversion

@@ -0,0 +1 @@
+7.3.1

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 AllowAllParametersOfDeclarationOnNextLine: true
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+AllowShortEnumsOnASingleLine: true
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+AllowShortLambdasOnASingleLine: All
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+AttributeMacros:
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+BreakBeforeConceptDeclarations: Always
+BreakBeforeBraces: Attach
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+BreakInheritanceList: BeforeColon
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+EmptyLineAfterAccessModifier: Never
+EmptyLineBeforeAccessModifier: LogicalBlock
 ExperimentalAutoDetectBinPacking: false
 FixNamespaceComments: true
 ForEachMacros:
   - foreach
   - Q_FOREACH
   - BOOST_FOREACH
+IfMacros:
+  - KJ_IF_MAYBE
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 IncludeCategories:
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+    CaseSensitive:   false
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+    CaseSensitive:   false
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+    CaseSensitive:   false
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 IndentPPDirectives: None
+IndentRequiresClause: true
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 IndentWrappedFunctionNames: false
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+InsertNewlineAtEOF: false
+InsertTrailingCommas: None
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 JavaScriptWrapImports: true
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+LineEnding:      DeriveLF
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
+Macros:
+  - 'HAL_ENUM(name)=enum name'
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCBinPackProtocolList: Never
 ObjCBlockIndentWidth: 2
+ObjCBreakBeforeNestedBlockParam: true
 ObjCSpaceAfterProperty: false
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   - Language:        Cpp
     Delimiters:
@@ -132,34 +200,72 @@ RawStringFormats:
       - PARSE_TEXT_PROTO
       - ParseTextOrDie
       - ParseTextProtoOrDie
-    CanonicalDelimiter: ''
+      - ParseTestProto
+      - ParsePartialTestProto
+    CanonicalDelimiter: pb
     BasedOnStyle:    google
+ReferenceAlignment: Pointer
 ReflowComments:  true
+RemoveBracesLLVM: false
+RemoveParentheses: Leave
+RemoveSemicolon: false
+RequiresClausePosition: OwnLine
+RequiresExpressionIndentation: OuterScope
+SeparateDefinitionBlocks: Leave
+ShortNamespaceLines: 1
 SortIncludes:    false
-SortUsingDeclarations: true
+SortJavaStaticImport: Before
+SortUsingDeclarations: LexicographicNumeric
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+SpaceAroundPointerQualifiers: Default
 SpaceBeforeAssignmentOperators: true
+SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
+SpaceBeforeJsonColon: false
 SpaceBeforeParens: ControlStatements
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+  AfterControlStatements: true
+  AfterForeachMacros: true
+  AfterFunctionDefinitionName: false
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 SpaceBeforeRangeBasedForLoopColon: true
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-SpacesInParentheses: false
-SpacesInSquareBrackets: false
 SpaceBeforeSquareBrackets: false
-Standard:        c++17
+SpaceInEmptyBlock: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  Never
+SpacesInContainerLiterals: true
+SpacesInLineCommentPrefix:
+  Minimum:         1
+  Maximum:         -1
+SpacesInParens:  Never
+SpacesInParensOptions:
+  InCStyleCasts:   false
+  InConditionalStatements: false
+  InEmptyParentheses: false
+  Other:           false
+SpacesInSquareBrackets: false
+Standard:        c++20
+StatementAttributeLikeMacros:
+  - Q_EMIT
 StatementMacros:
   - Q_UNUSED
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseTab:          Never
+VerilogBreakBetweenInstancePorts: true
+WhitespaceSensitiveMacros:
+  - BOOST_PP_STRINGIZE
+  - CF_SWIFT_NAME
+  - NS_SWIFT_NAME
+  - PP_STRINGIZE
+  - STRINGIZE
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.clang-tidy

@@ -35,7 +35,6 @@ Checks:
   bugprone-unhandled-self-assignment,
   bugprone-unused-raii,
   bugprone-virtual-near-miss,
-  cert-dcl58-cpp,
   cert-err52-cpp,
   cert-err60-cpp,
   cert-mem57-cpp,
@@ -50,7 +49,6 @@ Checks:
   google-build-namespaces,
   google-explicit-constructor,
   google-global-names-in-headers,
-  google-readability-avoid-underscore-in-googletest-name,
   google-readability-casting,
   google-runtime-operator,
   misc-definitions-in-headers,

.gersemirc

@@ -0,0 +1,6 @@
+color: false
+definitions: [cmake/modules]
+line_length: 100
+list_expansion: favour-inlining
+quiet: false
+unsafe: false

.gitattributes

@@ -1,4 +1,30 @@
+*.adoc text eol=lf
+*.c text eol=lf
+*.cmake text eol=lf
+*.clang-format text eol=lf
+*.clang-tidy 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
+*.json text eol=lf
+*.m text eol=lf
 *.md text eol=lf
+*.mm text eol=lf
+*.patch text eol=lf
+*.plist text eol=lf
+*.proto text eol=lf
+*.py text eol=lf
+*.styleguide text eol=lf
+*.txt text eol=lf
 *.xml text eol=lf
+*.yaml text eol=lf
+*.yml text eol=lf
+
+# Generated files
+*/src/generated/** linguist-generated

.github/CODEOWNERS

@@ -29,8 +29,6 @@
 
 /wpilibNewCommands/  @wpilibsuite/commandbased
 
-/wpilibOldCommands/  @wpilibsuite/commandbased
-
 /wpilibcExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation
 
 /wpilibjExamples/  @wpilibsuite/wpilib @wpilibsuite/documentation

.github/ISSUE_TEMPLATE/bug_report.md

@@ -2,7 +2,7 @@
 name: Bug report
 about: Create a report to help us improve
 title: ''
-labels: bug
+labels: 'type: bug'
 assignees: ''
 
 ---
@@ -15,6 +15,8 @@ Steps to reproduce the behavior:
 1. ...
 2. ...
 
+ - Link to code:
+
 **Expected behavior**
 A clear and concise description of what you expected to happen.
 
@@ -22,10 +24,8 @@ A clear and concise description of what you expected to happen.
 If applicable, add screenshots to help explain your problem.
 
 **Desktop (please complete the following information):**
- - WPILib Version: [e.g. 2021.3.1]
  - OS: [e.g. Windows 11]
- - Java version [e.g. 1.10.2]
- - C++ version [e.g. 17]
+ - 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

@@ -2,7 +2,7 @@
 name: Feature request
 about: Suggest an idea for this project
 title: ''
-labels: enhancement
+labels: 'type: feature'
 assignees: ''
 
 ---

.github/ISSUE_TEMPLATE/question.md

@@ -2,7 +2,7 @@
 name: Question
 about: Ask about features or parts of this project
 title: ''
-labels: ''
+labels: 'type: support'
 assignees: ''
 
 ---

.github/actions/pregen/action.yml

@@ -0,0 +1,65 @@
+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@v5
+      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 hal
+      run: ./hal/generate_usage_reporting.py
+      shell: bash
+
+    - name: Regenerate ntcore
+      run: ./ntcore/generate_topics.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
+        ./wpilibNewCommands/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: ./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 wpiunits
+      run: ./wpiunits/generate_units.py
+      shell: bash
+
+    - name: Regenerate wpiutil nanopb
+      run: ./wpiutil/generate_nanopb.py
+      shell: bash

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

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

.github/labeler.yml

@@ -0,0 +1,65 @@
+'2027':
+- base-branch: '2027'
+'component: apriltag':
+- changed-files:
+  - any-glob-to-any-file: apriltag/**
+'component: command-based':
+- changed-files:
+  - any-glob-to-any-file: wpilibNewCommands/**
+'component: cscore':
+- changed-files:
+  - any-glob-to-any-file: cscore/**
+'component: datalogtool':
+- changed-files:
+  - any-glob-to-any-file: datalogtool/**
+'component: epilogue':
+- changed-files:
+  - any-glob-to-any-file: epilogue-*/**
+'component: examples':
+- changed-files:
+  - any-glob-to-any-file: wpilib*Examples/**
+'component: glass':
+- changed-files:
+  - any-glob-to-any-file: glass/**
+'component: hal':
+- changed-files:
+  - any-glob-to-any-file: hal/**
+'component: ntcore':
+- changed-files:
+  - any-glob-to-any-file: ntcore/**
+'component: outlineviewer':
+- changed-files:
+  - any-glob-to-any-file: outlineviewer/**
+'component: sysid':
+- changed-files:
+  - any-glob-to-any-file: sysid/**
+'component: teamnumbersetter':
+- changed-files:
+  - any-glob-to-any-file: roborioteamnumbersetter/**
+'component: wpilibc':
+- changed-files:
+  - any-glob-to-any-file: wpilibc/**
+'component: wpilibj':
+- changed-files:
+  - any-glob-to-any-file: wpilibj/**
+'component: wpimath':
+- changed-files:
+  - any-glob-to-any-file: wpimath/**
+'component: wpinet':
+- changed-files:
+  - any-glob-to-any-file: wpinet/**
+'component: wpiunits':
+- changed-files:
+  - any-glob-to-any-file: wpiunits/**
+'component: wpiutil':
+- changed-files:
+  - any-glob-to-any-file: wpiutil/**
+'component: wpical':
+- changed-files:
+  - any-glob-to-any-file: wpical/**
+'component: usage reporting':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**
+'attn: NI':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**

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

@@ -0,0 +1,23 @@
+{
+  "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

@@ -0,0 +1,29 @@
+{
+  "files": [
+    {
+      "aql": {
+        "items.find": {
+          "repo": "wpilib-mvn-development-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

@@ -0,0 +1,33 @@
+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@v4
+        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@v4
+        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

@@ -0,0 +1,109 @@
+name: Bazel
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-windows:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Windows (native)",             os: windows-2022, action: "test",  config: "--config=windows",     }
+          - { name: "Windows (arm)",                os: windows-2022, action: "build", config: "--config=windows_arm", }
+
+    name: "Build ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 17
+          architecture: x64
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build Release
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
+        shell: bash
+
+  build-mac:
+    name: "Mac"
+    runs-on: macos-14
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build Release
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v3
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: Build and Test Release
+        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Set up Go 1.15.x
+        uses: actions/setup-go@v5
+        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@v4
+        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 > bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.platform }}-bazel-lint-fixes
+          path: bazel-lint-fixes.patch
+        if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -0,0 +1,51 @@
+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-22.04
+            name: Android Arm64
+            abi: arm64-v8a
+          - os: ubuntu-22.04
+            name: Android X64
+            abi: "x86_64"
+
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r27c
+          add-to-path: false
+
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.5
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - name: configure
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+
+      - name: build
+        run: cmake --build build-cmake --parallel $(nproc)

.github/workflows/cmake.yml

@@ -6,6 +6,10 @@ 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:
@@ -14,43 +18,68 @@ jobs:
         include:
           - os: ubuntu-22.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2023-22.04
-            flags: ""
-          - os: macOS-11
+            container: wpilib/roborio-cross-ubuntu:2025-22.04
+            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+          - os: macOS-14
             name: macOS
             container: ""
-            flags: "-DWITH_JAVA=OFF"
+            env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
+            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
+          - os: windows-2022
+            name: Windows
+            container: ""
+            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$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:
-      - uses: actions/checkout@v3
-
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Install opencv (macOS)
-        run: brew install opencv
+      - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
+        run: brew install opencv protobuf@3 ninja
 
-      - name: Set up Python 3.8 (macOS)
-        if: runner.os == 'macOS'
-        uses: actions/setup-python@v4
+      - 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@v0.0.5
+
+      - uses: actions/checkout@v4
+
+      - name: Run vcpkg (Windows only)
+        if: runner.os == 'Windows'
+        uses: lukka/run-vcpkg@v11.5
         with:
-          python-version: 3.8
-
-      - name: Install jinja
-        run: python -m pip install jinja2
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
+          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
 
       - name: configure
-        run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
+        run: cmake ${{ matrix.flags }}
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
-        working-directory: build
-        run: cmake --build . --parallel $(nproc)
+        run: cmake --build build-cmake --parallel $(nproc)
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
-        working-directory: build
+        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/command-robotpy-pr.yml

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

.github/workflows/comment-command.yml

@@ -1,64 +0,0 @@
-name: Comment Commands
-on:
-  issue_comment:
-    types: [ created ]
-
-jobs:
-  format:
-    if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/format')
-    runs-on: ubuntu-22.04
-    steps:
-      - name: React Rocket
-        uses: actions/github-script@v4
-        with:
-          script: |
-            const {owner, repo} = context.issue
-            github.reactions.createForIssueComment({
-              owner,
-              repo,
-              comment_id: context.payload.comment.id,
-              content: "rocket",
-            });
-      - uses: actions/checkout@v3
-        with:
-          token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
-      - name: Fetch all history and metadata
-        run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Checkout PR
-        run: |
-          gh pr checkout $NUMBER
-        env:
-          GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
-          NUMBER: ${{ github.event.issue.number }}
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v2
-        with:
-          python-version: 3.8
-      - name: Setup Java
-        uses: actions/setup-java@v3
-        with:
-          distribution: 'zulu'
-          java-version: 11
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
-      - name: Install wpiformat
-        run: pip3 install wpiformat
-      - name: Run wpiformat
-        run: wpiformat -clang 14
-      - name: Run spotlessApply
-        run: ./gradlew spotlessApply
-      - name: Commit
-        run: |
-          # Set credentials
-          git config user.name "github-actions[bot]"
-          git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
-          # Commit
-          git commit -am "Formatting fixes"
-          git push

.github/workflows/documentation.yml

@@ -13,52 +13,55 @@ jobs:
   publish:
     name: "Documentation - Publish"
     runs-on: ubuntu-22.04
-    if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
     concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           persist-credentials: false
-      - uses: actions/setup-java@v3
+      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 17
       - name: Set environment variables (Development)
         run: |
-          echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
+          echo "BRANCH=development" >> $GITHUB_ENV
         if: github.ref == 'refs/heads/main'
       - name: Set environment variables (Tag)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+          echo "BRANCH=beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Set environment variables (Release)
         run: |
           echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "TARGET_FOLDER=$BASE_PATH/release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
+          echo "BRANCH=release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.7.0
+        uses: webfactory/ssh-agent@v0.9.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy Java 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
         with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/javadoc
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/java
-      - name: Deploy C++ 🚀
-        uses: JamesIves/github-pages-deploy-action@3.7.1
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/build/docs
+      - name: Trigger Workflow
+        uses: actions/github-script@v7
         with:
-          SSH: true
-          REPOSITORY_NAME: wpilibsuite/wpilibsuite.github.io
-          BRANCH: main
-          CLEAN: true
-          FOLDER: docs/build/docs/doxygen/html
-          TARGET_FOLDER: ${{ env.TARGET_FOLDER }}/cpp
+          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',
+            })

.github/workflows/fix_compile_commands.py

@@ -0,0 +1,45 @@
+#!/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")
+            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-wrapper-validation.yml

@@ -1,14 +0,0 @@
-name: "Validate Gradle Wrapper"
-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@v3
-      - uses: gradle/wrapper-validation-action@v1

.github/workflows/gradle.yml

@@ -7,18 +7,25 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
   build-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2023-22.04
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
             artifact-name: Arm32
             build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
           - container: wpilib/ubuntu-base:22.04
@@ -26,27 +33,43 @@ jobs:
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-22.04
-    container: ${{ matrix.container }}
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v3
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v3
+      - name: Check free disk space
+        run: df .
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 10.15
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:
@@ -55,56 +78,94 @@ jobs:
             artifact-name: Win64Debug
             architecture: x64
             task: "build"
-            build-options: "-PciDebugOnly --max-workers 1"
+            build-options: "-PciDebugOnly"
             outputs: "build/allOutputs"
           - os: windows-2022
             artifact-name: Win64Release
             architecture: x64
-            build-options: "-PciReleaseOnly --max-workers 1"
+            build-options: "-PciReleaseOnly"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-11
-            artifact-name: macOS
+          - 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-14
+            artifact-name: macOS
+            architecture: aarch64
+            task: "build"
             outputs: "build/allOutputs"
           - os: windows-2022
-            artifact-name: Win32
+            artifact-name: Win32FFI
             architecture: x86
             task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            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@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
+          distribution: 'temurin'
           java-version: 17
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v1
+        uses: wpilibsuite/import-signing-certificate@v2
         with:
           certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
           keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
       - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 3600
+        run: security set-keychain-settings -lut 21600
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Set Java Heap Size
         run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
         if: matrix.artifact-name == 'Win32'
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space pre-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - name: Cleanup disk space
+        # 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
+        if: matrix.os == 'macOS-14'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
@@ -113,9 +174,15 @@ jobs:
       - name: Sign Libraries with Developer ID
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - uses: actions/upload-artifact@v3
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}
@@ -123,23 +190,24 @@ jobs:
   build-documentation:
     name: "Build - Documentation"
     runs-on: ubuntu-22.04
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 17
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: Documentation
           path: docs/build/outputs
@@ -149,30 +217,53 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - name: Free Disk Space
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
       - name: Check version number exists
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
-          distribution: 'zulu'
-          java-version: 11
-      - name: Combine
+          distribution: 'temurin'
+          java-version: 17
+      - name: Combine (Main)
         if: |
-          !startsWith(github.ref, 'refs/tags/v') &&
-          github.ref != 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
-      - name: Combine (Master)
-        if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           github.ref == 'refs/heads/main'
         run: cd combiner && ./gradlew publish -Pallwpilib
         env:
@@ -181,14 +272,35 @@ jobs:
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Combine (Release)
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          startsWith(github.ref, 'refs/tags/v')
+          github.repository == 'wpilibsuite/allwpilib' &&
+          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
         run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
           name: Maven
           path: ~/releases
+
+  dispatch:
+    name: dispatch
+    needs: [combine]
+    strategy:
+      matrix:
+        repo: ['SmartDashboard', 'PathWeaver', 'Shuffleboard', 'RobotBuilder']
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        if: |
+          github.repository == 'wpilibsuite/allwpilib' &&
+          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+        with:
+          token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}
+          repository: wpilibsuite/${{ matrix.repo }}
+          event-type: tag
+          client-payload: '{"package_name": "allwpilib", "package_version": "${{ github.ref_name }}"}'

.github/workflows/labeler.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v5
+        with:
+          sync-labels: true

.github/workflows/lint-format.yml

@@ -11,37 +11,40 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
-      - name: Install clang-format
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-format-14
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: |
+          python -m venv ${{ runner.temp }}/wpiformat
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2024.51
       - name: Run
-        run: wpiformat -clang 14
+        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@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
@@ -57,43 +60,48 @@ jobs:
   tidy:
     name: "clang-tidy"
     runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    needs: [validation]
+    container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
-      - name: Install clang-tidy
-        run: |
-          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
-          sudo apt-get update -q
-          sudo apt-get install -y clang-tidy-14 clang-format-14
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: |
+          python -m venv ${{ runner.temp }}/wpiformat
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2024.51
       - name: Create compile_commands.json
-        run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
+        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: wpiformat -list-changed-files
-      - name: Run clang-tidy
-        run: wpiformat -clang 14 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
+        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 -vv
+      - name: Run clang-tidy debug
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
   javaformat:
     name: "Java format"
     runs-on: ubuntu-22.04
+    needs: [validation]
     container: wpilib/ubuntu-base:22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
       - name: Run Java format
@@ -103,16 +111,30 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > javaformat-fixes.patch
         if: ${{ failure() }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: javaformat fixes
+          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() }}
+
   documentation:
     name: "Documentation"
     runs-on: ubuntu-22.04
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v3
+      - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
-          java-version: 13
+          distribution: 'temurin'
+          java-version: 21
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/pregenerate.yml

@@ -0,0 +1,34 @@
+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-22.04
+    steps:
+      - uses: actions/checkout@v4
+        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@v4
+        with:
+          name: pregenerated-files-fixes
+          path: pregenerated-files-fixes.patch
+        if: ${{ failure() }}

.github/workflows/sanitizers.yml

@@ -6,6 +6,10 @@ 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:
@@ -25,23 +29,29 @@ jobs:
             ctest-env: ""
             ctest-flags: ""
     name: "${{ matrix.name }}"
-    runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    runs-on: ubuntu-24.04
+    container: wpilib/roborio-cross-ubuntu:2025-24.04
     steps:
-      - uses: actions/checkout@v3
-
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Install jinja
-        run: python -m pip install jinja2
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.5
+
+      - uses: actions/checkout@v4
 
       - name: configure
-        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-17 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-17 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: 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

.github/workflows/sentinel-build.yml

@@ -0,0 +1,170 @@
+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@v4
+      - uses: gradle/actions/wrapper-validation@v4
+
+  build-docker:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2025-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
+            artifact-name: Arm32
+            build-options: "-Ponlylinuxarm32"
+          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:22.04
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-22.04
+    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@v4
+        with:
+          fetch-depth: 0
+      - name: Build with Gradle
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
+          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+      - name: Check free disk space
+        run: df .
+      - uses: actions/upload-artifact@v4
+        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-14
+            artifact-name: macOS
+            architecture: aarch64
+            task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32
+            architecture: x86
+            task: ":ntcoreffi:build"
+            outputs: "ntcoreffi/build/outputs"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    needs: [validation]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+          architecture: ${{ matrix.architecture }}
+      - name: Import Developer ID Certificate
+        uses: wpilibsuite/import-signing-certificate@v2
+        with:
+          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
+          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
+          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_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: Set Java Heap Size
+        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
+        if: matrix.artifact-name == 'Win32'
+      - name: Check disk free space (Windows)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space pre-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - name: Cleanup disk space
+        # 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
+        if: matrix.os == 'macOS-14'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - 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)
+        run: wmic logicaldisk get caption, freespace
+        if: matrix.os == 'windows-2022'
+      - name: Check disk free space (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-14'
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: ${{ matrix.outputs }}

.github/workflows/tools.yml

@@ -0,0 +1,206 @@
+name: Tools
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+env:
+  YEAR: 2025
+
+jobs:
+  build-artifacts:
+    name: "Build - WPILib"
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: gradle/actions/wrapper-validation@v4
+      - name: Build WPILib with Gradle
+        uses: addnab/docker-run-action@v3
+        with:
+          image: wpilib/roborio-cross-ubuntu:2025-22.04
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
+          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+      - uses: actions/upload-artifact@v4
+        with:
+          name: MavenArtifacts
+          path: |
+            development
+          retention-days: 1
+
+  Robotbuilder:
+    name: "Build - RobotBuilder"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    env:
+      DISPLAY: ':10'
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/robotbuilder
+          fetch-depth: 0
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - name: Patch RobotBuilder to use local development
+        run: cd src/main/resources/export && echo "wpi.maven.useLocal = false" >> java/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> java/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> java/build.gradle && echo "wpi.maven.useLocal = false" >> cpp/build.gradle && echo "wpi.maven.useFrcMavenLocalDevelopment = true" >> cpp/build.gradle && echo "wpi.versions.wpilibVersion = '$YEAR.424242.+'" >> cpp/build.gradle && echo "wpi.versions.wpimathVersion = '$YEAR.424242.+'" >> cpp/build.gradle
+      - name: Install and run xvfb
+        run: sudo apt-get update && sudo apt-get install -y xvfb && Xvfb $DISPLAY &
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Build RobotBuilder with Gradle
+        run: ./gradlew build test --tests 'robotbuilder.exporters.*' -x htmlSanityCheck -PbuildServer -PreleaseMode ; cat build/test-results/test/TEST-robotbuilder.exporters.*.xml ;
+      - name: Summarize RobotBuilder Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
+        with:
+          files: |
+            build/test-results/test/TEST*.xml
+          check_run: false
+          comment_mode: off
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: RobotBuilderTestResults
+          path: |
+            build/reports/
+      - uses: actions/upload-artifact@v4
+        with:
+          name: RobotBuilder Build
+          path: |
+            build/libs/
+          retention-days: 7
+
+  Shuffleboard:
+    name: "Build - Shuffleboard"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/shuffleboard
+          fetch-depth: 0
+      - name: Patch Shuffleboard to use local development
+        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" app/app.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/cameraserver/cameraserver.gradle && sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" plugins/networktables/networktables.gradle
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Install dependencies
+        run: sudo apt-get install -y libgtk2.0-0
+      - name: Build with Gradle
+        run: ./gradlew build -x Javadoc
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Shuffleboard Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+  PathWeaver:
+    name: "Build - PathWeaver"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/PathWeaver
+          fetch-depth: 0
+      - name: Patch PathWeaver to use local development
+        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
+      - uses: actions/download-artifact@v4
+        with:
+          name: MavenArtifacts
+      - uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: 'temurin'
+      - name: Move artifacts
+        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+      - name: Build with Gradle
+        run: ./gradlew build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: PathWeaver Build
+          path: |
+            build/allOutputs/
+          retention-days: 7
+
+  Robotpy:
+    name: "Build - Robotpy"
+    needs: [build-artifacts]
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        repository: robotpy/mostrobotpy
+        fetch-depth: 0
+    - uses: actions/download-artifact@v4
+      with:
+        name: MavenArtifacts
+    - name: Move artifacts
+      run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.13
+
+    #
+    # Setup build caching
+    #
+
+    - name: Set ccache size
+      shell: bash
+      id: ccache
+      run: echo "MAX_SIZE=500M" >> $GITHUB_OUTPUT
+
+    - name: Setup ccache
+      # uses: hendrikmuhs/ccache-action@v1.2.10
+      uses: robotpy/ccache-action@fork
+      with:
+          key: ubuntu-22.04-3.13
+          variant: ccache
+          max-size: ${{ steps.ccache.outputs.max_size }}
+
+    - name: Install deps
+      shell: bash
+      run: |
+        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
+
+    - name: Install numpy (needed for stubgen but broken in raspbian CI)
+      shell: bash
+      run: |
+        python -m pip --disable-pip-version-check install numpy
+    - name: Patch RobotPy rdev to use local development
+      run: git config user.name github-actions && git config user.email github-actions@github.com && set -- ~/releases/maven/development/edu/wpi/first/wpiutil/wpiutil-cpp/*/ ; wpilibversion=$(basename $1) && echo $wpilibversion && sed --regexp-extended -i 's@(wpilib_bin_url =).*@\1 \"file:\/\/'"$HOME"'\/releases\/maven\/development"@' rdev.toml && sed --regexp-extended -i 's/(wpilib_bin_version =).*/\1 \"'"$wpilibversion"'\"/' rdev.toml && ./rdev.sh update-pyproject --commit
+    - name: Build + test wheels
+      shell: bash
+      run: |
+        ./rdev.sh ci run
+      env:
+        RPYBUILD_STRIP_LIBPYTHON: "1"
+        RPYBUILD_CC_LAUNCHER: ccache

.github/workflows/upstream-utils.yml

@@ -15,53 +15,136 @@ jobs:
     name: "Update"
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.9
-        uses: actions/setup-python@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.9
+          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 update_drake.py
+      - name: Run apriltag.py
         run: |
           cd upstream_utils
-          ./update_drake.py
-      - name: Run update_eigen.py
+          ./apriltag.py clone
+          ./apriltag.py copy-src
+          ./apriltag.py format-patch
+      - name: Run argparse_lib.py
         run: |
           cd upstream_utils
-          ./update_eigen.py
-      - name: Run update_fmt.py
+          ./argparse_lib.py clone
+          ./argparse_lib.py copy-src
+          ./argparse_lib.py format-patch
+      - name: Run eigen.py
         run: |
           cd upstream_utils
-          ./update_fmt.py
-      - name: Run update_libuv.py
+          ./eigen.py clone
+          ./eigen.py copy-src
+          ./eigen.py format-patch
+      - name: Run expected.py
         run: |
           cd upstream_utils
-          ./update_libuv.py
-      - name: Run update_llvm.py
+          ./expected.py clone
+          ./expected.py copy-src
+          ./expected.py format-patch
+      - name: Run fmt.py
         run: |
           cd upstream_utils
-          ./update_llvm.py
-      - name: Run update_mpack.py
+          ./fmt.py clone
+          ./fmt.py copy-src
+          ./fmt.py format-patch
+      - name: Run gcem.py
         run: |
           cd upstream_utils
-          ./update_mpack.py
-      - name: Run update_stack_walker.py
+          ./gcem.py clone
+          ./gcem.py copy-src
+          ./gcem.py format-patch
+      - name: Run gl3w.py
         run: |
           cd upstream_utils
-          ./update_stack_walker.py
-      - name: Run update_memory.py
+          ./gl3w.py clone
+          ./gl3w.py copy-src
+          ./gl3w.py format-patch
+      - name: Run glfw.py
         run: |
           cd upstream_utils
-          ./update_memory.py
+          ./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 memory.py
+        run: |
+          cd upstream_utils
+          ./memory.py clone
+          ./memory.py copy-src
+          ./memory.py format-patch
+      - name: Run protobuf.py
+        run: |
+          cd upstream_utils
+          ./protobuf.py clone
+          ./protobuf.py copy-src
+          ./protobuf.py format-patch
+      - name: Run sleipnir.py
+        run: |
+          cd upstream_utils
+          ./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: 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
+        run: git --no-pager diff --exit-code HEAD ':!*.bazel'

.gitignore

@@ -10,6 +10,12 @@ 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
@@ -24,6 +30,9 @@ out/
 # Fleet
 .fleet
 
+# jdtls
+.factorypath
+
 # Created by http://www.gitignore.io
 
 ### Linux ###
@@ -130,6 +139,7 @@ CMakeCache.txt
 CMakeFiles
 cmake_install.cmake
 install_manifest.txt
+CMakeUserPresets.json
 
 
 ### Gradle ###
@@ -205,6 +215,7 @@ NO
 *.user
 *.userosscache
 *.sln.docstates
+CMakeSettings.json
 
 # Visual C++ cache files
 ipch/
@@ -230,7 +241,7 @@ compile_commands.json
 
 # clang configuration and clangd cache
 .clang
-.clangd/
+.clangd
 .cache/
 
 imgui.ini
@@ -240,3 +251,10 @@ imgui.ini
 /bazel-*
 user.bazelrc
 coverage_report/
+bazel_auth.rc
+
+# ctest
+/Testing/
+
+# Meson
+.meson-subproject*

.styleguide

@@ -10,6 +10,8 @@ cppSrcFileInclude {
 }
 
 modifiableFileExclude {
+  cmake/toolchains/
+  thirdparty/
   \.patch$
   gradlew
 }
@@ -19,6 +21,7 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
+  wpilibc/src/generated/
 }
 
 repoRootNameOverride {
@@ -29,8 +32,10 @@ includeOtherLibs {
   ^Eigen/
   ^cameraserver/
   ^cscore
-  ^drake/
   ^fmt/
+  ^glass/
+  ^google/
+  ^gtest/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -1,207 +1,162 @@
 # Disable in-source builds to prevent source tree corruption.
 if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
-  message(FATAL_ERROR "
+    message(
+        FATAL_ERROR
+        "
 FATAL: In-source builds are not allowed.
        You should create a separate directory for build files.
-")
+"
+    )
 endif()
 
-if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if("${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)
-cmake_minimum_required(VERSION 3.3.0)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
-message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
+# 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(CPack)
+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)
-set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${WPILIB_BINARY_DIR}/jar)
 
 # use, i.e. don't skip the full RPATH for the build tree
-SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
+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_BUILD_WITH_INSTALL_RPATH FALSE)
 
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
+set(CMAKE_INSTALL_RPATH "${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)
-
-# the RPATH to be used when installing, but only if it's not a system directory
-LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
-IF("${isSystemDir}" STREQUAL "-1")
-   SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-ENDIF("${isSystemDir}" STREQUAL "-1")
+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 (needed for JNI)" ON)
-option(WITH_JAVA "Include java and JNI in the build" ON)
+option(WITH_JAVA "Include Java and JNI in the build" OFF)
+option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
+option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
+cmake_dependent_option(
+    DOCS_WARNINGS_AS_ERRORS
+    "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 myRobot (needs OpenCV)" ON)
+cmake_dependent_option(
+    WITH_WPIUNITS
+    "Build wpiunits"
+    ON
+    WITH_JAVA
+    OFF
+)
+option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
 option(WITH_EXAMPLES "Build examples" OFF)
 option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
 option(WITH_GUI "Build GUI items" ON)
 option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
-
-# Options for external HAL.
-option(WITH_EXTERNAL_HAL "Use a separately built HAL" OFF)
-set(EXTERNAL_HAL_FILE "" CACHE FILEPATH "Location to look for an external HAL CMake File")
+option(WITH_PROTOBUF "Build protobuf support" 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)
 
-# Options for installation.
-option(WITH_FLAT_INSTALL "Use a flat install directory" OFF)
-
 # Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
 
-# 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()
+# Options for compilation flags.
+option(NO_WERROR "Disable -Werror flag during compilation" OFF)
 
-# We always want flat install with MSVC.
-if (MSVC)
-  set(WITH_FLAT_INSTALL ON)
-endif()
-
-if (WITH_JAVA AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "
-FATAL: Cannot build static libs with Java enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITH_JAVA=OFF
-")
-endif()
-
-if (WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
-    message(FATAL_ERROR "
-FATAL: Cannot build static libs with simulation modules enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITH_SIMULATION_MODULES=OFF
-")
-endif()
-
-if (NOT WITH_JAVA OR NOT WITH_CSCORE)
+if(NOT WITH_JAVA OR NOT WITH_CSCORE)
     if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        message(WARNING "
+        message(
+            WARNING
+            "
 WARNING: OpenCV Java dir set but java is not enabled!
 It will be ignored.
-")
+"
+        )
     endif()
 endif()
 
-if (NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
-    message(FATAL_ERROR "
-FATAL: Cannot build simulation modules with wpilib disabled.
-       Enable wpilib by setting WITH_WPILIB=ON
-")
+wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
+
+wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
+
+wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
+
+wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
+
+wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
+
+wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
+
+set(include_dest include)
+set(java_lib_dest java)
+if(WITH_JAVA OR WITH_JAVA_SOURCE)
+    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+    find_package(Java REQUIRED COMPONENTS Development)
+    if(NOT ANDROID)
+        find_package(JNI REQUIRED COMPONENTS JVM)
+    endif()
 endif()
 
-if (NOT WITH_NTCORE AND WITH_CSCORE)
-    message(FATAL_ERROR "
-FATAL: Cannot build cameraserver without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-")
+if(WITH_DOCS)
+    find_package(Doxygen REQUIRED)
+    find_package(Git REQUIRED)
+    include(AddDoxygenDocs)
+    add_doxygen_docs()
 endif()
 
-if (NOT WITH_NTCORE AND WITH_GUI)
-    message(FATAL_ERROR "
-FATAL: Cannot build GUI modules without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-")
+if(WITH_WPICAL)
+    find_package(Ceres CONFIG REQUIRED)
 endif()
 
-if (NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
-    message(FATAL_ERROR "
-FATAL: Cannot build simulation modules without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-")
+find_package(LIBSSH CONFIG 0.7.1)
+
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+if(WITH_PROTOBUF)
+    set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
+    find_package(Protobuf REQUIRED)
+    find_program(PROTOC_COMPILER protoc REQUIRED)
 endif()
-
-if (NOT WITH_NTCORE AND WITH_WPILIB)
-    message(FATAL_ERROR "
-FATAL: Cannot build wpilib without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-")
-endif()
-
-if (NOT WITH_WPIMATH AND WITH_WPILIB)
-    message(FATAL_ERROR "
-FATAL: Cannot build wpilib without wpimath.
-       Enable wpimath by setting WITH_WPIMATH=ON
-")
-endif()
-
-set( wpilib_dest "")
-set( include_dest include )
-set( main_lib_dest lib )
-set( java_lib_dest java )
-set( jni_lib_dest jni )
-
-if (WITH_FLAT_INSTALL)
-    set (wpilib_config_dir ${wpilib_dest})
-else()
-    set (wpilib_config_dir share/wpilib)
-endif()
-
-if (USE_SYSTEM_LIBUV)
-set (LIBUV_SYSTEM_REPLACE "
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
-")
-endif()
-
-if (USE_SYSTEM_EIGEN)
-set (EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
-endif()
-
-find_package(LIBSSH 0.7.1)
-
-if (WITH_FLAT_INSTALL)
-set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
-set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")
-set(NTCORE_DEP_REPLACE "include($\{SELF_DIR\}/ntcore-config.cmake)")
-set(CSCORE_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cscore-config.cmake)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "include(\${SELF_DIR}/cameraserver-config.cmake)")
-set(HAL_DEP_REPLACE_IMPL "include(\${SELF_DIR}/hal-config.cmake)")
-set(WPIMATH_DEP_REPLACE "include($\{SELF_DIR\}/wpimath-config.cmake)")
-set(WPILIBC_DEP_REPLACE_IMPL "include(\${SELF_DIR}/wpilibc-config.cmake)")
-set(WPILIBNEWCOMMANDS_DEP_REPLACE "include(\${SELF_DIR}/wpilibNewcommands-config.cmake)")
-else()
-set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
-set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
-set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
-set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
-set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
-set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
-set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-endif()
-
-set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
-set(SELF_DIR "$\{SELF_DIR\}")
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
 
 get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
 
@@ -216,7 +171,15 @@ if(isMultiConfig)
         list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
     endif()
 else()
-    set(allowedBuildTypes Asan Tsan Ubsan Debug Release RelWithDebInfo MinSizeRel)
+    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)
@@ -225,109 +188,180 @@ else()
 endif()
 
 set(CMAKE_C_FLAGS_ASAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Asan build type or configuration." FORCE)
+    "${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
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Asan build type or configuration." FORCE)
+    "${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
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
-    "Linker flags to be used to create executables for Asan build type." FORCE)
+    "${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
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address" CACHE STRING
-    "Linker lags to be used to create shared libraries for Asan build type." FORCE)
+    "${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
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Tsan build type or configuration." FORCE)
+    "${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
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Tsan build type or configuration." FORCE)
+    "${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
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
-    "Linker flags to be used to create executables for Tsan build type." FORCE)
+    "${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
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread" CACHE STRING
-    "Linker lags to be used to create shared libraries for Tsan build type." FORCE)
+    "${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
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C compiler for Ubsan build type or configuration." FORCE)
+    "${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
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer" CACHE STRING
-    "Flags used by the C++ compiler for Ubsan build type or configuration." FORCE)
+    "${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
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all" CACHE STRING
-    "Linker flags to be used to create executables for Ubsan build type." FORCE)
+    "${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
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined" CACHE STRING
-    "Linker lags to be used to create shared libraries for Ubsan build type." FORCE)
+    "${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)
+if(WITH_TESTS)
     enable_testing()
-    add_subdirectory(googletest)
+    add_subdirectory(thirdparty/googletest)
     include(GoogleTest)
 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(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 add_subdirectory(wpiutil)
 
-if (WITH_NTCORE)
+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)
+if(WITH_WPIMATH)
+    if(WITH_JAVA)
+        set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
+        add_subdirectory(wpiunits)
+    endif()
+    set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
     add_subdirectory(wpimath)
 endif()
 
-if (WITH_GUI)
+if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
+    # In case of building wpiunits standalone
+    set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
+    add_subdirectory(wpiunits)
+endif()
+
+if(WITH_GUI)
     add_subdirectory(fieldImages)
-    add_subdirectory(imgui)
+    add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
-    if (LIBSSH_FOUND)
+    add_subdirectory(sysid)
+    if(WITH_WPICAL)
+        add_subdirectory(wpical)
+    endif()
+    if(LIBSSH_FOUND)
         add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
     endif()
 endif()
 
-if (WITH_WPILIB OR WITH_SIMULATION_MODULES)
-    set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
+if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
+    set(HAL_DEP_REPLACE "find_dependency(hal)")
     add_subdirectory(hal)
 endif()
 
-if (WITH_CSCORE)
-    set(CSCORE_DEP_REPLACE ${CSCORE_DEP_REPLACE_IMPL})
-    set(CAMERASERVER_DEP_REPLACE ${CAMERASERVER_DEP_REPLACE_IMPL})
+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(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
+if(WITH_WPILIB)
+    set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
+    set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
+    set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(wpilibNewCommands)
-    if (WITH_EXAMPLES)
+    add_subdirectory(romiVendordep)
+    add_subdirectory(xrpVendordep)
+    if(WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()
-    add_subdirectory(myRobot)
+    add_subdirectory(developerRobot)
 endif()
 
-if (WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
+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 ${wpilib_config_dir})
+configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
+install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)

CMakePresets.json

@@ -0,0 +1,50 @@
+{
+  "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"
+      }
+    },
+    {
+      "name": "with-java",
+      "displayName": "",
+      "description": "Ninja config with Java",
+      "generator": "Ninja",
+      "binaryDir": "build-cmake",
+      "cacheVariables": {
+        "WITH_JAVA": "ON"
+      }
+    },
+    {
+      "name": "with-java-and-sccache",
+      "displayName": "",
+      "description": "Ninja config with Java and sccache",
+      "generator": "Ninja",
+      "inherits": "with-sccache",
+      "binaryDir": "build-cmake",
+      "cacheVariables": {
+        "WITH_JAVA": "ON"
+      }
+    }
+  ]
+}

CODE_OF_CONDUCT.md

@@ -1,69 +1,47 @@
-# Contributor Covenant Code of Conduct
+# Contributor Community Code of Conduct
 
 ## Our Pledge
 
-We as members, contributors, and leaders pledge to make participation in our
-community a harassment-free experience for everyone, regardless of age, body
-size, visible or invisible disability, ethnicity, sex characteristics, gender
-identity and expression, level of experience, education, socio-economic status,
-nationality, personal appearance, race, religion, or sexual identity
-and orientation.
+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.
+
+Above all, we pledge to act with integrity, kindness, and empathy—striving to be not only good participants but also good humans.
 
-We pledge to act and interact in ways that contribute to an open, welcoming,
-diverse, inclusive, and healthy community.
 
 ## Our Standards
 
-Examples of behavior that contributes to a positive environment for our
-community include:
+Positive and respectful behavior is essential to creating a thriving community. This includes:
 
-* Exhibiting Gracious Professionalism® at all times. Gracious Professionalism
+* 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.
-* Demonstrating empathy and kindness toward other people
-* Being respectful of differing opinions, viewpoints, and experiences
-* Giving and gracefully accepting constructive feedback
-* Accepting responsibility and apologizing to those affected by our mistakes,
-  and learning from the experience
-* Focusing on what is best not just for us as individuals, but for the
-  overall 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.
 
-Examples of unacceptable behavior include:
+Unacceptable behavior include:
 
-* The use of sexualized language or imagery, and sexual attention or
-  advances of any kind
+* Using sexualized language, imagery, or making inappropriate advances
 * Trolling, insulting or derogatory comments, and personal or political attacks
-* Public or private harassment
-* Publishing others' private information, such as a physical or email
-  address, without their explicit permission
-* Other conduct which could reasonably be considered inappropriate in a
-  professional setting
+* 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 clarifying and enforcing our standards of
-acceptable behavior and will take appropriate and fair corrective action in
-response to any behavior that they deem inappropriate, threatening, offensive,
-or harmful.
-
-Community leaders have the right and responsibility to remove, edit, or reject
-comments, commits, code, wiki edits, issues, and other contributions that are
-not aligned to this Code of Conduct, and will communicate reasons for moderation
-decisions when appropriate.
+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 within all community spaces, and also applies when
-an individual is officially representing the community in public spaces.
-Examples of representing our community include using an official e-mail address,
-posting via an official social media account, or acting as an appointed
-representative at an online or offline event.
+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
-[conduct@wpilib.org](mailto:conduct@wpilib.org).
+[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
@@ -115,6 +93,9 @@ 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],

CONTRIBUTING.md

@@ -12,11 +12,11 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## General Contribution Rules
 
-- Everything in the library must work for the 3000+ teams that will be using it.
+- Everything in the library must work for the 4000+ teams that will be using it.
 - We need to be able to maintain submitted changes, even if you are no longer working on the project.
 - Tool suite changes must be generally useful to a broad range of teams
 - Excluding bug fixes, changes in one language generally need to have corresponding changes in other languages.
-    - Some features, such the addition of C++11 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only.
+    - Some features, such the addition of C++23 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only. New language features added to C++ must be wrappable in Python for [RobotPy](https://github.com/robotpy).
     - Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
 - Changes should have tests.
 - Code should be well documented.
@@ -27,7 +27,8 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 - 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 both WPILibC and WPILibJ, with rare exceptions.
+    - Features must be added to Java (WPILibJ), C++ (WPILibC), with rare exceptions.
+        - Most of Python (RobotPy) is created by wrapping WPILibC with pybind11 via robotpy-build. However, new features to the command framework should also be submitted to [robotpy-commands-v2](https://github.com/robotpy/robotpy-commands-v2) as the command framework is reimplemented in Python.
     - During competition season, we will not merge any new feature additions. We want to ensure that the API is stable during the season to help minimize issues for teams.
     - Ask about large changes before spending a bunch of time on them! You can create a new issue on our GitHub tracker for feature request/discussion and talk about it with us there.
     - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
@@ -79,6 +80,8 @@ xₖ₊₁ = Axₖ + Buₖ
 
 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.

DevelopmentBuilds.md

@@ -4,17 +4,22 @@ This article contains instructions on building projects using a development buil
 
 **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 2023 GradleRIO version, ie `2023.0.0-alpha-1`
+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 2025 GradleRIO version, ie `2025.1.1-beta-1`
 
 ```groovy
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.+'
-wpi.versions.wpimathVersion = 'YEAR.+
+wpi.versions.wpimathVersion = 'YEAR.+'
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -23,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2023.+'
-wpi.versions.wpimathVersion = '2023.+'
+wpi.versions.wpilibVersion = '2025.+'
+wpi.versions.wpimathVersion = '2025.+'
 ```
 
 C++
@@ -37,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2023.+'
-wpi.versions.wpimathVersion = '2023.+'
+wpi.versions.wpilibVersion = '2025.+'
+wpi.versions.wpimathVersion = '2025.+'
 ```
 
 ### Development Build Documentation
@@ -59,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
@@ -73,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2023.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
 }
 
 wpi.maven.useLocal = false
@@ -84,15 +89,4 @@ wpi.versions.wpimathVersion = 'YEAR.424242.+'
 
 # roboRIO Development
 
-This repo contains a myRobot project built in way to do full project development without needing to do a full publish into GradleRIO. These also only require building the minimum amount of binaries for the roboRIO, so the builds are much faster as well.
-
-The setup only works if the roboRIO is USB connected. If an alternate IP address is preferred, the `address` block in myRobot\build.gradle can be changed to point to another address.
-
-The following 3 tasks can be used for deployment:
-* `:myRobot:deployShared` deploys the C++ project using shared dependencies. Prefer this one for most C++ development.
-* `:myRobot:deployStatic` deploys the C++ project with all dependencies statically linked.
-* `:myRobot:deployJava` deploys the Java project and all required dependencies. Also installs the JRE if not currently installed.
-
-Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
-
-From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).
+See the [developerRobot](developerRobot/README.md) subproject.

GeneratedFiles.md

@@ -0,0 +1,25 @@
+# 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/frc/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/frc/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
+
+If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `edu.wpi.first.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/edu/wpi/first/wpilibj`
+
+The JSON files live under `subproject/src/generate` since they apply to both languages. One unique case is JSON files that are used by multiple subprojects, currently only JSON files shared by wpilibc and wpilibj. In that specific case, the JSON files will always be located in wpilibj since Java is the most used language.
+
+## 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.

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2022 FIRST and other WPILib contributors
+Copyright (c) 2009-2025 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MAINTAINERS.md

@@ -1,5 +1,5 @@
 ## Publishing Third Party Dependencies
-Currently the 3rd party deps are imgui, opencv, and google test
+Currently the 3rd party deps are imgui, opencv, google test, libssh, and apriltaglib
 
 For publishing these dependencies, the version needs to be manually updated in the publish.gradle file of their respective repository.
 Then, in the azure build for the dependency you want to build for, manually start a pipeline build (As of current, this is the `Run Pipeline` button).
@@ -18,10 +18,10 @@ Desktop tools publish to the development repo on every push to main. To publish
 
 ## 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. For publishing to the marketplace, you need a Microsoft account and to be added as a maintainer.
+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. Then push, it will build the installer on azure.
+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.

MavenArtifacts.md

@@ -16,7 +16,7 @@ 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.
 
-The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). The `-sources` and `-headers` classifiers contain the sources and headers respecively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifer combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
+The second types are native artifacts. These are usually published as `zip` files (except for the `JNI` artifact types, which are `jar` files. See below for information on this). 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 platform artifact only contains the binaries for a specific platform. In addition, we provide a `-all` classifier. This classifier combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
 
 ## Artifact Names
 
@@ -145,6 +145,11 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * wpinet
   * wpiutil
 
+* wpiunits
+
+* apriltag
+  * wpiutil
+  * wpimath
 
 ### Third Party Artifacts
 
@@ -152,6 +157,7 @@ This repository provides the builds of the following third party software.
 
 All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
 
+* apriltaglib
 * googletest
 * imgui
 * opencv

README-Bazel.md

@@ -0,0 +1,25 @@
+# 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 buildin a specific folder, or limiting the CPU/RAM usage during a build.
+Examples:
+- `build --build_tag_filters=-wpi-example` - Do not build any targets tagged with `wpi-example` (Currently all of the targets in wpilibcExamples and wpilibjExamples contain this tag)
+- `build -c opt` - Always build optimized targets. The default compiler flags were chosen to build as fast as possible, and thus don't contain many optimizations
+- `build -k` - `-k` is analogous to the MAKE flag `--keep-going`, so the build will not stop on the first error.
+- ```
+  build --local_ram_resources=HOST_RAM*.5 # Don't use more than half my RAM when building
+  build --local_cpu_resources=HOST_CPUS-1 # Leave one core alone
+  ```

README-CMAKE.md

@@ -1,157 +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 it is supported on Windows, these docs will only go over Linux builds.
-
-## Libraries that get built
-* wpiutil
-* ntcore
-* cscore
-* cameraserver
-* hal
-* wpilib
-* halsim
-* wpigui
-* wpimath
-
-By default, all libraries except for the HAL and WPILib get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs.
-
-## Prerequisites
-
-The most common prerequisite is going to be OpenCV. 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.
-
-In addition, if you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
-
-If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
-
-## Build Options
-
-The following build options are available:
-
-* `WITH_JAVA` (ON Default)
-  * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
-* `WITH_SHARED_LIBS` (ON Default)
-  * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
-* `WITH_CSCORE` (ON Default)
-  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver, the hal and wpilib as well, irrespective of their specific options. If this is off, the OpenCV build requirement is removed.
-* `WITH_NTCORE` (ON Default)
-  * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet and wpilib as well, irrespective of their specific options.
-* `WITH_WPIMATH` (ON Default)
-  * This option will build the wpimath library. This option must be on to build wpilib.
-* `WITH_WPILIB` (ON Default)
-  * This option will build the hal and wpilibc/j during the build. The HAL is the simulator hal, unless the external hal options are used. The cmake build has no capability to build for the RoboRIO.
-* `WITH_EXAMPLES` (ON Default)
-  * This option will build C++ examples.
-* `WITH_TESTS` (ON Default)
-  * This option will build C++ unit tests. These can be run via `make test`.
-* `WITH_GUI` (ON Default)
-  * This option will build GUI items.
-* `WITH_SIMULATION_MODULES` (ON Default)
-  * This option will build simulation modules, including wpigui and the HALSim plugins.
-* `WITH_EXTERNAL_HAL` (OFF Default)
-  * TODO
-* `EXTERNAL_HAL_FILE`
-  * TODO
-* `OPENCV_JAVA_INSTALL_DIR`
-  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
-
-## 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.
-
-Once you have a build folder, run CMake configuration in that build directory with the following command.
-
-```
-cmake path/to/allwpilib/root
-```
-
-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.
-
-## Building
-
-Once you have cmake setup. run `make` from the directory you configured CMake in. This will build all libraries possible. If you have a multicore system, we recommend running `make` with multiple jobs. The usual rule of thumb is 1.5x the number of cores you have. To run a multiple job build, run the following command with x being the number of jobs you want.
-
-```
-make -jx
-```
-
-The `ninja` generator is also supported, and can be enabled by passing `-GNinja` to the initial `cmake` command.
-
-## 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 make install
-```
-
-## 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_minimum_required(VERSION 3.5)
-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 are using them, `wpilibc` and `hal` should be added before the `cameraserver` declaration in the `target_link_libraries` function.
-
-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 `make`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
-
-
-## Using the installed libraries for Java
-TODO
-
-## 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.
-
-#### Missing Java
-
-If you are missing Java, you will get a message like the following.
-```
-CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
-  Could NOT find Java (missing: Java_JAVA_EXECUTABLE Java_JAR_EXECUTABLE
-  Java_JAVAC_EXECUTABLE Java_JAVAH_EXECUTABLE Java_JAVADOC_EXECUTABLE)
-```
-
-If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
-
-In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.

README-CMake.md

@@ -0,0 +1,240 @@
+# 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.
+
+## Libraries that get built
+* apriltag
+* cameraserver
+* cscore
+* fieldImages
+* hal (simulation HAL only)
+* ntcore
+* romiVendordep
+* simulation extensions
+* wpigui
+* wpilib (wpilibc, wpilibj, and myRobot)
+* wpilibNewCommands
+* wpimath
+* wpinet
+* wpiunits
+* wpiutil
+* xrpVendordep
+
+## GUI apps that get built
+* datalogtool
+* glass
+* outlineviewer
+* roborioteamnumbersetter
+* sysid
+* 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, and include the JNI libraries as well as building the Java JARs. Data Log Tool and the roboRIO Team Number Setter are only built if libssh is available.
+
+## Prerequisites
+
+The protobuf library and compiler are needed for protobuf generation.
+
+OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
+
+If you want JNI and Java, you will need a JDK of at least version 17 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
+
+If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
+
+## Build Options
+
+The following build options are available:
+
+* `BUILD_SHARED_LIBS` (ON Default)
+  * This option will cause CMake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
+* `WITH_CSCORE` (ON Default)
+  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver. If this is off, the OpenCV build requirement is removed.
+* `WITH_EXAMPLES` (OFF Default)
+  * This option will build C++ examples.
+* `WITH_GUI` (ON Default)
+  * This option will build GUI items. If this is off, and `WITH_SIMULATION_MODULES` is on, the simulation GUI will not be built.
+* `WITH_JAVA` (OFF Default)
+  * This option will enable Java and JNI builds. If this is on, `BUILD_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_JAVA_SOURCE` (`WITH_JAVA` Default)
+  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
+* `WITH_NTCORE` (ON Default)
+  * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet, and will cause an error if `WITH_WPILIB` is enabled.
+* `WITH_SIMULATION_MODULES` (ON Default)
+  * 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/j during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for the roboRIO.
+* `WITH_WPIMATH` (ON Default)
+  * This option will build the wpimath library. This option must be on to build wpilib.
+* `WITH_PROTOBUF` (ON Default)
+  * This option will build with the protobuf library.
+* `WITH_WPIUNITS` (`WITH_JAVA` Default)
+  * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
+* `OPENCV_JAVA_INSTALL_DIR`
+  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
+* `NO_WERROR` (OFF Default)
+  * This option will disable the `-Werror` compilation flag for non-MSVC builds.
+* `WPILIB_TARGET_WARNINGS`
+  * 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.
+
+Note that if you are cross-compiling, you will need to override the protobuf options manually to point to the libraries for the target platform. Leave the protoc binary location as the path to the binary for the host platform, since protoc needs to execute on the host platform.
+
+## Presets
+
+The WPILib CMake setup has a variety of presets for common configurations and options used. The default sets the generator to Ninja and build directory to `build-cmake`. The other presets are `with-java` (sets `WITH_JAVA=ON`), `sccache` (sets the C/C++ compiler launcher to sccache), and `with-java-sccache` (a comibination of `with-java` and `sccache`.
+
+## Building
+
+Once you have CMake setup. run `cmake --build .` from the directory you configured CMake in. This will build all libraries possible. We recommend running `cmake --build .` with multiple jobs. For allwpilib, a good rule of thumb is one worker for every 2 GB of available RAM. To run a multiple 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 and protobuf from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
+
+You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program. If you are using OpenCV and Java, the `opencv_java` DLL is located in either the `lib` subdirectory if you built but didn't install OpenCV, or the `java` subdirectory if you did install OpenCV.
+
+## Using the installed libraries for C++.
+
+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 the installed libraries for Java
+
+Using the built JARs is more involved than using the C++ libraries, but the additional work involves providing the paths to various libraries and JARs when needed.
+
+Create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
+
+```cmake
+cmake_minimum_required(VERSION 3.11)
+project(robot)
+
+find_package(Java REQUIRED COMPONENTS Development)
+include(UseJava)
+find_package(wpilib REQUIRED)
+find_jar(opencvJar opencv-xxx PATHS ENV PATH) # Change to OpenCV version
+
+file(GLOB_RECURSE JAVA_SOURCES *.java)
+# If you want Gradle compatibility or you are using one of the templates/examples, comment out the above line and uncomment this line instead:
+# file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+add_jar(robot ${JAVA_SOURCES}
+    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar wpilibNewCommands_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
+export_jars(TARGETS robot FILE robot.jar)
+```
+This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
+Add a `Main.java` file to contain your code, and create a build folder. Move into the build folder, and run
+
+```
+cmake /path/to/folder/containing/CMakeLists
+```
+
+After that, run `cmake --build .` to create your JAR file. To execute the JAR file, you need to include the wpilib JARs and your JAR in the classpath, and execute your Java program's entry point. If you are using cscore or cameraserver, you also need to include the path to the OpenCV JAR. If you built it from source, it will be in your OpenCV build directory. If it's installed on the system, CMake may find it from PATH, but you will likely need to locate the JAR and manually give CMake the JAR directory. If you are on Linux, you will also need to add the path of the libraries to `LD_LIBRARY_PATH`. This can be done by prepending `LD_LIBRARY_PATH=/path/to/libraries` to the Java command. If you need to add more paths, separate them with colons. The final command should look like `java -cp "robot.jar:/path/to/library_jars/*" main.package.Main`, using a semicolon to separate paths instead of a colon if you are on Windows. If you are on Linux, the final command should look more like `LD_LIBRARY_PATH=/path/to/libraries java -cp robot.jar:/path/to/library_jars/* main.package.Main`.
+
+## Using vendordeps
+
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
+
+## Troubleshooting
+Below are some common issues that are run into when building.
+
+#### 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.
+
+#### Missing Java
+
+If you are missing Java, you will get a message like the following.
+```
+CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
+  Could NOT find Java (missing: Java_JAVA_EXECUTABLE Java_JAR_EXECUTABLE
+  Java_JAVAC_EXECUTABLE Java_JAVAH_EXECUTABLE Java_JAVADOC_EXECUTABLE)
+```
+
+If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
+
+In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.
+
+#### Java: Can't find dependent libraries
+
+If one of the libraries can't be found, you will get an error similar to this one:
+
+```
+java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
+        attempted to load for platform /windows/x86-64/
+Last Load Error:
+C:\Program Files (x86)\allwpilib\bin\wpiHaljni.dll: Can't find dependent libraries
+```
+
+If you get this error, that's usually an indication that not all your libraries are in your PATH. The two libraries that should be in your PATH are OpenCV and protobuf. If the error is coming from cscore, it's likely you're missing OpenCV. Otherwise, it's likely you're missing protobuf.
+
+Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

README.md

@@ -17,13 +17,15 @@ Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WP
     - [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-to-wpilib)
+- [Contributing to WPILib](./CONTRIBUTING.md)
 
 ## WPILib Mission
 
-The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
+The WPILib Mission is to enable FIRST Robotics teams to focus on writing game-specific software rather than focusing on hardware details - "raise the floor, don't lower the ceiling". We work to enable teams with limited programming knowledge and/or mentor experience to be as successful as possible, while not hampering the abilities of teams with more advanced programming capabilities. We support Kit of Parts control system components directly in the library. We also strive to keep parity between major features of each language (Java, C++, Python, and NI's LabVIEW), so that teams aren't at a disadvantage for choosing a specific programming language. WPILib is an open source project, licensed under the BSD 3-clause license. You can find a copy of the license [here](LICENSE.md).
 
 # Quick Start
 
@@ -40,11 +42,11 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 ## Requirements
 
-- [JDK 11](https://adoptium.net/temurin/releases/?version=11)
+- [JDK 17](https://adoptium.net/temurin/releases/?version=17)
     - Note that the JRE is insufficient; the full JDK is required
-    - On Ubuntu, run `sudo apt install openjdk-11-jdk`
-    - On Windows, install the JDK 11 .msi from the link above
-    - On macOS, install the JDK 11 .pkg from the link above
+    - On Ubuntu, run `sudo apt install openjdk-17-jdk`
+    - On Windows, install the JDK 17 .msi from the link above
+    - On macOS, install the JDK 17 .pkg from the link above
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
@@ -57,11 +59,13 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
+On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
+
 ## Setup
 
-Clone the WPILib repository and follow the instructions above for installing any required tooling.
+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. We use clang-format 14.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
 
 ## Building
 
@@ -87,9 +91,24 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 
 `./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 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` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
+`testDesktopCpp`, `testDesktopJava`, and `testDesktop` tasks also exist for the following projects:
+
+- `apriltag`
+- `cameraserver`
+- `cscore`
+- `hal`
+- `ntcore`
+- `wpilibNewCommands`
+- `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.
 
@@ -117,9 +136,12 @@ If you have installed the FRC Toolchain to a directory other than the default, o
 
 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 -clang 14` on Windows or `python3 -m wpiformat -clang 14` on other platforms.
+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
 
@@ -127,9 +149,27 @@ The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./grad
 
 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).
+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
 
@@ -153,7 +193,3 @@ The hal directory contains more C++ code meant to run on the roboRIO. HAL is an
 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).
-
-# Contributing to WPILib
-
-See [CONTRIBUTING.md](CONTRIBUTING.md).

ThirdPartyNotices.txt

@@ -15,8 +15,8 @@ licenses, and/or restrictions:
 
 Program               Locations
 -------               ---------
-RoboRIO Libraries     ni-libraries
-Google Test           gtest
+Google Test           thirdparty/googletest/include
+                      thirdparty/googletest/src
 LLVM                  wpiutil/src/main/native/thirdparty/llvm
                       wpiutil/src/test/native/cpp/llvm/
 JSON for Modern C++   wpiutil/src/main/native/thirdparty/json
@@ -33,19 +33,29 @@ jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
-StackWalker           wpiutil/src/main/native/windows/StackWalker.*
-GHC filesystem        wpiutil/src/main/native/thirdparty/include/wpi/ghc/
-Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineParameterizer.java
-                      wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryParameterizer.java
-                      wpilibc/src/main/native/include/spline/SplineParameterizer.h
-                      wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
-                      wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+Team 254 Library      wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
+                      wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
+                      wpimath/src/main/native/include/frc/spline/SplineParameterizer.h
+                      wpimath/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
+                      wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-Drake                 wpimath/src/main/native/thirdparty/drake/
-                      wpimath/src/test/native/cpp/drake/
-                      wpimath/src/test/native/include/drake/
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
+Sleipnir              wpimath/src/main/native/thirdparty/sleipnir
+Debugging             wpiutil/src/main/native/thirdparty/debugging
+argparse              wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h
+apriltag              apriltag/src/main/native/thirdparty/apriltag
+glfw                  thirdparty/imgui_suite/glfw
+Dear ImGui            thirdparty/imgui_suite/imgui
+implot                thirdparty/imgui_suite/implot
+memory                wpiutil/src/main/native/thirdparty/memory
+nanopb                wpiutil/src/main/native/thirdparty/nanopb
+protobuf              wpiutil/src/main/native/thirdparty/protobuf
+mrcal                 wpical/src/main/native/thirdparty/mrcal
+libdogleg             wpical/src/main/native/thirdparty/libdogleg
+Simd                  hal/src/main/native/athena/simd
+
+Additionally, glfw, memory, and nanopb were all modified for use in WPILib.
 
 ==============================================================================
 Google Test License
@@ -464,7 +474,7 @@ limitations under the License.
 
 
 ==============================================================================
-MPacks License
+MPack License
 ==============================================================================
 The MIT License (MIT)
 
@@ -1015,35 +1025,6 @@ Exhibit B - "Incompatible With Secondary Licenses" Notice
   defined by the Mozilla Public License, v. 2.0.
 
 
-===================
-StackWalker License
-===================
-Copyright (c) 2005-2013, Jochen Kalmbach
-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 Jochen Kalmbach nor the names of its contributors may be
-used to endorse or promote products derived from this software without
-specific prior written permission.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
 ================
 Team 254 Library
 ================
@@ -1069,41 +1050,6 @@ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
-=============
-Drake Library
-=============
-All components of Drake are licensed under the BSD 3-Clause License
-shown below. Where noted in the source code, some portions may
-be subject to other permissive, non-viral licenses.
-
-Copyright 2012-2016 Robot Locomotion Group @ CSAIL
-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
-the Massachusetts Institute of Technology nor the names of its
-contributors may be used to endorse or promote products derived from
-this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER 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.
-
 =====================
 Portable File Dialogs
 =====================
@@ -1115,33 +1061,6 @@ and/or modify it under the terms of the Do What the **** You Want
 to Public License, Version 2, as published by the WTFPL Task Force.
 See http://www.wtfpl.net/ for more details.
 
-======================
-Boost Software License
-======================
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-
 ======
 fmtlib
 ======
@@ -1173,29 +1092,6 @@ of this Software are embedded into a machine-executable object form of such
 source code, you may redistribute such embedded portions in such object form
 without including the above copyright and permission notices.
 
-==============
-GHC filesystem
-==============
-Copyright (c) 2018, Steffen Schümann <s.schuemann@pobox.com>
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-
 ==================
 V8 export-template
 ==================
@@ -1242,3 +1138,564 @@ distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
+
+================
+2024 Field Image
+================
+2024 Field Image from MikLast: https://www.chiefdelphi.com/t/2024-crescendo-top-down-field-renders/447764
+
+================
+Sleipnir License
+================
+Copyright (c) Sleipnir contributors
+
+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.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER 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.
+
+=================
+Debugging License
+=================
+MIT License
+
+Copyright (c) 2021-2022 René Ferdinand Rivera Morell
+Copyright (c) 2018 Isabella Muerte
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+================
+argparse License
+================
+Copyright (c) 2018 Pranav Srinivas Kumar <pranav.srinivas.kumar@gmail.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+================
+apriltag License
+================
+BSD 2-Clause License
+
+Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+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 HOLDER 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.
+
+============
+gl3w License
+============
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+============
+glfw License
+============
+Copyright (c) 2002-2006 Marcus Geelnard
+
+Copyright (c) 2006-2019 Camilla Löwy
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not
+   claim that you wrote the original software. If you use this software
+   in a product, an acknowledgment in the product documentation would
+   be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and must not
+   be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+   distribution.
+
+==================
+Dear ImGui License
+==================
+The MIT License (MIT)
+
+Copyright (c) 2014-2024 Omar Cornut
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+==============
+implot License
+==============
+MIT License
+
+Copyright (c) 2020 Evan Pezent
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+==============
+memory License
+==============
+Copyright (C) 2015-2023 Jonathan Müller and foonathan/memory contributors
+
+This software is provided 'as-is', without any express or
+implied warranty. In no event will the authors be held
+liable for any damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute
+it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented;
+   you must not claim that you wrote the original software.
+   If you use this software in a product, an acknowledgment
+   in the product documentation would be appreciated but
+   is not required.
+
+2. Altered source versions must be plainly marked as such,
+   and must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any
+   source distribution.
+
+==============
+nanopb License
+==============
+Copyright (c) 2011 Petteri Aimonen <jpa at nanopb.mail.kapsi.fi>
+
+This software is provided 'as-is', without any express or
+implied warranty. In no event will the authors be held liable
+for any damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you
+   must not claim that you wrote the original software. If you use
+   this software in a product, an acknowledgment in the product
+   documentation would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+   must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+   distribution.
+
+================
+protobuf License
+================
+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.
+
+===========
+stb License
+===========
+This software is available under 2 licenses -- choose whichever you prefer.
+------------------------------------------------------------------------------
+ALTERNATIVE A - MIT License
+Copyright (c) 2017 Sean Barrett
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+------------------------------------------------------------------------------
+ALTERNATIVE B - Public Domain (www.unlicense.org)
+This is free and unencumbered software released into the public domain.
+Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
+software, either in source code form or as a compiled binary, for any purpose,
+commercial or non-commercial, and by any means.
+In jurisdictions that recognize copyright laws, the author or authors of this
+software dedicate any and all copyright interest in the software to the public
+domain. We make this dedication for the benefit of the public at large and to
+the detriment of our heirs and successors. We intend this dedication to be an
+overt act of relinquishment in perpetuity of all present and future rights to
+this software under copyright law.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+=============
+mrcal License
+=============
+                                 Apache License
+                           Version 2.0, January 2004
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+
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+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=================
+libdogleg License
+=================
+Copyright 2011 Oblong Industries 2017 Dima Kogan <dima@secretsauce.net>
+
+This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+
+This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
+
+The full text of the license is available at http://www.gnu.org/licenses
+
+============
+Simd License
+============
+
+MIT License
+
+Copyright (c) 2011-2017 Ihar Yermalayeu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

WORKSPACE

@@ -0,0 +1,125 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+# Download Extra java rules
+http_archive(
+    name = "rules_jvm_external",
+    sha256 = "08ea921df02ffe9924123b0686dc04fd0ff875710bfadb7ad42badb931b0fd50",
+    strip_prefix = "rules_jvm_external-6.1",
+    url = "https://github.com/bazelbuild/rules_jvm_external/releases/download/6.1/rules_jvm_external-6.1.tar.gz",
+)
+
+load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
+
+rules_jvm_external_deps()
+
+load("@rules_jvm_external//:defs.bzl", "maven_install")
+
+maven_artifacts = [
+    "org.ejml:ejml-simple:0.43.1",
+    "com.fasterxml.jackson.core:jackson-annotations:2.15.2",
+    "com.fasterxml.jackson.core:jackson-core:2.15.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.15.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.3.3",
+    "com.google.code.gson:gson:2.10.1",
+]
+
+maven_install(
+    name = "maven",
+    artifacts = maven_artifacts,
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.tar.gz",
+)
+
+load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
+
+setup_legacy_setup_toolchains_dependencies()
+
+load("@rules_bzlmodrio_toolchains//toolchains:load_toolchains.bzl", "load_toolchains")
+
+load_toolchains()
+
+#
+http_archive(
+    name = "rules_bzlmodrio_jdk",
+    sha256 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.tar.gz",
+)
+
+load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
+
+setup_legacy_setup_jdk_dependencies()
+
+register_toolchains(
+    "@local_roborio//:macos",
+    "@local_roborio//:linux",
+    "@local_roborio//:windows",
+    "@local_systemcore//:macos",
+    "@local_systemcore//:linux",
+    "@local_systemcore//:windows",
+    "@local_raspi_bullseye_32//:macos",
+    "@local_raspi_bullseye_32//:linux",
+    "@local_raspi_bullseye_32//:windows",
+    "@local_raspi_bookworm_32//:macos",
+    "@local_raspi_bookworm_32//:linux",
+    "@local_raspi_bookworm_32//:windows",
+    "@local_bullseye_32//:macos",
+    "@local_bullseye_32//:linux",
+    "@local_bullseye_32//:windows",
+    "@local_bullseye_64//:macos",
+    "@local_bullseye_64//:linux",
+    "@local_bullseye_64//:windows",
+    "@local_bookworm_32//:macos",
+    "@local_bookworm_32//:linux",
+    "@local_bookworm_32//:windows",
+    "@local_bookworm_64//:macos",
+    "@local_bookworm_64//:linux",
+    "@local_bookworm_64//:windows",
+)
+
+setup_legacy_setup_jdk_dependencies()
+
+http_archive(
+    name = "bzlmodrio-ni",
+    sha256 = "fff62c3cb3e83f9a0d0a01f1739477c9ca5e9a6fac05be1ad59dafcd385801f7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.2.0/bzlmodRio-ni-2025.2.0.tar.gz",
+)
+
+load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
+
+setup_legacy_bzlmodrio_ni_cpp_dependencies()
+
+http_archive(
+    name = "bzlmodrio-opencv",
+    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.bcr1.tar.gz",
+)
+
+load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
+
+setup_legacy_bzlmodrio_opencv_cpp_dependencies()
+
+load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
+
+setup_legacy_bzlmodrio_opencv_java_dependencies()
+
+http_archive(
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
+)
+
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
+)
+
+apple_support_dependencies()

apriltag/BUILD.bazel

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

apriltag/CMakeLists.txt

@@ -2,117 +2,157 @@ project(apriltag)
 
 include(CompileWarnings)
 include(GenResources)
-include(FetchContent)
 
-FetchContent_Declare(
-    apriltaglib
-    GIT_REPOSITORY  https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG         ad31e33d20f9782b7239cb15cde57c56c91383ad
+file(
+    GLOB_RECURSE apriltaglib_src
+    src/main/native/thirdparty/apriltag/src/*.c
+    src/main/native/thirdparty/apriltag/src/*.cpp
 )
 
-# Don't use apriltag's CMakeLists.txt due to conflicting naming and JNI
-FetchContent_GetProperties(apriltaglib)
-if(NOT apriltaglib_POPULATED)
-    FetchContent_Populate(apriltaglib)
+# 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()
 
-aux_source_directory(${apriltaglib_SOURCE_DIR}/common APRILTAGLIB_COMMON_SRC)
-file(GLOB TAG_FILES ${apriltaglib_SOURCE_DIR}/tag*.c)
-set(APRILTAGLIB_SRCS ${apriltaglib_SOURCE_DIR}/apriltag.c ${apriltaglib_SOURCE_DIR}/apriltag_pose.c ${apriltaglib_SOURCE_DIR}/apriltag_quad_thresh.c)
-
 file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
 
-if (WITH_JAVA)
-  find_package(Java REQUIRED)
-  find_package(JNI REQUIRED)
-  include(UseJava)
-  set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+if(WITH_JAVA)
+    include(UseJava)
 
-  set(CMAKE_JNI_TARGET true)
+    set(CMAKE_JNI_TARGET true)
 
-  file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-  file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
-  find_file(OPENCV_JAR_FILE
-    NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
-    PATHS ${OPENCV_JAVA_INSTALL_DIR} ${OpenCV_INSTALL_PATH}/bin ${OpenCV_INSTALL_PATH}/share/java
-    NO_DEFAULT_PATH)
+    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
+    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+    find_file(
+        OPENCV_JAR_FILE
+        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
+        PATHS
+            ${OPENCV_JAVA_INSTALL_DIR}
+            ${OpenCV_INSTALL_PATH}/bin
+            ${OpenCV_INSTALL_PATH}/share/java
+            ${OpenCV_INSTALL_PATH}/share/java/opencv4
+            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
+        NO_DEFAULT_PATH
+    )
 
-  set(CMAKE_JAVA_INCLUDE_PATH apriltag.jar ${EJML_JARS} ${JACKSON_JARS})
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(
+        GLOB_RECURSE JAVA_RESOURCES
+        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
+        src/main/native/resources/*.json
+    )
+    add_jar(
+        apriltag_jar
+        SOURCES ${JAVA_SOURCES}
+        RESOURCES
+        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
+        INCLUDE_JARS
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            ${EJML_JARS}
+            ${OPENCV_JAR_FILE}
+            ${JACKSON_JARS}
+        OUTPUT_NAME apriltag
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+        GENERATE_NATIVE_HEADERS apriltag_jni_headers
+    )
+    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
 
-  file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-  file(GLOB_RECURSE JAVA_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/main/native/resources/*.json)
-  add_jar(apriltag_jar
-    SOURCES ${JAVA_SOURCES}
-    RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-    INCLUDE_JARS wpimath_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
-    OUTPUT_NAME apriltag
-    GENERATE_NATIVE_HEADERS apriltag_jni_headers)
+    install_jar(apriltag_jar DESTINATION ${java_lib_dest})
+    install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
 
-  get_property(APRILTAG_JAR_FILE TARGET apriltag_jar PROPERTY JAR_FILE)
-  install(FILES ${APRILTAG_JAR_FILE} DESTINATION "${java_lib_dest}")
+    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
+    wpilib_target_warnings(apriltagjni)
+    target_link_libraries(apriltagjni PUBLIC apriltag)
 
-  set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
+    set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
 
-  add_library(apriltagjni ${apriltag_jni_src})
-  wpilib_target_warnings(apriltagjni)
-  target_link_libraries(apriltagjni PUBLIC apriltag)
-
-  set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
-
-  target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
-  add_dependencies(apriltagjni apriltag_jar)
-
-  if (MSVC)
-    install(TARGETS apriltagjni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-  endif()
-
-  install(TARGETS apriltagjni EXPORT apriltagjni DESTINATION "${main_lib_dest}")
+    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
+    add_dependencies(apriltagjni apriltag_jar)
 
+    install(TARGETS apriltagjni EXPORT apriltagjni)
+    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
 endif()
 
-GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
+if(WITH_JAVA_SOURCE)
+    include(UseJava)
+    include(CreateSourceJar)
+    add_source_jar(
+        apriltag_src_jar
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
+        OUTPUT_NAME apriltag-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
+    set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
+
+    install_jar(apriltag_src_jar DESTINATION ${java_lib_dest})
+endif()
+
+generate_resources(
+    src/main/native/resources/edu/wpi/first/apriltag
+    generated/main/cpp
+    APRILTAG
+    frc
+    apriltag_resources_src
+)
 
 file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
 
-add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${APRILTAGLIB_SRCS} ${APRILTAGLIB_COMMON_SRC} ${TAG_FILES})
+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_20)
 wpilib_target_warnings(apriltag)
-# disable warnings that apriltaglib can't handle
-if (MSVC)
-  target_compile_options(apriltag PRIVATE /wd4018)
-else()
-  target_compile_options(apriltag PRIVATE -Wno-sign-compare -Wno-gnu-zero-variadic-macro-arguments)
-endif()
 
 target_link_libraries(apriltag wpimath)
 
-target_include_directories(apriltag PUBLIC
-  $<BUILD_INTERFACE:${apriltaglib_SOURCE_DIR}>
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-  $<INSTALL_INTERFACE:${include_dest}/apriltag>)
+target_include_directories(
+    apriltag
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+        $<INSTALL_INTERFACE:${include_dest}/apriltag>
+)
 
-install(TARGETS apriltag EXPORT apriltag DESTINATION "${main_lib_dest}")
-install(DIRECTORY src/main/native/include/ DESTINATION "${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>
+)
 
-if (WITH_JAVA AND MSVC)
-    install(TARGETS apriltag RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-endif()
+install(TARGETS apriltag EXPORT apriltag)
+export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)
 
-if (WITH_FLAT_INSTALL)
-    set (apriltag_config_dir ${wpilib_dest})
-else()
-    set (apriltag_config_dir share/apriltag)
-endif()
+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)
 
-configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake )
-install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION ${apriltag_config_dir})
-install(EXPORT apriltag DESTINATION ${apriltag_config_dir})
-
-if (WITH_TESTS)
+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 gmock_main)
+    target_link_libraries(apriltag_test apriltag googletest)
 endif()

apriltag/README.md

@@ -0,0 +1,28 @@
+# AprilTag
+
+## Adding new field to AprilTagFields
+
+### Adding field JSON
+
+1. Add a field layout CSV file to `src/main/native/resources/edu/wpi/first/apriltag`
+    1. See docstring in `convert_apriltag_layouts.py` for more
+2. Run `convert_apriltag_layouts.py` in the same directory as this readme to generate the JSON
+3. That script overwrites all generated JSONs, so undo undesired changes if necessary
+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/edu/wpi/first/apriltag/AprilTagFields.java`
+    1. Add enum value for new field to `AprilTagFields`
+    2. Update `AprilTagFields.kDefaultField` if necessary
+
+### C++ updates
+
+1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h`
+    1. Add enum value for new field to `AprilTagFields`
+    2. Update `AprilTagFields::kDefaultField` if necessary
+2. Update `src/main/native/cpp/AprilTagFields.cpp`
+    1. Add resource getter prototype like `std::string_view GetResource_2024_crescendo_json()`
+    2. Add case for new field to switch in `LoadAprilTagLayoutField()`

apriltag/apriltag-config.cmake.in

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

apriltag/build.gradle

@@ -1,5 +1,7 @@
 apply from: "${rootDir}/shared/resources.gradle"
 
+apply plugin: 'c'
+
 ext {
     nativeName = 'apriltag'
     devMain = 'edu.wpi.first.apriltag.DevMain'
@@ -23,6 +25,16 @@ ext {
                     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'
+                }
+            }
         }
     }
 }
@@ -30,12 +42,10 @@ ext {
 evaluationDependsOn(':wpimath')
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-apply from: "${rootDir}/shared/apriltaglib.gradle"
 apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
     implementation project(':wpimath')
-    devImplementation project(':wpimath')
 }
 
 sourceSets {
@@ -46,8 +56,47 @@ sourceSets {
     }
 }
 
+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 {}
+    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)) {
@@ -62,8 +111,6 @@ model {
                 lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
                 lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
             }
-
-            nativeUtils.useRequiredLibrary(it, 'apriltaglib')
         }
     }
     tasks {

apriltag/convert_apriltag_layouts.py

@@ -0,0 +1,90 @@
+#!/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/src/main/java/edu/wpi/first/apriltag/AprilTag.java

@@ -6,17 +6,28 @@ package edu.wpi.first.apriltag;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
 
+/** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")
 public class AprilTag {
+  /** The tag's ID. */
   @JsonProperty(value = "ID")
   public int ID;
 
+  /** The tag's pose. */
   @JsonProperty(value = "pose")
   public Pose3d pose;
 
+  /**
+   * Constructs an AprilTag.
+   *
+   * @param ID The tag's ID.
+   * @param pose The tag's pose.
+   */
   @SuppressWarnings("ParameterName")
   @JsonCreator
   public AprilTag(
@@ -28,11 +39,7 @@ public class AprilTag {
 
   @Override
   public boolean equals(Object obj) {
-    if (obj instanceof AprilTag) {
-      var other = (AprilTag) obj;
-      return ID == other.ID && pose.equals(other.pose);
-    }
-    return false;
+    return obj instanceof AprilTag tag && ID == tag.ID && pose.equals(tag.pose);
   }
 
   @Override
@@ -44,4 +51,28 @@ public class AprilTag {
   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/edu/wpi/first/apriltag/AprilTagDetection.java

@@ -72,7 +72,7 @@ public class AprilTagDetection {
    * @return Homography matrix
    */
   public Matrix<N3, N3> getHomographyMatrix() {
-    return new MatBuilder<>(Nat.N3(), Nat.N3()).fill(m_homography);
+    return MatBuilder.fill(Nat.N3(), Nat.N3(), m_homography);
   }
 
   /**
@@ -95,7 +95,7 @@ public class AprilTagDetection {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point X coordinate
@@ -106,7 +106,7 @@ public class AprilTagDetection {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * around the tag. Index 0 is the bottom left corner.
    *
    * @param ndx Corner index (range is 0-3, inclusive)
    * @return Corner point Y coordinate
@@ -117,7 +117,8 @@ public class AprilTagDetection {
 
   /**
    * Gets the corners of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag.
+   * 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)
    */

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

@@ -57,8 +57,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     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,
@@ -86,12 +99,8 @@ public class AprilTagDetector implements AutoCloseable {
 
     @Override
     public boolean equals(Object obj) {
-      if (!(obj instanceof Config)) {
-        return false;
-      }
-
-      Config other = (Config) obj;
-      return numThreads == other.numThreads
+      return obj instanceof Config other
+          && numThreads == other.numThreads
           && quadDecimate == other.quadDecimate
           && quadSigma == other.quadSigma
           && refineEdges == other.refineEdges
@@ -103,8 +112,8 @@ public class AprilTagDetector implements AutoCloseable {
   /** Quad threshold parameters. */
   @SuppressWarnings("MemberName")
   public static class QuadThresholdParameters {
-    /** Threshold used to reject quads containing too few pixels. Default is 5 pixels. */
-    public int minClusterPixels = 5;
+    /** 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
@@ -115,9 +124,9 @@ public class AprilTagDetector implements AutoCloseable {
     /**
      * 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 10 degrees.
+     * Default is 45 degrees.
      */
-    public double criticalAngle = 10 * Math.PI / 180.0;
+    public double criticalAngle = 45 * Math.PI / 180.0;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error allowed. This is useful in
@@ -139,8 +148,21 @@ public class AprilTagDetector implements AutoCloseable {
      */
     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,
@@ -168,12 +190,8 @@ public class AprilTagDetector implements AutoCloseable {
 
     @Override
     public boolean equals(Object obj) {
-      if (!(obj instanceof QuadThresholdParameters)) {
-        return false;
-      }
-
-      QuadThresholdParameters other = (QuadThresholdParameters) obj;
-      return minClusterPixels == other.minClusterPixels
+      return obj instanceof QuadThresholdParameters other
+          && minClusterPixels == other.minClusterPixels
           && maxNumMaxima == other.maxNumMaxima
           && criticalAngle == other.criticalAngle
           && maxLineFitMSE == other.maxLineFitMSE
@@ -182,8 +200,11 @@ public class AprilTagDetector implements AutoCloseable {
     }
   }
 
+  /** Constructs an AprilTagDetector. */
+  @SuppressWarnings("this-escape")
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
+    setQuadThresholdParameters(new QuadThresholdParameters());
   }
 
   @Override
@@ -244,7 +265,7 @@ public class AprilTagDetector implements AutoCloseable {
    * Adds a family of tags to be detected.
    *
    * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected maximum number of bits to correct
+   * @param bitsCorrected Maximum number of bits to correct
    * @throws IllegalArgumentException if family name not recognized
    */
   public void addFamily(String fam, int bitsCorrected) {
@@ -270,11 +291,13 @@ public class AprilTagDetector implements AutoCloseable {
   /**
    * 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(), img.cols(), img.dataAddr());
+    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), (int) img.step1(), img.dataAddr());
   }
 
   private long m_native;

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

@@ -16,6 +16,8 @@ import edu.wpi.first.math.geometry.Translation3d;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.io.UncheckedIOException;
+import java.nio.charset.StandardCharsets;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -44,8 +46,11 @@ import java.util.Optional;
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class AprilTagFieldLayout {
+  /** Common origin positions for the AprilTag coordinate system. */
   public enum OriginPosition {
+    /** Blue alliance wall, right side. */
     kBlueAllianceWallRightSide,
+    /** Red alliance wall, right side. */
     kRedAllianceWallRightSide,
   }
 
@@ -113,6 +118,26 @@ public class AprilTagFieldLayout {
     return new ArrayList<>(m_apriltags.values());
   }
 
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return length, in meters
+   */
+  @JsonIgnore
+  public double getFieldLength() {
+    return m_fieldDimensions.fieldLength;
+  }
+
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return width, in meters
+   */
+  @JsonIgnore
+  public double getFieldWidth() {
+    return m_fieldDimensions.fieldWidth;
+  }
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
    * calculated from the field dimensions.
@@ -123,20 +148,15 @@ public class AprilTagFieldLayout {
    * @param origin The predefined origin
    */
   @JsonIgnore
-  public void setOrigin(OriginPosition origin) {
-    switch (origin) {
-      case kBlueAllianceWallRightSide:
-        setOrigin(new Pose3d());
-        break;
-      case kRedAllianceWallRightSide:
-        setOrigin(
-            new Pose3d(
-                new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
-                new Rotation3d(0, 0, Math.PI)));
-        break;
-      default:
-        throw new IllegalArgumentException("Unsupported enum value");
-    }
+  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);
   }
 
   /**
@@ -148,10 +168,20 @@ public class AprilTagFieldLayout {
    * @param origin The new origin for tag transformations
    */
   @JsonIgnore
-  public void setOrigin(Pose3d origin) {
+  public final void setOrigin(Pose3d origin) {
     m_origin = origin;
   }
 
+  /**
+   * Returns the origin used for tag pose transformation.
+   *
+   * @return the origin
+   */
+  @JsonIgnore
+  public Pose3d getOrigin() {
+    return m_origin;
+  }
+
   /**
    * Gets an AprilTag pose by its ID.
    *
@@ -188,6 +218,29 @@ public class AprilTagFieldLayout {
     new ObjectMapper().writeValue(path.toFile(), this);
   }
 
+  /**
+   * Get an official {@link AprilTagFieldLayout}.
+   *
+   * @param field The loadable AprilTag field layout.
+   * @return AprilTagFieldLayout of the field.
+   * @throws UncheckedIOException If the layout does not exist.
+   */
+  public static AprilTagFieldLayout loadField(AprilTagFields field) {
+    if (field.m_fieldLayout == null) {
+      try {
+        field.m_fieldLayout = loadFromResource(field.m_resourceFile);
+      } catch (IOException e) {
+        throw new UncheckedIOException(
+            "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
+      }
+    }
+    // Copy layout because the layout's origin is mutable
+    return new AprilTagFieldLayout(
+        field.m_fieldLayout.getTags(),
+        field.m_fieldLayout.getFieldLength(),
+        field.m_fieldLayout.getFieldWidth());
+  }
+
   /**
    * Deserializes a field layout from a resource within a internal jar file.
    *
@@ -199,19 +252,24 @@ public class AprilTagFieldLayout {
    * @throws IOException If the resource could not be loaded
    */
   public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
-        InputStreamReader reader = new InputStreamReader(stream)) {
+    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
+    if (stream == null) {
+      // Class.getResourceAsStream() returns null if the resource does not exist.
+      throw new IOException("Could not locate resource: " + resourcePath);
+    }
+    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
+    try {
       return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
+    } catch (IOException e) {
+      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
     }
   }
 
   @Override
   public boolean equals(Object obj) {
-    if (obj instanceof AprilTagFieldLayout) {
-      var other = (AprilTagFieldLayout) obj;
-      return m_apriltags.equals(other.m_apriltags) && m_origin.equals(other.m_origin);
-    }
-    return false;
+    return obj instanceof AprilTagFieldLayout layout
+        && m_apriltags.equals(layout.m_apriltags)
+        && m_origin.equals(layout.m_origin);
   }
 
   @Override
@@ -224,11 +282,11 @@ public class AprilTagFieldLayout {
   private static class FieldDimensions {
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "length")
-    public double fieldLength;
+    public final double fieldLength;
 
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "width")
-    public double fieldWidth;
+    public final double fieldWidth;
 
     @JsonCreator()
     FieldDimensions(

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

@@ -4,19 +4,32 @@
 
 package edu.wpi.first.apriltag;
 
-import java.io.IOException;
+import java.io.UncheckedIOException;
 
+/** Loadable AprilTag field layouts. */
 public enum AprilTagFields {
+  /** 2022 Rapid React. */
   k2022RapidReact("2022-rapidreact.json"),
-  k2023ChargedUp("2023-chargedup.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");
 
+  /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2023ChargedUp;
+  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
 
+  /** Resource filename. */
   public final String m_resourceFile;
 
+  AprilTagFieldLayout m_fieldLayout;
+
   AprilTagFields(String resourceFile) {
     m_resourceFile = kBaseResourceDir + resourceFile;
   }
@@ -25,9 +38,11 @@ public enum AprilTagFields {
    * Get a {@link AprilTagFieldLayout} from the resource JSON.
    *
    * @return AprilTagFieldLayout of the field
-   * @throws IOException If the layout does not exist
+   * @throws UncheckedIOException If the layout does not exist
+   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
    */
-  public AprilTagFieldLayout loadAprilTagLayoutField() throws IOException {
-    return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+  @Deprecated(forRemoval = true, since = "2025")
+  public AprilTagFieldLayout loadAprilTagLayoutField() {
+    return AprilTagFieldLayout.loadField(this);
   }
 }

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

@@ -29,10 +29,19 @@ public class AprilTagPoseEstimator {
       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
@@ -46,12 +55,8 @@ public class AprilTagPoseEstimator {
 
     @Override
     public boolean equals(Object obj) {
-      if (!(obj instanceof Config)) {
-        return false;
-      }
-
-      Config other = (Config) obj;
-      return tagSize == other.tagSize
+      return obj instanceof Config other
+          && tagSize == other.tagSize
           && fx == other.fx
           && fy == other.fy
           && cx == other.cx

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

@@ -8,34 +8,45 @@ import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagDetector;
 import edu.wpi.first.apriltag.AprilTagPoseEstimate;
 import edu.wpi.first.math.geometry.Transform3d;
+import edu.wpi.first.util.RawFrame;
 import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** AprilTag JNI. */
 public class AprilTagJNI {
   static boolean libraryLoaded = false;
 
-  static RuntimeLoader<AprilTagJNI> loader = null;
-
+  /** 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 {
-        loader =
-            new RuntimeLoader<>(
-                "apriltagjni", RuntimeLoader.getDefaultExtractionRoot(), AprilTagJNI.class);
-        loader.loadLibrary();
+        RuntimeLoader.loadLibrary("apriltagjni");
       } catch (IOException ex) {
         ex.printStackTrace();
         System.exit(1);
@@ -44,31 +55,119 @@ public class AprilTagJNI {
     }
   }
 
+  /**
+   * 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,
@@ -79,6 +178,20 @@ public class AprilTagJNI {
       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,
@@ -87,4 +200,25 @@ public class AprilTagJNI {
       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

@@ -4,10 +4,53 @@
 
 #include "frc/apriltag/AprilTag.h"
 
+#include <cstring>
+
 #include <wpi/json.h>
 
+#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 frc;
 
+static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
+                          int id) {
+  image_u8_t* image = apriltag_to_image(family, id);
+  size_t totalDataSize = image->height * image->stride;
+  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::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::RawFrame* frame, int id) {
+  apriltag_family_t* tagFamily = tag16h5_create();
+  bool rv = FamilyToImage(frame, tagFamily, id);
+  tag16h5_destroy(tagFamily);
+  return rv;
+}
+
 void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
   json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
 }

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

@@ -5,7 +5,7 @@
 #include "frc/apriltag/AprilTagDetector.h"
 
 #include <cmath>
-#include <numbers>
+#include <utility>
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
@@ -17,13 +17,7 @@
 
 #include "apriltag.h"
 #include "tag16h5.h"
-#include "tag25h9.h"
 #include "tag36h11.h"
-#include "tagCircle21h7.h"
-#include "tagCircle49h12.h"
-#include "tagCustom48h12.h"
-#include "tagStandard41h12.h"
-#include "tagStandard52h13.h"
 
 using namespace frc;
 
@@ -46,7 +40,9 @@ void AprilTagDetector::Results::Destroy() {
   }
 }
 
-AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {}
+AprilTagDetector::AprilTagDetector() : m_impl{apriltag_detector_create()} {
+  SetQuadThresholdParameters({});
+}
 
 AprilTagDetector& AprilTagDetector::operator=(AprilTagDetector&& rhs) {
   Destroy();
@@ -115,20 +111,8 @@ bool AprilTagDetector::AddFamily(std::string_view fam, int bitsCorrected) {
   // create the family
   if (fam == "tag16h5") {
     data = tag16h5_create();
-  } else if (fam == "tag25h9") {
-    data = tag25h9_create();
   } else if (fam == "tag36h11") {
     data = tag36h11_create();
-  } else if (fam == "tagCircle21h7") {
-    data = tagCircle21h7_create();
-  } else if (fam == "tagCircle49h12") {
-    data = tagCircle49h12_create();
-  } else if (fam == "tagStandard41h12") {
-    data = tagStandard41h12_create();
-  } else if (fam == "tagStandard52h13") {
-    data = tagStandard52h13_create();
-  } else if (fam == "tagCustom48h12") {
-    data = tagCustom48h12_create();
   }
   if (!data) {
     m_families.erase(fam);  // don't keep null value
@@ -146,7 +130,7 @@ void AprilTagDetector::RemoveFamily(std::string_view fam) {
     apriltag_detector_remove_family(
         static_cast<apriltag_detector_t*>(m_impl),
         static_cast<apriltag_family_t*>(it->second));
-    DestroyFamily(it->getKey(), it->second);
+    DestroyFamily(it->first, it->second);
     m_families.erase(it);
   }
 }
@@ -174,7 +158,7 @@ void AprilTagDetector::Destroy() {
 
 void AprilTagDetector::DestroyFamilies() {
   for (auto&& entry : m_families) {
-    DestroyFamily(entry.getKey(), entry.second);
+    DestroyFamily(entry.first, entry.second);
   }
 }
 
@@ -182,19 +166,7 @@ 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 == "tag25h9") {
-    tag25h9_destroy(fam);
   } else if (name == "tag36h11") {
     tag36h11_destroy(fam);
-  } else if (name == "tagCircle21h7") {
-    tagCircle21h7_destroy(fam);
-  } else if (name == "tagCircle49h12") {
-    tagCircle49h12_destroy(fam);
-  } else if (name == "tagStandard41h12") {
-    tagStandard41h12_destroy(fam);
-  } else if (name == "tagStandard52h13") {
-    tagStandard52h13_destroy(fam);
-  } else if (name == "tagCustom48h12") {
-    tagCustom48h12_destroy(fam);
   }
 }

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

@@ -5,25 +5,24 @@
 #include "frc/apriltag/AprilTagFieldLayout.h"
 
 #include <system_error>
+#include <utility>
+#include <vector>
 
 #include <units/angle.h>
 #include <units/length.h>
+#include <wpi/MemoryBuffer.h>
 #include <wpi/json.h>
-#include <wpi/raw_istream.h>
 #include <wpi/raw_ostream.h>
 
 using namespace frc;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  std::error_code error_code;
-
-  wpi::raw_fd_istream input{path, error_code};
-  if (error_code) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
+  if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json;
-  input >> json;
+  wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
@@ -42,6 +41,23 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
+units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+  return m_fieldLength;
+}
+
+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:
@@ -60,6 +76,10 @@ void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
   m_origin = origin;
 }
 
+Pose3d AprilTagFieldLayout::GetOrigin() const {
+  return m_origin;
+}
+
 std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {
@@ -105,3 +125,45 @@ void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
   layout.m_fieldWidth =
       units::meter_t{json.at("field").at("width").get<double>()};
 }
+
+// Use namespace declaration for forward declaration
+namespace frc {
+
+// 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();
+
+}  // namespace frc
+
+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::kNumFields:
+      throw std::invalid_argument("Invalid Field");
+  }
+
+  wpi::json json = wpi::json::parse(fieldString);
+  return json.get<AprilTagFieldLayout>();
+}
+
+AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+  return AprilTagFieldLayout::LoadField(field);
+}

apriltag/src/main/native/cpp/AprilTagFields.cpp

@@ -1,32 +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 "frc/apriltag/AprilTagFields.h"
-
-#include <wpi/json.h>
-
-namespace frc {
-
-// C++ generated from resource files
-std::string_view GetResource_2022_rapidreact_json();
-std::string_view GetResource_2023_chargedup_json();
-
-AprilTagFieldLayout LoadAprilTagLayoutField(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::kNumFields:
-      throw std::invalid_argument("Invalid Field");
-  }
-
-  wpi::json json = wpi::json::parse(fieldString);
-  return json.get<AprilTagFieldLayout>();
-}
-
-}  // namespace frc

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

@@ -110,7 +110,7 @@ static AprilTagPoseEstimate DoEstimateOrthogonalIteration(
   apriltag_pose_t pose1, pose2;
   double err1, err2;
   estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2,
-                                         nIters);
+                                         nIters, 1e-7);
   return {MakePose(pose1), MakePose(pose2), err1, err2};
 }
 

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

@@ -2,12 +2,17 @@
 // 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 <wpi/RawFrame.h>
 #include <wpi/jni_util.h>
 
 #include "edu_wpi_first_apriltag_jni_AprilTagJNI.h"
+#include "frc/apriltag/AprilTag.h"
 #include "frc/apriltag/AprilTagDetector.h"
 #include "frc/apriltag/AprilTagPoseEstimator.h"
 
@@ -24,6 +29,7 @@ static JClass quaternionCls;
 static JClass rotation3dCls;
 static JClass transform3dCls;
 static JClass translation3dCls;
+static JClass rawFrameCls;
 static JException illegalArgEx;
 static JException nullPointerEx;
 
@@ -36,7 +42,8 @@ static const JClassInit classes[] = {
     {"edu/wpi/first/math/geometry/Quaternion", &quaternionCls},
     {"edu/wpi/first/math/geometry/Rotation3d", &rotation3dCls},
     {"edu/wpi/first/math/geometry/Transform3d", &transform3dCls},
-    {"edu/wpi/first/math/geometry/Translation3d", &translation3dCls}};
+    {"edu/wpi/first/math/geometry/Translation3d", &translation3dCls},
+    {"edu/wpi/first/util/RawFrame", &rawFrameCls}};
 
 static const JExceptionInit exceptions[] = {
     {"java/lang/IllegalArgumentException", &illegalArgEx},
@@ -504,15 +511,14 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseHomography
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.EstimateHomography(
-                              std::span<const double, 9>{harr.array()}));
+  return MakeJObject(env, estimator.EstimateHomography(harr));
 }
 
 /*
@@ -530,7 +536,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
@@ -541,7 +547,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
     nullPointerEx.Throw(env, "corners cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef carr{env, corners};
+  JSpan<const jdouble, 8> carr{env, corners};
   if (carr.size() != 8) {
     illegalArgEx.Throw(env, "corners array must be size 8");
     return nullptr;
@@ -549,9 +555,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
   return MakeJObject(env,
-                     estimator.EstimateOrthogonalIteration(
-                         std::span<const double, 9>{harr.array()},
-                         std::span<const double, 8>{carr.array()}, nIters));
+                     estimator.EstimateOrthogonalIteration(harr, carr, nIters));
 }
 
 /*
@@ -569,7 +573,7 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
     nullPointerEx.Throw(env, "homography cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef harr{env, homography};
+  JSpan<const jdouble, 9> harr{env, homography};
   if (harr.size() != 9) {
     illegalArgEx.Throw(env, "homography array must be size 9");
     return nullptr;
@@ -580,16 +584,51 @@ Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
     nullPointerEx.Throw(env, "corners cannot be null");
     return nullptr;
   }
-  JDoubleArrayRef carr{env, corners};
+  JSpan<const jdouble, 8> carr{env, corners};
   if (carr.size() != 8) {
     illegalArgEx.Throw(env, "corners array must be size 8");
     return nullptr;
   }
 
   AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(
-      env, estimator.Estimate(std::span<const double, 9>{harr.array()},
-                              std::span<const double, 8>{carr.array()}));
+  return MakeJObject(env, estimator.Estimate(harr, carr));
+}
+
+/*
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
+ * Method:    generate16h5AprilTagImage
+ * Signature: (Ljava/lang/Object;JI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
+  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
+{
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  if (!frame) {
+    nullPointerEx.Throw(env, "frame is null");
+    return;
+  }
+  bool newData = AprilTag::Generate16h5AprilTagImage(frame, id);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
+}
+
+/*
+ * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
+ * Method:    generate36h11AprilTagImage
+ * Signature: (Ljava/lang/Object;JI)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
+  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
+{
+  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
+  if (!frame) {
+    nullPointerEx.Throw(env, "frame is null");
+    return;
+  }
+  // function might reallocate
+  bool newData = AprilTag::Generate36h11AprilTagImage(frame, id);
+  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
 }
 
 }  // extern "C"

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

@@ -4,25 +4,28 @@
 
 #pragma once
 
+#include <wpi/RawFrame.h>
 #include <wpi/SymbolExports.h>
+#include <wpi/json_fwd.h>
 
 #include "frc/geometry/Pose3d.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 namespace frc {
 
+/**
+ * Represents an AprilTag's metadata.
+ */
 struct WPILIB_DLLEXPORT AprilTag {
+  /// The tag's ID.
   int ID;
 
+  /// The tag's pose.
   Pose3d pose;
 
-  /**
-   * Checks equality between this AprilTag and another object.
-   */
   bool operator==(const AprilTag&) const = default;
+
+  static bool Generate36h11AprilTagImage(wpi::RawFrame* frame, int id);
+  static bool Generate16h5AprilTagImage(wpi::RawFrame* frame, int id);
 };
 
 WPILIB_DLLEXPORT

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

@@ -9,10 +9,9 @@
 #include <span>
 #include <string_view>
 
+#include <Eigen/Core>
 #include <wpi/SymbolExports.h>
 
-#include "frc/EigenCore.h"
-
 namespace frc {
 
 /**
@@ -94,7 +93,7 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
 
   /**
    * Gets a corner of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag.
+   * 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
@@ -105,7 +104,8 @@ class WPILIB_DLLEXPORT AprilTagDetection final {
 
   /**
    * Gets the corners of the tag in image pixel coordinates. These always
-   * wrap counter-clock wise around the tag.
+   * 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)

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

@@ -83,10 +83,10 @@ class WPILIB_DLLEXPORT AprilTagDetector {
     bool operator==(const QuadThresholdParameters&) const = default;
 
     /**
-     * Threshold used to reject quads containing too few pixels. Default is 5
+     * Threshold used to reject quads containing too few pixels. Default is 300
      * pixels.
      */
-    int minClusterPixels = 5;
+    int minClusterPixels = 300;
 
     /**
      * How many corner candidates to consider when segmenting a group of pixels
@@ -97,9 +97,9 @@ class WPILIB_DLLEXPORT AprilTagDetector {
     /**
      * 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 10 degrees.
+     * that no quads are rejected. Default is 45 degrees.
      */
-    units::radian_t criticalAngle = 10_deg;
+    units::radian_t criticalAngle = 45_deg;
 
     /**
      * When fitting lines to the contours, the maximum mean squared error
@@ -205,7 +205,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
    * Adds a family of tags to be detected.
    *
    * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected
+   * @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);
@@ -226,6 +226,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   /**
    * Detect tags from an 8-bit image.
+   * The image must be grayscale.
    *
    * @param width width of the image
    * @param height height of the image
@@ -237,6 +238,7 @@ class WPILIB_DLLEXPORT AprilTagDetector {
 
   /**
    * Detect tags from an 8-bit image.
+   * The image must be grayscale.
    *
    * @param width width of the image
    * @param height height of the image

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

@@ -11,14 +11,12 @@
 
 #include <units/length.h>
 #include <wpi/SymbolExports.h>
+#include <wpi/json_fwd.h>
 
 #include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagFields.h"
 #include "frc/geometry/Pose3d.h"
 
-namespace wpi {
-class json;
-}  // namespace wpi
-
 namespace frc {
 /**
  * Class for representing a layout of AprilTags on a field and reading them from
@@ -41,11 +39,24 @@ namespace frc {
  * 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;
 
   /**
@@ -65,6 +76,24 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
   AprilTagFieldLayout(std::vector<AprilTag> apriltags,
                       units::meter_t fieldLength, units::meter_t fieldWidth);
 
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return length
+   */
+  units::meter_t GetFieldLength() const;
+
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return width
+   */
+  units::meter_t GetFieldWidth() const;
+
+  /**
+   * Returns a vector of all the april tags used in this layout.
+   * @return list of tags
+   */
+  std::vector<AprilTag> GetTags() const;
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame
    * origins. The origins are calculated from the field dimensions.
@@ -79,13 +108,19 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
   /**
    * Sets the origin for tag pose transformation.
    *
-   * This tranforms the Pose3ds returned by GetTagPose(int) to return the
+   * This transforms the Pose3ds returned by GetTagPose(int) to return the
    * correct pose relative to the provided origin.
    *
    * @param origin The new origin for tag transformations
    */
   void SetOrigin(const Pose3d& origin);
 
+  /**
+   * Returns the origin used for tag pose transformation.
+   * @return the origin
+   */
+  Pose3d GetOrigin() const;
+
   /**
    * Gets an AprilTag pose by its ID.
    *
@@ -126,4 +161,15 @@ void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
 WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
 
+/**
+ * Loads an AprilTagFieldLayout from a predefined field
+ *
+ * @param field The predefined field
+ * @return AprilTagFieldLayout of the field
+ * @deprecated Use AprilTagFieldLayout::LoadField() instead
+ */
+[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
+WPILIB_DLLEXPORT AprilTagFieldLayout
+LoadAprilTagLayoutField(AprilTagField field);
+
 }  // namespace frc

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

@@ -8,25 +8,28 @@
 
 #include <wpi/SymbolExports.h>
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
-
 namespace frc {
 
+/**
+ * Loadable AprilTag field layouts.
+ */
 enum class AprilTagField {
+  /// 2022 Rapid React.
   k2022RapidReact,
+  /// 2023 Charged Up.
   k2023ChargedUp,
+  /// 2024 Crescendo.
+  k2024Crescendo,
+  /// 2025 Reefscape AndyMark (see TU12).
+  k2025ReefscapeAndyMark,
+  /// 2025 Reefscape Welded (see TU12).
+  k2025ReefscapeWelded,
+  /// Alias to the current game.
+  kDefaultField = k2025ReefscapeWelded,
 
   // 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,
 };
 
-/**
- * Loads an AprilTagFieldLayout from a predefined field
- *
- * @param field The predefined field
- */
-WPILIB_DLLEXPORT AprilTagFieldLayout
-LoadAprilTagLayoutField(AprilTagField field);
-
 }  // namespace frc

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2024-crescendo.json

@@ -0,0 +1,296 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 15.079471999999997,
+          "y": 0.24587199999999998,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 16.185134,
+          "y": 0.883666,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 16.579342,
+          "y": 4.982717999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 16.579342,
+          "y": 5.547867999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 14.700757999999999,
+          "y": 8.2042,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 1.8415,
+          "y": 8.2042,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": -0.038099999999999995,
+          "y": 5.547867999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": -0.038099999999999995,
+          "y": 4.982717999999999,
+          "z": 1.4511020000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 0.356108,
+          "y": 0.883666,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 1.4615159999999998,
+          "y": 0.24587199999999998,
+          "z": 1.355852
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 11.904726,
+          "y": 3.7132259999999997,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 11.904726,
+          "y": 4.49834,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 11.220196,
+          "y": 4.105148,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 5.320792,
+          "y": 4.105148,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 4.641342,
+          "y": 4.49834,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 4.641342,
+          "y": 3.7132259999999997,
+          "z": 1.3208
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.541,
+    "width": 8.211
+  }
+}

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv

@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,656.98,24.73,58.5,126,0
+2,656.98,291.9,58.5,234,0
+3,452.4,316.21,51.25,270,0
+4,365.2,241.44,73.54,0,30
+5,365.2,75.19,73.54,0,30
+6,530.49,129.97,12.13,300,0
+7,546.87,158.3,12.13,0,0
+8,530.49,186.63,12.13,60,0
+9,497.77,186.63,12.13,120,0
+10,481.39,158.3,12.13,180,0
+11,497.77,129.97,12.13,240,0
+12,33.91,24.73,58.5,54,0
+13,33.91,291.9,58.5,306,0
+14,325.68,241.44,73.54,180,30
+15,325.68,75.19,73.54,180,30
+16,238.49,0.42,51.25,90,0
+17,160.39,129.97,12.13,240,0
+18,144,158.3,12.13,180,0
+19,160.39,186.63,12.13,120,0
+20,193.1,186.63,12.13,60,0
+21,209.49,158.3,12.13,0,0
+22,193.1,129.97,12.13,300,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json

@@ -0,0 +1,404 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 16.687292,
+          "y": 0.628142,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.4539904997395468,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8910065241883678
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 16.687292,
+          "y": 7.414259999999999,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.45399049973954675,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8910065241883679
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.49096,
+          "y": 8.031733999999998,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 9.276079999999999,
+          "y": 6.132575999999999,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
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+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 9.276079999999999,
+          "y": 1.9098259999999998,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.9659258262890683,
+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 13.474446,
+          "y": 3.3012379999999997,
+          "z": 0.308102
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+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
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+          "y": 4.0208200000000005,
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+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 13.474446,
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+      "pose": {
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+          "x": 12.643358,
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+      }
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+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
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+          "y": 4.0208200000000005,
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+            "Z": 1.0
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+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
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+            "X": -0.0,
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+            "Z": 0.8660254037844387
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+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 0.8613139999999999,
+          "y": 0.628142,
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apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.csv

@@ -0,0 +1,23 @@
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+5,365.2,75.39,73.54,0,30
+6,530.49,130.17,12.13,300,0
+7,546.87,158.5,12.13,0,0
+8,530.49,186.83,12.13,60,0
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+12,33.51,25.8,58.5,54,0
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+15,325.68,75.39,73.54,180,30
+16,235.73,-0.15,51.25,90,0
+17,160.39,130.17,12.13,240,0
+18,144,158.5,12.13,180,0
+19,160.39,186.83,12.13,120,0
+20,193.1,186.83,12.13,60,0
+21,209.49,158.5,12.13,0,0
+22,193.1,130.17,12.13,300,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json

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

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+/* 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

@@ -0,0 +1,101 @@
+/* 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

@@ -0,0 +1,81 @@
+#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

@@ -0,0 +1,41 @@
+/* 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)

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

@@ -0,0 +1,32 @@
+/* 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
+
+#define TNAME double
+#include "doubles_floats_impl.h"
+#undef TNAME

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

@@ -0,0 +1,32 @@
+/* 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
+
+#define TNAME float
+#include "doubles_floats_impl.h"
+#undef TNAME

apriltag/src/main/native/thirdparty/apriltag/include/common/g2d.h

@@ -0,0 +1,124 @@
+/* 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 "zarray.h"
+
+// This library tries to avoid needless proliferation of types.
+//
+// A point is a double[2]. (Note that when passing a double[2] as an
+// argument, it is passed by pointer, not by value.)
+//
+// A polygon is a zarray_t of double[2]. (Note that in this case, the
+// zarray contains the actual vertex data, and not merely a pointer to
+// some other data. IMPORTANT: A polygon must be specified in CCW
+// order.  It is implicitly closed (do not list the same point at the
+// beginning at the end.
+//
+// Where sensible, it is assumed that objects should be allocated
+// sparingly; consequently "init" style methods, rather than "create"
+// methods are used.
+
+////////////////////////////////////////////////////////////////////
+// Lines
+
+typedef struct
+{
+    // Internal representation: a point that the line goes through (p) and
+    // the direction of the line (u).
+    double p[2];
+    double u[2]; // always a unit vector
+} g2d_line_t;
+
+// initialize a line object.
+void g2d_line_init_from_points(g2d_line_t *line, const double p0[2], const double p1[2]);
+
+// The line defines a one-dimensional coordinate system whose origin
+// is p. Where is q? (If q is not on the line, the point nearest q is
+// returned.
+double g2d_line_get_coordinate(const g2d_line_t *line, const double q[2]);
+
+// Intersect two lines. The intersection, if it exists, is written to
+// p (if not NULL), and 1 is returned. Else, zero is returned.
+int g2d_line_intersect_line(const g2d_line_t *linea, const g2d_line_t *lineb, double *p);
+
+////////////////////////////////////////////////////////////////////
+// Line Segments. line.p is always one endpoint; p1 is the other
+// endpoint.
+typedef struct
+{
+    g2d_line_t line;
+    double p1[2];
+} g2d_line_segment_t;
+
+void g2d_line_segment_init_from_points(g2d_line_segment_t *seg, const double p0[2], const double p1[2]);
+
+// Intersect two segments. The intersection, if it exists, is written
+// to p (if not NULL), and 1 is returned. Else, zero is returned.
+int g2d_line_segment_intersect_segment(const g2d_line_segment_t *sega, const g2d_line_segment_t *segb, double *p);
+
+void g2d_line_segment_closest_point(const g2d_line_segment_t *seg, const double *q, double *p);
+double g2d_line_segment_closest_point_distance(const g2d_line_segment_t *seg, const double *q);
+
+////////////////////////////////////////////////////////////////////
+// Polygons
+
+zarray_t *g2d_polygon_create_data(double v[][2], int sz);
+
+zarray_t *g2d_polygon_create_zeros(int sz);
+
+zarray_t *g2d_polygon_create_empty(void);
+
+void g2d_polygon_add(zarray_t *poly, double v[2]);
+
+// Takes a polygon in either CW or CCW and modifies it (if necessary)
+// to be CCW.
+void g2d_polygon_make_ccw(zarray_t *poly);
+
+// Return 1 if point q lies within poly.
+int g2d_polygon_contains_point(const zarray_t *poly, double q[2]);
+
+// Do the edges of the polygons cross? (Does not test for containment).
+int g2d_polygon_intersects_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// Does polya completely contain polyb?
+int g2d_polygon_contains_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// Is there some point which is in both polya and polyb?
+int g2d_polygon_overlaps_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// returns the number of points written to x. see comments.
+int g2d_polygon_rasterize(const zarray_t *poly, double y, double *x);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,183 @@
+/* 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 "matd.h"
+#include "zarray.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /** Given a 3x3 homography matrix and the focal lengths of the
+     * camera, compute the pose of the tag. The focal lengths should
+     * be given in pixels. For example, if the camera's focal length
+     * is twice the width of the sensor, and the sensor is 600 pixels
+     * across, the focal length in pixels is 2*600. Note that the
+     * focal lengths in the fx and fy direction will be approximately
+     * equal for most lenses, and is not a function of aspect ratio.
+     *
+     * Theory: The homography matrix is the product of the camera
+     * projection matrix and the tag's pose matrix (the matrix that
+     * projects points from the tag's local coordinate system to the
+     * camera's coordinate frame).
+     *
+    * [ h00 h01 h02 h03] = [ fx   0     cx 0 ] [ R00 R01 R02 TX ]
+     * [ h10 h11 h12 h13] = [ 0    fy    cy 0 ] [ R10 R11 R12 TY ]
+     * [ h20 h21 h22 h23] = [ 0    0      s 0 ] [ R20 R21 R22 TZ ]
+     *                                          [ 0   0   0   1  ]
+     *
+     * fx is the focal length in the x direction of the camera
+     * (typically measured in pixels), fy is the focal length. cx and
+     * cy give the focal center (usually the middle of the image), and
+     * s is either +1 or -1, depending on the conventions you use. (We
+     * use 1.)
+
+     * When observing a tag, the points we project in world space all
+     * have z=0, so we can form a 3x3 matrix by eliminating the 3rd
+     * column of the pose matrix.
+     *
+     * [ h00 h01 h02 ] = [ fx   0    cx 0 ] [ R00 R01 TX ]
+     * [ h10 h11 h12 ] = [ 0    fy   cy 0 ] [ R10 R11 TY ]
+     * [ h20 h21 h22 ] = [ 0    0     s 0 ] [ R20 R21 TZ ]
+     *                                      [ 0   0   1  ]
+     *
+     * (note that these h's are different from the ones above.)
+     *
+     * We can multiply the right-hand side to yield a set of equations
+     * relating the values of h to the values of the pose matrix.
+     *
+     * There are two wrinkles. The first is that the homography matrix
+     * is known only up to scale. We recover the unknown scale by
+     * constraining the magnitude of the first two columns of the pose
+     * matrix to be 1. We use the geometric average scale. The sign of
+     * the scale factor is recovered by constraining the observed tag
+     * to be in front of the camera. Once scaled, we recover the first
+     * two colmuns of the rotation matrix. The third column is the
+     * cross product of these.
+     *
+     * The second wrinkle is that the computed rotation matrix might
+     * not be exactly orthogonal, so we perform a polar decomposition
+     * to find a good pure rotation approximation.
+     *
+     * Tagsize is the size of the tag in your desired units. I.e., if
+     * your tag measures 0.25m along the side, your tag size is
+     * 0.25. (The homography is computed in terms of *half* the tag
+     * size, i.e., that a tag is 2 units wide as it spans from -1 to
+     * +1, but this code makes the appropriate adjustment.)
+     *
+     * A note on signs:
+     *
+     * The code below incorporates no additional negative signs, but
+     * respects the sign of any parameters that you pass in. Flipping
+     * the signs allows you to modify the projection to suit a wide
+     * variety of conditions.
+     *
+     * In the "pure geometry" projection matrix, the image appears
+     * upside down; i.e., the x and y coordinates on the left hand
+     * side are the opposite of those on the right of the camera
+     * projection matrix. This would happen for all parameters
+     * positive: recall that points in front of the camera have
+     * negative Z values, which will cause the sign of all points to
+     * flip.
+     *
+     * However, most cameras flip things so that the image appears
+     * "right side up" as though you were looking through the lens
+     * directly. This means that the projected points should have the
+     * same sign as the points on the right of the camera projection
+     * matrix. To achieve this, flip fx and fy.
+     *
+     * One further complication: cameras typically put y=0 at the top
+     * of the image, instead of the bottom. Thus you generally want to
+     * flip y yet again (so it's now positive again).
+     *
+     * General advice: you probably want fx negative, fy positive, cx
+     * and cy positive, and s=1.
+     **/
+
+// correspondences is a list of float[4]s, consisting of the points x
+// and y concatenated. We will compute a homography such that y = Hx
+// Specifically, float [] { a, b, c, d } where x = [a b], y = [c d].
+
+
+#define HOMOGRAPHY_COMPUTE_FLAG_INVERSE 1
+#define HOMOGRAPHY_COMPUTE_FLAG_SVD 0
+
+matd_t *homography_compute(zarray_t *correspondences, int flags);
+
+//void homography_project(const matd_t *H, double x, double y, double *ox, double *oy);
+static inline void homography_project(const matd_t *H, double x, double y, double *ox, double *oy)
+{
+    double xx = MATD_EL(H, 0, 0)*x + MATD_EL(H, 0, 1)*y + MATD_EL(H, 0, 2);
+    double yy = MATD_EL(H, 1, 0)*x + MATD_EL(H, 1, 1)*y + MATD_EL(H, 1, 2);
+    double zz = MATD_EL(H, 2, 0)*x + MATD_EL(H, 2, 1)*y + MATD_EL(H, 2, 2);
+
+    *ox = xx / zz;
+    *oy = yy / zz;
+}
+
+// assuming that the projection matrix is:
+// [ fx 0  cx 0 ]
+// [  0 fy cy 0 ]
+// [  0  0  1 0 ]
+//
+// And that the homography is equal to the projection matrix times the model matrix,
+// recover the model matrix (which is returned). Note that the third column of the model
+// matrix is missing in the expression below, reflecting the fact that the homography assumes
+// all points are at z=0 (i.e., planar) and that the element of z is thus omitted.
+// (3x1 instead of 4x1).
+//
+// [ fx 0  cx 0 ] [ R00  R01  TX ]    [ H00 H01 H02 ]
+// [  0 fy cy 0 ] [ R10  R11  TY ] =  [ H10 H11 H12 ]
+// [  0  0  1 0 ] [ R20  R21  TZ ] =  [ H20 H21 H22 ]
+//                [  0    0    1 ]
+//
+// fx*R00 + cx*R20 = H00   (note, H only known up to scale; some additional adjustments required; see code.)
+// fx*R01 + cx*R21 = H01
+// fx*TX  + cx*TZ  = H02
+// fy*R10 + cy*R20 = H10
+// fy*R11 + cy*R21 = H11
+// fy*TY  + cy*TZ  = H12
+// R20 = H20
+// R21 = H21
+// TZ  = H22
+matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, double cy);
+
+// Similar to above
+// Recover the model view matrix assuming that the projection matrix is:
+//
+// [ F  0  A  0 ]     (see glFrustrum)
+// [ 0  G  B  0 ]
+// [ 0  0  C  D ]
+// [ 0  0 -1  0 ]
+
+matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,84 @@
+/* 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 <stdint.h>
+
+// to support conversions between different types, we define all image
+// types at once. Type-specific implementations can then #include this
+// file, assured that the basic types of each image are known.
+
+typedef struct image_u8 image_u8_t;
+struct image_u8
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride;
+
+    uint8_t *buf;
+};
+
+typedef struct image_u8x3 image_u8x3_t;
+struct image_u8x3
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // bytes per line
+
+    uint8_t *buf;
+};
+
+typedef struct image_u8x4 image_u8x4_t;
+struct image_u8x4
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // bytes per line
+
+    uint8_t *buf;
+};
+
+typedef struct image_f32 image_f32_t;
+struct image_f32
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // floats per line
+
+    float *buf; // indexed as buf[y*stride + x]
+};
+
+typedef struct image_u32 image_u32_t;
+struct image_u32
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // int32_ts per line
+
+    uint32_t *buf; // indexed as buf[y*stride + x]
+};

apriltag/src/main/native/thirdparty/apriltag/include/common/image_u8.h

@@ -0,0 +1,90 @@
+/* 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 <stdint.h>
+#include "image_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct image_u8_lut image_u8_lut_t;
+struct image_u8_lut
+{
+    // When drawing, we compute the squared distance between a given pixel and a filled region.
+    // int idx = squared_distance * scale;
+    // We then index into values[idx] to obtain the color. (If we must index beyond nvalues,
+    // no drawing is performed.)
+    float    scale;
+
+    int      nvalues;
+    uint8_t *values;
+};
+
+
+// Create or load an image. returns NULL on failure. Uses default
+// stride alignment.
+image_u8_t *image_u8_create_stride(unsigned int width, unsigned int height, unsigned int stride);
+image_u8_t *image_u8_create(unsigned int width, unsigned int height);
+image_u8_t *image_u8_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
+image_u8_t *image_u8_create_from_f32(image_f32_t *fim);
+
+image_u8_t *image_u8_create_from_pnm(const char *path);
+    image_u8_t *image_u8_create_from_pnm_alignment(const char *path, int alignment);
+
+image_u8_t *image_u8_copy(const image_u8_t *in);
+void image_u8_draw_line(image_u8_t *im, float x0, float y0, float x1, float y1, int v, int width);
+void image_u8_draw_circle(image_u8_t *im, float x0, float y0, float r, int v);
+void image_u8_draw_annulus(image_u8_t *im, float x0, float y0, float r0, float r1, int v);
+
+void image_u8_fill_line_max(image_u8_t *im, const image_u8_lut_t *lut, const float *xy0, const float *xy1);
+
+void image_u8_clear(image_u8_t *im);
+void image_u8_darken(image_u8_t *im);
+void image_u8_convolve_2D(image_u8_t *im, const uint8_t *k, int ksz);
+void image_u8_gaussian_blur(image_u8_t *im, double sigma, int k);
+
+// 1.5, 2, 3, 4, ... supported
+image_u8_t *image_u8_decimate(image_u8_t *im, float factor);
+
+void image_u8_destroy(image_u8_t *im);
+
+// Write a pnm. Returns 0 on success
+// Currently only supports GRAY and RGBA. Does not write out alpha for RGBA
+int image_u8_write_pnm(const image_u8_t *im, const char *path);
+
+// rotate the image by 'rad' radians. (Rotated in the "intuitive
+// sense", i.e., if Y were up. When input values are unavailable, the
+// value 'pad' is inserted instead. The geometric center of the output
+// image corresponds to the geometric center of the input image.
+image_u8_t *image_u8_rotate(const image_u8_t *in, double rad, uint8_t pad);
+
+#ifdef __cplusplus
+}
+#endif

apriltag/src/main/native/thirdparty/apriltag/include/common/image_u8x3.h

@@ -0,0 +1,64 @@
+/* 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 <stdint.h>
+#include "image_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/////////////////////////////////////
+// IMPORTANT NOTE ON BYTE ORDER
+//
+// Format conversion routines will (unless otherwise specified) assume
+// R, G, B, ordering of bytes. This is consistent with GTK, PNM, etc.
+//
+/////////////////////////////////////
+
+// Create or load an image. returns NULL on failure
+image_u8x3_t *image_u8x3_create(unsigned int width, unsigned int height);
+image_u8x3_t *image_u8x3_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
+image_u8x3_t *image_u8x3_create_from_pnm(const char *path);
+
+image_u8x3_t *image_u8x3_copy(const image_u8x3_t *in);
+
+void image_u8x3_gaussian_blur(image_u8x3_t *im, double sigma, int ksz);
+
+void image_u8x3_destroy(image_u8x3_t *im);
+
+int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path);
+
+// only width 1 supported
+void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3]);
+
+#ifdef __cplusplus
+}
+#endif

apriltag/src/main/native/thirdparty/apriltag/include/common/image_u8x4.h

@@ -0,0 +1,65 @@
+/* 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 <stdint.h>
+#include "image_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/////////////////////////////////////
+// IMPORTANT NOTE ON BYTE ORDER
+//
+// Format conversion routines will (unless otherwise specified) assume
+// R, G, B, A ordering of bytes.
+//
+/////////////////////////////////////
+
+// Create or load an image. returns NULL on failure
+image_u8x4_t *image_u8x4_create(unsigned int width, unsigned int height);
+image_u8x4_t *image_u8x4_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
+image_u8x4_t *image_u8x4_create_from_pnm(const char *path);
+
+image_u8x4_t *image_u8x4_copy(const image_u8x4_t *in);
+
+void image_u8x4_destroy(image_u8x4_t *im);
+
+// Write a pnm. Return 0 on success.
+// Currently supports GRAY and RGB
+int image_u8x4_write_pnm(const image_u8x4_t *im, const char *path);
+
+image_u8x4_t *image_u8x4_create_from_pam(const char *path);
+
+    void image_u8x4_write_pam(const image_u8x4_t *im, const char *path);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,446 @@
+/* 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 <assert.h>
+#include <stddef.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Defines a matrix structure for holding double-precision values with
+ * data in row-major order (i.e. index = row*ncols + col).
+ *
+ * nrows and ncols are 1-based counts with the exception that a scalar (non-matrix)
+ *   is represented with nrows=0 and/or ncols=0.
+ */
+typedef struct
+{
+    unsigned int nrows, ncols;
+    double data[];
+//    double *data;
+} matd_t;
+
+#define MATD_ALLOC(name, nrows, ncols) double name ## _storage [nrows*ncols]; matd_t name = { .nrows = nrows, .ncols = ncols, .data = &name ## _storage };
+
+/**
+ * Defines a small value which can be used in place of zero for approximating
+ * calculations which are singular at zero values (i.e. inverting a matrix with
+ * a zero or near-zero determinant).
+ */
+#define MATD_EPS 1e-8
+
+/**
+ * A macro to reference a specific matd_t data element given it's zero-based
+ * row and column indexes. Suitable for both retrieval and assignment.
+ */
+#define MATD_EL(m, row, col) (m)->data[((row)*(m)->ncols + (col))]
+
+/**
+ * Creates a double matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * to zero. It is the caller's responsibility to call matd_destroy() on the
+ * returned matrix.
+ */
+matd_t *matd_create(int rows, int cols);
+
+/**
+ * Creates a double matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * using the supplied array of data, which must contain at least rows*cols elements,
+ * arranged in row-major order (i.e. index = row*ncols + col). It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_create_data(int rows, int cols, const double *data);
+
+/**
+ * Creates a double matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * using the supplied array of float data, which must contain at least rows*cols elements,
+ * arranged in row-major order (i.e. index = row*ncols + col). It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_create_dataf(int rows, int cols, const float *data);
+
+/**
+ * Creates a square identity matrix with the given number of rows (and
+ * therefore columns), or a scalar with value 1 in the case where dim=0.
+ * It is the caller's responsibility to call matd_destroy() on the
+ * returned matrix.
+ */
+matd_t *matd_identity(int dim);
+
+/**
+ * Creates a scalar with the supplied value 'v'. It is the caller's responsibility
+ * to call matd_destroy() on the returned matrix.
+ *
+ * NOTE: Scalars are different than 1x1 matrices (implementation note:
+ * they are encoded as 0x0 matrices). For example: for matrices A*B, A
+ * and B must both have specific dimensions. However, if A is a
+ * scalar, there are no restrictions on the size of B.
+ */
+matd_t *matd_create_scalar(double v);
+
+/**
+ * Retrieves the cell value for matrix 'm' at the given zero-based row and column index.
+ * Performs more thorough validation checking than MATD_EL().
+ */
+double matd_get(const matd_t *m, unsigned int row, unsigned int col);
+
+/**
+ * Assigns the given value to the matrix cell at the given zero-based row and
+ * column index. Performs more thorough validation checking than MATD_EL().
+ */
+void matd_put(matd_t *m, unsigned int row, unsigned int col, double value);
+
+/**
+ * Retrieves the scalar value of the given element ('m' must be a scalar).
+ * Performs more thorough validation checking than MATD_EL().
+ */
+double matd_get_scalar(const matd_t *m);
+
+/**
+ * Assigns the given value to the supplied scalar element ('m' must be a scalar).
+ * Performs more thorough validation checking than MATD_EL().
+ */
+void matd_put_scalar(matd_t *m, double value);
+
+/**
+ * Creates an exact copy of the supplied matrix 'm'. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_copy(const matd_t *m);
+
+/**
+ * Creates a copy of a subset of the supplied matrix 'a'. The subset will include
+ * rows 'r0' through 'r1', inclusive ('r1' >= 'r0'), and columns 'c0' through 'c1',
+ * inclusive ('c1' >= 'c0'). All parameters are zero-based (i.e. matd_select(a, 0, 0, 0, 0)
+ * will return only the first cell). Cannot be used on scalars or to extend
+ * beyond the number of rows/columns of 'a'. It is the caller's  responsibility to
+ * call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_select(const matd_t *a, unsigned int r0, int r1, unsigned int c0, int c1);
+
+/**
+ * Prints the supplied matrix 'm' to standard output by applying the supplied
+ * printf format specifier 'fmt' for each individual element. Each row will
+ * be printed on a separate newline.
+ */
+void matd_print(const matd_t *m, const char *fmt);
+
+/**
+ * Prints the transpose of the supplied matrix 'm' to standard output by applying
+ * the supplied printf format specifier 'fmt' for each individual element. Each
+ * row will be printed on a separate newline.
+ */
+void matd_print_transpose(const matd_t *m, const char *fmt);
+
+/**
+ * Adds the two supplied matrices together, cell-by-cell, and returns the results
+ * as a new matrix of the same dimensions. The supplied matrices must have
+ * identical dimensions.  It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_add(const matd_t *a, const matd_t *b);
+
+/**
+ * Adds the values of 'b' to matrix 'a', cell-by-cell, and overwrites the
+ * contents of 'a' with the results. The supplied matrices must have
+ * identical dimensions.
+ */
+void matd_add_inplace(matd_t *a, const matd_t *b);
+
+/**
+ * Subtracts matrix 'b' from matrix 'a', cell-by-cell, and returns the results
+ * as a new matrix of the same dimensions. The supplied matrices must have
+ * identical dimensions.  It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_subtract(const matd_t *a, const matd_t *b);
+
+/**
+ * Subtracts the values of 'b' from matrix 'a', cell-by-cell, and overwrites the
+ * contents of 'a' with the results. The supplied matrices must have
+ * identical dimensions.
+ */
+void matd_subtract_inplace(matd_t *a, const matd_t *b);
+
+/**
+ * Scales all cell values of matrix 'a' by the given scale factor 's' and
+ * returns the result as a new matrix of the same dimensions. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_scale(const matd_t *a, double s);
+
+/**
+ * Scales all cell values of matrix 'a' by the given scale factor 's' and
+ * overwrites the contents of 'a' with the results.
+ */
+void matd_scale_inplace(matd_t *a, double s);
+
+/**
+ * Multiplies the two supplied matrices together (matrix product), and returns the
+ * results as a new matrix. The supplied matrices must have dimensions such that
+ * columns(a) = rows(b). The returned matrix will have a row count of rows(a)
+ * and a column count of columns(b). It is the caller's responsibility to call
+ * matd_destroy() on the returned matrix.
+ */
+matd_t *matd_multiply(const matd_t *a, const matd_t *b);
+
+/**
+ * Creates a matrix which is the transpose of the supplied matrix 'a'. It is the
+ * caller's responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_transpose(const matd_t *a);
+
+/**
+ * Calculates the determinant of the supplied matrix 'a'.
+ */
+double matd_det(const matd_t *a);
+
+/**
+ * Attempts to compute an inverse of the supplied matrix 'a' and return it as
+ * a new matrix. This is strictly only possible if the determinant of 'a' is
+ * non-zero (matd_det(a) != 0).
+ *
+ * If the determinant is zero, NULL is returned. It is otherwise the
+ * caller's responsibility to cope with the results caused by poorly
+ * conditioned matrices. (E.g.., if such a situation is likely to arise, compute
+ * the pseudo-inverse from the SVD.)
+ **/
+matd_t *matd_inverse(const matd_t *a);
+
+static inline void matd_set_data(matd_t *m, const double *data)
+{
+    memcpy(m->data, data, m->nrows * m->ncols * sizeof(double));
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a scalar (positive return) or
+ * not (zero return, indicating a matrix of dimensions at least 1x1).
+ */
+static inline int matd_is_scalar(const matd_t *a)
+{
+    assert(a != NULL);
+    return a->ncols <= 1 && a->nrows <= 1;
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a row or column vector
+ * (positive return) or not (zero return, indicating either 'a' is a scalar or a
+ * matrix with at least one dimension > 1).
+ */
+static inline int matd_is_vector(const matd_t *a)
+{
+    assert(a != NULL);
+    return a->ncols == 1 || a->nrows == 1;
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a row or column vector
+ * with a dimension of 'len' (positive return) or not (zero return).
+ */
+static inline int matd_is_vector_len(const matd_t *a, int len)
+{
+    assert(a != NULL);
+    return (a->ncols == 1 && a->nrows == (unsigned int)len) || (a->ncols == (unsigned int)len && a->nrows == 1);
+}
+
+/**
+ * Calculates the magnitude of the supplied matrix 'a'.
+ */
+double matd_vec_mag(const matd_t *a);
+
+/**
+ * Calculates the magnitude of the distance between the points represented by
+ * matrices 'a' and 'b'. Both 'a' and 'b' must be vectors and have the same
+ * dimension (although one may be a row vector and one may be a column vector).
+ */
+double matd_vec_dist(const matd_t *a, const matd_t *b);
+
+
+/**
+ * Same as matd_vec_dist, but only uses the first 'n' terms to compute distance
+ */
+double matd_vec_dist_n(const matd_t *a, const matd_t *b, int n);
+
+/**
+ * Calculates the dot product of two vectors. Both 'a' and 'b' must be vectors
+ * and have the same dimension (although one may be a row vector and one may be
+ * a column vector).
+ */
+double matd_vec_dot_product(const matd_t *a, const matd_t *b);
+
+/**
+ * Calculates the normalization of the supplied vector 'a' (i.e. a unit vector
+ * of the same dimension and orientation as 'a' with a magnitude of 1) and returns
+ * it as a new vector. 'a' must be a vector of any dimension and must have a
+ * non-zero magnitude. It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_vec_normalize(const matd_t *a);
+
+/**
+ * Calculates the cross product of supplied matrices 'a' and 'b' (i.e. a x b)
+ * and returns it as a new matrix. Both 'a' and 'b' must be vectors of dimension
+ * 3, but can be either row or column vectors. It is the caller's responsibility
+ * to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_crossproduct(const matd_t *a, const matd_t *b);
+
+double matd_err_inf(const matd_t *a, const matd_t *b);
+
+/**
+ * Creates a new matrix by applying a series of matrix operations, as expressed
+ * in 'expr', to the supplied list of matrices. Each matrix to be operated upon
+ * must be represented in the expression by a separate matrix placeholder, 'M',
+ * and there must be one matrix supplied as an argument for each matrix
+ * placeholder in the expression. All rules and caveats of the corresponding
+ * matrix operations apply to the operated-on matrices. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ *
+ * Available operators (in order of increasing precedence):
+ *   M+M   add two matrices together
+ *   M-M   subtract one matrix from another
+ *   M*M   multiply two matrices together (matrix product)
+ *   MM    multiply two matrices together (matrix product)
+ *   -M    negate a matrix
+ *   M^-1  take the inverse of a matrix
+ *   M'    take the transpose of a matrix
+ *
+ * Expressions can be combined together and grouped by enclosing them in
+ * parenthesis, i.e.:
+ *   -M(M+M+M)-(M*M)^-1
+ *
+ * Scalar values can be generated on-the-fly, i.e.:
+ *   M*2.2  scales M by 2.2
+ *   -2+M   adds -2 to all elements of M
+ *
+ * All whitespace in the expression is ignored.
+ */
+matd_t *matd_op(const char *expr, ...);
+
+/**
+ * Frees the memory associated with matrix 'm', being the result of an earlier
+ * call to a matd_*() function, after which 'm' will no longer be usable.
+ */
+void matd_destroy(matd_t *m);
+
+typedef struct
+{
+    matd_t *U;
+    matd_t *S;
+    matd_t *V;
+} matd_svd_t;
+
+/** Compute a complete SVD of a matrix. The SVD exists for all
+ * matrices. For a matrix MxN, we will have:
+ *
+ * A = U*S*V'
+ *
+ * where A is MxN, U is MxM (and is an orthonormal basis), S is MxN
+ * (and is diagonal up to machine precision), and V is NxN (and is an
+ * orthonormal basis).
+ *
+ * The caller is responsible for destroying U, S, and V.
+ **/
+matd_svd_t matd_svd(matd_t *A);
+
+#define MATD_SVD_NO_WARNINGS 1
+    matd_svd_t matd_svd_flags(matd_t *A, int flags);
+
+////////////////////////////////
+// PLU Decomposition
+
+// All square matrices (even singular ones) have a partially-pivoted
+// LU decomposition such that A = PLU, where P is a permutation
+// matrix, L is a lower triangular matrix, and U is an upper
+// triangular matrix.
+//
+typedef struct
+{
+    // was the input matrix singular? When a zero pivot is found, this
+    // flag is set to indicate that this has happened.
+    int singular;
+
+    unsigned int *piv; // permutation indices
+    int pivsign; // either +1 or -1
+
+    // The matd_plu_t object returned "owns" the enclosed LU matrix. It
+    // is not expected that the returned object is itself useful to
+    // users: it contains the L and U information all smushed
+    // together.
+    matd_t *lu; // combined L and U matrices, permuted so they can be triangular.
+} matd_plu_t;
+
+matd_plu_t *matd_plu(const matd_t *a);
+void matd_plu_destroy(matd_plu_t *mlu);
+double matd_plu_det(const matd_plu_t *lu);
+matd_t *matd_plu_p(const matd_plu_t *lu);
+matd_t *matd_plu_l(const matd_plu_t *lu);
+matd_t *matd_plu_u(const matd_plu_t *lu);
+matd_t *matd_plu_solve(const matd_plu_t *mlu, const matd_t *b);
+
+// uses LU decomposition internally.
+matd_t *matd_solve(matd_t *A, matd_t *b);
+
+////////////////////////////////
+// Cholesky Factorization
+
+/**
+ * Creates a double matrix with the Cholesky lower triangular matrix
+ * of A. A must be symmetric, positive definite. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+//matd_t *matd_cholesky(const matd_t *A);
+
+typedef struct
+{
+    int is_spd;
+    matd_t *u;
+} matd_chol_t;
+
+matd_chol_t *matd_chol(matd_t *A);
+matd_t *matd_chol_solve(const matd_chol_t *chol, const matd_t *b);
+void matd_chol_destroy(matd_chol_t *chol);
+// only sensible on PSD matrices
+matd_t *matd_chol_inverse(matd_t *a);
+
+void matd_ltransposetriangle_solve(matd_t *u, const double *b, double *x);
+void matd_ltriangle_solve(matd_t *u, const double *b, double *x);
+void matd_utriangle_solve(matd_t *u, const double *b, double *x);
+
+
+double matd_max(matd_t *m);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,204 @@
+/* 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
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <assert.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define to_radians(x) ( (x) * (M_PI / 180.0 ))
+#define to_degrees(x) ( (x) * (180.0 / M_PI ))
+
+  /* DEPRECATE, threshold meaningless without context.
+static inline int dequals(double a, double b)
+{
+    double thresh = 1e-9;
+    return (fabs(a-b) < thresh);
+}
+  */
+
+static inline int dequals_mag(double a, double b, double thresh)
+{
+    return (fabs(a-b) < thresh);
+}
+
+static inline int isq(int v)
+{
+    return v*v;
+}
+
+static inline float fsq(float v)
+{
+    return v*v;
+}
+
+static inline double sq(double v)
+{
+    return v*v;
+}
+
+static inline double sgn(double v)
+{
+    return (v>=0) ? 1 : -1;
+}
+
+// random number between [0, 1)
+static inline float randf(void)
+{
+    return (float)(rand() / (RAND_MAX + 1.0));
+}
+
+
+static inline float signed_randf(void)
+{
+    return randf()*2 - 1;
+}
+
+// return a random integer between [0, bound)
+static inline int irand(int bound)
+{
+    int v = (int) (randf()*bound);
+    if (v == bound)
+        return (bound-1);
+    //assert(v >= 0);
+    //assert(v < bound);
+    return v;
+}
+
+/** Map vin to [0, 2*PI) **/
+static inline double mod2pi_positive(double vin)
+{
+    return vin - M_2_PI * floor(vin / M_2_PI);
+}
+
+/** Map vin to [-PI, PI) **/
+static inline double mod2pi(double vin)
+{
+    return mod2pi_positive(vin + M_PI) - M_PI;
+}
+
+/** Return vin such that it is within PI degrees of ref **/
+static inline double mod2pi_ref(double ref, double vin)
+{
+    return ref + mod2pi(vin - ref);
+}
+
+/** Map vin to [0, 360) **/
+static inline double mod360_positive(double vin)
+{
+    return vin - 360 * floor(vin / 360);
+}
+
+/** Map vin to [-180, 180) **/
+static inline double mod360(double vin)
+{
+    return mod360_positive(vin + 180) - 180;
+}
+
+static inline int mod_positive(int vin, int mod) {
+    return (vin % mod + mod) % mod;
+}
+
+static inline int theta_to_int(double theta, int max)
+{
+    theta = mod2pi_ref(M_PI, theta);
+    int v = (int) (theta / M_2_PI * max);
+
+    if (v == max)
+        v = 0;
+
+    assert (v >= 0 && v < max);
+
+    return v;
+}
+
+static inline int imin(int a, int b)
+{
+    return (a < b) ? a : b;
+}
+
+static inline int imax(int a, int b)
+{
+    return (a > b) ? a : b;
+}
+
+static inline int64_t imin64(int64_t a, int64_t b)
+{
+    return (a < b) ? a : b;
+}
+
+static inline int64_t imax64(int64_t a, int64_t b)
+{
+    return (a > b) ? a : b;
+}
+
+static inline int iclamp(int v, int minv, int maxv)
+{
+    return imax(minv, imin(v, maxv));
+}
+
+static inline double dclamp(double a, double min, double max)
+{
+    if (a < min)
+        return min;
+    if (a > max)
+        return max;
+    return a;
+}
+
+static inline int fltcmp (float f1, float f2)
+{
+    float epsilon = f1-f2;
+    if (epsilon < 0.0)
+        return -1;
+    else if (epsilon > 0.0)
+        return  1;
+    else
+        return  0;
+}
+
+static inline int dblcmp (double d1, double d2)
+{
+    double epsilon = d1-d2;
+    if (epsilon < 0.0)
+        return -1;
+    else if (epsilon > 0.0)
+        return  1;
+    else
+        return  0;
+}
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,54 @@
+/* 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 <stdint.h>
+
+enum { PAM_GRAYSCALE_ALPHA = 5000, PAM_RGB_ALPHA, PAM_RGB, PAM_GRAYSCALE };
+
+typedef struct pam pam_t;
+struct pam
+{
+    int type; // one of PAM_*
+
+    int width, height; // note, stride always width.
+    int depth; // bytes per pixel
+    int maxval; // maximum value per channel, e.g. 255 for 8bpp
+
+    size_t datalen; // in bytes
+    uint8_t *data;
+};
+
+pam_t *pam_create_from_file(const char *inpath);
+int pam_write_file(pam_t *pam, const char *outpath);
+void pam_destroy(pam_t *pam);
+
+pam_t *pam_copy(pam_t *pam);
+
+// NB doesn't handle many conversions yet.
+pam_t *pam_convert(pam_t *in, int type);

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

@@ -0,0 +1,103 @@
+/* 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 "image_u8.h"
+#include "image_u8x3.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct pjpeg_component pjpeg_component_t;
+struct pjpeg_component
+{
+    // resolution of this component (which is smaller than the
+    // dimensions of the image if the channel has been sub-sampled.)
+    uint32_t width, height;
+
+    // number of bytes per row. May be larger than width for alignment
+    // reasons.
+    uint32_t stride;
+
+    // data[y*stride + x]
+    uint8_t *data;
+
+    ////////////////////////////////////////////////////////////////
+    // These items probably not of great interest to most
+    // applications.
+    uint8_t id; // the identifier associated with this component
+    uint8_t hv; // horiz scale (high 4 bits) / vert scale (low 4 bits)
+    uint8_t scalex, scaley; // derived from hv above
+    uint8_t tq; // quantization table index
+
+    // this filled in at the last moment by SOS
+    uint8_t tda; // which huff tables will we use for DC (high 4 bits) and AC (low 4 bits)
+};
+
+typedef struct pjpeg pjpeg_t;
+struct pjpeg
+{
+    // status of the decode is put here. Non-zero means error.
+    int error;
+
+    uint32_t width, height; // pixel dimensions
+
+    int ncomponents;
+    pjpeg_component_t *components;
+};
+
+enum PJPEG_FLAGS {
+    PJPEG_STRICT = 1,  // Don't try to recover from errors.
+    PJPEG_MJPEG = 2,   // Support JPGs with missing DHT segments.
+};
+
+enum PJPEG_ERROR {
+    PJPEG_OKAY = 0,
+    PJPEG_ERR_FILE, // something wrong reading file
+    PJPEG_ERR_DQT, // something wrong with DQT marker
+    PJPEG_ERR_SOF, // something wrong with SOF marker
+    PJPEG_ERR_DHT, // something wrong with DHT marker
+    PJPEG_ERR_SOS, // something wrong with SOS marker
+    PJPEG_ERR_MISSING_DHT, // missing a necessary huffman table
+    PJPEG_ERR_DRI, // something wrong with DRI marker
+    PJPEG_ERR_RESET, // didn't get a reset marker where we expected. Corruption?
+    PJPEG_ERR_EOF, // ran out of bytes while decoding
+    PJEPG_ERR_UNSUPPORTED, // an unsupported format
+};
+
+pjpeg_t *pjpeg_create_from_file(const char *path, uint32_t flags, int *error);
+pjpeg_t *pjpeg_create_from_buffer(uint8_t *buf, int buflen, uint32_t flags, int *error);
+void pjpeg_destroy(pjpeg_t *pj);
+
+image_u8_t *pjpeg_to_u8_baseline(pjpeg_t *pj);
+image_u8x3_t *pjpeg_to_u8x3_baseline(pjpeg_t *pj);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,58 @@
+/* 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 <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define PNM_FORMAT_BINARY 4
+#define PNM_FORMAT_GRAY 5
+#define PNM_FORMAT_RGB  6
+
+// supports ppm, pnm, pgm
+
+typedef struct pnm pnm_t;
+struct pnm
+{
+    int width, height;
+    int format;
+    int max; // 1 = binary, 255 = one byte, 65535 = two bytes
+
+    uint32_t buflen;
+    uint8_t *buf; // if max=65535, in big endian
+};
+
+pnm_t *pnm_create_from_file(const char *path);
+void pnm_destroy(pnm_t *pnm);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,82 @@
+/**
+Copyright John Schember <john@nachtimwald.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of
+this software and associated documentation files (the "Software"), to deal in
+the Software without restriction, including without limitation the rights to
+use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+of the Software, and to permit persons to whom the Software is furnished to do
+so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+*/
+
+#ifndef __CPTHREAD_H__
+#define __CPTHREAD_H__
+
+#ifdef _WIN32
+#include <stdbool.h>
+#include <windows.h>
+#else
+#include <pthread.h>
+#include <sched.h>
+#endif
+#include <time.h>
+
+#ifdef _WIN32
+
+typedef CRITICAL_SECTION pthread_mutex_t;
+typedef void pthread_mutexattr_t;
+typedef void pthread_attr_t;
+typedef void pthread_condattr_t;
+typedef void pthread_rwlockattr_t;
+typedef HANDLE pthread_t;
+typedef CONDITION_VARIABLE pthread_cond_t;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg);
+int pthread_join(pthread_t thread, void **value_ptr);
+int pthread_detach(pthread_t);
+
+int pthread_mutex_init(pthread_mutex_t *mutex, pthread_mutexattr_t *attr);
+int pthread_mutex_destroy(pthread_mutex_t *mutex);
+int pthread_mutex_lock(pthread_mutex_t *mutex);
+int pthread_mutex_unlock(pthread_mutex_t *mutex);
+
+int pthread_cond_init(pthread_cond_t *cond, pthread_condattr_t *attr);
+int pthread_cond_destroy(pthread_cond_t *cond);
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex);
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime);
+int pthread_cond_signal(pthread_cond_t *cond);
+int pthread_cond_broadcast(pthread_cond_t *cond);
+
+int sched_yield(void);
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+unsigned int pcthread_get_num_procs(void);
+
+void ms_to_timespec(struct timespec *ts, unsigned int ms);
+unsigned int timespec_to_ms(const struct timespec *abstime);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __CPTHREAD_H__ */

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

@@ -0,0 +1,465 @@
+/* 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 <stdio.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <ctype.h>
+
+#include "zarray.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+typedef struct string_buffer string_buffer_t;
+
+typedef struct string_feeder string_feeder_t;
+struct string_feeder
+{
+    char *s;
+    size_t len;
+    size_t pos;
+
+    int line, col;
+};
+
+/**
+ * Similar to sprintf(), except that it will malloc() enough space for the
+ * formatted string which it returns. It is the caller's responsibility to call
+ * free() on the returned string when it is no longer needed.
+ */
+char *sprintf_alloc(const char *fmt, ...)
+#ifndef _MSC_VER
+__attribute__ ((format (printf, 1, 2)))
+#endif
+;
+
+/**
+ * Similar to vsprintf(), except that it will malloc() enough space for the
+ * formatted string which it returns. It is the caller's responsibility to call
+ * free() on the returned string when it is no longer needed.
+ */
+char *vsprintf_alloc(const char *fmt, va_list args);
+
+/**
+ * Concatenates 1 or more strings together and returns the result, which will be a
+ * newly allocated string which it is the caller's responsibility to free.
+ */
+#define str_concat(...) _str_concat_private(__VA_ARGS__, NULL)
+char *_str_concat_private(const char *first, ...);
+
+
+// Returns the index of the first character that differs:
+int str_diff_idx(const char * a, const char * b);
+
+/**
+ * Splits the supplied string into an array of strings by subdividing it at
+ * each occurrence of the supplied delimiter string. The split strings will not
+ * contain the delimiter. The original string will remain unchanged.
+ * If str is composed of all delimiters, an empty array will be returned.
+ *
+ * It is the caller's responsibility to free the returned zarray, as well as
+ * the strings contained within it, e.g.:
+ *
+ *   zarray_t *za = str_split("this is a haystack", " ");
+ *      => ["this", "is", "a", "haystack"]
+ *   zarray_vmap(za, free);
+ *   zarray_destroy(za);
+ */
+zarray_t *str_split(const char *str, const char *delim);
+
+zarray_t *str_split_spaces(const char *str);
+
+void str_split_destroy(zarray_t *s);
+
+/*
+ * Determines if str1 exactly matches str2 (more efficient than strcmp(...) == 0)
+ */
+static inline bool streq(const char *str1, const char* str2)
+{
+    int i;
+    for (i = 0 ; str1[i] != '\0' ; i++) {
+        if (str1[i] != str2[i])
+            return false;
+    }
+
+    return str2[i] == '\0';
+}
+
+/**
+ * Determines if str1 exactly matches str2, ignoring case (more efficient than
+ * strcasecmp(...) == 0)
+ */
+static inline bool strcaseeq(const char *str1, const char* str2)
+{
+    int i;
+    for (i = 0 ; str1[i] != '\0' ; i++) {
+        if (str1[i] == str2[i])
+            continue;
+        else if (islower(str1[i]) && (str1[i] - 32) == str2[i])
+            continue;
+        else if (isupper(str1[i]) && (str1[i] + 32) == str2[i])
+            continue;
+
+        return false;
+    }
+
+    return str2[i] == '\0';
+}
+
+/**
+ * Trims whitespace characters (i.e. matching isspace()) from the beginning and/or
+ * end of the supplied string. This change affects the supplied string in-place.
+ * The supplied/edited string is returned to enable chained reference.
+ *
+ * Note: do not pass a string literal to this function
+ */
+char *str_trim(char *str);
+
+/**
+ * Trims whitespace characters (i.e. matching isspace()) from the beginning
+ * of the supplied string. This change affects the supplied string in-place.
+ * The supplied/edited string is returned to enable chained reference.
+ *
+ * Note: do not pass a string literal to this function
+ */
+char *str_lstrip(char *str);
+
+/**
+ * Trims whitespace characters (i.e. matching isspace()) from the end of the
+ * supplied string. This change affects the supplied string in-place.
+ * The supplied/edited string is returned to enable chained reference.
+ *
+ * Note: do not pass a string literal to this function
+ */
+char *str_rstrip(char *str);
+
+/**
+ * Returns true if the end of string 'haystack' matches 'needle', else false.
+ *
+ * Note: An empty needle ("") will match any source.
+ */
+bool str_ends_with(const char *haystack, const char *needle);
+
+/**
+ * Returns true if the start of string 'haystack' matches 'needle', else false.
+ *
+ * Note: An empty needle ("") will match any source.
+ */
+bool str_starts_with(const char *haystack, const char *needle);
+
+/**
+ * Returns true if the start of string 'haystack' matches any needle, else false.
+ *
+ * Note: An empty needle ("") will match any source.
+ */
+bool str_starts_with_any(const char *haystack, const char **needles, int num_needles);
+
+/**
+ * Returns true if the string 'haystack' matches any needle, else false.
+ */
+bool str_matches_any(const char *haystack, const char **needles, int num_needles);
+
+/**
+ * Retrieves a (newly-allocated) substring of the given string, 'str', starting
+ * from character index 'startidx' through index 'endidx' - 1 (inclusive).
+ * An 'endidx' value -1 is equivalent to strlen(str).
+ *
+ * It is the caller's responsibility to free the returned string.
+ *
+ * Examples:
+ *   str_substring("string", 1, 3) = "tr"
+ *   str_substring("string", 2, -1) = "ring"
+ *   str_substring("string", 3, 3) = ""
+ *
+ * Note: startidx must be >= endidx
+ */
+char *str_substring(const char *str, size_t startidx, size_t endidx);
+
+/**
+ * Retrieves the zero-based index of the beginning of the supplied substring
+ * (needle) within the search string (haystack) if it exists.
+ *
+ * Returns -1 if the supplied needle is not found within the haystack.
+ */
+int str_indexof(const char *haystack, const char *needle);
+
+    static inline int str_contains(const char *haystack, const char *needle) {
+        return str_indexof(haystack, needle) >= 0;
+    }
+
+// same as above, but returns last match
+int str_last_indexof(const char *haystack, const char *needle);
+
+/**
+ * Replaces all upper-case characters within the supplied string with their
+ * lower-case counterparts, modifying the original string's contents.
+ *
+ * Returns the supplied / modified string.
+ */
+char *str_tolowercase(char *s);
+
+/**
+ * Replaces all lower-case characters within the supplied string with their
+ * upper-case counterparts, modifying the original string's contents.
+ *
+ * Returns the supplied / modified string.
+ */
+char *str_touppercase(char *s);
+
+/**
+ * Replaces all occurrences of 'needle' in the string 'haystack', substituting
+ * for them the value of 'replacement', and returns the result as a newly-allocated
+ * string. The original strings remain unchanged.
+ *
+ * It is the caller's responsibility to free the returned string.
+ *
+ * Examples:
+ *   str_replace("string", "ri", "u") = "stung"
+ *   str_replace("singing", "ing", "") = "s"
+ *   str_replace("string", "foo", "bar") = "string"
+ *
+ * Note: An empty needle will match only an empty haystack
+ */
+char *str_replace(const char *haystack, const char *needle, const char *replacement);
+
+    char *str_replace_many(const char *_haystack, ...);
+//////////////////////////////////////////////////////
+// String Buffer
+
+/**
+ * Creates and initializes a string buffer object which can be used with any of
+ * the string_buffer_*() functions.
+ *
+ * It is the caller's responsibility to free the string buffer resources with
+ * a call to string_buffer_destroy() when it is no longer needed.
+ */
+string_buffer_t *string_buffer_create(void);
+
+/**
+ * Frees the resources associated with a string buffer object, including space
+ * allocated for any appended characters / strings.
+ */
+void string_buffer_destroy(string_buffer_t *sb);
+
+/**
+ * Appends a single character to the end of the supplied string buffer.
+ */
+void string_buffer_append(string_buffer_t *sb, char c);
+
+/**
+ * Removes a single character from the end of the string and
+ * returns it. Does nothing if string is empty and returns NULL
+ */
+char string_buffer_pop_back(string_buffer_t *sb);
+
+/**
+ * Appends the supplied string to the end of the supplied string buffer.
+ */
+void string_buffer_append_string(string_buffer_t *sb, const char *str);
+
+/**
+ * Formats the supplied string and arguments in a manner akin to printf(), and
+ * appends the resulting string to the end of the supplied string buffer.
+ */
+void string_buffer_appendf(string_buffer_t *sb, const char *fmt, ...)
+#ifndef _MSC_VER
+__attribute__ ((format (printf, 2, 3)))
+#endif
+;
+
+/**
+ * Determines whether the character contents held by the supplied string buffer
+ * ends with the supplied string.
+ *
+ * Returns true if the string buffer's contents ends with 'str', else false.
+ */
+bool string_buffer_ends_with(string_buffer_t *sb, const char *str);
+
+/**
+ * Returns the string-length of the contents of the string buffer (not counting \0).
+ * Equivalent to calling strlen() on the string returned by string_buffer_to_string(sb).
+ */
+size_t string_buffer_size(string_buffer_t *sb);
+
+/**
+ * Returns the contents of the string buffer in a newly-allocated string, which
+ * it is the caller's responsibility to free once it is no longer needed.
+ */
+char *string_buffer_to_string(string_buffer_t *sb);
+
+/**
+ * Clears the contents of the string buffer, setting its length to zero.
+ */
+void string_buffer_reset(string_buffer_t *sb);
+
+//////////////////////////////////////////////////////
+// String Feeder
+
+/**
+ * Creates a string feeder object which can be used to traverse the supplied
+ * string using the string_feeder_*() functions. A local copy of the string's
+ * contents will be stored so that future changes to 'str' will not be
+ * reflected by the string feeder object.
+ *
+ * It is the caller's responsibility to call string_feeder_destroy() on the
+ * returned object when it is no longer needed.
+ */
+string_feeder_t *string_feeder_create(const char *str);
+
+/**
+ * Frees resources associated with the supplied string feeder object, after
+ * which it will no longer be valid for use.
+ */
+void string_feeder_destroy(string_feeder_t *sf);
+
+/**
+ * Determines whether any characters remain to be retrieved from the string
+ * feeder's string (not including the terminating '\0').
+ *
+ * Returns true if at least one more character can be retrieved with calls to
+ * string_feeder_next(), string_feeder_peek(), string_feeder_peek(), or
+ * string_feeder_consume(), else false.
+ */
+bool string_feeder_has_next(string_feeder_t *sf);
+
+/**
+ * Retrieves the next available character from the supplied string feeder
+ * (which may be the terminating '\0' character) and advances the feeder's
+ * position to the next character in the string.
+ *
+ * Note: Attempts to read past the end of the string will throw an assertion.
+ */
+char string_feeder_next(string_feeder_t *sf);
+
+/**
+ * Retrieves a series of characters from the supplied string feeder. The number
+ * of characters returned will be 'length' or the number of characters
+ * remaining in the string, whichever is shorter. The string feeder's position
+ * will be advanced by the number of characters returned.
+ *
+ * It is the caller's responsibility to free the returned string when it is no
+ * longer needed.
+ *
+ * Note: Calling once the end of the string has already been read will throw an assertion.
+ */
+char *string_feeder_next_length(string_feeder_t *sf, size_t length);
+
+/**
+ * Retrieves the next available character from the supplied string feeder
+ * (which may be the terminating '\0' character), but does not advance
+ * the feeder's position so that subsequent calls to _next() or _peek() will
+ * retrieve the same character.
+ *
+ * Note: Attempts to peek past the end of the string will throw an assertion.
+ */
+char string_feeder_peek(string_feeder_t *sf);
+
+/**
+ * Retrieves a series of characters from the supplied string feeder. The number
+ * of characters returned will be 'length' or the number of characters
+ * remaining in the string, whichever is shorter. The string feeder's position
+ * will not be advanced.
+ *
+ * It is the caller's responsibility to free the returned string when it is no
+ * longer needed.
+ *
+ * Note: Calling once the end of the string has already been read will throw an assertion.
+ */
+char *string_feeder_peek_length(string_feeder_t *sf, size_t length);
+
+/**
+ * Retrieves the line number of the current position in the supplied
+ * string feeder, which will be incremented whenever a newline is consumed.
+ *
+ * Examples:
+ *   prior to reading 1st character:                line = 1, column = 0
+ *   after reading 1st non-newline character:       line = 1, column = 1
+ *   after reading 2nd non-newline character:       line = 1, column = 2
+ *   after reading 1st newline character:           line = 2, column = 0
+ *   after reading 1st character after 1st newline: line = 2, column = 1
+ *   after reading 2nd newline character:           line = 3, column = 0
+ */
+int string_feeder_get_line(string_feeder_t *sf);
+
+/**
+ * Retrieves the column index in the current line for the current position
+ * in the supplied string feeder, which will be incremented with each
+ * non-newline character consumed, and reset to 0 whenever a newline (\n) is
+ * consumed.
+ *
+ * Examples:
+ *   prior to reading 1st character:                line = 1, column = 0
+ *   after reading 1st non-newline character:       line = 1, column = 1
+ *   after reading 2nd non-newline character:       line = 1, column = 2
+ *   after reading 1st newline character:           line = 2, column = 0
+ *   after reading 1st character after 1st newline: line = 2, column = 1
+ *   after reading 2nd newline character:           line = 3, column = 0
+ */
+int string_feeder_get_column(string_feeder_t *sf);
+
+/**
+ * Determines whether the supplied string feeder's remaining contents starts
+ * with the given string.
+ *
+ * Returns true if the beginning of the string feeder's remaining contents matches
+ * the supplied string exactly, else false.
+ */
+bool string_feeder_starts_with(string_feeder_t *sf, const char *str);
+
+/**
+ * Consumes from the string feeder the number of characters contained in the
+ * given string (not including the terminating '\0').
+ *
+ * Throws an assertion if the consumed characters do not exactly match the
+ * contents of the supplied string.
+ */
+void string_feeder_require(string_feeder_t *sf, const char *str);
+
+/*#ifndef strdup
+    static inline char *strdup(const char *s) {
+        int len = strlen(s);
+        char *out = malloc(len+1);
+        memcpy(out, s, len + 1);
+        return out;
+    }
+#endif
+*/
+
+
+// find everything that looks like an env variable and expand it
+// using getenv. Caller should free the result.
+// e.g. "$HOME/abc" ==> "/home/ebolson/abc"
+char *str_expand_envs(const char *in);
+
+#ifdef __cplusplus
+}
+#endif

apriltag/src/main/native/thirdparty/apriltag/include/common/svd22.h

@@ -0,0 +1,34 @@
+/* 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
+
+void svd22(const double A[4], double U[4], double S[2], double V[4]);
+
+// for the matrix [a b; b d]
+void svd_sym_singular_values(double A00, double A01, double A11,
+                             double *Lmin, double *Lmax);