[wpimath] Add limit setters to SlewRateLimiter (#8581)

This is just #7793 with requested changes applied.

.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 %workspace%/shared/bazel/compiler_flags/sanitizers.rc
+import %workspace%/shared/bazel/compiler_flags/base_linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
+import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
+import %workspace%/shared/bazel/compiler_flags/systemcore_flags.rc
+import %workspace%/shared/bazel/compiler_flags/windows_flags.rc
+import %workspace%/shared/bazel/compiler_flags/coverage_flags.rc
+
+# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
+build:athena --config=roborio
+build:linuxarm32 --config=raspibookworm32
+build:linuxarm64 --config=bookworm64
+
+build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
+build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
+build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+
+# 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

.clang-format

@@ -28,6 +28,11 @@ AlignConsecutiveMacros:
   AcrossComments:  false
   AlignCompound:   false
   PadOperators:    false
+AlignConsecutiveShortCaseStatements:
+  Enabled:         false
+  AcrossEmptyLines: false
+  AcrossComments:  false
+  AlignCaseColons: false
 AlignEscapedNewlines: Left
 AlignOperands:   Align
 AlignTrailingComments:
@@ -141,6 +146,7 @@ IntegerLiteralSeparator:
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+KeepEmptyLinesAtEOF: false
 LambdaBodyIndentation: Signature
 LineEnding:      DeriveLF
 MacroBlockBegin: ''
@@ -201,6 +207,7 @@ RawStringFormats:
 ReferenceAlignment: Pointer
 ReflowComments:  true
 RemoveBracesLLVM: false
+RemoveParentheses: Leave
 RemoveSemicolon: false
 RequiresClausePosition: OwnLine
 RequiresExpressionIndentation: OuterScope
@@ -218,6 +225,7 @@ SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
+SpaceBeforeJsonColon: false
 SpaceBeforeParens: ControlStatements
 SpaceBeforeParensOptions:
   AfterControlStatements: true
@@ -232,23 +240,28 @@ SpaceBeforeParensOptions:
 SpaceBeforeRangeBasedForLoopColon: true
 SpaceBeforeSquareBrackets: false
 SpaceInEmptyBlock: false
-SpaceInEmptyParentheses: false
 SpacesBeforeTrailingComments: 2
 SpacesInAngles:  Never
-SpacesInConditionalStatement: false
 SpacesInContainerLiterals: true
-SpacesInCStyleCastParentheses: false
 SpacesInLineCommentPrefix:
   Minimum:         1
   Maximum:         -1
-SpacesInParentheses: false
+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

.clang-tidy

@@ -45,6 +45,8 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
+  -clang-analyzer-security.FloatLoopCounter,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,

.gersemirc

@@ -1,6 +1,4 @@
-color: false
-definitions: []
+definitions: [cmake/modules]
 line_length: 100
 list_expansion: favour-inlining
-quiet: false
 unsafe: false

.gitattributes

@@ -1,13 +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
-hal/src/generated/** linguist-generated
-ntcore/src/generated/** linguist-generated
-wpimath/src/generated/** linguist-generated
+*/src/generated/** linguist-generated

.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: ''
 
 ---

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

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

@@ -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: bazel ${{ matrix.action }}
+        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --verbose_failures
+        shell: bash
+
+  build-mac:
+    name: "Mac"
+    runs-on: macOS-15
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: bazel test (release)
+        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
+        shell: bash
+
+  build-linux:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
+          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
+    name: "${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with: { fetch-depth: 0 }
+      - uses: bazelbuild/setup-bazelisk@v3
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      - name: bazel ${{ matrix.action }} (release)
+        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-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 +1,57 @@
+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: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r27d
+          add-to-path: false
+
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - name: configure
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+
+      - name: build
+        run: cmake --build build-cmake --parallel $(nproc)
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/cmake.yml

@@ -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:
@@ -14,13 +18,17 @@ jobs:
         include:
           - os: ubuntu-22.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2024-22.04
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-12
+            container: wpilib/roborio-cross-ubuntu:2025-22.04
+            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+          - os: macOS-15
             name: macOS
             container: ""
-            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
+            env: ""
+            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+          - os: windows-2022
+            name: Windows
+            container: ""
+            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env:RUNNER_WORKSPACE/vcpkg/scripts/buildsystems/vcpkg.cmake" -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release'
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -28,80 +36,50 @@ jobs:
     steps:
       - 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 libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Install QuickBuffers (Linux)
-        if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb
-
-      - name: Install opencv (macOS)
-        run: brew install opencv protobuf@3 ninja
+      - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
+        run: brew install opencv protobuf@29 ninja
 
-      - name: Set up Python 3.8 (macOS)
-        if: runner.os == 'macOS'
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.8
+      - uses: ilammy/msvc-dev-cmd@v1.13.0
+        if: runner.os == 'Windows'
 
-      - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.3
+      - name: Install CMake (Windows only)
+        if: runner.os == 'Windows'
+        uses: lukka/get-cmake@v3.29.3
 
-      - name: Install jinja
-        run: python -m pip install jinja2
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - uses: actions/checkout@v4
 
-      - name: configure
-        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache ${{ matrix.flags }}
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      - name: build
-        working-directory: build
-        run: cmake --build . --parallel $(nproc)
-        env:
-          SCCACHE_GHA_ENABLED: "true"
-
-      - name: test
-        working-directory: build
-        run: ctest --output-on-failure
-
-  build-windows:
-    name: "Build - Windows"
-    runs-on: windows-2022
-    steps:
-      - uses: ilammy/msvc-dev-cmd@v1
-
-      - name: Install CMake
-        uses: lukka/get-cmake@v3.27.6
-
-      - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.3
-
-      - name: Install jinja
-        run: python -m pip install jinja2
-
-      - uses: actions/checkout@v4
-
-      - name: Run vcpkg
-        uses: lukka/run-vcpkg@v11.1
+      - name: Run vcpkg (Windows only)
+        if: runner.os == 'Windows'
+        uses: lukka/run-vcpkg@v11.5
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17
 
       - name: configure
-        run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE=${{ 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
+        run: cmake ${{ matrix.flags }}
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          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_GHA_ENABLED: "true"
+          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

@@ -1,58 +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@v7
-        with:
-          script: |
-            const {owner, repo} = context.issue
-            github.rest.reactions.createForIssueComment({
-              owner,
-              repo,
-              comment_id: context.payload.comment.id,
-              content: "rocket",
-            });
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          token: ${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}
-      - name: Fetch all history and metadata
-        run: |
-          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@v5
-        with:
-          python-version: 3.8
-      - name: Setup Java
-        uses: actions/setup-java@v4
-        with:
-          distribution: 'zulu'
-          java-version: 17
-      - name: Install wpiformat
-        run: pip3 install wpiformat
-      - name: Run wpiformat
-        run: wpiformat
-      - 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

@@ -1,66 +0,0 @@
-name: Documentation
-
-on: [push, workflow_dispatch]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-env:
-  BASE_PATH: allwpilib/docs
-
-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'))
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'zulu'
-          java-version: 13
-      - name: Set environment variables (Development)
-        run: |
-          echo "BRANCH=development" >> $GITHUB_ENV
-        if: github.ref == 'refs/heads/main'
-      - name: Set environment variables (Tag)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=beta" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
-      - name: Set environment variables (Release)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=release" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta')
-      - name: Build with Gradle
-        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.8.0
-        with:
-          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy 🚀
-        uses: JamesIves/github-pages-deploy-action@v4.4.1
-        with:
-          ssh-key: true
-          repository-name: wpilibsuite/wpilibsuite.github.io
-          branch: allwpilib-${{ env.BRANCH }}
-          clean: true
-          single-commit: true
-          folder: docs/build/docs
-      - name: Trigger Workflow
-        uses: actions/github-script@v6
-        with:
-          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
-          script: |
-            github.rest.actions.createWorkflowDispatch({
-              owner: context.repo.owner,
-              repo: 'wpilibsuite.github.io',
-              workflow_id: 'static.yml',
-              ref: 'main',
-            })

.github/workflows/fix_compile_commands.py

@@ -18,9 +18,9 @@ def main():
     for obj in data:
         out_args = []
 
-        # Filter out -isystem flags that cause false positives
         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)
 
@@ -28,6 +28,12 @@ def main():
                 # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
                 if not next_arg.startswith("/usr/lib/gcc/"):
                     out_args += ["-isystem", next_arg]
+            # Replace GCC warning argument with one Clang recognizes
+            elif arg == "-Wno-maybe-uninitialized":
+                out_args.append("-Wno-uninitialized")
+            # Skip GCC-specific warning argument
+            elif arg == "-Wno-error=restrict":
+                pass
             else:
                 out_args.append(arg)
 

.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@v4
-      - 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:2024-22.04
+          - 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
@@ -26,6 +33,7 @@ jobs:
             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
@@ -42,13 +50,13 @@ jobs:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: df . && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
@@ -61,7 +69,7 @@ jobs:
 
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 12
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:
@@ -72,114 +80,130 @@ jobs:
             task: "build"
             build-options: "-PciDebugOnly"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: Win64Release
             architecture: x64
             build-options: "-PciReleaseOnly"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: WinArm64Debug
             architecture: x64
             task: "build"
             build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
           - os: windows-2022
             artifact-name: WinArm64Release
             architecture: x64
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-            build-dir: "c:\\work"
-          - os: macOS-12
+          - os: macOS-15
             artifact-name: macOS
-            architecture: x64
+            architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
-            build-dir: "."
           - 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"
-            build-dir: "c:\\work"
     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: '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: Configure build directory (Windows)
-        run: xcopy . ${{ matrix.build-dir }} /i /s /e /h /q
-        if: matrix.os == 'windows-2022'
       - name: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
+      - name: Check disk free space pre-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
+      - name: Cleanup disk space
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: matrix.os == 'macOS-15'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        working-directory: ${{ matrix.build-dir }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
         run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        working-directory: ${{ matrix.build-dir }}
         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: Check disk free space (Windows)
         run: wmic logicaldisk get caption, freespace
         if: matrix.os == 'windows-2022'
+      - name: Check disk free space (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
       - uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.build-dir }}/${{ matrix.outputs }}
+          path: ${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"
     runs-on: ubuntu-22.04
+    needs: [validation]
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v4
         with:
-          distribution: 'zulu'
+          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 }}
+        run: ./gradlew docs:zipDocs --build-cache -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
@@ -188,6 +212,68 @@ jobs:
           name: Documentation
           path: docs/build/outputs
 
+  publish:
+    name: "Documentation - Publish"
+    runs-on: ubuntu-22.04
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
+    needs: [build-documentation]
+    concurrency: ci-docs-publish
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - name: Download docs artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: Documentation
+      - name: Make output directories
+        run: |
+          mkdir -p docs/tmp/doxygen/html
+          mkdir -p docs/tmp/javadoc
+      - name: Extract docs
+        run: |
+          unzip _GROUP_edu_wpi_first_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
+          unzip _GROUP_edu_wpi_first_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
+      - name: Set environment variables (Development)
+        run: |
+          echo "BRANCH=development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/main'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+      - name: Set environment variables (Release)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.9.0
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
+        with:
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/tmp
+      - name: Trigger Workflow
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })
+
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]
@@ -195,8 +281,8 @@ jobs:
     steps:
       - name: Free Disk Space
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          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
@@ -208,38 +294,38 @@ jobs:
           swap-storage: false
       - uses: actions/checkout@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          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@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          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_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          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_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          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@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
         with:
-          distribution: 'zulu'
+          distribution: 'temurin'
           java-version: 17
       - name: Combine (Main)
         if: |
-          github.repository_owner == 'wpilibsuite' &&
+          github.repository == 'wpilibsuite/allwpilib' &&
           github.ref == 'refs/heads/main'
         run: cd combiner && ./gradlew publish -Pallwpilib
         env:
@@ -248,8 +334,8 @@ 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"
@@ -257,8 +343,26 @@ jobs:
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - uses: actions/upload-artifact@v4
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          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

@@ -11,6 +11,13 @@ 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
@@ -22,14 +29,16 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: '3.12'
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.32
+        run: |
+          python -m venv ${{ runner.temp }}/wpiformat
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
       - name: Run
-        run: wpiformat
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
@@ -51,7 +60,8 @@ 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@v4
         with:
@@ -61,26 +71,29 @@ jobs:
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
+      - name: Set up Python 3.12
         uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          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==2025.36
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
       - name: List changed files
-        run: wpiformat -list-changed-files
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -list-changed-files
       - name: Run clang-tidy release
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
       - name: Run clang-tidy debug
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
+        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@v4
@@ -98,16 +111,15 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > javaformat-fixes.patch
         if: ${{ failure() }}
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
+      - uses: actions/upload-artifact@v4
         with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'zulu'
-          java-version: 17
-      - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
+          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() }}

.github/workflows/pregenerate.yml

@@ -1,46 +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: Set up Python 3.9
-        uses: actions/setup-python@v5
-        with:
-          python-version: 3.9
-      - name: Install jinja
-        run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && 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
-      - name: Run hal
-        run: ./hal/generate_usage_reporting.py
-      - name: Run ntcore
-        run: ./ntcore/generate_topics.py
-      - name: Run wpimath
-        run: ./wpimath/generate_numbers.py && ./wpimath/generate_quickbuf.py protoc protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      - 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() }}
+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:
@@ -25,34 +29,29 @@ jobs:
             ctest-env: ""
             ctest-flags: ""
     name: "${{ matrix.name }}"
-    runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    runs-on: ubuntu-24.04
+    container: wpilib/roborio-cross-ubuntu:2025-24.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 libprotobuf-dev protobuf-compiler ninja-build
 
-      - name: Install QuickBuffers
-        if: runner.os == 'Linux'
-        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf_1.3.3_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.3_amd64.deb
-
-      - name: Run sccache-cache
-        uses: mozilla-actions/sccache-action@v0.0.3
-
-      - name: Install jinja
-        run: python -m pip install jinja2
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
 
       - uses: actions/checkout@v4
 
       - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 -DWITH_JAVA=OFF ${{ 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_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         working-directory: build
         run: cmake --build . --parallel $(nproc)
         env:
-          SCCACHE_GHA_ENABLED: "true"
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: test
         working-directory: build

.github/workflows/sentinel-build.yml

@@ -0,0 +1,177 @@
+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: wpilibsuite/docker-run-action@v4
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
+          run: df . && 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-15
+            artifact-name: macOS
+            architecture: aarch64
+            task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win32FFI
+            architecture: x86
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
+            outputs: "ntcoreffi/build/outputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            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@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-15'
+      - 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-15'
+      - name: Check disk free space post-cleanup (macOS)
+        run: df -h .
+        if: matrix.os == 'macOS-15'
+      - name: Build with Gradle
+        run: ./gradlew ${{ matrix.task }} -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-15'
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: ${{ matrix.outputs }}

.github/workflows/tools.yml

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

.github/workflows/upstream-utils.yml

@@ -22,55 +22,130 @@ jobs:
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.9
+      - 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_eigen.py
+      - name: Run apriltag.py
         run: |
           cd upstream_utils
-          ./update_eigen.py
-      - name: Run update_fmt.py
+          ./apriltag.py clone
+          ./apriltag.py copy-src
+          ./apriltag.py format-patch
+      - name: Run argparse_lib.py
         run: |
           cd upstream_utils
-          ./update_fmt.py
-      - name: Run update_gcem.py
+          ./argparse_lib.py clone
+          ./argparse_lib.py copy-src
+          ./argparse_lib.py format-patch
+      - name: Run eigen.py
         run: |
           cd upstream_utils
-          ./update_gcem.py
-      - name: Run update_json.py
+          ./eigen.py clone
+          ./eigen.py copy-src
+          ./eigen.py format-patch
+      - name: Run expected.py
         run: |
           cd upstream_utils
-          ./update_json.py
-      - name: Run update_libuv.py
+          ./expected.py clone
+          ./expected.py copy-src
+          ./expected.py format-patch
+      - name: Run fmt.py
         run: |
           cd upstream_utils
-          ./update_libuv.py
-      - name: Run update_llvm.py
+          ./fmt.py clone
+          ./fmt.py copy-src
+          ./fmt.py format-patch
+      - name: Run gcem.py
         run: |
           cd upstream_utils
-          ./update_llvm.py
-      - name: Run update_mpack.py
+          ./gcem.py clone
+          ./gcem.py copy-src
+          ./gcem.py format-patch
+      - name: Run gl3w.py
         run: |
           cd upstream_utils
-          ./update_mpack.py
-      - name: Run update_stack_walker.py
+          ./gl3w.py clone
+          ./gl3w.py copy-src
+          ./gl3w.py format-patch
+      - name: Run glfw.py
         run: |
           cd upstream_utils
-          ./update_stack_walker.py
-      - name: Run update_memory.py
+          ./glfw.py clone
+          ./glfw.py copy-src
+          ./glfw.py format-patch
+      - name: Run googletest.py
         run: |
           cd upstream_utils
-          ./update_memory.py
-      - name: Run update_protobuf.py
+          ./googletest.py clone
+          ./googletest.py copy-src
+          ./googletest.py format-patch
+      - name: Run imgui.py
         run: |
           cd upstream_utils
-          ./update_protobuf.py
+          ./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 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: |
+          set +e
+          git --no-pager diff --exit-code HEAD ':!*.bazel'
+          git_exit_code=$?
+          if test "$git_exit_code" -ne "0"; then
+            echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md"
+            exit $git_exit_code
+          fi

.gitignore

@@ -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 ###
@@ -231,7 +241,7 @@ compile_commands.json
 
 # clang configuration and clangd cache
 .clang
-.clangd/
+.clangd
 .cache/
 
 imgui.ini
@@ -241,3 +251,10 @@ imgui.ini
 /bazel-*
 user.bazelrc
 coverage_report/
+bazel_auth.rc
+
+# ctest
+/Testing/
+
+# Meson
+.meson-subproject*

.styleguide

@@ -11,6 +11,7 @@ cppSrcFileInclude {
 
 modifiableFileExclude {
   cmake/toolchains/
+  thirdparty/
   \.patch$
   gradlew
 }
@@ -20,6 +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 {
@@ -31,8 +33,9 @@ includeOtherLibs {
   ^cameraserver/
   ^cscore
   ^fmt/
-  ^gtest/
+  ^glass/
   ^google/
+  ^gtest/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -9,12 +9,21 @@ FATAL: In-source builds are not allowed.
     )
 endif()
 
+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()
 
-cmake_minimum_required(VERSION 3.11)
+# Set default build type to release with debug info (i.e. release mode optimizations
+# are performed, but debug info still exists).
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
+endif()
+
+cmake_minimum_required(VERSION 3.21)
 project(allwpilib)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
@@ -23,19 +32,22 @@ if(POLICY CMP0135)
     cmake_policy(SET CMP0135 NEW)
 endif()
 
-message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
-
 set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
 
+include(CMakeDependentOption)
 include(CPack)
+include(OptionValidation)
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
+set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
+if(MSVC)
+    add_compile_options(/Zc:__cplusplus)
+endif()
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
-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)
@@ -50,29 +62,36 @@ set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
 # 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()
-
 # 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_WPIUNITS "Build wpiunits" 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)
+option(WITH_BENCHMARK "Build the benchmark project" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
@@ -85,34 +104,6 @@ set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar
 # Options for compilation flags.
 option(NO_WERROR "Disable -Werror flag during compilation" OFF)
 
-# 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()
-
-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 "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
         message(
@@ -125,111 +116,48 @@ 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
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
 
-if(NOT WITH_NTCORE AND WITH_CSCORE)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build cameraserver without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
 
-if(NOT WITH_NTCORE AND WITH_GUI)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build GUI modules without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
 
-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
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
 
-if(NOT WITH_NTCORE AND WITH_WPILIB)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build wpilib without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
 
-if(NOT WITH_WPIMATH AND WITH_WPILIB)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build wpilib without wpimath.
-       Enable wpimath by setting WITH_WPIMATH=ON
-"
-    )
-endif()
-
-if(NOT WITH_WPIUNITS AND WITH_WPIMATH AND WITH_JAVA)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build Java wpimath without wpiunits.
-       Enable wpiunits by setting WITH_WPIUNITS=ON or disable the Java build by setting WITH_JAVA=OFF
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
 
 set(include_dest include)
 set(java_lib_dest java)
-set(jni_lib_dest jni)
-
-if(USE_SYSTEM_LIBUV)
-    set(LIBUV_SYSTEM_REPLACE
-        "
-find_dependency(libuv CONFIG)
-"
-    )
+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(USE_SYSTEM_EIGEN)
-    set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
+if(WITH_DOCS)
+    find_package(Doxygen REQUIRED)
+    find_package(Git REQUIRED)
+    include(AddDoxygenDocs)
+    add_doxygen_docs()
 endif()
 
-find_package(LIBSSH 0.7.1)
+if(WITH_WPICAL)
+    find_package(Ceres CONFIG REQUIRED)
+endif()
 
-find_package(Protobuf REQUIRED)
+find_package(LIBSSH CONFIG 0.7.1)
 
-set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
-set(CAMERASERVER_DEP_REPLACE_IMPL "find_dependency(cameraserver)")
-set(CSCORE_DEP_REPLACE_IMPL "find_dependency(cscore)")
-set(HAL_DEP_REPLACE_IMPL "find_dependency(hal)")
-set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
-set(WPILIBC_DEP_REPLACE_IMPL "find_dependency(wpilibc)")
-set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
-set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
-set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
-set(WPIUNITS_DEP_REPLACE "find_dependency(wpiunits)")
-set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-
-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 ON)
+if(WITH_PROTOBUF)
+    set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
+    find_package(Protobuf REQUIRED)
+    find_program(PROTOC_COMPILER protoc REQUIRED)
+endif()
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
 
 get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
 
@@ -284,7 +212,7 @@ set(CMAKE_EXE_LINKER_FLAGS_ASAN
 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."
+    "Linker flags to be used to create shared libraries for Asan build type."
     FORCE
 )
 
@@ -312,7 +240,7 @@ set(CMAKE_EXE_LINKER_FLAGS_TSAN
 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."
+    "Linker flags to be used to create shared libraries for Tsan build type."
     FORCE
 )
 
@@ -340,42 +268,67 @@ set(CMAKE_EXE_LINKER_FLAGS_UBSAN
 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."
+    "Linker flags to be used to create shared libraries for Ubsan build type."
     FORCE
 )
 
 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(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 add_subdirectory(wpiutil)
 
 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_JAVA)
+        set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
         add_subdirectory(wpiunits)
     endif()
+    set(WPIMATH_DEP_REPLACE "find_dependency(wpimath)")
     add_subdirectory(wpimath)
 endif()
 
+if(WITH_JAVA)
+    add_subdirectory(wpiannotations)
+endif()
+
 if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
     # In case of building wpiunits standalone
+    set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
     add_subdirectory(wpiunits)
 endif()
 
 if(WITH_GUI)
     add_subdirectory(fieldImages)
-    add_subdirectory(imgui)
+    add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
     add_subdirectory(outlineviewer)
     add_subdirectory(sysid)
+    if(WITH_WPICAL)
+        add_subdirectory(wpical)
+    endif()
     if(LIBSSH_FOUND)
         add_subdirectory(roborioteamnumbersetter)
         add_subdirectory(datalogtool)
@@ -383,19 +336,25 @@ if(WITH_GUI)
 endif()
 
 if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
-    set(HAL_DEP_REPLACE ${HAL_DEP_REPLACE_IMPL})
+    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})
+    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})
+    set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
+    set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
+    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
@@ -405,10 +364,14 @@ if(WITH_WPILIB)
     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_BENCHMARK)
+    add_subdirectory(benchmark)
+endif()
+
+if(WITH_SIMULATION_MODULES)
     add_subdirectory(simulation)
 endif()
 

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 +1,46 @@
-# 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.
 
-We pledge to act and interact in ways that contribute to an open, welcoming,
-diverse, inclusive, and healthy community.
+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
@@ -79,7 +56,7 @@ the consequences for any action they deem in violation of this Code of Conduct:
 **Community Impact**: Use of inappropriate language or other behavior deemed
 unprofessional or unwelcome in the community.
 
-**Consequence**: A private, written warning from community leaders, providing
+**Consequence**: A warning from community leaders, providing
 clarity around the nature of the violation and an explanation of why the
 behavior was inappropriate. A public apology may be requested.
 
@@ -115,6 +92,9 @@ 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

@@ -4,6 +4,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 - [General Contribution Rules](#general-contribution-rules)
 - [What to Contribute](#what-to-contribute)
+- [Contribution Process](#contribution-process)
 - [Coding Guidelines](#coding-guidelines)
 - [Submitting Changes](#submitting-changes)
     - [Pull Request Format](#pull-request-format)
@@ -30,56 +31,34 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
     - 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.
+    - Ask about large changes before spending a bunch of time on them! See [Contribution Process](#contribution-process) for where to ask.
     - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
     - Features in WPILib should be broadly applicable to all teams. Anything that is team specific should not be submitted.
     - As a rule, we are happy with the general structure of WPILib. We are not interested in major rewrites of all of WPILib. We are open to talking about ideas, but backwards compatibility is very important for WPILib, so be sure to keep this in mind when proposing major changes.
     - Generally speaking, we do not accept code for specific sensors. We have to be able to test the sensor in hardware on the WPILib test bed. Additionally, hardware availability for teams is important. Therefore, as a general rule, the library only directly supports hardware that is in the Kit of Parts. If you are a company interested in getting a sensor into the Kit of Parts, please contact FIRST directly at frcparts@firstinspires.org.
 
+## Contribution Process
+
+Have an idea to make WPILib better? Here's some steps to go from idea to implementation:
+
+1. (Optional) **Discuss it in the Discord.** The programming discussion channel in the [Unofficial FIRST Robotics Competition Discord Server](https://discord.com/invite/frc) is a popular choice for initial discussion about ideas because many WPILib developers are active there and the live messaging nature of the platform is well suited for initial discussion (particularly for smaller changes). Note that the unofficial Discord server is not a mandatory step in the development process and is not endorsed by FIRST®.
+2. (Recommended) **Open a GitHub issue.** GitHub issues are another way to get initial feedback about an idea before working on an implementation. Compared to the unofficial Discord server, GitHub issues have much wider visibility and are better suited for serious discussions about major changes. Getting feedback about an idea (whether in the unofficial Discord server or in a GitHub issue) before working on the implementation is recommended to avoid working on a change that will be rejected, though some ideas are pretty safe.
+3. (Rare) **Create a design document in GitHub.** Sometimes, a change is so large that a design document is necessary to fully flesh out the details (and get feedback on them) before starting on an implementation. This is done through a pull request that adds the design document (as a Markdown file) to the repository. This is extremely rare, and it is sometimes done concurrently with the implementation if the change doesn't need much debate but is large enough to require a design document.
+4. (Mandatory) **Create a GitHub pull request.** This is how you implement the changes, and is the focus of most of the rest of this document.
+
 ## Coding Guidelines
 
 WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system.
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
-### Math documentation
-
-When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.
-
-The LaTeX to Unicode conversions can also be done locally via the unicodeit Python package. To install it, execute:
-```bash
-pip install --user unicodeit
-```
-
-Here's example usage:
-```bash
-$ python -m unicodeit.cli 'x_{k+1} = Ax_k + Bu_k'
-xₖ₊₁ = Axₖ + Buₖ
-```
-
-On Linux, this process can be streamlined further by adding the following Bash function to your .bashrc (requires `wl-clipboard` on Wayland or `xclip` on X11):
-```bash
-# Converts LaTeX to Unicode, prints the result, and copies it to the clipboard
-uc() {
-  if [ $WAYLAND_DISPLAY ]; then
-    python -m unicodeit.cli $@ | tee >(wl-copy -n)
-  else
-    python -m unicodeit.cli $@ | tee >(xclip -sel)
-  fi
-}
-```
-
-Here's example usage:
-```bash
-$ uc 'x_{k+1} = Ax_k + Bu_k'
-xₖ₊₁ = Axₖ + Buₖ
-```
-
 ## Submitting Changes
 
 ### Pull Request Format
 
 Changes should be submitted as a Pull Request against the main branch of WPILib. For most changes, commits will be squashed upon merge. For particularly large changes, multiple commits are ok, but assume one commit unless asked otherwise. We may ask you to break a PR into multiple standalone PRs or commits for rebase within one PR to separate unrelated changes. No change will be merged unless it is up to date with the current main branch. We do this to make sure that the git history isn't too cluttered.
 
+Particularly large and/or breaking changes should be targeted to the 2027 branch, which targets the [SystemCore Robot Controller](https://community.firstinspires.org/introducing-the-future-mobile-robot-controller). The intent is minimize changes for 2026, to allow development to focus on preparing for 2027.
+
 ### Merge Process
 
 When you first submit changes, GitHub Actions will attempt to run `./gradlew check` on your change. If this fails, you will need to fix any issues that it sees. Once Actions passes, we will begin the review process in more earnest. One or more WPILib team members will review your change. This will be a back-and-forth process with the WPILib team and the greater community. Once we are satisfied that your change is ready, we will allow our hosted instance to test it. This will run the full gamut of checks, including integration tests on actual hardware. Once all tests have passed and the team is satisfied, we will merge your change into the WPILib repository.

DevelopmentBuilds.md

@@ -13,13 +13,13 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2024 GradleRIO version, ie `2024.0.0-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 2026 GradleRIO version, ie `2026.1.1`
 
 ```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.
@@ -28,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.+'
-wpi.versions.wpimathVersion = '2024.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 C++
@@ -42,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.+'
-wpi.versions.wpimathVersion = '2024.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 ### Development Build Documentation
@@ -64,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
@@ -78,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
@@ -89,15 +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) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MAINTAINERS.md

@@ -18,7 +18,7 @@ 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.

MavenArtifacts.md

@@ -14,54 +14,27 @@ The development repository is where development releases of every commit to [mai
 ## Artifact classifiers
 We provide two base types of artifacts.
 
-The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier.
-
-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
-
-WPILib builds four different types of artifacts.
-
-##### C++ Only Libraries
-When we publish C++ only libraries, they are published with the base artifact name as their artifact name, with a `-cpp` extension. All dependencies for the library are linked as shared libraries to the binary.
-
-
-Example:
-```
-edu.wpi.first.wpilibc:wpilibc-cpp:version:classifier@zip
-```
-
-#### Java Only Libraries
-When we publish Java only libraries, they are published with the base artifact name as their artifact name, with a `-java` extension.
+The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier. These artifacts are published with the base artifact name as their artifact ID, with a `-java` extension.
 
 Example:
 ```
 edu.wpi.first.wpilibj:wpilibj-java:version
 ```
 
-#### C++/Java Libraries without JNI
-For libraries that are both C++ and Java, but without a JNI component, the C++ component is published with the `basename-cpp` artifact name, and the Java component is published with the `basename-java` artifact name.
+The second types are native artifacts. These are usually published as `zip` files. The `-sources` and `-headers` classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format `{os}{arch}`. The full list of supported platforms can be found in [native-utils](https://github.com/wpilibsuite/native-utils/blob/main/src/main/java/edu/wpi/first/nativeutils/WPINativeUtilsExtension.java#L94). If the library is built statically, it will have `static` appended to the classifier. Additionally, if the library was built in debug mode, `debug` will be appended to the classifier. The platform artifact only contains the binaries for a specific platform. Note that the binary artifacts never contain the headers, you always need the `-headers` classifier to get those.
+
+If the library is Java and C++ and has a JNI component, the native artifact will have a shared library containing JNI entrypoints alongside the C++ shared library. This JNI shared library will have a `jni` suffix in the file name.
+
+Native artifacts are published with the base artifact name as their artifact ID, with a `-cpp` extension.
 
 Example:
 ```
-edu.wpi.first.wpiutil:wpiutil-cpp:version:classifier@zip (C++)
-edu.wpi.first.wpiutil:wpiutil-java:version (Java)
-```
-
-#### C++/Java Libraries with JNI
-For libraries that are both C++ and Java with a JNI component there are three different artifact names. For Java, the component is published as `basename-java`. For C++, the `basename-cpp` artifact contains the C++ artifacts with all dependencies linked as shared libraries to the binary. These binaries DO contain the JNI entry points. The `basename-jni` artifact contains identical C++ binaries to the `-cpp` artifact, however all of its dependencies are statically linked, and only the JNI and C entry points are exported.
-
-The `-jni` artifact should only be used in cases where you want to create a self contained Java application where the native artifacts are embedded in the jar. Note in an extraction scenario, extending off of the library is never supported, which is why the C++ entry points are not exposed. The name of the library is randomly generated during extraction. For pretty much all cases, and if you ever want to extend from a native library, you should use the `-cpp` artifacts. GradleRIO uses the `-cpp` artifacts for all platforms, even desktop, for this reason.
-
-Example:
-```
-edu.wpi.first.ntcore:ntcore-cpp:version:classifier@zip (C++)
-edu.wpi.first.ntcore:ntcore-jni:version:classifier (JNI jar library)
-edu.wpi.first.ntcore:ntcore-java:version (Java)
+edu.wpi.first.wpimath:wpimath-cpp:version:classifier@zip
+edu.wpi.first.wpimath:wpimath-cpp:version:windowsx86-64staticdebug@zip
 ```
 
 ## Provided Artifacts
-This repository provides the following artifacts. Below each artifact is its dependencies. Note if ever using the `-jni` artifacts, no dependencies are needed for native binaries.
+This repository provides the following artifacts. Below each artifact is its dependencies.
 
 For C++, if building with static dependencies, the listed order should be the link order in your linker.
 

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

@@ -1,169 +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
-* wpiunits
-* wpilibNewCommands
-
-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 jinja2 pip package is needed to generate classes for NT4's pubsub.
-
-The protobuf library and compiler are needed for protobuf generation. The QuickBuffers protoc-gen package is also required when Java is being built; this can be obtained from https://github.com/HebiRobotics/QuickBuffers/releases/.
-
-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 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_JAVA_SOURCE` (ON 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_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_WPIUNITS` (ON 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.
-* `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!
-* `NO_WERROR` (OFF Default)
-  * This option will disable the `-Werror` compilation flag for non-MSVC builds.
-
-## 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 3.11)
-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 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

@@ -17,14 +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
 
@@ -41,15 +42,15 @@ 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)
-    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 13 or later is required.
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
@@ -60,7 +61,7 @@ On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be ab
 
 ## 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.
 
@@ -133,6 +134,9 @@ 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` on Windows or `python3 -m wpiformat` on other platforms.
@@ -143,9 +147,17 @@ 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
 
@@ -179,7 +191,3 @@ 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
@@ -33,16 +33,28 @@ 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
 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
+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 and nanopb were modified for use in WPILib.
 
 ==============================================================================
 Google Test License
@@ -461,7 +473,7 @@ limitations under the License.
 
 
 ==============================================================================
-MPacks License
+MPack License
 ==============================================================================
 The MIT License (MIT)
 
@@ -1012,35 +1024,6 @@ 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
 ================
@@ -1077,33 +1060,6 @@ 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
 ======
@@ -1135,29 +1091,6 @@ 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
 ==================
@@ -1209,3 +1142,534 @@ 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.
+
+==============
+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
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   Licensed under the Apache License, Version 2.0 (the "License");
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+   Unless required by applicable law or agreed to in writing, software
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+   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:0.44.0",
+    "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
+    "com.fasterxml.jackson.core:jackson-core:2.19.2",
+    "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+    "us.hebi.quickbuf:quickbuf-runtime:1.4",
+    "com.google.code.gson:gson:2.13.1",
+]
+
+maven_install(
+    name = "maven",
+    artifacts = maven_artifacts,
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+
+# Download toolchains
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.tar.gz",
+)
+
+load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
+
+setup_legacy_setup_toolchains_dependencies()
+
+load("@rules_bzlmodrio_toolchains//toolchains:load_toolchains.bzl", "load_toolchains")
+
+load_toolchains()
+
+#
+http_archive(
+    name = "rules_bzlmodrio_jdk",
+    sha256 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.tar.gz",
+)
+
+load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
+
+setup_legacy_setup_jdk_dependencies()
+
+register_toolchains(
+    "@local_roborio//:macos",
+    "@local_roborio//:linux",
+    "@local_roborio//:windows",
+    "@local_systemcore//:macos",
+    "@local_systemcore//:linux",
+    "@local_systemcore//:windows",
+    "@local_raspi_bullseye_32//:macos",
+    "@local_raspi_bullseye_32//:linux",
+    "@local_raspi_bullseye_32//:windows",
+    "@local_raspi_bookworm_32//:macos",
+    "@local_raspi_bookworm_32//:linux",
+    "@local_raspi_bookworm_32//:windows",
+    "@local_bullseye_32//:macos",
+    "@local_bullseye_32//:linux",
+    "@local_bullseye_32//:windows",
+    "@local_bullseye_64//:macos",
+    "@local_bullseye_64//:linux",
+    "@local_bullseye_64//:windows",
+    "@local_bookworm_32//:macos",
+    "@local_bookworm_32//:linux",
+    "@local_bookworm_32//:windows",
+    "@local_bookworm_64//:macos",
+    "@local_bookworm_64//:linux",
+    "@local_bookworm_64//:windows",
+)
+
+setup_legacy_setup_jdk_dependencies()
+
+http_archive(
+    name = "bzlmodrio-ni",
+    sha256 = "fff62c3cb3e83f9a0d0a01f1739477c9ca5e9a6fac05be1ad59dafcd385801f7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.2.0/bzlmodRio-ni-2025.2.0.tar.gz",
+)
+
+load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
+
+setup_legacy_bzlmodrio_ni_cpp_dependencies()
+
+http_archive(
+    name = "bzlmodrio-opencv",
+    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.bcr1.tar.gz",
+)
+
+load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
+
+setup_legacy_bzlmodrio_opencv_cpp_dependencies()
+
+load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
+
+setup_legacy_bzlmodrio_opencv_java_dependencies()
+
+http_archive(
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
+)
+
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
+)
+
+apple_support_dependencies()

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

@@ -2,35 +2,39 @@ project(apriltag)
 
 include(CompileWarnings)
 include(GenResources)
-include(FetchContent)
 
-fetchcontent_declare(
-    apriltaglib
-    GIT_REPOSITORY https://github.com/wpilibsuite/apriltag.git
-    GIT_TAG 64be6ab26abf5e995321997fd0752c609a7e30f4
+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")
 
     set(CMAKE_JNI_TARGET true)
 
@@ -43,11 +47,11 @@ if(WITH_JAVA)
             ${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
@@ -59,15 +63,23 @@ if(WITH_JAVA)
         SOURCES ${JAVA_SOURCES}
         RESOURCES
         NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-        INCLUDE_JARS wpimath_jar wpiunits_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
+        INCLUDE_JARS
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            ${EJML_JARS}
+            ${OPENCV_JAR_FILE}
+            ${JACKSON_JARS}
         OUTPUT_NAME apriltag
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS apriltag_jni_headers
     )
+    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
 
     install_jar(apriltag_jar DESTINATION ${java_lib_dest})
     install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
 
-    add_library(apriltagjni ${apriltag_jni_src})
+    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
     wpilib_target_warnings(apriltagjni)
     target_link_libraries(apriltagjni PUBLIC apriltag)
 
@@ -77,67 +89,63 @@ if(WITH_JAVA)
     add_dependencies(apriltagjni apriltag_jar)
 
     install(TARGETS apriltagjni EXPORT apriltagjni)
+    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
-    file(GLOB APRILTAG_SOURCES src/main/java/edu/wpi/first/apriltag/*.java)
-    add_jar(
+    include(CreateSourceJar)
+    add_source_jar(
         apriltag_src_jar
-        RESOURCES
-        NAMESPACE "edu/wpi/first/apriltag" ${APRILTAG_SOURCES}
-        NAMESPACE
-            "edu/wpi/first/apriltag/jni"
-            src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
+        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
         OUTPUT_NAME apriltag-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
-
-    get_property(APRILTAG_SRC_JAR_FILE TARGET apriltag_src_jar PROPERTY JAR_FILE)
-    install(FILES ${APRILTAG_SRC_JAR_FILE} DESTINATION "${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)
+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 /wd4005 /wd4996)
-else()
-    target_compile_options(
-        apriltag
-        PRIVATE -Wno-sign-compare -Wno-gnu-zero-variadic-macro-arguments -Wno-type-limits
-    )
-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>
 )
 
+install(
+    DIRECTORY src/main/native/include/ src/main/native/thirdparty/apriltag/include/
+    DESTINATION "${include_dest}/apriltag"
+)
+target_include_directories(
+    apriltag
+    SYSTEM
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include/common>
+)
+
 install(TARGETS apriltag EXPORT apriltag)
-install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/apriltag")
+export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)
 
 configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake)
 install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/apriltag)
@@ -146,5 +154,5 @@ install(EXPORT apriltag DESTINATION share/apriltag)
 if(WITH_TESTS)
     wpilib_add_test(apriltag src/test/native/cpp)
     target_include_directories(apriltag_test PRIVATE src/test/native/include)
-    target_link_libraries(apriltag_test apriltag gmock_main)
+    target_link_libraries(apriltag_test apriltag googletest)
 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'
+                }
+            }
         }
     }
 }
@@ -30,7 +42,6 @@ ext {
 evaluationDependsOn(':wpimath')
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-apply from: "${rootDir}/shared/apriltaglib.gradle"
 apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
@@ -45,24 +56,55 @@ 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)) {
                 return
             }
             it.cppCompiler.define 'WPILIB_EXPORTS'
-
-            if (it.component.name == "${nativeName}JNI") {
-                lib project: ':wpimath', library: 'wpimath', linkage: 'static'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'static'
-            } else {
-                lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
-                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
-            }
-
-            nativeUtils.useRequiredLibrary(it, 'apriltaglib')
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
         }
     }
     tasks {

apriltag/convert_apriltag_layouts.py

@@ -7,10 +7,11 @@ AprilTagFields expects.
 
 The input CSV has the following format:
 
-* Columns: ID, X, Y, Z, Rotation
+* Columns: ID, X, Y, Z, Z Rotation, Y Rotation
 * ID is a positive integer
 * X, Y, and Z are decimal inches
-* Rotation is yaw in degrees
+* 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).
@@ -21,7 +22,6 @@ import json
 import os
 
 from wpimath import geometry, units
-import numpy as np
 
 
 def main():
@@ -49,13 +49,14 @@ def main():
                 x = float(row[1])
                 y = float(row[2])
                 z = float(row[3])
-                rotation = float(row[4])
+                zRotation = float(row[4])
+                yRotation = float(row[5])
 
                 # Turn yaw into quaternion
                 q = geometry.Rotation3d(
-                    units.radians(0.0),
-                    units.radians(0.0),
-                    units.degreesToRadians(rotation),
+                    units.radians(0),
+                    units.degreesToRadians(yRotation),
+                    units.degreesToRadians(zRotation),
                 ).getQuaternion()
 
                 json_data["tags"].append(

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

@@ -39,11 +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

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

@@ -99,12 +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
@@ -116,8 +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
@@ -128,9 +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
@@ -194,12 +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
@@ -209,8 +201,10 @@ public class AprilTagDetector implements AutoCloseable {
   }
 
   /** Constructs an AprilTagDetector. */
+  @SuppressWarnings("this-escape")
   public AprilTagDetector() {
     m_native = AprilTagJNI.createDetector();
+    setQuadThresholdParameters(new QuadThresholdParameters());
   }
 
   @Override
@@ -303,7 +297,7 @@ public class AprilTagDetector implements AutoCloseable {
    * @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

@@ -17,6 +17,7 @@ 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;
@@ -148,19 +149,15 @@ public class AprilTagFieldLayout {
    */
   @JsonIgnore
   public final 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");
-    }
+    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);
   }
 
   /**
@@ -230,12 +227,19 @@ public class AprilTagFieldLayout {
    * @throws UncheckedIOException If the layout does not exist.
    */
   public static AprilTagFieldLayout loadField(AprilTagFields field) {
-    try {
-      return loadFromResource(field.m_resourceFile);
-    } catch (IOException e) {
-      throw new UncheckedIOException(
-          "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
+    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());
   }
 
   /**
@@ -254,7 +258,7 @@ public class AprilTagFieldLayout {
       // Class.getResourceAsStream() returns null if the resource does not exist.
       throw new IOException("Could not locate resource: " + resourcePath);
     }
-    InputStreamReader reader = new InputStreamReader(stream);
+    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
     try {
       return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
     } catch (IOException e) {
@@ -264,11 +268,9 @@ public class AprilTagFieldLayout {
 
   @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
@@ -281,11 +283,11 @@ 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

@@ -13,17 +13,27 @@ public enum AprilTagFields {
   /** 2023 Charged Up. */
   k2023ChargedUp("2023-chargedup.json"),
   /** 2024 Crescendo. */
-  k2024Crescendo("2024-crescendo.json");
+  k2024Crescendo("2024-crescendo.json"),
+  /** 2025 Reefscape Welded (see TU 12). */
+  k2025ReefscapeWelded("2025-reefscape-welded.json"),
+  /** 2025 Reefscape AndyMark (see TU 12). */
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
+  /** 2026 Rebuilt Welded. */
+  k2026RebuiltWelded("2026-rebuilt-welded.json"),
+  /** 2026 Rebuilt AndyMark. */
+  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2024Crescendo;
+  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;
 
+  AprilTagFieldLayout m_fieldLayout;
+
   AprilTagFields(String resourceFile) {
     m_resourceFile = kBaseResourceDir + resourceFile;
   }
@@ -33,7 +43,9 @@ public enum AprilTagFields {
    *
    * @return AprilTagFieldLayout of the field
    * @throws UncheckedIOException If the layout does not exist
+   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
    */
+  @Deprecated(forRemoval = true, since = "2025")
   public AprilTagFieldLayout loadAprilTagLayoutField() {
     return AprilTagFieldLayout.loadField(this);
   }

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

@@ -55,12 +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

@@ -17,8 +17,6 @@ import java.util.concurrent.atomic.AtomicBoolean;
 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);
@@ -48,10 +46,7 @@ public class AprilTagJNI {
   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);

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

@@ -5,6 +5,8 @@
 #include "frc/apriltag/AprilTagFieldLayout.h"
 
 #include <system_error>
+#include <utility>
+#include <vector>
 
 #include <units/angle.h>
 #include <units/length.h>
@@ -15,14 +17,12 @@
 using namespace frc;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  std::error_code ec;
-  std::unique_ptr<wpi::MemoryBuffer> fileBuffer =
-      wpi::MemoryBuffer::GetFile(path, ec);
-  if (fileBuffer == nullptr || ec) {
+  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
+  if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
+  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;
@@ -133,6 +133,10 @@ namespace frc {
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
+std::string_view GetResource_2025_reefscape_welded_json();
+std::string_view GetResource_2025_reefscape_andymark_json();
+std::string_view GetResource_2026_rebuilt_welded_json();
+std::string_view GetResource_2026_rebuilt_andymark_json();
 
 }  // namespace frc
 
@@ -148,6 +152,18 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2024Crescendo:
       fieldString = GetResource_2024_crescendo_json();
       break;
+    case AprilTagField::k2025ReefscapeWelded:
+      fieldString = GetResource_2025_reefscape_welded_json();
+      break;
+    case AprilTagField::k2025ReefscapeAndyMark:
+      fieldString = GetResource_2025_reefscape_andymark_json();
+      break;
+    case AprilTagField::k2026RebuiltWelded:
+      fieldString = GetResource_2026_rebuilt_welded_json();
+      break;
+    case AprilTagField::k2026RebuiltAndyMark:
+      fieldString = GetResource_2026_rebuilt_andymark_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

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

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

@@ -166,7 +166,9 @@ void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
  *
  * @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);
 

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

@@ -20,6 +20,16 @@ enum class AprilTagField {
   k2023ChargedUp,
   /// 2024 Crescendo.
   k2024Crescendo,
+  /// 2025 Reefscape AndyMark (see TU12).
+  k2025ReefscapeAndyMark,
+  /// 2025 Reefscape Welded (see TU12).
+  k2025ReefscapeWelded,
+  /// 2026 Rebuilt Andymark.
+  k2026RebuiltAndyMark,
+  /// 2026 Rebuilt Welded.
+  k2026RebuiltWelded,
+  /// Alias to the current game.
+  kDefaultField = k2026RebuiltWelded,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

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

@@ -1,17 +0,0 @@
-ID,X,Y,Z,Rotation
-1,593.68,9.68,53.38,120
-2,637.21,34.79,53.38,120
-3,652.73,196.17,57.13,180
-4,652.73,218.42,57.13,180
-5,578.77,323.00,53.38,270
-6,72.5,323.00,53.38,270
-7,-1.50,218.42,57.13,0
-8,-1.50,196.17,57.13,0
-9,14.02,34.79,53.38,60
-10,57.54,9.68,53.38,60
-11,468.69,146.19,52.00,300
-12,468.69,177.10,52.00,60
-13,441.74,161.62,52.00,180
-14,209.48,161.62,52.00,0
-15,182.73,177.10,52.00,120
-16,182.73,146.19,52.00,240

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": {
+            "W": 0.9659258262890683,
+            "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
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 13.890498,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 13.474446,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.643358,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.227305999999999,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.643358,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 0.8613139999999999,
+          "y": 0.628142,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8910065241883679,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.45399049973954675
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 0.8613139999999999,
+          "y": 7.414259999999999,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8910065241883678,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.45399049973954686
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 8.272272,
+          "y": 6.132575999999999,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 8.272272,
+          "y": 1.9098259999999998,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 6.057646,
+          "y": 0.010667999999999999,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 3.6576,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 5.321046,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 17.548,
+    "width": 8.042
+  }
+}

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

@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,657.37,25.8,58.5,126,0
+2,657.37,291.2,58.5,234,0
+3,455.15,317.15,51.25,270,0
+4,365.2,241.64,73.54,0,30
+5,365.2,75.39,73.54,0,30
+6,530.49,130.17,12.13,300,0
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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);

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

@@ -0,0 +1,85 @@
+/* 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 <stdbool.h>
+#include <stdint.h>
+#include <time.h>
+
+#ifdef _WIN32
+#include <windows.h>
+typedef long long suseconds_t;
+#endif
+
+#ifdef _MSC_VER
+
+inline int gettimeofday(struct timeval* tp, void* tzp)
+{
+  (void)tzp;
+
+  unsigned long t;
+  t = time(NULL);
+  tp->tv_sec = t / 1000;
+  tp->tv_usec = t % 1000;
+  return 0;
+}
+#else
+#include <sys/time.h>
+#include <unistd.h>
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct timeutil_rest timeutil_rest_t;
+timeutil_rest_t *timeutil_rest_create(void);
+void timeutil_rest_destroy(timeutil_rest_t * rest);
+
+int64_t utime_now(void); // blacklist-ignore
+int64_t utime_get_seconds(int64_t v);
+int64_t utime_get_useconds(int64_t v);
+void    utime_to_timeval(int64_t v, struct timeval *tv);
+void    utime_to_timespec(int64_t v, struct timespec *ts);
+
+int32_t  timeutil_usleep(int64_t useconds);
+uint32_t timeutil_sleep(unsigned int seconds);
+int32_t  timeutil_sleep_hz(timeutil_rest_t *rest, double hz);
+
+void timeutil_timer_reset(timeutil_rest_t *rest);
+void timeutil_timer_start(timeutil_rest_t *rest);
+void timeutil_timer_stop(timeutil_rest_t *rest);
+bool timeutil_timer_timeout(timeutil_rest_t *rest, double timeout_s);
+
+int64_t time_util_hhmmss_ss_to_utime(double time);
+
+int64_t timeutil_ms_to_us(int32_t ms);
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,120 @@
+/* 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 <stdio.h>
+#include <string.h>
+#include <stdint.h>
+
+#include "time_util.h"
+#include "zarray.h"
+
+struct timeprofile_entry
+{
+    char name[32];
+    int64_t utime;
+};
+
+typedef struct timeprofile timeprofile_t;
+struct timeprofile
+{
+    int64_t utime;
+    zarray_t *stamps;
+};
+
+static inline timeprofile_t *timeprofile_create(void)
+{
+    timeprofile_t *tp = (timeprofile_t*) calloc(1, sizeof(timeprofile_t));
+    tp->stamps = zarray_create(sizeof(struct timeprofile_entry));
+
+    tp->utime = utime_now();
+
+    return tp;
+}
+
+static inline void timeprofile_destroy(timeprofile_t *tp)
+{
+    zarray_destroy(tp->stamps);
+    free(tp);
+}
+
+static inline void timeprofile_clear(timeprofile_t *tp)
+{
+    zarray_clear(tp->stamps);
+    tp->utime = utime_now();
+}
+
+static inline void timeprofile_stamp(timeprofile_t *tp, const char *name)
+{
+    struct timeprofile_entry tpe;
+
+    strncpy(tpe.name, name, sizeof(tpe.name));
+    tpe.name[sizeof(tpe.name)-1] = 0;
+    tpe.utime = utime_now();
+
+    zarray_add(tp->stamps, &tpe);
+}
+
+static inline void timeprofile_display(timeprofile_t *tp)
+{
+    int64_t lastutime = tp->utime;
+
+    for (int i = 0; i < zarray_size(tp->stamps); i++) {
+        struct timeprofile_entry *stamp;
+
+        zarray_get_volatile(tp->stamps, i, &stamp);
+
+        double cumtime = (stamp->utime - tp->utime)/1000000.0;
+
+        double parttime = (stamp->utime - lastutime)/1000000.0;
+
+        printf("%2d %32s %15f ms %15f ms\n", i, stamp->name, parttime*1000, cumtime*1000);
+
+        lastutime = stamp->utime;
+    }
+}
+
+static inline uint64_t timeprofile_total_utime(timeprofile_t *tp)
+{
+    if (zarray_size(tp->stamps) == 0)
+        return 0;
+
+    struct timeprofile_entry *first, *last;
+    zarray_get_volatile(tp->stamps, 0, &first);
+    zarray_get_volatile(tp->stamps, zarray_size(tp->stamps) - 1, &last);
+
+    return last->utime - first->utime;
+}
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,145 @@
+/* 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 <string.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+typedef struct unionfind unionfind_t;
+
+struct unionfind
+{
+    uint32_t maxid;
+
+    // Parent node for each. Initialized to 0xffffffff
+    uint32_t *parent;
+
+    // The size of the tree excluding the root
+    uint32_t *size;
+};
+
+static inline unionfind_t *unionfind_create(uint32_t maxid)
+{
+    unionfind_t *uf = (unionfind_t*) calloc(1, sizeof(unionfind_t));
+    uf->maxid = maxid;
+    uf->parent = (uint32_t *) malloc((maxid+1) * sizeof(uint32_t) * 2);
+    memset(uf->parent, 0xff, (maxid+1) * sizeof(uint32_t));
+    uf->size = uf->parent + (maxid+1);
+    memset(uf->size, 0, (maxid+1) * sizeof(uint32_t));
+    return uf;
+}
+
+static inline void unionfind_destroy(unionfind_t *uf)
+{
+    free(uf->parent);
+    free(uf);
+}
+
+/*
+static inline uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
+{
+    // base case: a node is its own parent
+    if (uf->parent[id] == id)
+        return id;
+
+    // otherwise, recurse
+    uint32_t root = unionfind_get_representative(uf, uf->parent[id]);
+
+    // short circuit the path. [XXX This write prevents tail recursion]
+    uf->parent[id] = root;
+
+    return root;
+}
+*/
+
+// this one seems to be every-so-slightly faster than the recursive
+// version above.
+static inline uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
+{
+    uint32_t root = uf->parent[id];
+    // unititialized node, so set to self
+    if (root == 0xffffffff) {
+        uf->parent[id] = id;
+        return id;
+    }
+
+    // chase down the root
+    while (uf->parent[root] != root) {
+        root = uf->parent[root];
+    }
+
+    // go back and collapse the tree.
+    while (uf->parent[id] != root) {
+        uint32_t tmp = uf->parent[id];
+        uf->parent[id] = root;
+        id = tmp;
+    }
+
+    return root;
+}
+
+static inline uint32_t unionfind_get_set_size(unionfind_t *uf, uint32_t id)
+{
+    uint32_t repid = unionfind_get_representative(uf, id);
+    return uf->size[repid] + 1;
+}
+
+static inline uint32_t unionfind_connect(unionfind_t *uf, uint32_t aid, uint32_t bid)
+{
+    uint32_t aroot = unionfind_get_representative(uf, aid);
+    uint32_t broot = unionfind_get_representative(uf, bid);
+
+    if (aroot == broot)
+        return aroot;
+
+    // we don't perform "union by rank", but we perform a similar
+    // operation (but probably without the same asymptotic guarantee):
+    // We join trees based on the number of *elements* (as opposed to
+    // rank) contained within each tree. I.e., we use size as a proxy
+    // for rank.  In my testing, it's often *faster* to use size than
+    // rank, perhaps because the rank of the tree isn't that critical
+    // if there are very few nodes in it.
+    uint32_t asize = uf->size[aroot] + 1;
+    uint32_t bsize = uf->size[broot] + 1;
+
+    // optimization idea: We could shortcut some or all of the tree
+    // that is grafted onto the other tree. Pro: those nodes were just
+    // read and so are probably in cache. Con: it might end up being
+    // wasted effort -- the tree might be grafted onto another tree in
+    // a moment!
+    if (asize > bsize) {
+        uf->parent[broot] = aroot;
+        uf->size[aroot] += bsize;
+        return aroot;
+    } else {
+        uf->parent[aroot] = broot;
+        uf->size[broot] += asize;
+        return broot;
+    }
+}

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

@@ -0,0 +1,49 @@
+/* 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 "zarray.h"
+
+typedef struct workerpool workerpool_t;
+
+// as a special case, if nthreads==1, no additional threads are
+// created, and workerpool_run will run synchronously.
+workerpool_t *workerpool_create(int nthreads);
+void workerpool_destroy(workerpool_t *wp);
+
+void workerpool_add_task(workerpool_t *wp, void (*f)(void *p), void *p);
+
+// runs all added tasks, waits for them to complete.
+void workerpool_run(workerpool_t *wp);
+
+// same as workerpool_run, except always single threaded. (mostly for debugging).
+void workerpool_run_single(workerpool_t *wp);
+
+int workerpool_get_nthreads(workerpool_t *wp);
+
+int workerpool_get_nprocs(void);

apriltag/src/main/native/thirdparty/apriltag/include/common/zarray.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 <stddef.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Defines a structure which acts as a resize-able array ala Java's ArrayList.
+ */
+typedef struct zarray zarray_t;
+struct zarray
+{
+    size_t el_sz; // size of each element
+
+    int size; // how many elements?
+    int alloc; // we've allocated storage for how many elements?
+    char *data;
+};
+
+/**
+ * Creates and returns a variable array structure capable of holding elements of
+ * the specified size. It is the caller's responsibility to call zarray_destroy()
+ * on the returned array when it is no longer needed.
+ */
+static inline zarray_t *zarray_create(size_t el_sz)
+{
+    assert(el_sz > 0);
+
+    zarray_t *za = (zarray_t*) calloc(1, sizeof(zarray_t));
+    za->el_sz = el_sz;
+    return za;
+}
+
+/**
+ * Frees all resources associated with the variable array structure which was
+ * created by zarray_create(). After calling, 'za' will no longer be valid for storage.
+ */
+static inline void zarray_destroy(zarray_t *za)
+{
+    if (za == NULL)
+        return;
+
+    if (za->data != NULL)
+        free(za->data);
+    memset(za, 0, sizeof(zarray_t));
+    free(za);
+}
+
+/** Allocate a new zarray that contains a copy of the data in the argument. **/
+static inline zarray_t *zarray_copy(const zarray_t *za)
+{
+    assert(za != NULL);
+
+    zarray_t *zb = (zarray_t*) calloc(1, sizeof(zarray_t));
+    zb->el_sz = za->el_sz;
+    zb->size = za->size;
+    zb->alloc = za->alloc;
+    zb->data = (char*) malloc(zb->alloc * zb->el_sz);
+    memcpy(zb->data, za->data, za->size * za->el_sz);
+    return zb;
+}
+
+static int iceillog2(int v)
+{
+    v--;
+    v |= v >> 1;
+    v |= v >> 2;
+    v |= v >> 4;
+    v |= v >> 8;
+    v |= v >> 16;
+    v++;
+    return v;
+}
+
+/**
+ * Allocate a new zarray that contains a subset of the original
+ * elements. NOTE: end index is EXCLUSIVE, that is one past the last
+ * element you want.
+ */
+static inline zarray_t *zarray_copy_subset(const zarray_t *za,
+                             int start_idx,
+                             int end_idx_exclusive)
+{
+    zarray_t *out = (zarray_t*) calloc(1, sizeof(zarray_t));
+    out->el_sz = za->el_sz;
+    out->size = end_idx_exclusive - start_idx;
+    out->alloc = iceillog2(out->size); // round up pow 2
+    out->data = (char*) malloc(out->alloc * out->el_sz);
+    memcpy(out->data,  za->data +(start_idx*out->el_sz), out->size*out->el_sz);
+    return out;
+}
+
+/**
+ * Retrieves the number of elements currently being contained by the passed
+ * array, which may be different from its capacity. The index of the last element
+ * in the array will be one less than the returned value.
+ */
+static inline int zarray_size(const zarray_t *za)
+{
+    assert(za != NULL);
+
+    return za->size;
+}
+
+/**
+ * Returns 1 if zarray_size(za) == 0,
+ * returns 0 otherwise.
+ */
+/*
+JUST CALL zarray_size
+int zarray_isempty(const zarray_t *za)
+{
+    assert(za != NULL);
+    if (za->size <= 0)
+        return 1;
+    else
+        return 0;
+}
+*/
+
+
+/**
+ * Allocates enough internal storage in the supplied variable array structure to
+ * guarantee that the supplied number of elements (capacity) can be safely stored.
+ */
+static inline void zarray_ensure_capacity(zarray_t *za, int capacity)
+{
+    assert(za != NULL);
+
+    if (capacity <= za->alloc)
+        return;
+
+    while (za->alloc < capacity) {
+        za->alloc *= 2;
+        if (za->alloc < 8)
+            za->alloc = 8;
+    }
+
+    za->data = (char*) realloc(za->data, za->alloc * za->el_sz);
+}
+
+/**
+ * Adds a new element to the end of the supplied array, and sets its value
+ * (by copying) from the data pointed to by the supplied pointer 'p'.
+ * Automatically ensures that enough storage space is available for the new element.
+ */
+static inline void zarray_add(zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    zarray_ensure_capacity(za, za->size + 1);
+
+    memcpy(&za->data[za->size*za->el_sz], p, za->el_sz);
+    za->size++;
+}
+
+/**
+ * Retrieves the element from the supplied array located at the zero-based
+ * index of 'idx' and copies its value into the variable pointed to by the pointer
+ * 'p'.
+ */
+static inline void zarray_get(const zarray_t *za, int idx, void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    memcpy(p, &za->data[idx*za->el_sz], za->el_sz);
+}
+
+/**
+ * Similar to zarray_get(), but returns a "live" pointer to the internal
+ * storage, avoiding a memcpy. This pointer is not valid across
+ * operations which might move memory around (i.e. zarray_remove_value(),
+ * zarray_remove_index(), zarray_insert(), zarray_sort(), zarray_clear()).
+ * 'p' should be a pointer to the pointer which will be set to the internal address.
+ */
+inline static void zarray_get_volatile(const zarray_t *za, int idx, void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    *((void**) p) = &za->data[idx*za->el_sz];
+}
+
+inline static void zarray_truncate(zarray_t *za, int sz)
+{
+   assert(za != NULL);
+   assert(sz <= za->size);
+   za->size = sz;
+}
+
+/**
+ * Removes the entry at index 'idx'.
+ * If shuffle is true, the last element in the array will be placed in
+ * the newly-open space; if false, the zarray is compacted.
+ */
+static inline void zarray_remove_index(zarray_t *za, int idx, int shuffle)
+{
+    assert(za != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    if (shuffle) {
+        if (idx < za->size-1)
+            memcpy(&za->data[idx*za->el_sz], &za->data[(za->size-1)*za->el_sz], za->el_sz);
+        za->size--;
+        return;
+    } else {
+        // size = 10, idx = 7. Should copy 2 entries (at idx=8 and idx=9).
+        // size = 10, idx = 9. Should copy 0 entries.
+        int ncopy = za->size - idx - 1;
+        if (ncopy > 0)
+            memmove(&za->data[idx*za->el_sz], &za->data[(idx+1)*za->el_sz], ncopy*za->el_sz);
+        za->size--;
+        return;
+    }
+}
+
+/**
+ * Remove the entry whose value is equal to the value pointed to by 'p'.
+ * If shuffle is true, the last element in the array will be placed in
+ * the newly-open space; if false, the zarray is compacted. At most
+ * one element will be removed.
+ *
+ * Note that objects will be compared using memcmp over the full size
+ * of the value. If the value is a struct that contains padding,
+ * differences in the padding bytes can cause comparisons to
+ * fail. Thus, it remains best practice to bzero all structs so that
+ * the padding is set to zero.
+ *
+ * Returns the number of elements removed (0 or 1).
+ */
+// remove the entry whose value is equal to the value pointed to by p.
+// if shuffle is true, the last element in the array will be placed in
+// the newly-open space; if false, the zarray is compacted.
+static inline int zarray_remove_value(zarray_t *za, const void *p, int shuffle)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    for (int idx = 0; idx < za->size; idx++) {
+        if (!memcmp(p, &za->data[idx*za->el_sz], za->el_sz)) {
+            zarray_remove_index(za, idx, shuffle);
+            return 1;
+        }
+    }
+
+    return 0;
+}
+
+
+/**
+ * Creates a new entry and inserts it into the array so that it will have the
+ * index 'idx' (i.e. before the item which currently has that index). The value
+ * of the new entry is set to (copied from) the data pointed to by 'p'. 'idx'
+ * can be one larger than the current max index to place the new item at the end
+ * of the array, or zero to add it to an empty array.
+ */
+static inline void zarray_insert(zarray_t *za, int idx, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx <= za->size);
+
+    zarray_ensure_capacity(za, za->size + 1);
+    // size = 10, idx = 7. Should copy three entries (idx=7, idx=8, idx=9)
+    int ncopy = za->size - idx;
+
+    memmove(&za->data[(idx+1)*za->el_sz], &za->data[idx*za->el_sz], ncopy*za->el_sz);
+    memcpy(&za->data[idx*za->el_sz], p, za->el_sz);
+
+    za->size++;
+}
+
+
+/**
+ * Sets the value of the current element at index 'idx' by copying its value from
+ * the data pointed to by 'p'. The previous value of the changed element will be
+ * copied into the data pointed to by 'outp' if it is not null.
+ */
+static inline void zarray_set(zarray_t *za, int idx, const void *p, void *outp)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    if (outp != NULL)
+        memcpy(outp, &za->data[idx*za->el_sz], za->el_sz);
+
+    memcpy(&za->data[idx*za->el_sz], p, za->el_sz);
+}
+
+/**
+ * Calls the supplied function for every element in the array in index order.
+ * The map function will be passed a pointer to each element in turn and must
+ * have the following format:
+ *
+ * void map_function(element_type *element)
+ */
+static inline void zarray_map(zarray_t *za, void (*f)(void*))
+{
+    assert(za != NULL);
+    assert(f != NULL);
+
+    for (int idx = 0; idx < za->size; idx++)
+        f(&za->data[idx*za->el_sz]);
+}
+
+/**
+ * Calls the supplied function for every element in the array in index order.
+ * HOWEVER values are passed to the function, not pointers to values. In the
+ * case where the zarray stores object pointers, zarray_vmap allows you to
+ * pass in the object's destroy function (or free) directly. Can only be used
+ * with zarray's which contain pointer data. The map function should have the
+ * following format:
+ *
+ * void map_function(element_type *element)
+ */
+    void zarray_vmap(zarray_t *za, void (*f)(void *));
+
+/**
+ * Removes all elements from the array and sets its size to zero. Pointers to
+ * any data elements obtained i.e. by zarray_get_volatile() will no longer be
+ * valid.
+ */
+static inline void zarray_clear(zarray_t *za)
+{
+    assert(za != NULL);
+    za->size = 0;
+}
+
+/**
+ * Determines whether any element in the array has a value which matches the
+ * data pointed to by 'p'.
+ *
+ * Returns 1 if a match was found anywhere in the array, else 0.
+ */
+static inline int zarray_contains(const zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    for (int idx = 0; idx < za->size; idx++) {
+        if (!memcmp(p, &za->data[idx*za->el_sz], za->el_sz)) {
+            return 1;
+        }
+    }
+
+    return 0;
+}
+
+/**
+ * Uses qsort() to sort the elements contained by the array in ascending order.
+ * Uses the supplied comparison function to determine the appropriate order.
+ *
+ * The comparison function will be passed a pointer to two elements to be compared
+ * and should return a measure of the difference between them (see strcmp()).
+ * I.e. it should return a negative number if the first element is 'less than'
+ * the second, zero if they are equivalent, and a positive number if the first
+ * element is 'greater than' the second. The function should have the following format:
+ *
+ * int comparison_function(const element_type *first, const element_type *second)
+ *
+ * zstrcmp() can be used as the comparison function for string elements, which
+ * will call strcmp() internally.
+ */
+static inline void zarray_sort(zarray_t *za, int (*compar)(const void*, const void*))
+{
+    assert(za != NULL);
+    assert(compar != NULL);
+    if (za->size == 0)
+        return;
+
+    qsort(za->data, za->size, za->el_sz, compar);
+}
+
+/**
+ * A comparison function for comparing strings which can be used by zarray_sort()
+ * to sort arrays with char* elements.
+ */
+    int zstrcmp(const void * a_pp, const void * b_pp);
+
+/**
+  * Find the index of an element, or return -1 if not found. Remember that p is
+  * a pointer to the element.
+ **/
+// returns -1 if not in array. Remember p is a pointer to the item.
+static inline int zarray_index_of(const zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    for (int i = 0; i < za->size; i++) {
+        if (!memcmp(p, &za->data[i*za->el_sz], za->el_sz))
+            return i;
+    }
+
+    return -1;
+}
+
+/**
+ * Add elements from start up to and excluding end from 'source' into 'dest'.
+ * el_sz must be the same for both lists
+ **/
+static inline void zarray_add_range(zarray_t *dest, const zarray_t *source, int start, int end)
+{
+    assert(dest->el_sz == source->el_sz);
+    assert(dest != NULL);
+    assert(source != NULL);
+    assert(start >= 0);
+    assert(end <= source->size);
+    if (start == end) {
+        return;
+    }
+    assert(start < end);
+
+    int count = end - start;
+    zarray_ensure_capacity(dest, dest->size + count);
+
+    memcpy(&dest->data[dest->size*dest->el_sz], &source->data[source->el_sz*start], dest->el_sz*count);
+    dest->size += count;
+}
+
+#ifdef __cplusplus
+}
+#endif

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

@@ -0,0 +1,432 @@
+/* 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
+
+#include "zarray.h"
+
+
+/**
+ * A hash table for structs and primitive types that stores entries by value.
+ *   - The size of the key/values must be known at instantiation time, and remain fixed.
+ *     e.g. for pointers: zhash_create(sizeof(void*), sizeof(void*)....)
+ *          for structs: zhash_create(sizeof(struct key_struct), sizeof(struct value_struct)...)
+ *          for bytes: zhash_create(sizeof(uint8_t), sizeof(uint8_t)...)
+ *   - Entries are copied by value. This means you must always pass a reference to the start
+ *     of 'key_size' and 'value_size' bytes, which you have already malloc'd or stack allocated
+ *   - This data structure can be used to store types of any size, from bytes & doubles to
+ *     user defined structs
+ *     Note: if zhash stores pointers, user must be careful to manually manage the lifetime
+ *     of the memory they point to.
+ *
+ */
+
+typedef struct zhash zhash_t;
+
+// The contents of the iterator should be considered private. However,
+// since our usage model prefers stack-based allocation of iterators,
+// we must publicly declare them.
+struct zhash_iterator
+{
+    zhash_t *zh;
+    const zhash_t *czh;
+    int last_entry; // points to the last entry returned by _next
+};
+
+typedef struct zhash_iterator zhash_iterator_t;
+
+/**
+ * Create, initializes, and returns an empty hash table structure. It is the
+ * caller's responsibility to call zhash_destroy() on the returned array when it
+ * is no longer needed.
+ *
+ * The size of values used in the hash and equals function must match 'keysz'.
+ * I.e. if keysz = sizeof(uint64_t), then hash() and equals() should accept
+ * parameters as *uint64_t.
+ */
+zhash_t *zhash_create(size_t keysz, size_t valuesz,
+                      uint32_t(*hash)(const void *a),
+                      int(*equals)(const void *a, const void *b));
+
+/**
+ * Frees all resources associated with the hash table structure which was
+ * created by zhash_create(). After calling, 'zh' will no longer be valid for storage.
+ *
+ * If 'zh' contains pointer data, it is the caller's responsibility to manage
+ * the resources pointed to by those pointers.
+ */
+void zhash_destroy(zhash_t *zh);
+
+/**
+ * Creates and returns a new identical copy of the zhash (i.e. a "shallow" copy).
+ * If you're storing pointers, be sure not to double free their pointees!
+ * It is the caller's responsibility to call zhash_destroy() on the returned array
+ * when it is no longer needed (in addition to the zhash_destroy() call for the
+ * original zhash).
+ */
+zhash_t * zhash_copy(const zhash_t* other);
+
+/**
+ * Determines whether the supplied key value exists as an entry in the zhash
+ * table. If zhash stores pointer types as keys, this function can differentiate
+ * between a non-existent key and a key mapped to NULL.
+ * Returns 1 if the supplied key exists in the zhash table, else 0.
+ */
+int zhash_contains(const zhash_t *zh, const void *key);
+
+/**
+ * Retrieves the value for the given key, if it exists, by copying its contents
+ * into the space pointed to by 'out_value', which must already be allocated.
+ * Returns 1 if the supplied key exists in the table, else 0, in which case
+ * the contents of 'out_value' will be unchanged.
+ */
+int zhash_get(const zhash_t *zh, const void *key, void *out_value);
+
+/**
+ * Similar to zhash_get(), but more dangerous. Provides a pointer to the zhash's
+ * internal storage.  This can be used to make simple modifications to
+ * the underlying data while avoiding the memcpys associated with
+ * zhash_get and zhash_put. However, some zhash operations (that
+ * resize the underlying storage, in particular) render this pointer
+ * invalid. For maximum safety, call no other zhash functions for the
+ * period during which you intend to use the pointer.
+ * 'out_p' should be a pointer to the pointer which will be set to the internal
+ * data address.
+ */
+int zhash_get_volatile(const zhash_t *zh, const void *key, void *out_p);
+
+/**
+ * Adds a key/value pair to the hash table, if the supplied key does not already
+ * exist in the table, or overwrites the value for the supplied key if it does
+ * already exist. In the latter case, the previous contents of the key and value
+ * will be copied into the spaces pointed to by 'oldkey' and 'oldvalue', respectively,
+ * if they are not NULL.
+ *
+ * The key/value is added to / updated in the hash table by copying 'keysz' bytes
+ * from the data pointed to by 'key' and 'valuesz' bytes from the data pointed
+ * to by 'value'. It is up to the caller to manage the memory allocation of the
+ * passed-in values, zhash will store and manage a copy.
+ *
+ * NOTE: If the key is a pointer type (such as a string), the contents of the
+ * data that it points to must not be modified after the call to zhash_put(),
+ * or future zhash calls will not successfully locate the key (using either its
+ * previous or new value).
+ *
+ * NOTE: When using array data as a key (such as a string), the array should not
+ * be passed directly or it will cause a segmentation fault when it is dereferenced.
+ * Instead, pass a pointer which points to the array location, i.e.:
+ *   char key[strlen];
+ *   char *keyptr = key;
+ *   zhash_put(zh, &keyptr, ...)
+ *
+ * Example:
+ *   char * key = ...;
+ *   zarray_t * val = ...;
+ *   char * old_key = NULL;
+ *   zarray_t * old_val = NULL;
+ *   if (zhash_put(zh, &key, &val, &old_key, &old_value))
+ *       // manage resources for old_key and old_value
+ *
+ * Returns 1 if the supplied key previously existed in the table, else 0, in
+ * which case the data pointed to by 'oldkey' and 'oldvalue' will be set to zero
+ * if they are not NULL.
+ */
+int zhash_put(zhash_t *zh, const void *key, const void *value, void *oldkey, void *oldvalue);
+
+/**
+ * Removes from the zhash table the key/value pair for the supplied key, if
+ * it exists. If it does, the contents of the key and value will be copied into
+ * the spaces pointed to by 'oldkey' and 'oldvalue', respectively, if they are
+ * not NULL. If the key does not exist, the data pointed to by 'oldkey' and
+ * 'oldvalue' will be set to zero if they are not NULL.
+ *
+ * Returns 1 if the key existed and was removed, else 0, indicating that the
+ * table contents were not changed.
+ */
+int zhash_remove(zhash_t *zh, const void *key, void *oldkey, void *oldvalue);
+
+/**
+ * Removes all entries in the has table to create the equivalent of starting from
+ * a zhash_create(), using the same size parameters. If any elements need to be
+ * freed manually, this will need to occur before calling clear.
+ */
+void zhash_clear(zhash_t *zh);
+
+/**
+ * Retrieves the current number of key/value pairs currently contained in the
+ * zhash table, or 0 if the table is empty.
+ */
+int zhash_size(const zhash_t *zh);
+
+/**
+ * Initializes an iterator which can be used to traverse the key/value pairs of
+ * the supplied zhash table via successive calls to zhash_iterator_next() or
+ * zhash_iterator_next_volatile(). The iterator can also be used to remove elements
+ * from the zhash with zhash_iterator_remove().
+ *
+ * Any modifications to the zhash table structure will invalidate the
+ * iterator, with the exception of zhash_iterator_remove().
+ */
+void zhash_iterator_init(zhash_t *zh, zhash_iterator_t *zit);
+
+/**
+ * Initializes an iterator which can be used to traverse the key/value pairs of
+ * the supplied zhash table via successive calls to zhash_iterator_next() or
+ * zhash_iterator_next_volatile().
+ *
+ * An iterator initialized with this function cannot be used with
+ * zhash_iterator_remove(). For that you must use zhash_iterator_init().
+ *
+ * Any modifications to the zhash table structure will invalidate the
+ * iterator.
+ */
+void zhash_iterator_init_const(const zhash_t *zh, zhash_iterator_t *zit);
+
+/**
+ * Retrieves the next key/value pair from a zhash table via the (previously-
+ * initialized) iterator. Copies the key and value data into the space
+ * pointed to by outkey and outvalue, respectively, if they are not NULL.
+ *
+ * Returns 1 if the call retrieved the next available key/value pair, else 0
+ * indicating that no entries remain, in which case the contents of outkey and
+ * outvalue will remain unchanged.
+ */
+int zhash_iterator_next(zhash_iterator_t *zit, void *outkey, void *outvalue);
+
+/**
+ * Similar to zhash_iterator_next() except that it retrieves a pointer to zhash's
+ * internal storage.  This can be used to avoid the memcpys associated with
+ * zhash_iterator_next(). Call no other zhash functions for the
+ * period during which you intend to use the pointer.
+ * 'outkey' and 'outvalue' should be pointers to the pointers which will be set
+ * to the internal data addresses.
+ *
+ * Example:
+ *   key_t *outkey;
+ *   value_t *outvalue;
+ *   if (zhash_iterator_next_volatile(&zit, &outkey, &outvalue))
+ *       // access internal key and value storage via outkey and outvalue
+ *
+ * Returns 1 if the call retrieved the next available key/value pair, else 0
+ * indicating that no entries remain, in which case the pointers outkey and
+ * outvalue will remain unchanged.
+ */
+int zhash_iterator_next_volatile(zhash_iterator_t *zit, void *outkey, void *outvalue);
+
+/**
+ * Removes from the zhash table the key/value pair most recently returned via
+ * a call to zhash_iterator_next() or zhash_iterator_next_volatile() for the
+ * supplied iterator.
+ *
+ * Requires that the iterator was initialized with zhash_iterator_init(),
+ * not zhash_iterator_init_const().
+ */
+void zhash_iterator_remove(zhash_iterator_t *zit);
+
+/**
+ * Calls the supplied function with a pointer to every key in the hash table in
+ * turn. The function will be passed a pointer to the table's internal storage
+ * for the key, which the caller should not modify, as the hash table will not be
+ * re-indexed. The function may be NULL, in which case no action is taken.
+ */
+void zhash_map_keys(zhash_t *zh, void (*f)(void *));
+
+/**
+ * Calls the supplied function with a pointer to every value in the hash table in
+ * turn. The function will be passed a pointer to the table's internal storage
+ * for the value, which the caller may safely modify. The function may be NULL,
+ * in which case no action is taken.
+ */
+void zhash_map_values(zhash_t *zh, void (*f)(void *));
+
+/**
+ * Calls the supplied function with a copy of every key in the hash table in
+ * turn. While zhash_map_keys() passes a pointer to internal storage, this function
+ * passes a copy of the actual storage. If the zhash stores pointers to data,
+ * functions like free() can be used directly with zhash_vmap_keys().
+ * The function may be NULL, in which case no action is taken.
+ *
+ * NOTE: zhash_vmap_keys() can only be used with pointer-data keys.
+ * Use with non-pointer keys (i.e. integer, double, etc.) will likely cause a
+ * segmentation fault.
+ */
+void zhash_vmap_keys(zhash_t *vh, void (*f)(void *));
+
+/**
+ * Calls the supplied function with a copy of every value in the hash table in
+ * turn. While zhash_map_values() passes a pointer to internal storage, this function
+ * passes a copy of the actual storage. If the zhash stores pointers to data,
+ * functions like free() can be used directly with zhash_vmap_values().
+ * The function may be NULL, in which case no action is taken.
+ *
+ * NOTE: zhash_vmap_values() can only be used with pointer-data values.
+ * Use with non-pointer values (i.e. integer, double, etc.) will likely cause a
+ * segmentation fault.
+ */
+void zhash_vmap_values(zhash_t *vh, void (*f)(void *));
+
+/**
+ * Returns an array which contains copies of all of the hash table's keys, in no
+ * particular order. It is the caller's responsibility to call zarray_destroy()
+ * on the returned structure when it is no longer needed.
+ */
+zarray_t *zhash_keys(const zhash_t *zh);
+
+/**
+ * Returns an array which contains copies of all of the hash table's values, in no
+ * particular order. It is the caller's responsibility to call zarray_destroy()
+ * on the returned structure when it is no longer needed.
+ */
+zarray_t *zhash_values(const zhash_t *zh);
+
+/**
+ * Defines a hash function which will calculate a zhash value for uint32_t input
+ * data. Can be used with zhash_create() for a key size of sizeof(uint32_t).
+ */
+uint32_t zhash_uint32_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for uint32_t input data.
+ * Can be used with zhash_create() for a key size of sizeof(uint32_t).
+ */
+int zhash_uint32_equals(const void *a, const void *b);
+
+/**
+ * Defines a hash function which will calculate a zhash value for uint64_t input
+ * data. Can be used with zhash_create() for a key size of sizeof(uint64_t).
+ */
+uint32_t zhash_uint64_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for uint64_t input data.
+ * Can be used with zhash_create() for a key size of sizeof(uint64_t).
+ */
+int zhash_uint64_equals(const void *a, const void *b);
+
+/////////////////////////////////////////////////////
+// functions for keys that can be compared via their pointers.
+/**
+ * Defines a hash function which will calculate a zhash value for pointer input
+ * data. Can be used with zhash_create() for a key size of sizeof(void*). Will
+ * use only the pointer value itself for computing the hash value.
+ */
+uint32_t zhash_ptr_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for pointer input data.
+ * Can be used with zhash_create() for a key size of sizeof(void*).
+ */
+int zhash_ptr_equals(const void *a, const void *b);
+
+/////////////////////////////////////////////////////
+// Functions for string-typed keys
+/**
+ * Defines a hash function which will calculate a zhash value for string input
+ * data. Can be used with zhash_create() for a key size of sizeof(char*). Will
+ * use the contents of the string in computing the hash value.
+ */
+uint32_t zhash_str_hash(const void *a);
+
+/**
+ * Defines a function to compare zhash values for string input data.
+ * Can be used with zhash_create() for a key size of sizeof(char*).
+ */
+int zhash_str_equals(const void *a, const void *b);
+
+void zhash_debug(zhash_t *zh);
+
+    static inline zhash_t *zhash_str_str_create(void)
+    {
+        return zhash_create(sizeof(char*), sizeof(char*),
+                            zhash_str_hash, zhash_str_equals);
+    }
+
+
+
+// for zhashes that map strings to strings, this is a convenience
+// function that allows easier retrieval of values. NULL is returned
+// if the key is not found.
+static inline char *zhash_str_str_get(zhash_t *zh, const char *key)
+{
+    char *value;
+    if (zhash_get(zh, &key, &value))
+        return value;
+    return NULL;
+}
+
+    static inline void zhash_str_str_put(zhash_t *zh, char *key, char *value)
+    {
+        char *oldkey, *oldval;
+        if (zhash_put(zh, &key, &value, &oldkey, &oldval)) {
+            free(oldkey);
+            free(oldval);
+        }
+    }
+
+    static inline void zhash_str_str_destroy(zhash_t *zh)
+    {
+        zhash_iterator_t zit;
+        zhash_iterator_init(zh, &zit);
+
+        char *key, *value;
+        while (zhash_iterator_next(&zit, &key, &value)) {
+            free(key);
+            free(value);
+        }
+
+        zhash_destroy(zh);
+    }
+
+
+static inline uint32_t zhash_int_hash(const void *_a)
+{
+    assert(_a != NULL);
+
+    uint32_t a = *((int*) _a);
+    return a;
+}
+
+static inline int zhash_int_equals(const void *_a, const void *_b)
+{
+    assert(_a != NULL);
+    assert(_b != NULL);
+
+    int a = *((int*) _a);
+    int b = *((int*) _b);
+
+    return a==b;
+}
+
+#ifdef __cplusplus
+}
+#endif