[wpilib] Fixup alerts (#8663)

Makes Java `Alert.Level.ERROR`, `Alert.Level.WARNING`, and
`Alert.Level.INFO` proper aliases (instead of separate enum constants
with the same value).
Cleans up Python tests.
Makes the Alert tests more consistent between languages.

.bazelignore

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

.bazelrc

@@ -0,0 +1,91 @@
+try-import %workspace%/user.bazelrc
+
+common --enable_bzlmod --enable_workspace
+# Resolves to --config=linux on Linux, --config=macos on Mac, --windows on windows
+common --enable_platform_specific_config
+
+# Make bazel 8 work for us.
+common --enable_workspace
+build --experimental_cc_static_library
+build --experimental_cc_shared_library
+
+build --java_language_version=21
+build --java_runtime_version=remotejdk_21
+build --tool_java_language_version=21
+build --tool_java_runtime_version=remotejdk_21
+
+test --test_output=errors
+test --test_verbose_timeout_warnings
+
+import %workspace%/shared/bazel/compiler_flags/sanitizers.rc
+import %workspace%/shared/bazel/compiler_flags/linux_flags.rc
+import %workspace%/shared/bazel/compiler_flags/osx_flags.rc
+import %workspace%/shared/bazel/compiler_flags/roborio_flags.rc
+import %workspace%/shared/bazel/compiler_flags/systemcore_flags.rc
+import %workspace%/shared/bazel/compiler_flags/windows_flags.rc
+import %workspace%/shared/bazel/compiler_flags/coverage_flags.rc
+
+# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
+build:athena --config=roborio
+build:linuxarm32 --config=raspibookworm32
+build:linuxarm64 --config=bookworm64
+
+build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
+build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
+build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+common:skip_robotpy --test_tag_filters=-robotpy --build_tag_filters=-robotpy
+
+# Build Buddy BES Setup
+build:build_buddy_bes --bes_results_url=https://app.buildbuddy.io/invocation/
+build:build_buddy_bes --bes_backend=grpcs://remote.buildbuddy.io
+
+# Common Cache Settings
+build:common_cache --remote_timeout=3600
+build:common_cache --remote_cache_compression
+build:common_cache --experimental_remote_cache_compression_threshold=100
+
+# Build Buddy Cache Setup
+build:build_buddy --config=common_cache
+build:build_buddy --config=build_buddy_bes
+build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
+build:build_buddy --noslim_profile
+build:build_buddy --experimental_profile_include_target_label
+build:build_buddy --experimental_profile_include_primary_output
+build:build_buddy --nolegacy_important_outputs
+
+common:build_buddy_readonly --noremote_upload_local_results
+
+# Bazel-remote cache setup
+build:remote_cache --config=common_cache
+build:remote_cache --remote_cache=grpcs://gitlib-bazel.wpi.edu
+
+common:remote_cache_readonly --noremote_upload_local_results
+
+# This config should be used locally. It downloads more than the CI version
+build:remote_user --config=remote_cache
+build:remote_user --config=remote_cache_readonly
+build:remote_user --remote_download_toplevel
+
+build:ci --config=remote_cache
+build:ci --remote_download_minimal
+build:ci --progress_report_interval=60 --show_progress_rate_limit=60
+
+build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git
+
+common --define="WPILIB_VERSION=2025.424242.3.1-unknown"
+common --define="ROBOTPY_VERSION=2025.424242.3.1"
+
+# List of artifact types to build in CI.
+# Anything else gets skipped to speed up CI.
+common:ci --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
+
+# The 2 configurations for windows are very slow to build each time.
+# Instead, skip the cross transition for ARM on x86, and the reverse on x86.
+common:ci_windows_x86 --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
+common:ci_windows_arm --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug"
+
+build --@rules_python//python/config_settings:bootstrap_impl=script
+build --@rules_python//python/config_settings:venvs_use_declare_symlink=no
+
+try-import %workspace%/bazel_auth.rc

.bazelversion

@@ -0,0 +1 @@
+8.5.0

.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:
@@ -99,25 +104,52 @@ ForEachMacros:
   - BOOST_FOREACH
 IfMacros:
   - KJ_IF_MAYBE
-IncludeBlocks:   Regroup
+IncludeBlocks: Regroup
 IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*\.h>'
-    Priority:        1
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '.*'
-    Priority:        3
-    SortPriority:    0
-    CaseSensitive:   false
-IncludeIsMainRegex: '([-_](test|unittest))?$'
+  # C standard library headers
+  #
+  # https://en.cppreference.com/w/cpp/header:
+  #  * C compatibility headers
+  #  * Special C compatibility headers
+  #  * Empty C headers
+  #  * Meaningless C headers
+  #  * Unsupported C headers
+  - Regex:        '^<(assert\.h|ctype\.h|errno\.h|fenv\.h|float\.h|inttypes\.h|limits\.h|locale\.h|math\.h|setjmp\.h|signal\.h|stdarg\.h|stddef\.h|stdint\.h|stdio\.h|stdlib\.h|string\.h|time\.h|uchar\.h|wchar\.h|wctype\.h|stdatomic\.h|ccomplex|complex\.h|ctgmath|tgmath\.h|ciso646|cstdalign|cstdbool|iso646\.h|stdalign\.h|stdbool\.h|stdatomic\.h|stdnoreturn\.h|threads\.h)>'
+    Priority:     1
+    SortPriority: 0
+  # Linux system headers
+  - Regex:        '^<((arpa\/|linux\/|net/|netinet\/|sys\/).*|arm_neon\.h|dirent\.h|dlfcn\.h|fcntl\.h|ifaddrs\.h|jni\.h|libgen\.h|poll\.h|spawn\.h|termios\.h|unistd\.h)>'
+    Priority:     1
+    SortPriority: 1
+  # winsock2.h
+  - Regex:        '^<winsock2\.h>'
+    Priority:     1
+    SortPriority: 2
+  # windows.h
+  - Regex:        '^<windows.\h>'
+    Priority:     1
+    SortPriority: 3
+  # Windows def.h headers
+  - Regex:        '^<(comdef\.h|ws2def\.h|ws2ipdef\.h)>'
+    Priority:     1
+    SortPriority: 4
+  # Windows system headers
+  - Regex:        '^<(dbghelp\.h|dbt\.h|delayimp\.h|dshow\.h|io\.h|iphlpapi\.h|ks\.h|ksmedia\.h|memoryapi\.h|mfapi\.h|mferror\.h|mfidl\.h|mfreadwrite\.h|netioapi\.h|ntstatus\.h|shellapi\.h|shlobj\.h|shlwapi\.h|sysinfoapi\.h|windns\.h|windowsx\.h|winternl\.h|ws2tcpip\.h)>'
+    Priority:     1
+    SortPriority: 5
+  # C++ standard library headers (lowercase and underscores with no .h suffix)
+  - Regex:        '^<([a-z_]+|cxxabi\.h)>'
+    Priority:     2
+    SortPriority: 6
+  # Other library headers (angle brackets)
+  - Regex:        '^<.*'
+    Priority:     3
+    SortPriority: 7
+  # Project headers (double quotes)
+  - Regex:        '^".*'
+    Priority:     4
+    SortPriority: 8
+IncludeIsMainRegex: '(Test|_bench|_test)?$'
 IncludeIsMainSourceRegex: ''
 IndentAccessModifiers: false
 IndentCaseBlocks: false
@@ -141,6 +173,7 @@ IntegerLiteralSeparator:
 JavaScriptQuotes: Leave
 JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
+KeepEmptyLinesAtEOF: false
 LambdaBodyIndentation: Signature
 LineEnding:      DeriveLF
 MacroBlockBegin: ''
@@ -201,12 +234,13 @@ RawStringFormats:
 ReferenceAlignment: Pointer
 ReflowComments:  true
 RemoveBracesLLVM: false
+RemoveParentheses: Leave
 RemoveSemicolon: false
 RequiresClausePosition: OwnLine
 RequiresExpressionIndentation: OuterScope
 SeparateDefinitionBlocks: Leave
 ShortNamespaceLines: 1
-SortIncludes:    false
+SortIncludes: true
 SortJavaStaticImport: Before
 SortUsingDeclarations: LexicographicNumeric
 SpaceAfterCStyleCast: false
@@ -218,6 +252,7 @@ SpaceBeforeCaseColon: false
 SpaceBeforeCpp11BracedList: false
 SpaceBeforeCtorInitializerColon: true
 SpaceBeforeInheritanceColon: true
+SpaceBeforeJsonColon: false
 SpaceBeforeParens: ControlStatements
 SpaceBeforeParensOptions:
   AfterControlStatements: true
@@ -232,23 +267,28 @@ 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,
@@ -66,4 +68,7 @@ Checks:
   modernize-use-override,
   modernize-use-using,
   readability-braces-around-statements'
+CheckOptions:
+  - key: modernize-use-using.IgnoreExternC
+    value: 'true'
 FormatStyle: file

.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 +1,33 @@
+*.adoc text eol=lf
+*.c text eol=lf
+*.clang-format text eol=lf
+*.clang-tidy text eol=lf
+*.cmake text eol=lf
 *.cpp text eol=lf
 *.gradle text eol=lf
+*.groovy text eol=lf
 *.h text eol=lf
+*.hpp text eol=lf
+*.in text eol=lf
 *.inc text eol=lf
 *.java text eol=lf
+*.jinja text eol=lf
 *.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
+*.txt text eol=lf
+*.wpiformat text eol=lf
+*.wpiformat-license text eol=lf
 *.xml text eol=lf
+*.yaml text eol=lf
+*.yml text eol=lf
 
 # Generated files
-hal/src/generated/** linguist-generated
-ntcore/src/generated/** linguist-generated
-wpimath/src/generated/** linguist-generated
+*/src/generated/** linguist-generated
+*/robotpy_native_build_info.bzl linguist-generated
+*/robotpy_pybind_build_info.bzl linguist-generated

.github/CODEOWNERS

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

.github/ISSUE_TEMPLATE/bug_report.md

@@ -2,7 +2,7 @@
 name: Bug report
 about: Create a report to help us improve
 title: ''
-labels: bug
+labels: 'type: bug'
 assignees: ''
 
 ---

.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 +1,71 @@
+name: 'Setup and run pregeneration'
+description: 'Sets up the dependencies needed to generate generated files and runs all generation scripts'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Set up Python 3.12
+      uses: actions/setup-python@v6
+      with:
+        python-version: '3.12'
+    - name: Install jinja and protobuf
+      run: python -m pip install jinja2 protobuf grpcio-tools
+      shell: bash
+    - name: Install protobuf and perl dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y protobuf-compiler liblist-moreutils-perl
+        wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+        chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      shell: bash
+
+    - name: Regenerate ntcore
+      run: ./ntcore/generate_topics.py
+      shell: bash
+
+    - name: Regenerate mrccomm
+      run: ./hal/generate_nanopb.py
+      shell: bash
+
+    - name: Regenerate imgui
+      run: |
+        ./thirdparty/imgui_suite/generate_fonts.sh
+        ./thirdparty/imgui_suite/generate_gl3w.py
+      shell: bash
+
+    - name: Regenerate HIDs
+      run: |
+        ./wpilibc/generate_hids.py
+        ./wpilibj/generate_hids.py
+        ./commandsv2/generate_hids.py
+      shell: bash
+
+    - name: Regenerate PWM motor controllers
+      run: |
+        ./wpilibc/generate_pwm_motor_controllers.py
+        ./wpilibj/generate_pwm_motor_controllers.py
+      shell: bash
+
+    - name: Regenerate mrcal minimath
+      run: ./tools/wpical/generate_mrcal.py
+      shell: bash
+
+    - name: Regenerate wpimath
+      run: |
+        ./wpimath/generate_nanopb.py
+        ./wpimath/generate_numbers.py
+        ./wpimath/generate_quickbuf.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      shell: bash
+
+    - name: Regenerate Commands v3
+      run: |
+        ./commandsv3/generate_files.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      shell: bash
+
+    - name: Regenerate wpiunits
+      run: ./wpiunits/generate_units.py
+      shell: bash
+
+    - name: Regenerate wpiutil nanopb
+      run: ./wpiutil/generate_nanopb.py
+      shell: bash

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

@@ -0,0 +1,37 @@
+name: 'Setup Bazel Remote cache'
+description: 'Sets up bazel-remote cache using basic auth from GitHub secrets'
+
+inputs:
+  username:
+    description: 'Bazel remote cache username'
+  password:
+    description: 'Bazel remote cache password'
+  remote_url:
+    description: 'Bazel remote cache base URL (no credentials or protocol, e.g. gitlib-bazel.wpi.edu)'
+    default: 'gitlib-bazel.wpi.edu'
+
+runs:
+  using: "composite"
+  steps:
+    - name: Setup bazel-remote (skip when no creds)
+      env:
+        CACHE_USER: ${{ inputs.username }}
+        CACHE_PASS: ${{ inputs.password }}
+        REMOTE_URL: ${{ inputs.remote_url }}
+      if: ${{ env.CACHE_USER == '' || env.CACHE_PASS == '' }}
+      shell: bash
+      run: |
+        echo "No bazel-remote credentials detected; leaving caching as previously configured"
+        echo "build:ci --config=remote_cache_readonly" >> bazel_auth.rc
+
+    - name: Setup bazel-remote (with creds)
+      env:
+        CACHE_USER: ${{ inputs.username }}
+        CACHE_PASS: ${{ inputs.password }}
+        REMOTE_URL: ${{ inputs.remote_url }}
+      if: ${{ env.CACHE_USER != '' && env.CACHE_PASS != '' }}
+      shell: bash
+      run: |
+        echo "Bazel-remote credentials detected; configuring bazel_auth.rc"
+        URL_WITH_CREDS="grpcs://${CACHE_USER}:${CACHE_PASS}@${REMOTE_URL}"
+        echo "build:remote_cache --remote_cache=${URL_WITH_CREDS}" >> bazel_auth.rc

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

@@ -0,0 +1,38 @@
+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:
+    # Sets up build buddy when no secret is found for the API key. This is most likely because this is triggered from an action from a fork instead of the main allwpilib repo.
+    - name: Setup without key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY == '' }}
+      shell: bash
+      run: |
+          echo "No API key secret detected, will setup readonly cache"
+          echo "build:ci --config=build_buddy_readonly" > bazel_auth.rc
+
+          # Set up the readonly key only if this build is for a pull request. Push builds happen in the forks repository,
+          # so the user should set their own buildbuddy api keys up there. Only enabling it for PR's should reduce heavy
+          # and more random load on the cache.
+          if [ "${{ github.event_name }}" = "pull_request" ]; then
+            echo "Assuming this is a pull request from a fork. Setting up the readonly api key"
+            echo "build:ci --remote_header=x-buildbuddy-api-key=QIOV65PTW1tVal3AJbe7" >> bazel_auth.rc
+          else
+            echo "Not setting up readonly key for trigger ${{ github.event_name }} since this is not a pull request, it is most likely a forks push. See the buildbuddy setup guide in README-Bazel.md to set up caching on your fork"
+          fi
+
+    - 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 +1,62 @@
+'2027':
+- base-branch: '2027'
+'component: apriltag':
+- changed-files:
+  - any-glob-to-any-file: apriltag/**
+'component: command-based':
+- changed-files:
+  - any-glob-to-any-file: commandsv2/**
+'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: 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@v6
+        with:
+          fetch-depth: 0
+      - uses: jfrog/setup-jfrog-cli@v4
+        env:
+          JF_ENV_1: ${{ secrets.ARTIFACTORY_CLI_SECRET }}
+      - name: Cleanup
+        run: jf rt del --spec=.github/workflows/aql/wpilib-mvn-development_unused.aql
+
+  wpilib-generic-gradle-cache_unused_cleanup:
+    runs-on: ubuntu-latest
+    if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - uses: jfrog/setup-jfrog-cli@v4
+        env:
+          JF_ENV_1: ${{ secrets.ARTIFACTORY_CLI_SECRET }}
+      - name: Cleanup
+        run: jf rt del --spec=.github/workflows/aql/wpilib-generic-gradle-cache_unused.aql

.github/workflows/bazel.yml

@@ -0,0 +1,173 @@
+name: Bazel
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - { name: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, action: "build" }
+          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, action: "build" }
+          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, action: "build" }
+          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, action: "build" }
+          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, action: "test" }
+          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, action: "test" }
+          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, action: "test" }
+          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, action: "test" }
+
+          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, action: "test" }
+
+          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64debug,headers,sources",   os: windows-2022, action: "test" }
+          - { name: "Windows x86-64 Static", classifier: "windowsx86-64static,windowsx86-64staticdebug",        os: windows-2022, action: "test" }
+
+          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64debug",                    os: windows-2022, action: "build" }
+          - { name: "Windows ARM64 Static",  classifier: "windowsarm64static,windowsarm64staticdebug",         os: windows-2022, action: "build" }
+
+          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcoredebug", os: windows-2022, action: "build" }
+          - { name: "Windows System Core Static", classifier: "linuxsystemcorestatic,linuxsystemcorestaticdebug", os: windows-2022, action: "build" }
+
+    name: "${{ matrix.action == 'test' && 'Test' || 'Build' }} ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Check disk free space pre-cleanup
+        run: df -h
+
+      - name: Free disk space (Linux)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+        if: startsWith(matrix.os, 'ubuntu')
+      - name: Free disk space (macOS)
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: startsWith(matrix.os, 'macOS')
+
+      - name: Check disk free space post-cleanup
+        run: df -h
+
+      - uses: actions/checkout@v6
+        with: { fetch-depth: 0 }
+
+      - id: Setup_bazel_remote
+        uses: ./.github/actions/setup-bazel-remote
+        with:
+          username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
+
+      - name: Install apt dependencies
+        if: matrix.os == 'ubuntu-24.04'
+        run: sudo apt-get update && sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
+
+      - if: matrix.os == 'ubuntu-24.04'
+        uses: bazel-contrib/setup-bazel@0.15.0
+        with:
+          bazelisk-cache: true
+          repository-cache: true
+          bazelisk-version: 1.x
+
+      - name: bazel ${{ matrix.action }}
+        run: |
+          ACTION='${{ matrix.action }}'
+          if [[ "${ACTION}" == "build" ]]; then
+            TARGETS=:publish
+          else
+            TARGETS=...
+          fi
+          if [[ "${{ matrix.os }}" == "windows-2022" ]]; then
+            bazel --output_user_root=C:\\bazelroot ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
+          else
+            bazel ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
+          fi
+        shell: bash
+
+      - name: Check disk free space
+        if: always()
+        run: df -h
+
+  buildifier:
+    name: "buildifier"
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Set up Go 1.15.x
+        uses: actions/setup-go@v6
+        with:
+          cache: false
+          go-version: 1.15.x
+        id: go
+
+      - name: Install Buildifier
+        run: |
+          cd $(mktemp -d)
+          GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
+
+      - uses: actions/checkout@v6
+        with: { fetch-depth: 0 }
+
+      - name: Run buildifier
+        run: buildifier -warnings all --lint=fix -r .
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - name: Generate diff
+        run: git diff HEAD > bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v6
+        with:
+          name: ${{ matrix.platform }}-bazel-lint-fixes
+          path: bazel-lint-fixes.patch
+        if: ${{ failure() }}
+
+  robotpy_pregeneration:
+    name: "Robotpy Pregeneration"
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      # You should ensure the headers are correct before trying to pregen files
+      - name: Test Scan Headers
+        run: bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
+        shell: bash
+
+      - name: Run yaml file generation
+        run: bazel run //:write_robotpy_update_yaml_files
+
+      - name: Run build file generation
+        run: bazel run //:write_robotpy_generated_pybind_files
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - name: Generate diff
+        run: git diff HEAD > robotpy-pregeneration.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v6
+        with:
+          name: robotpy-pregeneration-fixes
+          path: robotpy-pregeneration.patch
+        if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -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-24.04
+            name: Android Arm64
+            abi: arm64-v8a
+          - os: ubuntu-24.04
+            name: Android X64
+            abi: "x86_64"
+
+    name: "Build - ${{ matrix.name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v6
+      - uses: nttld/setup-ndk@v1
+        id: setup-ndk
+        with:
+          ndk-version: r27d
+          add-to-path: false
+
+      - uses: actions/setup-java@v5
+        with:
+          distribution: 'temurin'
+          java-version: 21
+
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
+
+      - name: Install dependencies
+        run: sudo apt-get update && sudo apt-get install -y ninja-build
+
+      - name: configure
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ 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

@@ -6,21 +6,28 @@ 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
+          - os: ubuntu-24.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2024-22.04
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-12
+            container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            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:$PATH\""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
+            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
+          - os: windows-2022
+            name: Windows
+            container: ""
+            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$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 +35,50 @@ 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 libopencv-java 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 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
+      - uses: actions/checkout@v6
 
-      - 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/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

@@ -7,27 +7,35 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
+
   build-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2024-22.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
-            artifact-name: Arm32
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: Systemcore
+            build-options: "-Ponlylinuxsystemcore"
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:22.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
-      - name: Free Disk Space
+      - name: Check disk free space pre-cleanup
+        run: df -h
+
+      - name: Free disk space
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -37,31 +45,37 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v4
+
+      - name: Check disk free space post-cleanup
+        run: df -h
+
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v')
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - 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: ./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 }}
-      - name: Check free disk space
-        run: df .
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
 
+      - name: Check disk free space
+        if: always()
+        run: df -h
+
   build-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 12
+      MACOSX_DEPLOYMENT_TARGET: 13.3
     strategy:
       fail-fast: false
       matrix:
@@ -72,131 +86,201 @@ 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
-            architecture: x86
+            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
+      - name: Check disk free space pre-cleanup
+        run: df -h
+
+      - name: Free disk space (macOS)
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: startsWith(matrix.os, 'macOS')
+
+      - name: Check disk free space post-cleanup
+        run: df -h
+
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          distribution: 'zulu'
-          java-version: 17
+          distribution: 'temurin'
+          java-version: 21
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v1
+        uses: wpilibsuite/import-signing-certificate@v3
         with:
           certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
           keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
         if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
       - 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/2027' || startsWith(github.ref, 'refs/tags/v2027')))
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
-        if: startsWith(github.ref, 'refs/tags/v')
-      - 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'
+        if: startsWith(github.ref, 'refs/tags/v2027')
       - 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')))
-      - name: Check disk free space (Windows)
-        run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
-      - uses: actions/upload-artifact@v4
+          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.build-dir }}/${{ matrix.outputs }}
+          path: ${{ matrix.outputs }}
+
+      - name: Check disk free space
+        if: always()
+        run: df -h
 
   build-documentation:
     name: "Build - Documentation"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          distribution: 'zulu'
-          java-version: 17
+          distribution: 'temurin'
+          java-version: 25
       - 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/v2027')
       - 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 }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: Documentation
           path: docs/build/outputs
 
+  publish:
+    name: "Documentation - Publish"
+    runs-on: ubuntu-22.04
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+    needs: [build-documentation]
+    concurrency: ci-docs-publish
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - name: Download docs artifacts
+        uses: actions/download-artifact@v7
+        with:
+          name: Documentation
+      - name: Make output directories
+        run: |
+          mkdir -p docs/tmp/doxygen/html
+          mkdir -p docs/tmp/javadoc
+      - name: Extract docs
+        run: |
+          unzip _GROUP_org_wpilib_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
+          unzip _GROUP_org_wpilib_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
+      - name: Set environment variables (Development)
+        run: |
+          echo "BRANCH=development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/main'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !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: Set environment variables (2027)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=2027" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '2027')
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.9.1
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
+        with:
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/tmp
+      - name: Trigger Workflow
+        uses: actions/github-script@v8
+        with:
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })
+
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - name: Free Disk Space
+      - 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/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -206,59 +290,60 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v4
+
+      - uses: actions/checkout@v6
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         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/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         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/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
-          distribution: 'zulu'
-          java-version: 17
-      - name: Combine (Main)
+          distribution: 'temurin'
+          java-version: 21
+      - name: Combine (2027)
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          github.ref == 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
+          github.repository == 'wpilibsuite/allwpilib' &&
+          github.ref == 'refs/heads/2027'
+        run: cd combiner && ./gradlew publish -Pallwpilib -Pbuild2027
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (Release)
+      - name: Combine (2027 Release)
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          startsWith(github.ref, 'refs/tags/v')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
+          github.repository == 'wpilibsuite/allwpilib' &&
+          startsWith(github.ref, 'refs/tags/v2027')
+        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish -Pbuild2027
         env:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         if: |
-          github.repository_owner == 'wpilibsuite' &&
-          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+          github.repository == 'wpilibsuite/allwpilib' &&
+          (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           name: Maven
           path: ~/releases

.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@v6
+        with:
+          sync-labels: true

.github/workflows/lint-format.yml

@@ -11,31 +11,40 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
+
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v5
+          git branch -f 2027 origin/2027
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v6
         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==2025.79
       - name: Run
-        run: wpiformat
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
@@ -50,47 +59,51 @@ jobs:
 
   tidy:
     name: "clang-tidy"
-    runs-on: ubuntu-22.04
-    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    container: wpilib/ubuntu-base:24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v5
+          git branch -f 2027 origin/2027
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v6
         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==2025.79
       - 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 -default-branch 2027 -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 -default-branch 2027 -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release
       - name: Run clang-tidy debug
-        run: wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug
   javaformat:
     name: "Java format"
-    runs-on: ubuntu-22.04
-    container: wpilib/ubuntu-base:22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    container: wpilib/systemcore-cross-ubuntu:2027-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
-          git branch -f main origin/main
+          git branch -f 2027 origin/2027
       - name: Run Java format
         run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
       - name: Check output
@@ -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@v6
         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-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Run pregen
+        uses: ./.github/actions/pregen
+      - name: Add untracked files to index so they count as changes
+        run: git add -A
+      - name: Check output
+        run: git --no-pager diff --exit-code HEAD
+      - name: Generate diff
+        run: git diff HEAD > pregenerated-files-fixes.patch
+        if: ${{ failure() }}
+      - uses: actions/upload-artifact@v6
+        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:
@@ -19,40 +23,35 @@ jobs:
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
-            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
+            ctest-flags: "-E 'cscore|cameraserver'"
           - name: ubsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
             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-18 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: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
 
-      - 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
+      - uses: actions/checkout@v6
 
       - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-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-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 -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 +1,165 @@
+name: Sentinel Build (No Cache)
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "15 3 * * Sat" # 11:15PM EST every Friday
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
+
+  build-docker:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: Systemcore
+            build-options: "-Ponlylinuxsystemcore"
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
+            artifact-name: Arm64
+            build-options: "-Ponlylinuxarm64"
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    steps:
+      - name: Free Disk Space
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Build with Gradle
+        uses: wpilibsuite/docker-run-action@v4
+        with:
+          image: ${{ matrix.container }}
+          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
+          run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+      - name: Check free disk space
+        run: df .
+      - uses: actions/upload-artifact@v6
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-host:
+    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
+    env:
+      MACOSX_DEPLOYMENT_TARGET: 13.3
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Debug
+            architecture: x64
+            task: "build"
+            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: WinArm64Release
+            architecture: x64
+            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
+            task: "copyAllOutputs"
+            outputs: "build/allOutputs"
+          - os: macOS-15
+            artifact-name: macOS
+            architecture: aarch64
+            task: "build"
+            outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
+            outputs: "ntcoreffi/build/outputs"
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    needs: [validation]
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-java@v5
+        with:
+          distribution: 'temurin'
+          java-version: 21
+          architecture: ${{ matrix.architecture }}
+      - name: Import Developer ID Certificate
+        uses: wpilibsuite/import-signing-certificate@v3
+        with:
+          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
+          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
+          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Set Keychain Lock Timeout
+        run: security set-keychain-settings -lut 21600
+        if: |
+          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
+      - name: Check disk free space (Windows)
+        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@v6
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: ${{ matrix.outputs }}

.github/workflows/upstream-utils.yml

@@ -13,64 +13,139 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.9
-        uses: actions/setup-python@v5
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v6
         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 sleipnir.py
+        run: |
+          cd upstream_utils
+          ./sleipnir.py clone
+          ./sleipnir.py copy-src
+          ./sleipnir.py format-patch
+      - name: Run stb.py
+        run: |
+          cd upstream_utils
+          ./stb.py clone
+          ./stb.py copy-src
+          ./stb.py format-patch
+      - name: Run upb.py
+        run: |
+          cd upstream_utils
+          ./upb.py clone
+          ./upb.py copy-src
+          ./upb.py format-patch
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: 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 +251,13 @@ imgui.ini
 /bazel-*
 user.bazelrc
 coverage_report/
+bazel_auth.rc
+
+# ctest
+/Testing/
+
+# Meson
+.meson-subproject*
+
+# Copybara user config
+shared/bazel/copybara/.copybara.json

.styleguide

@@ -1,51 +0,0 @@
-cppHeaderFileInclude {
-  \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  cmake/toolchains/
-  \.patch$
-  gradlew
-}
-
-generatedFileExclude {
-  FRCNetComm\.java$
-  simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
-  fieldImages/src/main/native/resources/
-  apriltag/src/test/resources/
-}
-
-repoRootNameOverride {
-  wpilib
-}
-
-includeOtherLibs {
-  ^Eigen/
-  ^cameraserver/
-  ^cscore
-  ^fmt/
-  ^gtest/
-  ^google/
-  ^hal/
-  ^imgui
-  ^implot
-  ^mockdata/
-  ^networktables/
-  ^ntcore
-  ^opencv2/
-  ^support/
-  ^units/
-  ^unsupported/
-  ^vision/
-  ^wpi/
-  ^wpigui
-  ^wpimath/
-  ^wpinet/
-}

.wpiformat

@@ -0,0 +1,43 @@
+cHeaderFileInclude {
+  _c\.h$
+}
+
+cppHeaderFileInclude {
+  (?<!_c)\.h$
+  \.inc$
+  \.inl$
+}
+
+generatedFileExclude {
+  assets/
+  docs/theme\.css$
+  generated/
+  hal/src/main/native/systemcore/rev/
+  python/
+  robotpyExamples/
+  resources/
+  thirdparty/
+  wpigui/src/main/native/cpp/portable-file-dialogs\.cpp$
+  wpigui/src/main/native/include/wpi/gui/portable-file-dialogs\.h$
+  wpimath/src/main/native/include/wpi/units/base\.hpp$
+  wpinet/src/main/native/cpp/http_parser\.cpp$
+  wpinet/src/main/native/include/wpi/net/http_parser\.hpp$
+  wpiutil/src/main/native/include/wpi/util/FastQueue\.hpp$
+  wpiutil/src/test/native/cpp/json/
+  wpiutil/src/test/native/cpp/llvm/
+  wpiutil/src/test/native/cpp/span/
+}
+
+modifiableFileExclude {
+  objcpp/
+  wpimath/src/test/native/cpp/UnitsTest\.cpp$
+  wpiutil/src/main/native/cpp/fs\.cpp$
+  wpiutil/src/main/native/include/wpi/util/fs\.hpp$
+}
+
+licenseUpdateExclude {
+  cscore/src/main/native/cpp/default_init_allocator\.hpp$
+  wpiutil/src/main/native/cpp/Base64\.cpp$
+  wpiutil/src/main/native/cpp/sha1\.cpp$
+  wpiutil/src/main/native/include/wpi/util/sha1\.hpp$
+}

BUILD.bazel

@@ -0,0 +1,270 @@
+load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
+load("@rules_java//java:java_binary.bzl", "java_binary")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_python//python:pip.bzl", "compile_pip_requirements")
+load("//shared/bazel/rules:publishing.bzl", "publish_all")
+load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
+
+exports_files([
+    "LICENSE.md",
+    "ThirdPartyNotices.txt",
+])
+
+pkg_files(
+    name = "license_pkg_files",
+    srcs = [
+        "LICENSE.md",
+        "ThirdPartyNotices.txt",
+    ],
+    visibility = ["//visibility:public"],
+)
+
+# bazel build //:requirements.lock
+compile_pip_requirements(
+    name = "requirements",
+    extra_args = ["--allow-unsafe"],
+    requirements_in = "requirements.txt",
+    requirements_txt = "requirements_lock.txt",
+    requirements_windows = "//:requirements_windows_lock.txt",
+    # compile_pip_requirements does not respect target_compatible_with for some of the targets it generates under the hood
+    tags = ["no-systemcore"],
+)
+
+alias(
+    name = "quickbuf_protoc",
+    actual = select({
+        "@platforms//os:windows": "@quickbuffer_protoc_windows//file",
+        "@rules_bzlmodrio_toolchains//conditions:osx_aarch64": "@quickbuffer_protoc_osx_aarch64//file",
+        "@rules_bzlmodrio_toolchains//conditions:osx_x86_64": "@quickbuffer_protoc_osx_x86-64//file",
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
+    }),
+    tags = ["pregeneration"],
+    visibility = ["//visibility:public"],
+)
+
+java_binary(
+    name = "copybara",
+    main_class = "com.google.copybara.Main",
+    runtime_deps = ["@com_github_google_copybara//jar"],
+)
+
+# This is a helper to run all of the pregeneration scripts at once.
+write_source_files(
+    name = "write_pregenerated_files",
+    additional_update_targets = [
+        "//hal:write_hal",
+        "//ntcore:write_ntcore",
+        "//wpilibc:write_wpilibc",
+        "//wpilibcExamples:write_example_project_list",
+        "//wpilibj:write_wpilibj",
+        "//wpilibjExamples:write_example_project_list",
+        "//commandsv2:write_wpilib_new_commands",
+        "//commandsv3:write_commandsv3",
+        "//wpimath:write_wpimath",
+        "//wpiunits:write_wpiunits",
+        "//wpiutil:write_wpiutil",
+        "//robotpyExamples:write_example_project_list",
+    ],
+    tags = ["pregeneration"],
+)
+
+publish_all(
+    name = "publish",
+    targets = [
+        "//apriltag:apriltag-cpp_publish.publish",
+        "//apriltag:apriltag-java_publish.publish",
+        "//cameraserver:cameraserver-cpp_publish.publish",
+        "//cameraserver:cameraserver-java_publish.publish",
+        "//cscore:cscore-cpp_publish.publish",
+        "//cscore:cscore-java_publish.publish",
+        "//cscore:cscorejnicvstatic-cpp_publish.publish",
+        "//datalog:datalog-cpp_publish.publish",
+        "//datalog:datalog-java_publish.publish",
+        "//tools/datalogtool:datalogtool_publish.publish",
+        "//docs:wpilibj_publish.publish",
+        "//epilogue-processor:processor-java_publish.publish",
+        "//epilogue-runtime:epilogue-java_publish.publish",
+        "//fields:fields-cpp_publish.publish",
+        "//fields:fields-java_publish.publish",
+        "//glass:glass-cpp_publish.publish",
+        "//glass:glassapp_publish.publish",
+        "//glass:glassnt-cpp_publish.publish",
+        "//hal:hal-java_publish.publish",
+        "//hal:wpiHal-cpp_publish.publish",
+        "//ntcore:ntcore-cpp_publish.publish",
+        "//ntcore:ntcore-java_publish.publish",
+        "//ntcoreffi:ntcoreffi-cpp_publish.publish",
+        "//tools/outlineviewer:outlineviewer_publish.publish",
+        "//tools/processstarter:processstarter_publish.publish",
+        "//romiVendordep:romiVendordep-cpp_publish.publish",
+        "//romiVendordep:romiVendordep-java_publish.publish",
+        "//simulation/halsim_ds_socket:halsim_ds_socket-cpp_publish.publish",
+        "//simulation/halsim_gui:halsim_gui-cpp_publish.publish",
+        "//simulation/halsim_ws_client:halsim_ws_client-cpp_publish.publish",
+        "//simulation/halsim_ws_core:halsim_ws_core-cpp_publish.publish",
+        "//simulation/halsim_ws_server:halsim_ws_server-cpp_publish.publish",
+        "//simulation/halsim_xrp:halsim_xrp-cpp_publish.publish",
+        "//tools/sysid:sysid_publish.publish",
+        "//thirdparty/googletest:googletest-cpp_publish.publish",
+        "//thirdparty/imgui_suite:imguiSuite-cpp_publish.publish",
+        "//tools/wpical:wpical_publish.publish",
+        "//wpigui:wpigui-cpp_publish.publish",
+        "//commandsv2:commandsv2-cpp_publish.publish",
+        "//commandsv2:commandsv2-java_publish.publish",
+        "//commandsv3:commandsv3-java_publish.publish",
+        "//wpilibc:wpilibc-cpp_publish.publish",
+        "//wpilibcExamples:commands_publish.publish",
+        "//wpilibcExamples:examples_publish.publish",
+        "//wpilibcExamples:templates_publish.publish",
+        "//wpilibj:wpilibj-java_publish.publish",
+        "//wpilibjExamples:commands_publish.publish",
+        "//wpilibjExamples:examples_publish.publish",
+        "//wpilibjExamples:templates_publish.publish",
+        "//wpimath:wpimath-cpp_publish.publish",
+        "//wpimath:wpimath-java_publish.publish",
+        "//wpinet:wpinet-cpp_publish.publish",
+        "//wpinet:wpinet-java_publish.publish",
+        "//wpiunits:wpiunits-java_publish.publish",
+        "//wpiutil:wpiutil-cpp_publish.publish",
+        "//wpiutil:wpiutil-java_publish.publish",
+        "//xrpVendordep:xrpVendordep-cpp_publish.publish",
+        "//xrpVendordep:xrpVendordep-java_publish.publish",
+    ] + select({
+        "@platforms//cpu:x86_64": [
+            "//docs:wpilibc_publish.publish",
+        ],
+        "//conditions:default": [],
+    }),
+)
+
+write_source_files(
+    name = "write_robotpy_generated_native_files",
+    additional_update_targets = [
+        "//apriltag:robotpy-native-apriltag-generator.generate_build_info",
+        "//datalog:robotpy-native-datalog-generator.generate_build_info",
+        "//hal:robotpy-native-wpihal-generator.generate_build_info",
+        "//ntcore:robotpy-native-ntcore-generator.generate_build_info",
+        "//romiVendordep:robotpy-native-xrp-generator.generate_build_info",
+        "//wpilibc:robotpy-native-wpilib-generator.generate_build_info",
+        "//wpinet:robotpy-native-wpinet-generator.generate_build_info",
+        "//wpimath:robotpy-native-wpimath-generator.generate_build_info",
+        "//wpiutil:robotpy-native-wpiutil-generator.generate_build_info",
+        "//xrpVendordep:robotpy-native-xrp-generator.generate_build_info",
+    ],
+    tags = [
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_generated_pybind_files",
+    additional_update_targets = [
+        "//apriltag:robotpy-apriltag-generator.generate_build_info",
+        "//datalog:robotpy-datalog-generator.generate_build_info",
+        "//hal:robotpy-hal-generator.generate_build_info",
+        "//ntcore:pyntcore-generator.generate_build_info",
+        "//romiVendordep:robotpy-romi-generator.generate_build_info",
+        "//wpilibc:robotpy-wpilib-generator.generate_build_info",
+        "//wpinet:robotpy-wpinet-generator.generate_build_info",
+        "//wpimath:robotpy-wpimath-generator.generate_build_info",
+        "//wpimath:robotpy-wpimath_test-generator.generate_build_info",
+        "//wpiutil:robotpy-wpiutil-generator.generate_build_info",
+        "//xrpVendordep:robotpy-xrp-generator.generate_build_info",
+    ],
+    tags = [
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_update_yaml_files",
+    additional_update_targets = [
+        "//apriltag:write_robotpy-apriltag-update-yaml",
+        "//datalog:write_robotpy-wpilog-update-yaml",
+        "//hal:write_robotpy-hal-update-yaml",
+        "//ntcore:write_pyntcore-update-yaml",
+        "//romiVendordep:write_robotpy-romi-update-yaml",
+        "//wpilibc:write_robotpy-wpilib-update-yaml",
+        "//wpinet:write_robotpy-wpinet-update-yaml",
+        "//wpimath:write_robotpy-wpimath-update-yaml",
+        "//wpimath:write_robotpy-wpimath-test-update-yaml",
+        "//wpiutil:write_robotpy-wpiutil-update-yaml",
+        "//xrpVendordep:write_robotpy-xrp-update-yaml",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_create_imports",
+    additional_update_targets = [
+        "//apriltag:robotpy-apriltag-create-imports",
+        "//datalog:robotpy-wpilog-create-imports",
+        "//hal:robotpy-hal-create-imports",
+        "//ntcore:pyntcore-create-imports",
+        "//romiVendordep:robotpy-romi-create-imports",
+        "//wpilibc:robotpy-wpilib-create-imports",
+        "//wpinet:robotpy-wpinet-create-imports",
+        "//wpimath:robotpy-wpimath-create-imports",
+        "//wpimath:robotpy-wpimath-test-create-imports",
+        "//wpiutil:robotpy-wpiutil-create-imports",
+        "//xrpVendordep:robotpy-xrp-create-imports",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_files",
+    additional_update_targets = [
+        ":write_robotpy_generated_native_files",
+        ":write_robotpy_generated_pybind_files",
+        ":write_robotpy_update_yaml_files",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+    ],
+)
+
+write_source_files(
+    name = "write_all",
+    additional_update_targets = [
+        ":write_pregenerated_files",
+        ":write_robotpy_files",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+    ],
+)
+
+# Helper easily run the semiwrap parsing tools on all of the robotpy projects.
+filegroup(
+    name = "robotpy_generated_files",
+    srcs = [
+        "//apriltag:robotpy-apriltag.generated_files",
+        "//datalog:robotpy-wpilog.generated_files",
+        "//hal:robotpy-hal.generated_files",
+        "//ntcore:pyntcore.generated_files",
+        "//wpilibc:robotpy-wpilib.generated_files",
+        "//wpimath:robotpy-wpimath.generated_files",
+        "//wpimath:robotpy-wpimath-test.generated_files",
+        "//wpinet:robotpy-wpinet.generated_files",
+        "//wpiutil:robotpy-wpiutil.generated_files",
+    ],
+    tags = ["manual"],
+    target_compatible_with = robotpy_compatibility_select(),
+)

CMakeLists.txt

@@ -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)
@@ -50,34 +62,41 @@ 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_BENCHMARK "Build the benchmark project" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
 option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
+option(USE_LINKED_AVAHI "Use directly linked Avahi instead of loading at runtime" OFF)
 
 # Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
@@ -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 +116,40 @@ 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)
-
-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\}")
+find_package(LIBSSH CONFIG 0.7.1)
 
 get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
 
@@ -284,7 +204,7 @@ 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 +232,7 @@ 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
 )
 
@@ -340,75 +260,117 @@ 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)
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/catch2/extras")
+    add_subdirectory(thirdparty/catch2)
+    include(Catch)
 endif()
 
+if(USE_SYSTEM_LIBUV)
+    set(LIBUV_SYSTEM_REPLACE "find_dependency(libuv CONFIG)")
+endif()
+
+if(USE_SYSTEM_EIGEN)
+    set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
+endif()
+
+set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
+set(SELF_DIR "$\{SELF_DIR\}")
+set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
+set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
+set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
+set(DATALOG_DEP_REPLACE "find_dependency(datalog)")
 add_subdirectory(wpiutil)
 
+add_subdirectory(datalog)
+
 if(WITH_NTCORE)
+    set(NTCORE_DEP_REPLACE "find_dependency(ntcore)")
+    set(WPINET_DEP_REPLACE "find_dependency(wpinet)")
     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(fields)
+    add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
-    add_subdirectory(outlineviewer)
-    add_subdirectory(sysid)
+    add_subdirectory(tools/outlineviewer)
+    add_subdirectory(tools/sysid)
+    if(WITH_WPICAL)
+        add_subdirectory(tools/wpical)
+    endif()
     if(LIBSSH_FOUND)
-        add_subdirectory(roborioteamnumbersetter)
-        add_subdirectory(datalogtool)
+        add_subdirectory(tools/datalogtool)
     endif()
 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(COMMANDSV3_DEP_REPLACE "find_dependency(commandsv3)")
+    set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
+    set(COMMAND_DEP_REPLACE "find_dependency(commandsv2)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
-    add_subdirectory(wpilibNewCommands)
+    add_subdirectory(commandsv3) # must be after wpilibj
+    add_subdirectory(commandsv2)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)
     if(WITH_EXAMPLES)
         add_subdirectory(wpilibcExamples)
     endif()
-    add_subdirectory(myRobot)
+    add_subdirectory(developerRobot)
 endif()
 
-if(WITH_SIMULATION_MODULES AND NOT WITH_EXTERNAL_HAL)
+if(WITH_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 +13,12 @@ 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 2027 GradleRIO version, ie `2027.0.0-alpha-3`
 
 ```groovy
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.+'
-wpi.versions.wpimathVersion = 'YEAR.+
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -28,13 +27,12 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.+'
-wpi.versions.wpimathVersion = '2024.+'
+wpi.versions.wpilibVersion = '2027.+'
 ```
 
 C++
@@ -42,13 +40,12 @@ 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 "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2024.+'
-wpi.versions.wpimathVersion = '2024.+'
+wpi.versions.wpilibVersion = '2027.+'
 ```
 
 ### Development Build Documentation
@@ -64,13 +61,12 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2024.0.0-alpha-1"
+  id "edu.wpi.first.GradleRIO" version "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 C++
@@ -78,26 +74,14 @@ 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 "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
-# roboRIO Development
+# Systemcore 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/wpi/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/wpi/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
+
+If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `org.wpilib.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/org/wpilib/wpilibj`
+
+The JSON files live under `subproject/src/generate` since they apply to both languages. One unique case is JSON files that are used by multiple subprojects, currently only JSON files shared by wpilibc and wpilibj. In that specific case, the JSON files will always be located in wpilibj since Java is the most used language.
+
+## Using code generation
+If you've identified a set of files which are extremely similar, one file with lots of repetitive code, or both, you can create Jinja templates, a JSON file, and a Python script to automatically generate the code instead.
+
+### Preparing files for codegen
+Once you've identified the files you want to codegen, you will need to identify parts of code that are similar, and extract the data that's different. Code needs to go into your Jinja template, while data that will be used to fill in the template goes into a JSON file. Using game controllers as an example, they have lots of similar methods to read the value of a button, check if a button has been pressed since the last check, and check if a button has been released since the last check. Those methods are code that goes in a Jinja template, with the specific button replaced with a Jinja expression. The buttons, both the name and value, go into a JSON file.
+
+### Writing a Python script
+To maintain consistency with other Python scripts, copy an existing `generate_*.py` script. [generate_pwm_motor_controllers.py](./wpilibj/generate_pwm_motor_controllers.py) is a good start, since it's relatively basic. Modify the script to reference your templates and JSON file, modify the paths so the files end up in the right place, and rename the functions so they match what you're generating. An important part of the script is to give the files the correct name. Depending on files you're generating, this could be the name of the template itself (see [ntcore/generate_topics.py](./ntcore/generate_topics.py)) or it could be part of the data in the JSON file.
+
+### (Re)Generating files and committing them
+Once your Python script is complete, you can run `python generate_<thing>.py` to generate the files. Once you're finished with your files, commit these files to Git. If you regenerated the files and Git indicates the files have changed, but the diff doesn't show any changes, only the line endings have changed. If you expected changes to the generated code, you didn't correctly make changes. If you didn't expect changes, you can ignore this and discard the changes. Also ensure that you've marked the Python script as executable, since this is necessary for CI workflows to run your scripts. To add your script to the CI workflows, edit [.github/workflows/pregen_all.py](.github/workflows/pregen_all.py), and add your script alongside the rest of the scripts.

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.

MODULE.bazel

@@ -0,0 +1,159 @@
+module(
+    name = "allwpilib",
+    version = "0.0.0",
+)
+
+bazel_dep(name = "apple_support", version = "2.0.0", repo_name = "build_bazel_apple_support")
+
+# TODO(austin): Upgrade when the patches land.
+# https://github.com/bazelbuild/rules_cc/pull/430
+# https://github.com/bazelbuild/rules_cc/pull/431
+# https://github.com/bazelbuild/rules_cc/pull/432
+bazel_dep(name = "rules_cc", version = "0.2.13")
+single_version_override(
+    module_name = "rules_cc",
+    patch_strip = 1,
+    patches = ["//:shared/bazel/patches/rules_cc_windows.patch"],
+)
+
+bazel_dep(name = "rules_pkg", version = "1.1.0")
+bazel_dep(name = "bazel_features", version = "1.33.0")
+bazel_dep(name = "aspect_bazel_lib", version = "2.14.0")
+bazel_dep(name = "bazel_skylib", version = "1.8.2")
+bazel_dep(name = "platforms", version = "1.0.0")
+bazel_dep(name = "rules_java", version = "8.14.0")
+bazel_dep(name = "rules_python", version = "1.7.0")
+bazel_dep(name = "rules_pycross", version = "0.8.1")
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(
+    python_version = "3.13",
+)
+use_repo(
+    python,
+    "python_3_13",
+    "python_3_13_x86_64-unknown-linux-gnu",
+)
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.parse(
+    hub_name = "allwpilib_pip_deps",
+    python_version = "3.13",
+    requirements_lock = "//:requirements_lock.txt",
+    requirements_windows = "//:requirements_windows_lock.txt",
+)
+use_repo(pip, "allwpilib_pip_deps")
+
+bazel_dep(name = "rules_jvm_external", version = "6.8")
+
+maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
+maven.install(
+    name = "maven",
+    artifacts = [
+        "org.ejml:ejml-simple:0.44.0",
+        "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",
+        "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-3",
+        "org.junit.jupiter:junit-jupiter:5.10.1",
+        "org.junit.platform:junit-platform-console:1.10.1",
+        "org.junit.platform:junit-platform-launcher:1.10.1",
+        "org.junit.platform:junit-platform-reporting:1.10.1",
+        "org.hamcrest:hamcrest-all:1.3",
+        "com.googlecode.junit-toolbox:junit-toolbox:2.4",
+        "org.apache.ant:ant:1.10.12",
+        "org.apache.ant:ant-junit:1.10.12",
+        "org.mockito:mockito-core:4.1.0",
+        "com.google.testing.compile:compile-testing:0.21.0",
+    ],
+    lock_file = "//:maven_install.json",
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+use_repo(maven, "maven", "unpinned_maven")
+
+bazel_dep(name = "caseyduquettesc_rules_python_pytest", version = "1.1.1", repo_name = "rules_python_pytest")
+bazel_dep(name = "rules_doxygen", version = "2.5.0")
+archive_override(
+    module_name = "rules_doxygen",
+    integrity = "sha256-qxfKreTkQnV4tUX6KJDFXuOJj4p6VZdBYjAie77I5ho=",
+    strip_prefix = "rules_doxygen-2.5.0",
+    urls = ["https://github.com/TendTo/rules_doxygen/releases/download/2.5.0/rules_doxygen-2.5.0.tar.gz"],
+)
+
+doxygen_extension = use_extension("@rules_doxygen//:extensions.bzl", "doxygen_extension")
+doxygen_extension.configuration(
+    platform = "windows",
+    sha256 = "44658b9cc5c91749e6e3cc426ba63e2550b4a4a7619065acd77029aa234719c6",
+    version = "1.15.0",
+)
+doxygen_extension.configuration(
+    platform = "mac",
+    sha256 = "b7630eaa0d97bb50b0333929ef5dc1c18f9e38faf1e22dca3166189a9718faf0",
+    version = "1.15.0",
+)
+doxygen_extension.configuration(
+    platform = "linux",
+    sha256 = "0ec2e5b2c3cd82b7106d19cb42d8466450730b8cb7a9e85af712be38bf4523a1",
+    version = "1.15.0",
+)
+use_repo(doxygen_extension, "doxygen")
+
+bazel_dep(name = "eigen", version = "5.0.1")
+local_path_override(
+    module_name = "eigen",
+    path = "wpimath/src/main/native/thirdparty/eigen/include",
+)
+
+bazel_dep(name = "rules_license", version = "1.0.0")
+
+http_file = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_file")
+
+http_file(
+    name = "quickbuffer_protoc_linux",
+    executable = True,
+    sha256 = "f9a041bccaa7040db523666ef1b5fe9f6f94e70a82c88951f18f58aadd9c50b5",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-linux-x86_64.exe"],
+)
+
+http_file(
+    name = "quickbuffer_protoc_osx_x86-64",
+    executable = True,
+    sha256 = "ea307c2b69664ae7e7c69db4cddf5803187e5a34bceffd09a21652f0f16044f7",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-osx-x86_64.exe"],
+)
+
+http_file(
+    name = "quickbuffer_protoc_osx_aarch64",
+    executable = True,
+    sha256 = "a9abdee09d8b5ef0aa954b238536917313511deec11e1901994af26ade033e28",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-osx-aarch_64.exe"],
+)
+
+http_file(
+    name = "quickbuffer_protoc_windows",
+    executable = True,
+    sha256 = "27dc1f29764a62b5e6a813a4bcd63e81bbdc3394da760a44acae1025b4a89f1d",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-windows-x86_64.exe"],
+)
+
+bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr6")
+archive_override(
+    module_name = "rules_bzlmodrio_toolchains",
+    integrity = "sha256-ECtFB2KOlySwweRBcndiw0TkAXD2WsYFFhaBeOozqJo=",
+    urls = ["https://github.com/wpilibsuite/rules_bzlmodrio_toolchains/releases/download/2025-1.bcr6/rules_bzlmodrio_toolchains-2025-1.bcr6.tar.gz"],
+)
+
+bazel_dep(name = "protobuf", version = "32.1", repo_name = "com_google_protobuf")
+
+http_jar = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_jar")
+
+http_jar(
+    name = "com_github_google_copybara",
+    integrity = "sha256-IHW6y6WXJFjX9RYD+IwVAMwAbEo36fLqonIKR+FaqpQ=",
+    urls = ["https://github.com/google/copybara/releases/download/v20251027/copybara_deploy.jar"],
+)

MODULE.bazel.lock

@@ -0,0 +1,853 @@
+{
+  "lockFileVersion": 24,
+  "registryFileHashes": {
+    "https://bcr.bazel.build/bazel_registry.json": "8a28e4aff06ee60aed2a8c281907fb8bcbf3b753c91fb5a5c57da3215d5b3497",
+    "https://bcr.bazel.build/modules/abseil-cpp/20210324.2/MODULE.bazel": "7cd0312e064fde87c8d1cd79ba06c876bd23630c83466e9500321be55c96ace2",
+    "https://bcr.bazel.build/modules/abseil-cpp/20211102.0/MODULE.bazel": "70390338f7a5106231d20620712f7cccb659cd0e9d073d1991c038eb9fc57589",
+    "https://bcr.bazel.build/modules/abseil-cpp/20230125.1/MODULE.bazel": "89047429cb0207707b2dface14ba7f8df85273d484c2572755be4bab7ce9c3a0",
+    "https://bcr.bazel.build/modules/abseil-cpp/20230802.0.bcr.1/MODULE.bazel": "1c8cec495288dccd14fdae6e3f95f772c1c91857047a098fad772034264cc8cb",
+    "https://bcr.bazel.build/modules/abseil-cpp/20230802.0/MODULE.bazel": "d253ae36a8bd9ee3c5955384096ccb6baf16a1b1e93e858370da0a3b94f77c16",
+    "https://bcr.bazel.build/modules/abseil-cpp/20230802.1/MODULE.bazel": "fa92e2eb41a04df73cdabeec37107316f7e5272650f81d6cc096418fe647b915",
+    "https://bcr.bazel.build/modules/abseil-cpp/20240116.1/MODULE.bazel": "37bcdb4440fbb61df6a1c296ae01b327f19e9bb521f9b8e26ec854b6f97309ed",
+    "https://bcr.bazel.build/modules/abseil-cpp/20240116.2/MODULE.bazel": "73939767a4686cd9a520d16af5ab440071ed75cec1a876bf2fcfaf1f71987a16",
+    "https://bcr.bazel.build/modules/abseil-cpp/20250127.1/MODULE.bazel": "c4a89e7ceb9bf1e25cf84a9f830ff6b817b72874088bf5141b314726e46a57c1",
+    "https://bcr.bazel.build/modules/abseil-cpp/20250512.1/MODULE.bazel": "d209fdb6f36ffaf61c509fcc81b19e81b411a999a934a032e10cd009a0226215",
+    "https://bcr.bazel.build/modules/abseil-cpp/20250512.1/source.json": "d725d73707d01bb46ab3ca59ba408b8e9bd336642ca77a2269d4bfb8bbfd413d",
+    "https://bcr.bazel.build/modules/apple_support/1.11.1/MODULE.bazel": "1843d7cd8a58369a444fc6000e7304425fba600ff641592161d9f15b179fb896",
+    "https://bcr.bazel.build/modules/apple_support/1.15.1/MODULE.bazel": "a0556fefca0b1bb2de8567b8827518f94db6a6e7e7d632b4c48dc5f865bc7c85",
+    "https://bcr.bazel.build/modules/apple_support/1.23.1/MODULE.bazel": "53763fed456a968cf919b3240427cf3a9d5481ec5466abc9d5dc51bc70087442",
+    "https://bcr.bazel.build/modules/apple_support/2.0.0/MODULE.bazel": "d877224cc15ae1c2b0a4d04ea2266985de17a736554d0bc3dbd5872c596bd9b2",
+    "https://bcr.bazel.build/modules/apple_support/2.0.0/source.json": "e9f1636f3a20e9da9f72612a38311c1fb2207294345a4157001aff93571f3da7",
+    "https://bcr.bazel.build/modules/aspect_bazel_lib/2.14.0/MODULE.bazel": "2b31ffcc9bdc8295b2167e07a757dbbc9ac8906e7028e5170a3708cecaac119f",
+    "https://bcr.bazel.build/modules/aspect_bazel_lib/2.14.0/source.json": "0cf1826853b0bef8b5cd19c0610d717500f5521aa2b38b72b2ec302ac5e7526c",
+    "https://bcr.bazel.build/modules/aspect_bazel_lib/2.9.4/MODULE.bazel": "ccc41028429f894b02fde7ef67d416cba3ba5084ed9ddb9bb6107aa82d118776",
+    "https://bcr.bazel.build/modules/bazel_features/1.1.1/MODULE.bazel": "27b8c79ef57efe08efccbd9dd6ef70d61b4798320b8d3c134fd571f78963dbcd",
+    "https://bcr.bazel.build/modules/bazel_features/1.11.0/MODULE.bazel": "f9382337dd5a474c3b7d334c2f83e50b6eaedc284253334cf823044a26de03e8",
+    "https://bcr.bazel.build/modules/bazel_features/1.15.0/MODULE.bazel": "d38ff6e517149dc509406aca0db3ad1efdd890a85e049585b7234d04238e2a4d",
+    "https://bcr.bazel.build/modules/bazel_features/1.17.0/MODULE.bazel": "039de32d21b816b47bd42c778e0454217e9c9caac4a3cf8e15c7231ee3ddee4d",
+    "https://bcr.bazel.build/modules/bazel_features/1.18.0/MODULE.bazel": "1be0ae2557ab3a72a57aeb31b29be347bcdc5d2b1eb1e70f39e3851a7e97041a",
+    "https://bcr.bazel.build/modules/bazel_features/1.19.0/MODULE.bazel": "59adcdf28230d220f0067b1f435b8537dd033bfff8db21335ef9217919c7fb58",
+    "https://bcr.bazel.build/modules/bazel_features/1.21.0/MODULE.bazel": "675642261665d8eea09989aa3b8afb5c37627f1be178382c320d1b46afba5e3b",
+    "https://bcr.bazel.build/modules/bazel_features/1.23.0/MODULE.bazel": "fd1ac84bc4e97a5a0816b7fd7d4d4f6d837b0047cf4cbd81652d616af3a6591a",
+    "https://bcr.bazel.build/modules/bazel_features/1.27.0/MODULE.bazel": "621eeee06c4458a9121d1f104efb80f39d34deff4984e778359c60eaf1a8cb65",
+    "https://bcr.bazel.build/modules/bazel_features/1.28.0/MODULE.bazel": "4b4200e6cbf8fa335b2c3f43e1d6ef3e240319c33d43d60cc0fbd4b87ece299d",
+    "https://bcr.bazel.build/modules/bazel_features/1.3.0/MODULE.bazel": "cdcafe83ec318cda34e02948e81d790aab8df7a929cec6f6969f13a489ccecd9",
+    "https://bcr.bazel.build/modules/bazel_features/1.30.0/MODULE.bazel": "a14b62d05969a293b80257e72e597c2da7f717e1e69fa8b339703ed6731bec87",
+    "https://bcr.bazel.build/modules/bazel_features/1.33.0/MODULE.bazel": "8b8dc9d2a4c88609409c3191165bccec0e4cb044cd7a72ccbe826583303459f6",
+    "https://bcr.bazel.build/modules/bazel_features/1.33.0/source.json": "13617db3930328c2cd2807a0f13d52ca870ac05f96db9668655113265147b2a6",
+    "https://bcr.bazel.build/modules/bazel_features/1.4.1/MODULE.bazel": "e45b6bb2350aff3e442ae1111c555e27eac1d915e77775f6fdc4b351b758b5d7",
+    "https://bcr.bazel.build/modules/bazel_features/1.9.0/MODULE.bazel": "885151d58d90d8d9c811eb75e3288c11f850e1d6b481a8c9f766adee4712358b",
+    "https://bcr.bazel.build/modules/bazel_features/1.9.1/MODULE.bazel": "8f679097876a9b609ad1f60249c49d68bfab783dd9be012faf9d82547b14815a",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.0.3/MODULE.bazel": "bcb0fd896384802d1ad283b4e4eb4d718eebd8cb820b0a2c3a347fb971afd9d8",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.1.1/MODULE.bazel": "1add3e7d93ff2e6998f9e118022c84d163917d912f5afafb3058e3d2f1545b5e",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.2.0/MODULE.bazel": "44fe84260e454ed94ad326352a698422dbe372b21a1ac9f3eab76eb531223686",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.2.1/MODULE.bazel": "f35baf9da0efe45fa3da1696ae906eea3d615ad41e2e3def4aeb4e8bc0ef9a7a",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.3.0/MODULE.bazel": "20228b92868bf5cfc41bda7afc8a8ba2a543201851de39d990ec957b513579c5",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.4.1/MODULE.bazel": "a0dcb779424be33100dcae821e9e27e4f2901d9dfd5333efe5ac6a8d7ab75e1d",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.4.2/MODULE.bazel": "3bd40978e7a1fac911d5989e6b09d8f64921865a45822d8b09e815eaa726a651",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.5.0/MODULE.bazel": "32880f5e2945ce6a03d1fbd588e9198c0a959bb42297b2cfaf1685b7bc32e138",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.6.1/MODULE.bazel": "8fdee2dbaace6c252131c00e1de4b165dc65af02ea278476187765e1a617b917",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.7.0/MODULE.bazel": "0db596f4563de7938de764cc8deeabec291f55e8ec15299718b93c4423e9796d",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.7.1/MODULE.bazel": "3120d80c5861aa616222ec015332e5f8d3171e062e3e804a2a0253e1be26e59b",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.8.2/MODULE.bazel": "69ad6927098316848b34a9142bcc975e018ba27f08c4ff403f50c1b6e646ca67",
+    "https://bcr.bazel.build/modules/bazel_skylib/1.8.2/source.json": "34a3c8bcf233b835eb74be9d628899bb32999d3e0eadef1947a0a562a2b16ffb",
+    "https://bcr.bazel.build/modules/buildozer/7.1.2/MODULE.bazel": "2e8dd40ede9c454042645fd8d8d0cd1527966aa5c919de86661e62953cd73d84",
+    "https://bcr.bazel.build/modules/buildozer/7.1.2/source.json": "c9028a501d2db85793a6996205c8de120944f50a0d570438fcae0457a5f9d1f8",
+    "https://bcr.bazel.build/modules/caseyduquettesc_rules_python_pytest/1.1.1/MODULE.bazel": "6e5383ad5f0b4a28829f811683a3dd64a655209b9f6620a0fe68cd6321b7e174",
+    "https://bcr.bazel.build/modules/caseyduquettesc_rules_python_pytest/1.1.1/source.json": "cfa8011e462d3f3eb42ea1ce6aa7f945b944d0499ffd6747789cd87dc64fe015",
+    "https://bcr.bazel.build/modules/google_benchmark/1.8.2/MODULE.bazel": "a70cf1bba851000ba93b58ae2f6d76490a9feb74192e57ab8e8ff13c34ec50cb",
+    "https://bcr.bazel.build/modules/googletest/1.11.0/MODULE.bazel": "3a83f095183f66345ca86aa13c58b59f9f94a2f81999c093d4eeaa2d262d12f4",
+    "https://bcr.bazel.build/modules/googletest/1.14.0.bcr.1/MODULE.bazel": "22c31a561553727960057361aa33bf20fb2e98584bc4fec007906e27053f80c6",
+    "https://bcr.bazel.build/modules/googletest/1.14.0/MODULE.bazel": "cfbcbf3e6eac06ef9d85900f64424708cc08687d1b527f0ef65aa7517af8118f",
+    "https://bcr.bazel.build/modules/googletest/1.15.2/MODULE.bazel": "6de1edc1d26cafb0ea1a6ab3f4d4192d91a312fd2d360b63adaa213cd00b2108",
+    "https://bcr.bazel.build/modules/googletest/1.17.0/MODULE.bazel": "dbec758171594a705933a29fcf69293d2468c49ec1f2ebca65c36f504d72df46",
+    "https://bcr.bazel.build/modules/googletest/1.17.0/source.json": "38e4454b25fc30f15439c0378e57909ab1fd0a443158aa35aec685da727cd713",
+    "https://bcr.bazel.build/modules/jsoncpp/1.9.5/MODULE.bazel": "31271aedc59e815656f5736f282bb7509a97c7ecb43e927ac1a37966e0578075",
+    "https://bcr.bazel.build/modules/jsoncpp/1.9.6/MODULE.bazel": "2f8d20d3b7d54143213c4dfc3d98225c42de7d666011528dc8fe91591e2e17b0",
+    "https://bcr.bazel.build/modules/jsoncpp/1.9.6/source.json": "a04756d367a2126c3541682864ecec52f92cdee80a35735a3cb249ce015ca000",
+    "https://bcr.bazel.build/modules/libpfm/4.11.0/MODULE.bazel": "45061ff025b301940f1e30d2c16bea596c25b176c8b6b3087e92615adbd52902",
+    "https://bcr.bazel.build/modules/nlohmann_json/3.6.1/MODULE.bazel": "6f7b417dcc794d9add9e556673ad25cb3ba835224290f4f848f8e2db1e1fca74",
+    "https://bcr.bazel.build/modules/nlohmann_json/3.6.1/source.json": "f448c6e8963fdfa7eb831457df83ad63d3d6355018f6574fb017e8169deb43a9",
+    "https://bcr.bazel.build/modules/platforms/0.0.10/MODULE.bazel": "8cb8efaf200bdeb2150d93e162c40f388529a25852b332cec879373771e48ed5",
+    "https://bcr.bazel.build/modules/platforms/0.0.11/MODULE.bazel": "0daefc49732e227caa8bfa834d65dc52e8cc18a2faf80df25e8caea151a9413f",
+    "https://bcr.bazel.build/modules/platforms/0.0.4/MODULE.bazel": "9b328e31ee156f53f3c416a64f8491f7eb731742655a47c9eec4703a71644aee",
+    "https://bcr.bazel.build/modules/platforms/0.0.5/MODULE.bazel": "5733b54ea419d5eaf7997054bb55f6a1d0b5ff8aedf0176fef9eea44f3acda37",
+    "https://bcr.bazel.build/modules/platforms/0.0.6/MODULE.bazel": "ad6eeef431dc52aefd2d77ed20a4b353f8ebf0f4ecdd26a807d2da5aa8cd0615",
+    "https://bcr.bazel.build/modules/platforms/0.0.7/MODULE.bazel": "72fd4a0ede9ee5c021f6a8dd92b503e089f46c227ba2813ff183b71616034814",
+    "https://bcr.bazel.build/modules/platforms/0.0.8/MODULE.bazel": "9f142c03e348f6d263719f5074b21ef3adf0b139ee4c5133e2aa35664da9eb2d",
+    "https://bcr.bazel.build/modules/platforms/0.0.9/MODULE.bazel": "4a87a60c927b56ddd67db50c89acaa62f4ce2a1d2149ccb63ffd871d5ce29ebc",
+    "https://bcr.bazel.build/modules/platforms/1.0.0/MODULE.bazel": "f05feb42b48f1b3c225e4ccf351f367be0371411a803198ec34a389fb22aa580",
+    "https://bcr.bazel.build/modules/platforms/1.0.0/source.json": "f4ff1fd412e0246fd38c82328eb209130ead81d62dcd5a9e40910f867f733d96",
+    "https://bcr.bazel.build/modules/protobuf/21.7/MODULE.bazel": "a5a29bb89544f9b97edce05642fac225a808b5b7be74038ea3640fae2f8e66a7",
+    "https://bcr.bazel.build/modules/protobuf/27.0/MODULE.bazel": "7873b60be88844a0a1d8f80b9d5d20cfbd8495a689b8763e76c6372998d3f64c",
+    "https://bcr.bazel.build/modules/protobuf/27.1/MODULE.bazel": "703a7b614728bb06647f965264967a8ef1c39e09e8f167b3ca0bb1fd80449c0d",
+    "https://bcr.bazel.build/modules/protobuf/29.0-rc2/MODULE.bazel": "6241d35983510143049943fc0d57937937122baf1b287862f9dc8590fc4c37df",
+    "https://bcr.bazel.build/modules/protobuf/29.0-rc3/MODULE.bazel": "33c2dfa286578573afc55a7acaea3cada4122b9631007c594bf0729f41c8de92",
+    "https://bcr.bazel.build/modules/protobuf/29.0/MODULE.bazel": "319dc8bf4c679ff87e71b1ccfb5a6e90a6dbc4693501d471f48662ac46d04e4e",
+    "https://bcr.bazel.build/modules/protobuf/29.1/MODULE.bazel": "557c3457560ff49e122ed76c0bc3397a64af9574691cb8201b4e46d4ab2ecb95",
+    "https://bcr.bazel.build/modules/protobuf/3.19.0/MODULE.bazel": "6b5fbb433f760a99a22b18b6850ed5784ef0e9928a72668b66e4d7ccd47db9b0",
+    "https://bcr.bazel.build/modules/protobuf/32.1/MODULE.bazel": "89cd2866a9cb07fee9ff74c41ceace11554f32e0d849de4e23ac55515cfada4d",
+    "https://bcr.bazel.build/modules/protobuf/32.1/source.json": "bd2664e90875c0cd755d1d9b7a103a4b027893ac8eafa3bba087557ffc244ad4",
+    "https://bcr.bazel.build/modules/pybind11_bazel/2.11.1/MODULE.bazel": "88af1c246226d87e65be78ed49ecd1e6f5e98648558c14ce99176da041dc378e",
+    "https://bcr.bazel.build/modules/pybind11_bazel/2.12.0/MODULE.bazel": "e6f4c20442eaa7c90d7190d8dc539d0ab422f95c65a57cc59562170c58ae3d34",
+    "https://bcr.bazel.build/modules/pybind11_bazel/2.12.0/source.json": "6900fdc8a9e95866b8c0d4ad4aba4d4236317b5c1cd04c502df3f0d33afed680",
+    "https://bcr.bazel.build/modules/re2/2023-09-01/MODULE.bazel": "cb3d511531b16cfc78a225a9e2136007a48cf8a677e4264baeab57fe78a80206",
+    "https://bcr.bazel.build/modules/re2/2024-07-02.bcr.1/MODULE.bazel": "b4963dda9b31080be1905ef085ecd7dd6cd47c05c79b9cdf83ade83ab2ab271a",
+    "https://bcr.bazel.build/modules/re2/2024-07-02.bcr.1/source.json": "2ff292be6ef3340325ce8a045ecc326e92cbfab47c7cbab4bd85d28971b97ac4",
+    "https://bcr.bazel.build/modules/re2/2024-07-02/MODULE.bazel": "0eadc4395959969297cbcf31a249ff457f2f1d456228c67719480205aa306daa",
+    "https://bcr.bazel.build/modules/rules_android/0.1.1/MODULE.bazel": "48809ab0091b07ad0182defb787c4c5328bd3a278938415c00a7b69b50c4d3a8",
+    "https://bcr.bazel.build/modules/rules_android/0.1.1/source.json": "e6986b41626ee10bdc864937ffb6d6bf275bb5b9c65120e6137d56e6331f089e",
+    "https://bcr.bazel.build/modules/rules_apple/3.16.0/MODULE.bazel": "0d1caf0b8375942ce98ea944be754a18874041e4e0459401d925577624d3a54a",
+    "https://bcr.bazel.build/modules/rules_apple/3.16.0/source.json": "d8b5fe461272018cc07cfafce11fe369c7525330804c37eec5a82f84cd475366",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.1/MODULE.bazel": "cb2aa0747f84c6c3a78dad4e2049c154f08ab9d166b1273835a8174940365647",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.10/MODULE.bazel": "ec1705118f7eaedd6e118508d3d26deba2a4e76476ada7e0e3965211be012002",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.13/MODULE.bazel": "0e8529ed7b323dad0775ff924d2ae5af7640b23553dfcd4d34344c7e7a867191",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.14/MODULE.bazel": "5e343a3aac88b8d7af3b1b6d2093b55c347b8eefc2e7d1442f7a02dc8fea48ac",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.15/MODULE.bazel": "6704c35f7b4a72502ee81f61bf88706b54f06b3cbe5558ac17e2e14666cd5dcc",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.16/MODULE.bazel": "7661303b8fc1b4d7f532e54e9d6565771fea666fbdf839e0a86affcd02defe87",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.17/MODULE.bazel": "2ae1d8f4238ec67d7185d8861cb0a2cdf4bc608697c331b95bf990e69b62e64a",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.2/MODULE.bazel": "6915987c90970493ab97393024c156ea8fb9f3bea953b2f3ec05c34f19b5695c",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.6/MODULE.bazel": "abf360251023dfe3efcef65ab9d56beefa8394d4176dd29529750e1c57eaa33f",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.8/MODULE.bazel": "964c85c82cfeb6f3855e6a07054fdb159aced38e99a5eecf7bce9d53990afa3e",
+    "https://bcr.bazel.build/modules/rules_cc/0.0.9/MODULE.bazel": "836e76439f354b89afe6a911a7adf59a6b2518fafb174483ad78a2a2fde7b1c5",
+    "https://bcr.bazel.build/modules/rules_cc/0.1.1/MODULE.bazel": "2f0222a6f229f0bf44cd711dc13c858dad98c62d52bd51d8fc3a764a83125513",
+    "https://bcr.bazel.build/modules/rules_cc/0.1.5/MODULE.bazel": "88dfc9361e8b5ae1008ac38f7cdfd45ad738e4fa676a3ad67d19204f045a1fd8",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.13/MODULE.bazel": "eecdd666eda6be16a8d9dc15e44b5c75133405e820f620a234acc4b1fdc5aa37",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.14/MODULE.bazel": "353c99ed148887ee89c54a17d4100ae7e7e436593d104b668476019023b58df8",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.14/source.json": "55d0a4587c5592fad350f6e698530f4faf0e7dd15e69d43f8d87e220c78bea54",
+    "https://bcr.bazel.build/modules/rules_foreign_cc/0.9.0/MODULE.bazel": "c9e8c682bf75b0e7c704166d79b599f93b72cfca5ad7477df596947891feeef6",
+    "https://bcr.bazel.build/modules/rules_fuzzing/0.5.2/MODULE.bazel": "40c97d1144356f52905566c55811f13b299453a14ac7769dfba2ac38192337a8",
+    "https://bcr.bazel.build/modules/rules_java/4.0.0/MODULE.bazel": "5a78a7ae82cd1a33cef56dc578c7d2a46ed0dca12643ee45edbb8417899e6f74",
+    "https://bcr.bazel.build/modules/rules_java/5.3.5/MODULE.bazel": "a4ec4f2db570171e3e5eb753276ee4b389bae16b96207e9d3230895c99644b86",
+    "https://bcr.bazel.build/modules/rules_java/6.0.0/MODULE.bazel": "8a43b7df601a7ec1af61d79345c17b31ea1fedc6711fd4abfd013ea612978e39",
+    "https://bcr.bazel.build/modules/rules_java/6.3.0/MODULE.bazel": "a97c7678c19f236a956ad260d59c86e10a463badb7eb2eda787490f4c969b963",
+    "https://bcr.bazel.build/modules/rules_java/6.4.0/MODULE.bazel": "e986a9fe25aeaa84ac17ca093ef13a4637f6107375f64667a15999f77db6c8f6",
+    "https://bcr.bazel.build/modules/rules_java/6.5.2/MODULE.bazel": "1d440d262d0e08453fa0c4d8f699ba81609ed0e9a9a0f02cd10b3e7942e61e31",
+    "https://bcr.bazel.build/modules/rules_java/7.10.0/MODULE.bazel": "530c3beb3067e870561739f1144329a21c851ff771cd752a49e06e3dc9c2e71a",
+    "https://bcr.bazel.build/modules/rules_java/7.12.2/MODULE.bazel": "579c505165ee757a4280ef83cda0150eea193eed3bef50b1004ba88b99da6de6",
+    "https://bcr.bazel.build/modules/rules_java/7.2.0/MODULE.bazel": "06c0334c9be61e6cef2c8c84a7800cef502063269a5af25ceb100b192453d4ab",
+    "https://bcr.bazel.build/modules/rules_java/7.3.2/MODULE.bazel": "50dece891cfdf1741ea230d001aa9c14398062f2b7c066470accace78e412bc2",
+    "https://bcr.bazel.build/modules/rules_java/7.6.1/MODULE.bazel": "2f14b7e8a1aa2f67ae92bc69d1ec0fa8d9f827c4e17ff5e5f02e91caa3b2d0fe",
+    "https://bcr.bazel.build/modules/rules_java/8.14.0/MODULE.bazel": "717717ed40cc69994596a45aec6ea78135ea434b8402fb91b009b9151dd65615",
+    "https://bcr.bazel.build/modules/rules_java/8.14.0/source.json": "8a88c4ca9e8759da53cddc88123880565c520503321e2566b4e33d0287a3d4bc",
+    "https://bcr.bazel.build/modules/rules_java/8.3.2/MODULE.bazel": "7336d5511ad5af0b8615fdc7477535a2e4e723a357b6713af439fe8cf0195017",
+    "https://bcr.bazel.build/modules/rules_java/8.5.1/MODULE.bazel": "d8a9e38cc5228881f7055a6079f6f7821a073df3744d441978e7a43e20226939",
+    "https://bcr.bazel.build/modules/rules_java/8.6.1/MODULE.bazel": "f4808e2ab5b0197f094cabce9f4b006a27766beb6a9975931da07099560ca9c2",
+    "https://bcr.bazel.build/modules/rules_jvm_external/4.4.2/MODULE.bazel": "a56b85e418c83eb1839819f0b515c431010160383306d13ec21959ac412d2fe7",
+    "https://bcr.bazel.build/modules/rules_jvm_external/5.1/MODULE.bazel": "33f6f999e03183f7d088c9be518a63467dfd0be94a11d0055fe2d210f89aa909",
+    "https://bcr.bazel.build/modules/rules_jvm_external/5.2/MODULE.bazel": "d9351ba35217ad0de03816ef3ed63f89d411349353077348a45348b096615036",
+    "https://bcr.bazel.build/modules/rules_jvm_external/5.3/MODULE.bazel": "bf93870767689637164657731849fb887ad086739bd5d360d90007a581d5527d",
+    "https://bcr.bazel.build/modules/rules_jvm_external/6.1/MODULE.bazel": "75b5fec090dbd46cf9b7d8ea08cf84a0472d92ba3585b476f44c326eda8059c4",
+    "https://bcr.bazel.build/modules/rules_jvm_external/6.3/MODULE.bazel": "c998e060b85f71e00de5ec552019347c8bca255062c990ac02d051bb80a38df0",
+    "https://bcr.bazel.build/modules/rules_jvm_external/6.7/MODULE.bazel": "e717beabc4d091ecb2c803c2d341b88590e9116b8bf7947915eeb33aab4f96dd",
+    "https://bcr.bazel.build/modules/rules_jvm_external/6.8/MODULE.bazel": "b5afe861e867e4c8e5b88e401cb7955bd35924258f97b1862cc966cbcf4f1a62",
+    "https://bcr.bazel.build/modules/rules_jvm_external/6.8/source.json": "c85e553d5ac17f7825cd85b9cceb500c64f9e44f0e93c7887469e430c4ae9eff",
+    "https://bcr.bazel.build/modules/rules_kotlin/1.9.0/MODULE.bazel": "ef85697305025e5a61f395d4eaede272a5393cee479ace6686dba707de804d59",
+    "https://bcr.bazel.build/modules/rules_kotlin/1.9.6/MODULE.bazel": "d269a01a18ee74d0335450b10f62c9ed81f2321d7958a2934e44272fe82dcef3",
+    "https://bcr.bazel.build/modules/rules_kotlin/1.9.6/source.json": "2faa4794364282db7c06600b7e5e34867a564ae91bda7cae7c29c64e9466b7d5",
+    "https://bcr.bazel.build/modules/rules_license/0.0.3/MODULE.bazel": "627e9ab0247f7d1e05736b59dbb1b6871373de5ad31c3011880b4133cafd4bd0",
+    "https://bcr.bazel.build/modules/rules_license/0.0.7/MODULE.bazel": "088fbeb0b6a419005b89cf93fe62d9517c0a2b8bb56af3244af65ecfe37e7d5d",
+    "https://bcr.bazel.build/modules/rules_license/1.0.0/MODULE.bazel": "a7fda60eefdf3d8c827262ba499957e4df06f659330bbe6cdbdb975b768bb65c",
+    "https://bcr.bazel.build/modules/rules_license/1.0.0/source.json": "a52c89e54cc311196e478f8382df91c15f7a2bfdf4c6cd0e2675cc2ff0b56efb",
+    "https://bcr.bazel.build/modules/rules_pkg/0.7.0/MODULE.bazel": "df99f03fc7934a4737122518bb87e667e62d780b610910f0447665a7e2be62dc",
+    "https://bcr.bazel.build/modules/rules_pkg/1.0.1/MODULE.bazel": "5b1df97dbc29623bccdf2b0dcd0f5cb08e2f2c9050aab1092fd39a41e82686ff",
+    "https://bcr.bazel.build/modules/rules_pkg/1.1.0/MODULE.bazel": "9db8031e71b6ef32d1846106e10dd0ee2deac042bd9a2de22b4761b0c3036453",
+    "https://bcr.bazel.build/modules/rules_pkg/1.1.0/source.json": "fef768df13a92ce6067e1cd0cdc47560dace01354f1d921cfb1d632511f7d608",
+    "https://bcr.bazel.build/modules/rules_proto/4.0.0/MODULE.bazel": "a7a7b6ce9bee418c1a760b3d84f83a299ad6952f9903c67f19e4edd964894e06",
+    "https://bcr.bazel.build/modules/rules_proto/5.3.0-21.7/MODULE.bazel": "e8dff86b0971688790ae75528fe1813f71809b5afd57facb44dad9e8eca631b7",
+    "https://bcr.bazel.build/modules/rules_proto/6.0.0-rc1/MODULE.bazel": "1e5b502e2e1a9e825eef74476a5a1ee524a92297085015a052510b09a1a09483",
+    "https://bcr.bazel.build/modules/rules_proto/6.0.2/MODULE.bazel": "ce916b775a62b90b61888052a416ccdda405212b6aaeb39522f7dc53431a5e73",
+    "https://bcr.bazel.build/modules/rules_proto/7.0.2/MODULE.bazel": "bf81793bd6d2ad89a37a40693e56c61b0ee30f7a7fdbaf3eabbf5f39de47dea2",
+    "https://bcr.bazel.build/modules/rules_proto/7.1.0/MODULE.bazel": "002d62d9108f75bb807cd56245d45648f38275cb3a99dcd45dfb864c5d74cb96",
+    "https://bcr.bazel.build/modules/rules_proto/7.1.0/source.json": "39f89066c12c24097854e8f57ab8558929f9c8d474d34b2c00ac04630ad8940e",
+    "https://bcr.bazel.build/modules/rules_pycross/0.8.1/MODULE.bazel": "e8fea73f129f5cf81d39de0a4a8675c98e2392d32d7835c9fe55cb04445b39d5",
+    "https://bcr.bazel.build/modules/rules_pycross/0.8.1/source.json": "766863bf7355ef02c76ca63b171f3e2ca8b277b5211cf22740ebf5363598b388",
+    "https://bcr.bazel.build/modules/rules_python/0.10.2/MODULE.bazel": "cc82bc96f2997baa545ab3ce73f196d040ffb8756fd2d66125a530031cd90e5f",
+    "https://bcr.bazel.build/modules/rules_python/0.17.3/MODULE.bazel": "f0eb1c105334c80641ea03261e19329fdcf5232e2b134a94f016348190f05499",
+    "https://bcr.bazel.build/modules/rules_python/0.23.1/MODULE.bazel": "49ffccf0511cb8414de28321f5fcf2a31312b47c40cc21577144b7447f2bf300",
+    "https://bcr.bazel.build/modules/rules_python/0.25.0/MODULE.bazel": "72f1506841c920a1afec76975b35312410eea3aa7b63267436bfb1dd91d2d382",
+    "https://bcr.bazel.build/modules/rules_python/0.28.0/MODULE.bazel": "cba2573d870babc976664a912539b320cbaa7114cd3e8f053c720171cde331ed",
+    "https://bcr.bazel.build/modules/rules_python/0.31.0/MODULE.bazel": "93a43dc47ee570e6ec9f5779b2e64c1476a6ce921c48cc9a1678a91dd5f8fd58",
+    "https://bcr.bazel.build/modules/rules_python/0.33.2/MODULE.bazel": "3e036c4ad8d804a4dad897d333d8dce200d943df4827cb849840055be8d2e937",
+    "https://bcr.bazel.build/modules/rules_python/0.4.0/MODULE.bazel": "9208ee05fd48bf09ac60ed269791cf17fb343db56c8226a720fbb1cdf467166c",
+    "https://bcr.bazel.build/modules/rules_python/0.40.0/MODULE.bazel": "9d1a3cd88ed7d8e39583d9ffe56ae8a244f67783ae89b60caafc9f5cf318ada7",
+    "https://bcr.bazel.build/modules/rules_python/1.0.0/MODULE.bazel": "898a3d999c22caa585eb062b600f88654bf92efb204fa346fb55f6f8edffca43",
+    "https://bcr.bazel.build/modules/rules_python/1.4.1/MODULE.bazel": "8991ad45bdc25018301d6b7e1d3626afc3c8af8aaf4bc04f23d0b99c938b73a6",
+    "https://bcr.bazel.build/modules/rules_python/1.7.0/MODULE.bazel": "d01f995ecd137abf30238ad9ce97f8fc3ac57289c8b24bd0bf53324d937a14f8",
+    "https://bcr.bazel.build/modules/rules_python/1.7.0/source.json": "028a084b65dcf8f4dc4f82f8778dbe65df133f234b316828a82e060d81bdce32",
+    "https://bcr.bazel.build/modules/rules_shell/0.2.0/MODULE.bazel": "fda8a652ab3c7d8fee214de05e7a9916d8b28082234e8d2c0094505c5268ed3c",
+    "https://bcr.bazel.build/modules/rules_shell/0.3.0/MODULE.bazel": "de4402cd12f4cc8fda2354fce179fdb068c0b9ca1ec2d2b17b3e21b24c1a937b",
+    "https://bcr.bazel.build/modules/rules_shell/0.3.0/source.json": "c55ed591aa5009401ddf80ded9762ac32c358d2517ee7820be981e2de9756cf3",
+    "https://bcr.bazel.build/modules/rules_swift/1.16.0/MODULE.bazel": "4a09f199545a60d09895e8281362b1ff3bb08bbde69c6fc87aff5b92fcc916ca",
+    "https://bcr.bazel.build/modules/rules_swift/2.1.1/MODULE.bazel": "494900a80f944fc7aa61500c2073d9729dff0b764f0e89b824eb746959bc1046",
+    "https://bcr.bazel.build/modules/rules_swift/2.1.1/source.json": "40fc69dfaac64deddbb75bd99cdac55f4427d9ca0afbe408576a65428427a186",
+    "https://bcr.bazel.build/modules/stardoc/0.5.1/MODULE.bazel": "1a05d92974d0c122f5ccf09291442580317cdd859f07a8655f1db9a60374f9f8",
+    "https://bcr.bazel.build/modules/stardoc/0.5.3/MODULE.bazel": "c7f6948dae6999bf0db32c1858ae345f112cacf98f174c7a8bb707e41b974f1c",
+    "https://bcr.bazel.build/modules/stardoc/0.5.6/MODULE.bazel": "c43dabc564990eeab55e25ed61c07a1aadafe9ece96a4efabb3f8bf9063b71ef",
+    "https://bcr.bazel.build/modules/stardoc/0.6.2/MODULE.bazel": "7060193196395f5dd668eda046ccbeacebfd98efc77fed418dbe2b82ffaa39fd",
+    "https://bcr.bazel.build/modules/stardoc/0.7.0/MODULE.bazel": "05e3d6d30c099b6770e97da986c53bd31844d7f13d41412480ea265ac9e8079c",
+    "https://bcr.bazel.build/modules/stardoc/0.7.1/MODULE.bazel": "3548faea4ee5dda5580f9af150e79d0f6aea934fc60c1cc50f4efdd9420759e7",
+    "https://bcr.bazel.build/modules/stardoc/0.7.2/MODULE.bazel": "fc152419aa2ea0f51c29583fab1e8c99ddefd5b3778421845606ee628629e0e5",
+    "https://bcr.bazel.build/modules/stardoc/0.7.2/source.json": "58b029e5e901d6802967754adf0a9056747e8176f017cfe3607c0851f4d42216",
+    "https://bcr.bazel.build/modules/swift_argument_parser/1.3.1.1/MODULE.bazel": "5e463fbfba7b1701d957555ed45097d7f984211330106ccd1352c6e0af0dcf91",
+    "https://bcr.bazel.build/modules/swift_argument_parser/1.3.1.1/source.json": "32bd87e5f4d7acc57c5b2ff7c325ae3061d5e242c0c4c214ae87e0f1c13e54cb",
+    "https://bcr.bazel.build/modules/upb/0.0.0-20220923-a547704/MODULE.bazel": "7298990c00040a0e2f121f6c32544bab27d4452f80d9ce51349b1a28f3005c43",
+    "https://bcr.bazel.build/modules/zlib/1.2.11/MODULE.bazel": "07b389abc85fdbca459b69e2ec656ae5622873af3f845e1c9d80fe179f3effa0",
+    "https://bcr.bazel.build/modules/zlib/1.3.1.bcr.5/MODULE.bazel": "eec517b5bbe5492629466e11dae908d043364302283de25581e3eb944326c4ca",
+    "https://bcr.bazel.build/modules/zlib/1.3.1.bcr.5/source.json": "22bc55c47af97246cfc093d0acf683a7869377de362b5d1c552c2c2e16b7a806",
+    "https://bcr.bazel.build/modules/zlib/1.3.1/MODULE.bazel": "751c9940dcfe869f5f7274e1295422a34623555916eb98c174c1e945594bf198"
+  },
+  "selectedYankedVersions": {},
+  "moduleExtensions": {
+    "@@rules_bzlmodrio_toolchains+//:extensions.bzl%sh_configure": {
+      "general": {
+        "bzlTransitiveDigest": "q+0LgnvjpZ9Y2r2JYzNeYCKGLphbczG73lZ3rBg+XhM=",
+        "usagesDigest": "v3Gl8jbulVVWx1eh8zubCHo+jQcJceeteF0zb1txHDE=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "local_bookworm_32": {
+            "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
+            "attributes": {
+              "bin_subfolder": "bookworm/bin",
+              "bin_prefix": "armv7-bookworm-linux-gnueabihf-",
+              "sysroot_subfolder": "bookworm/arm-linux-gnueabihf/sysroot",
+              "cxx_version": "12",
+              "target_cpu": "armv7",
+              "target_system_name": "arm-linux-gnueabihf",
+              "sysroot_include_folder": "arm-linux-gnueabihf",
+              "repo_shortname": "bookworm_32"
+            }
+          },
+          "local_bookworm_64": {
+            "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
+            "attributes": {
+              "bin_subfolder": "bookworm/bin",
+              "bin_prefix": "aarch64-bookworm-linux-gnu-",
+              "sysroot_subfolder": "bookworm/aarch64-linux-gnu/sysroot",
+              "cxx_version": "12",
+              "target_cpu": "armv8a",
+              "target_system_name": "aarch64-linux-gnu",
+              "sysroot_include_folder": "aarch64-linux-gnu",
+              "repo_shortname": "bookworm_64"
+            }
+          },
+          "local_raspi_bookworm_32": {
+            "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
+            "attributes": {
+              "bin_subfolder": "raspi-bookworm/bin",
+              "bin_prefix": "armv6-bookworm-linux-gnueabihf-",
+              "sysroot_subfolder": "raspi-bookworm/arm-linux-gnueabihf/sysroot",
+              "cxx_version": "12",
+              "target_cpu": "armv7",
+              "target_system_name": "arm-linux-gnueabihf",
+              "sysroot_include_folder": "arm-linux-gnueabihf",
+              "repo_shortname": "raspi_bookworm_32"
+            }
+          },
+          "local_roborio": {
+            "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
+            "attributes": {
+              "bin_subfolder": "roborio-academic/bin",
+              "bin_prefix": "arm-frc2025-linux-gnueabi-",
+              "sysroot_subfolder": "roborio-academic/arm-nilrt-linux-gnueabi/sysroot",
+              "cxx_version": "12",
+              "target_cpu": "armv7",
+              "target_system_name": "arm-nilrt-linux-gnueabi",
+              "sysroot_include_folder": "arm-nilrt-linux-gnueabi",
+              "repo_shortname": "roborio"
+            }
+          },
+          "local_systemcore": {
+            "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
+            "attributes": {
+              "extra_defines": [
+                "-D__FRC_SYSTEMCORE__=1"
+              ],
+              "bin_subfolder": "bookworm/bin",
+              "bin_prefix": "aarch64-bookworm-linux-gnu-",
+              "sysroot_subfolder": "bookworm/aarch64-linux-gnu/sysroot",
+              "cxx_version": "12",
+              "target_cpu": "armv8a",
+              "target_system_name": "aarch64-linux-gnu",
+              "sysroot_include_folder": "aarch64-linux-gnu",
+              "repo_shortname": "systemcore"
+            }
+          }
+        },
+        "recordedRepoMappingEntries": []
+      }
+    },
+    "@@rules_bzlmodrio_toolchains+//:maven_deps.bzl%deps": {
+      "general": {
+        "bzlTransitiveDigest": "bazQdcTy48zQcpSDKQmPNeBevKk/KQp/J+pNFUuv0U8=",
+        "usagesDigest": "lhiwQfjU3A2FPUhPOlGnUJbsDZanI+WuI5zAklUuEzI=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "bazelrio_bookworm_32_toolchain_macosarm": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-bookworm-2025-arm64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "cbbfef87c1004923a01697424d6904097ff118efe0709ccd453544088693d5ab",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_32_toolchain_macos": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-bookworm-2025-x86_64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "2c0dd7352edf13f73bc802690876bf77e353265afad0acf677b1cff0cf62c7b0",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_32_toolchain_linux": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-bookworm-2025-x86_64-linux-gnu-Toolchain-12.2.0.tgz",
+              "sha256": "1dbb38120fd37cf5b69447cb93cb5c488b2a56bec72db4edcb3fa92ad3881b05",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_32_toolchain_windows": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-bookworm-2025-x86_64-w64-mingw32-Toolchain-12.2.0.zip",
+              "sha256": "85f75e41ec6cdee80ac4abc5cb2f1d235de67611663ecf6f69a64d05ba3591ef",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_64_toolchain_macosarm": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-arm64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "4082238f6c726c9105cd85c52cfea80349ac57737e6a3915aa896246a201a5b7",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_64_toolchain_macos": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-x86_64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "6900a02b447d89fa31e7872071c1264b20188cb0c2456a634706bf884f3016ea",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_64_toolchain_linux": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-x86_64-linux-gnu-Toolchain-12.2.0.tgz",
+              "sha256": "7682bac991f106627ce6bd38c1f4dd552931700f3aee73534b4c10f119ad2899",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_bookworm_64_toolchain_windows": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-x86_64-w64-mingw32-Toolchain-12.2.0.zip",
+              "sha256": "258d0209ec43302cd2b9e4ce7808f163db14a66a85383bd1880c4083f09dd22f",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_raspi_bookworm_32_toolchain_macosarm": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-raspi-bookworm-2025-arm64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "eca6d22a02f0a8b18723fadde0ef82ee2f31f20be8d258e4dbe8faed055547c7",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_raspi_bookworm_32_toolchain_macos": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-raspi-bookworm-2025-x86_64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "f2dec8a3d9b8ccf30087454dbf4fcff0fd261f3a2a3f9cf08729b17d1ceb6101",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_raspi_bookworm_32_toolchain_linux": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-raspi-bookworm-2025-x86_64-linux-gnu-Toolchain-12.2.0.tgz",
+              "sha256": "2ab8530d9cb7c00d148ad1a4ccc027d91d02f5f83da8077a1604dff9547d9c4d",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_raspi_bookworm_32_toolchain_windows": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/armhf-raspi-bookworm-2025-x86_64-w64-mingw32-Toolchain-12.2.0.zip",
+              "sha256": "23c1c6434e761b6cc79e8622b1bcd575030a689801870ff795190f718d7fdc80",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_roborio_toolchain_macosarm": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/cortexa9_vfpv3-roborio-academic-2025-arm64-apple-darwin-Toolchain-12.1.0.tgz",
+              "sha256": "f55024a44d0d3243f4f88229baeb883e386193c99b18afdcbcefd12f6d913e35",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_roborio_toolchain_macos": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/cortexa9_vfpv3-roborio-academic-2025-x86_64-apple-darwin-Toolchain-12.1.0.tgz",
+              "sha256": "02d412a98ccec9dbb410975513b388304ff9b475c74450fe42bf497b5400212b",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_roborio_toolchain_linux": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/cortexa9_vfpv3-roborio-academic-2025-x86_64-linux-gnu-Toolchain-12.1.0.tgz",
+              "sha256": "e1aea36b35c48d81e146a12a4b7428af051e525fac18c85a53c7be98339cce9f",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_roborio_toolchain_windows": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/cortexa9_vfpv3-roborio-academic-2025-x86_64-w64-mingw32-Toolchain-12.1.0.zip",
+              "sha256": "7f15de72cdacc738c3c0d33292c869a5785ad09b87478cf6af38daf4aab92b68",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_systemcore_toolchain_macosarm": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-arm64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "4082238f6c726c9105cd85c52cfea80349ac57737e6a3915aa896246a201a5b7",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_systemcore_toolchain_macos": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-x86_64-apple-darwin-Toolchain-12.2.0.tgz",
+              "sha256": "6900a02b447d89fa31e7872071c1264b20188cb0c2456a634706bf884f3016ea",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_systemcore_toolchain_linux": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-x86_64-linux-gnu-Toolchain-12.2.0.tgz",
+              "sha256": "7682bac991f106627ce6bd38c1f4dd552931700f3aee73534b4c10f119ad2899",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          },
+          "bazelrio_systemcore_toolchain_windows": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://github.com/wpilibsuite/opensdk/releases/download/v2025-2/arm64-bookworm-2025-x86_64-w64-mingw32-Toolchain-12.2.0.zip",
+              "sha256": "258d0209ec43302cd2b9e4ce7808f163db14a66a85383bd1880c4083f09dd22f",
+              "build_file_content": "filegroup(\n    name = \"all\",\n    srcs = glob([\"**\"]),\n    visibility = [\"//visibility:public\"],\n)\n"
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_bzlmodrio_toolchains+",
+            "bazel_tools",
+            "bazel_tools"
+          ]
+        ]
+      }
+    },
+    "@@rules_doxygen+//:extensions.bzl%doxygen_extension": {
+      "general": {
+        "bzlTransitiveDigest": "YFdBhqBEMcSankwSZ8cPe28DK9IgZ4CYmjBAJ+s50yA=",
+        "usagesDigest": "XEOAOrHDndn87RdMLbPMCeejaO08HiVwg7TicvHnTp8=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "doxygen": {
+            "repoRuleId": "@@rules_doxygen+//:extensions.bzl%doxygen_repository",
+            "attributes": {
+              "versions": [
+                "1.15.0",
+                "1.15.0",
+                "1.15.0",
+                "1.14.0",
+                "1.14.0"
+              ],
+              "sha256s": [
+                "44658b9cc5c91749e6e3cc426ba63e2550b4a4a7619065acd77029aa234719c6",
+                "b7630eaa0d97bb50b0333929ef5dc1c18f9e38faf1e22dca3166189a9718faf0",
+                "0ec2e5b2c3cd82b7106d19cb42d8466450730b8cb7a9e85af712be38bf4523a1",
+                "ad2c71cb286100d4eaccd0b9d92751c88c4bd0501990f7eccc50aa946f827dc7",
+                "e5d6ae24d0bf3f0cdc4d8f146726b89ca323922f19441af99b1872d503665ad6"
+              ],
+              "platforms": [
+                "windows",
+                "mac",
+                "linux",
+                "mac-arm",
+                "linux-arm"
+              ],
+              "executables": [
+                "",
+                "",
+                "",
+                "",
+                ""
+              ]
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_doxygen+",
+            "rules_doxygen",
+            "rules_doxygen+"
+          ]
+        ]
+      }
+    },
+    "@@rules_kotlin+//src/main/starlark/core/repositories:bzlmod_setup.bzl%rules_kotlin_extensions": {
+      "general": {
+        "bzlTransitiveDigest": "rL/34P1aFDq2GqVC2zCFgQ8nTuOC6ziogocpvG50Qz8=",
+        "usagesDigest": "QI2z8ZUR+mqtbwsf2fLqYdJAkPOHdOV+tF2yVAUgRzw=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "com_github_jetbrains_kotlin_git": {
+            "repoRuleId": "@@rules_kotlin+//src/main/starlark/core/repositories:compiler.bzl%kotlin_compiler_git_repository",
+            "attributes": {
+              "urls": [
+                "https://github.com/JetBrains/kotlin/releases/download/v1.9.23/kotlin-compiler-1.9.23.zip"
+              ],
+              "sha256": "93137d3aab9afa9b27cb06a824c2324195c6b6f6179d8a8653f440f5bd58be88"
+            }
+          },
+          "com_github_jetbrains_kotlin": {
+            "repoRuleId": "@@rules_kotlin+//src/main/starlark/core/repositories:compiler.bzl%kotlin_capabilities_repository",
+            "attributes": {
+              "git_repository_name": "com_github_jetbrains_kotlin_git",
+              "compiler_version": "1.9.23"
+            }
+          },
+          "com_github_google_ksp": {
+            "repoRuleId": "@@rules_kotlin+//src/main/starlark/core/repositories:ksp.bzl%ksp_compiler_plugin_repository",
+            "attributes": {
+              "urls": [
+                "https://github.com/google/ksp/releases/download/1.9.23-1.0.20/artifacts.zip"
+              ],
+              "sha256": "ee0618755913ef7fd6511288a232e8fad24838b9af6ea73972a76e81053c8c2d",
+              "strip_version": "1.9.23-1.0.20"
+            }
+          },
+          "com_github_pinterest_ktlint": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_file",
+            "attributes": {
+              "sha256": "01b2e0ef893383a50dbeb13970fe7fa3be36ca3e83259e01649945b09d736985",
+              "urls": [
+                "https://github.com/pinterest/ktlint/releases/download/1.3.0/ktlint"
+              ],
+              "executable": true
+            }
+          },
+          "rules_android": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "sha256": "cd06d15dd8bb59926e4d65f9003bfc20f9da4b2519985c27e190cddc8b7a7806",
+              "strip_prefix": "rules_android-0.1.1",
+              "urls": [
+                "https://github.com/bazelbuild/rules_android/archive/v0.1.1.zip"
+              ]
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_kotlin+",
+            "bazel_tools",
+            "bazel_tools"
+          ]
+        ]
+      }
+    },
+    "@@rules_python+//python/extensions:config.bzl%config": {
+      "general": {
+        "bzlTransitiveDigest": "W97kKxM+lW7l/kO0rQa7Jm31CA1j+W1bNHGKjwX5xMg=",
+        "usagesDigest": "ZVSXMAGpD+xzVNPuvF1IoLBkty7TROO0+akMapt1pAg=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "rules_python_internal": {
+            "repoRuleId": "@@rules_python+//python/private:internal_config_repo.bzl%internal_config_repo",
+            "attributes": {
+              "transition_setting_generators": {},
+              "transition_settings": []
+            }
+          },
+          "pypi__build": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/e2/03/f3c8ba0a6b6e30d7d18c40faab90807c9bb5e9a1e3b2fe2008af624a9c97/build-1.2.1-py3-none-any.whl",
+              "sha256": "75e10f767a433d9a86e50d83f418e83efc18ede923ee5ff7df93b6cb0306c5d4",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__click": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/00/2e/d53fa4befbf2cfa713304affc7ca780ce4fc1fd8710527771b58311a3229/click-8.1.7-py3-none-any.whl",
+              "sha256": "ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__colorama": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/d1/d6/3965ed04c63042e047cb6a3e6ed1a63a35087b6a609aa3a15ed8ac56c221/colorama-0.4.6-py2.py3-none-any.whl",
+              "sha256": "4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__importlib_metadata": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/2d/0a/679461c511447ffaf176567d5c496d1de27cbe34a87df6677d7171b2fbd4/importlib_metadata-7.1.0-py3-none-any.whl",
+              "sha256": "30962b96c0c223483ed6cc7280e7f0199feb01a0e40cfae4d4450fc6fab1f570",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__installer": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/e5/ca/1172b6638d52f2d6caa2dd262ec4c811ba59eee96d54a7701930726bce18/installer-0.7.0-py3-none-any.whl",
+              "sha256": "05d1933f0a5ba7d8d6296bb6d5018e7c94fa473ceb10cf198a92ccea19c27b53",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__more_itertools": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/50/e2/8e10e465ee3987bb7c9ab69efb91d867d93959095f4807db102d07995d94/more_itertools-10.2.0-py3-none-any.whl",
+              "sha256": "686b06abe565edfab151cb8fd385a05651e1fdf8f0a14191e4439283421f8684",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__packaging": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/49/df/1fceb2f8900f8639e278b056416d49134fb8d84c5942ffaa01ad34782422/packaging-24.0-py3-none-any.whl",
+              "sha256": "2ddfb553fdf02fb784c234c7ba6ccc288296ceabec964ad2eae3777778130bc5",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__pep517": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/25/6e/ca4a5434eb0e502210f591b97537d322546e4833dcb4d470a48c375c5540/pep517-0.13.1-py3-none-any.whl",
+              "sha256": "31b206f67165b3536dd577c5c3f1518e8fbaf38cbc57efff8369a392feff1721",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__pip": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/8a/6a/19e9fe04fca059ccf770861c7d5721ab4c2aebc539889e97c7977528a53b/pip-24.0-py3-none-any.whl",
+              "sha256": "ba0d021a166865d2265246961bec0152ff124de910c5cc39f1156ce3fa7c69dc",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__pip_tools": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/0d/dc/38f4ce065e92c66f058ea7a368a9c5de4e702272b479c0992059f7693941/pip_tools-7.4.1-py3-none-any.whl",
+              "sha256": "4c690e5fbae2f21e87843e89c26191f0d9454f362d8acdbd695716493ec8b3a9",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__pyproject_hooks": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/ae/f3/431b9d5fe7d14af7a32340792ef43b8a714e7726f1d7b69cc4e8e7a3f1d7/pyproject_hooks-1.1.0-py3-none-any.whl",
+              "sha256": "7ceeefe9aec63a1064c18d939bdc3adf2d8aa1988a510afec15151578b232aa2",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__setuptools": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/90/99/158ad0609729111163fc1f674a5a42f2605371a4cf036d0441070e2f7455/setuptools-78.1.1-py3-none-any.whl",
+              "sha256": "c3a9c4211ff4c309edb8b8c4f1cbfa7ae324c4ba9f91ff254e3d305b9fd54561",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__tomli": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/97/75/10a9ebee3fd790d20926a90a2547f0bf78f371b2f13aa822c759680ca7b9/tomli-2.0.1-py3-none-any.whl",
+              "sha256": "939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__wheel": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/7d/cd/d7460c9a869b16c3dd4e1e403cce337df165368c71d6af229a74699622ce/wheel-0.43.0-py3-none-any.whl",
+              "sha256": "55c570405f142630c6b9f72fe09d9b67cf1477fcf543ae5b8dcb1f5b7377da81",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          },
+          "pypi__zipp": {
+            "repoRuleId": "@@bazel_tools//tools/build_defs/repo:http.bzl%http_archive",
+            "attributes": {
+              "url": "https://files.pythonhosted.org/packages/da/55/a03fd7240714916507e1fcf7ae355bd9d9ed2e6db492595f1a67f61681be/zipp-3.18.2-py3-none-any.whl",
+              "sha256": "dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e",
+              "type": "zip",
+              "build_file_content": "package(default_visibility = [\"//visibility:public\"])\n\nload(\"@rules_python//python:py_library.bzl\", \"py_library\")\n\npy_library(\n    name = \"lib\",\n    srcs = glob([\"**/*.py\"]),\n    data = glob([\"**/*\"], exclude=[\n        # These entries include those put into user-installed dependencies by\n        # data_exclude to avoid non-determinism.\n        \"**/*.py\",\n        \"**/*.pyc\",\n        \"**/*.pyc.*\",  # During pyc creation, temp files named *.pyc.NNN are created\n        \"**/*.dist-info/RECORD\",\n        \"BUILD\",\n        \"WORKSPACE\",\n    ]),\n    # This makes this directory a top-level in the python import\n    # search path for anything that depends on this.\n    imports = [\".\"],\n)\n"
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_python+",
+            "bazel_tools",
+            "bazel_tools"
+          ],
+          [
+            "rules_python+",
+            "pypi__build",
+            "rules_python++config+pypi__build"
+          ],
+          [
+            "rules_python+",
+            "pypi__click",
+            "rules_python++config+pypi__click"
+          ],
+          [
+            "rules_python+",
+            "pypi__colorama",
+            "rules_python++config+pypi__colorama"
+          ],
+          [
+            "rules_python+",
+            "pypi__importlib_metadata",
+            "rules_python++config+pypi__importlib_metadata"
+          ],
+          [
+            "rules_python+",
+            "pypi__installer",
+            "rules_python++config+pypi__installer"
+          ],
+          [
+            "rules_python+",
+            "pypi__more_itertools",
+            "rules_python++config+pypi__more_itertools"
+          ],
+          [
+            "rules_python+",
+            "pypi__packaging",
+            "rules_python++config+pypi__packaging"
+          ],
+          [
+            "rules_python+",
+            "pypi__pep517",
+            "rules_python++config+pypi__pep517"
+          ],
+          [
+            "rules_python+",
+            "pypi__pip",
+            "rules_python++config+pypi__pip"
+          ],
+          [
+            "rules_python+",
+            "pypi__pip_tools",
+            "rules_python++config+pypi__pip_tools"
+          ],
+          [
+            "rules_python+",
+            "pypi__pyproject_hooks",
+            "rules_python++config+pypi__pyproject_hooks"
+          ],
+          [
+            "rules_python+",
+            "pypi__setuptools",
+            "rules_python++config+pypi__setuptools"
+          ],
+          [
+            "rules_python+",
+            "pypi__tomli",
+            "rules_python++config+pypi__tomli"
+          ],
+          [
+            "rules_python+",
+            "pypi__wheel",
+            "rules_python++config+pypi__wheel"
+          ],
+          [
+            "rules_python+",
+            "pypi__zipp",
+            "rules_python++config+pypi__zipp"
+          ]
+        ]
+      }
+    },
+    "@@rules_python+//python/uv:uv.bzl%uv": {
+      "general": {
+        "bzlTransitiveDigest": "zyNsrbgVKwpA0B3zI84imAfuC424VSzYNPgjr/HJy5M=",
+        "usagesDigest": "H8dQoNZcoqP+Mu0tHZTi4KHATzvNkM5ePuEqoQdklIU=",
+        "recordedFileInputs": {},
+        "recordedDirentsInputs": {},
+        "envVariables": {},
+        "generatedRepoSpecs": {
+          "uv": {
+            "repoRuleId": "@@rules_python+//python/uv/private:uv_toolchains_repo.bzl%uv_toolchains_repo",
+            "attributes": {
+              "toolchain_type": "'@@rules_python+//python/uv:uv_toolchain_type'",
+              "toolchain_names": [
+                "none"
+              ],
+              "toolchain_implementations": {
+                "none": "'@@rules_python+//python:none'"
+              },
+              "toolchain_compatible_with": {
+                "none": [
+                  "@platforms//:incompatible"
+                ]
+              },
+              "toolchain_target_settings": {}
+            }
+          }
+        },
+        "recordedRepoMappingEntries": [
+          [
+            "rules_python+",
+            "bazel_tools",
+            "bazel_tools"
+          ],
+          [
+            "rules_python+",
+            "platforms",
+            "platforms"
+          ]
+        ]
+      }
+    }
+  },
+  "facts": {}
+}

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.
 
@@ -135,7 +108,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * wpinet
   * wpiutil
 
-* wpilibNewCommands
+* commandsv2
   * wpilibc
   * hal
   * cameraserver

README-Bazel.md

@@ -0,0 +1,55 @@
+# 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_resources=memory=HOST_RAM*.5 # Don't use more than half my RAM when building
+  build --local_resources=cpu=HOST_CPUS-1 # Leave one core alone
+  ```
+Bazel's RAM usage estimation is simplistic and hardcoded, so limiting the allowed number of CPU cores is the best way to reduce memory usage if it becomes a problem.
+
+The default settings build all the release artifact variants relevant for your platform.  The overall list of options ends up being, essentially, all the variants of (linux, osx, windows) x (debug, release) x (static, shared) x (aarch64, x86).  OSX and Windows are hard to compile for from any other OS, so we by default build for your local OS and the system core, with all the variants.
+
+This can be a bit expensive.  If you would like to build a subset, you can specify the repo environmental variable, `WPI_PUBLISH_CLASSIFIER_FILTER`, and pick what you build for.  The default is, in the .bazelrc file,
+```
+common --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
+```
+
+Modify this to your likings if you want to build less.
+
+## Pregenerating Files
+allwpilib uses extensive use of pre-generating files that are later used to build C++ / Java libraries that are tracked by version control. Quite often,
+these pre-generation scripts use some configuration file to create multipile files inside of an output directory. While this process could be accomplished
+with a `genrule` that would require an explicit listing of every output file, which would be tedious to maintain as well as potentially confusing to people
+adding new features those libraries. Therefor, we use `@aspect_bazel_lib` and their `write_source_files` feature to generate these directories. In the event that the generation process creates more than a small handful of predictable files, a custom rule is written to generate the directory.
+
+## Remote Caching
+One of the huge benefits of bazel is its remote caching ability. However, due to bazels strict build definitions it is hard to share remote cache artifacts between different computers unless our toolchains are fully hermetic, which means you are unlikely to be able to reuse the cache artifacts published from the `main` branch on your local machine like you might be able to with the `gradle` or `cmake` caches. Luckily the github actions CI machines are generally stable between runs and can reuse cache artifacts, and your local machine should remain stable, so if you set up a free buildbuddy account you can have your forks CI actions be able to use a personalized cache, as well as your local machine.
+
+For the main `allwpilib` upstream, the cache is only updated on the main branch; pull requests from forks will not be able to modify the cache. However, you can set up your fork to enable its own cache by following the steps below.
+
+### Setting Up API keys
+Follow the [buildbuddy authentication](https://www.buildbuddy.io/docs/guide-auth) guide to create keys. For your local machine, it is recommended that you place the following configuration line in either a `user.bazelrc` or `bazel_auth.rc` file in the repositories root directory.
+
+```
+build --remote_header=<your api key>
+```
+
+To get your forks CI actions using your own buildbuddy cache, follow [GitHub's](https://docs.github.com/en/actions/how-tos/security-for-github-actions/security-guides/using-secrets-in-github-actions) documentation for setting up a repository secret. The secrets key should be `BUILDBUDDY_API_KEY`, and the value should be your buildbuddy API key.

README-CMAKE.md

@@ -1,169 +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 +1,234 @@
+# 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
+* commandsv3
+* cscore
+* fields
+* hal (simulation HAL only)
+* ntcore
+* romiVendordep
+* simulation extensions
+* wpigui
+* wpilib (wpilibc, wpilibj, and myRobot)
+* commandsv2
+* wpimath
+* wpinet
+* wpiunits
+* wpiutil
+* xrpVendordep
+
+## GUI apps that get built
+* datalogtool
+* glass
+* outlineviewer
+* 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
+
+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 21 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_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.
+
+## 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 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 commandsv2_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
+export_jars(TARGETS robot FILE robot.jar)
+```
+This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
+Add a `Main.java` file to contain your code, and create a build folder. Move into the build folder, and run
+
+```
+cmake /path/to/folder/containing/CMakeLists
+```
+
+After that, run `cmake --build .` to create your JAR file. To execute the JAR file, you need to include the wpilib JARs and your JAR in the classpath, and execute your Java program's entry point. If you are using cscore or cameraserver, you also need to include the path to the OpenCV JAR. If you built it from source, it will be in your OpenCV build directory. If it's installed on the system, CMake may find it from PATH, but you will likely need to locate the JAR and manually give CMake the JAR directory. If you are on Linux, you will also need to add the path of the libraries to `LD_LIBRARY_PATH`. This can be done by prepending `LD_LIBRARY_PATH=/path/to/libraries` to the Java command. If you need to add more paths, separate them with colons. The final command should look like `java -cp "robot.jar:/path/to/library_jars/*" main.package.Main`, using a semicolon to separate paths instead of a colon if you are on Windows. If you are on Linux, the final command should look more like `LD_LIBRARY_PATH=/path/to/libraries java -cp robot.jar:/path/to/library_jars/* main.package.Main`.
+
+## Using vendordeps
+
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that commandsv2, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, 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. If the error is coming from cscore specifically, it's likely you're missing OpenCV. Otherwise, it's likely the wpilib libraries are not in a directory on PATH.
+
+Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

README-RobotPy.md

@@ -0,0 +1,97 @@
+# robotpy in allwpilb
+allwpilib hosts a mirror of RobotPy that can be built with bazel on Linux. The intent of the mirror is to have breaking changes identified early and fixed by the PR creator so that when wpilib releases are made there is much less work required to release a RobotPy version that wraps it. It is not a goal for allwpilib to replace the RobotPy repo; it will still be considered the "source of truth" for python builds and will be responsible for building against all of the applicable architectures and multiple versions of python.
+
+## Build Process
+The upstream RobotPy repository uses toml configuration files and semiwrap to produce Meson build scripts. The allwpilib fork uses these toml configuration files to auto generate bazel build scripts. In general, each project (wpiutil, wpimath, etc) defines two pybind extensions; one that simply wraps the native library, and another that adds extension(s) that and contains all of the python files for the library. Both of these subprojects have auto-generated build files; a `robotpy_native_build_info.bzl` for the lidar wraper and `robotpy_pybind_build_info.bzl` which defines the extensions and python library.
+
+## Disabling robotpy builds
+Building the robotpy software on top of the standard C++/Java software can result in more than doubling the amount of time it takes to compile. To skip building the robotpy tooling you can add `--config=skip_robotpy` to the command line or to your `user.bazelrc`
+
+# Syncing with robotpy
+[Copybara](https://github.com/google/copybara) is used to maintin synchronization between the upstream robotpy repositories and the allwpilib mirror. Github actions can be manually run which will create pull requests that will update all of the robotpy files between the two repositories. The ideal process is that the allwpilib mirror is always building in CI, and once a release is created the RobotPy team can run the `wpilib -> robotpy` copybara task, make any fine tuned adjustements and create their release. In the event that additional changes are made on the robotpy side, they can run the `robotpy -> wpilib` task to push the updates back to the mirror. However the goal of the mirroring the software here is to be able to more rapidly test changes and will hopefully overwhelmingly eliminate the need for syncs this direction.
+
+## Creating a user config
+The copybara scripts needs to know information about what repositories it will be pushing the sync'd changes. These can be specified on the command line, or you can create a `shared/bazel/copybara/.copybara.json` config file to save your personalized settings to avoid having to type things out every time. To run the full suite of migrations, you need a fork of [allwpilib](https://github.com/wpilibsuite/allwpilib), a fork of [mostrobotpy](https://github.com/robotpy/mostrobotpy), and a fork of robotpy's [commands-v2](https://github.com/robotpy/robotpy-commands-v2). If you only wish to run a subset of commands (i.e. not sync the commands project), you do not need to include that in your user config.
+
+Example config:
+```
+{
+    "mostrobotpy_local_repo_path": "/home/<username>/git/robotpy/robotpy_monorepo/mostrobotpy",
+
+    "mostrobotpy_fork_repo": "https://github.com/<username>/mostrobotpy.git",
+    "allwpilib_fork_repo": "https://github.com/<username>/allwpilib.git",
+    "robotpy_commandsv2_fork_repo":  "https://github.com/<username>/robotpy-commands-v2.git"
+}
+```
+
+## Running syncs
+- **Pulling changes from mostrobotpy**:
+
+    `python3 shared/bazel/copybara/run_copybara.py mostrobotpy_to_allwpilib`
+
+
+- **Pulling changes from the commands library**:
+
+    `python3 shared/bazel/copybara/run_copybara.py commandsv2_to_allwpilib`
+
+- **Pushing changes to the commands library**:
+
+    `python3 shared/bazel/copybara/run_copybara.py allwpilib_to_commandsv2`
+
+- **Pushing changes to mostrobotpy**:
+
+    This process is slightly more complicated, because you will almost certainly also need to update the maven artifacts that mostrobopy is using. Because of this, you must also specify the version number that has been published to wpilibs maven repository. If you are trying to get an early, non-released development build pushed over, you can also add the `--development_build` flag
+
+    `python3 shared/bazel/copybara/run_copybara.py allwpilib_to_mostrobotpy --wpilib_bin_version=2027.0.0-alpha-3-86-g418b381 --development_build -y`
+
+
+# Debugging Build Errors
+The build process is highly automated and automatically parses C++ header files to generate pybind11 bindings. Some of these steps here are considered "pregeneration" steps, and the bazel build system will update build files as necessary. If a new header is added, or if the contents of a header file has changed, some of the pregeneration scripts might need to be run. If you encounter an error building `robotpy` code, it is recommended that you go through these steps to make sure everything is set up correctly. The examples are for `wpilibc`, but similar build tasks and tests exist for each wrapped project
+
+## 1. scan-headers
+This can be the first source of problems if a new header file has been added. `semiwrap` will look through all of the headers for a library and notify you if a file is not covered by the projects `pyproject.toml` file. Bazel has a test case to ensure the files are up to date.
+
+An example test failure when a new header being introduced. You can run the test with the following command
+
+bazel run //wpilibc:robotpy-wpilib-scan-headers
+
+```
+# wpi
+ExpansionHub = "wpi/ExpansionHub.hpp"
+ExpansionHubMotor = "wpi/ExpansionHubMotor.hpp"
+ExpansionHubPidConstants = "wpi/ExpansionHubPidConstants.hpp"
+ExpansionHubServo = "wpi/ExpansionHubServo.hpp"
+
+```
+
+To fix this, you can copy the lines from the console, and add them to the pyproject.toml file, located here `wpilibc/src/main/python/pyproject.toml`
+
+## 2. update-yaml
+This process parses all of the header files, and creates a representation of the classes / enums / etc in yaml. Occasionally some functions might be ignored or need custom pybind code, which can be added to these files by the user.
+
+There is a bazel task that you can run to automatically update the files:
+
+`bazel run //wpilibc:write_robotpy-wpilib-update-yaml`
+
+
+## 3. generate-build-info
+This step takes the yaml files, and auto generates a bazel build script for the library.
+
+There is a bazel task that you can run to automatically update the files:
+
+`bazel run //wpilibc:robotpy-wpilib-generator.generate_build_info`
+
+## semiwrap errors
+If all of these steps above go smoothly and have their tests pass, but the generated cpp files still won't compile, it is possible that either an update needs to be made to the semiwrap tool to handle the new complex functionality, the new functionality can be ignored, or the new functionality might be better handled with a custom pybind11 implementation. In any case, it is best to reach out to the robotpy team for guidance.
+
+## Running multiple projects at once
+Each project has its own `scan-headers` and various pregeneration tools, but you can run all of them at once with the following commands. Note: Sometimes if something in the dependency chain for a library fails, these amalgamation commands will also fail. If that happens, fix your way up the dependency chain project by project.
+
+```
+# Scan Headers
+bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
+
+# All pregen
+bazel run //:write_robotpy_files
+
+```

README.md

@@ -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
 
@@ -41,26 +42,31 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 ## Requirements
 
-- [JDK 11](https://adoptium.net/temurin/releases/?version=11)
+- [JDK 21](https://adoptium.net/temurin/releases/?version=21)
     - 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-21-jdk`
+    - On Windows, install the JDK 21 .msi from the link above
+    - On macOS, install the JDK 21 .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
 - Raspberry Pi toolchain (optional)
     - Run `./gradlew installArm32Toolchain` after cloning this repository
+- Systemcore toolchain (required for Systemcore development)
+    - Run `./gradlew installSystemCoreToolchain` after cloning this repository
+    - If the WPILib installer was used, this toolchain is already installed
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
+On linux, run `sudo apt install libx11-dev libgl-dev libxcursor-dev libxrandr-dev libxinerama-dev libxi-dev` to be able to build things depending on glfw.
+
 ## Setup
 
-Clone the WPILib repository and follow the instructions above for installing any required tooling.
+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.
 
@@ -97,7 +103,7 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 - `cscore`
 - `hal`
 - `ntcore`
-- `wpilibNewCommands`
+- `commandsv2`
 - `wpimath`
 - `wpinet`
 - `wpiunits`
@@ -133,6 +139,9 @@ 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 +152,17 @@ 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 +196,3 @@ 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
@@ -31,18 +31,30 @@ CoreUI                wpinet/src/main/native/resources/coreui-*
 Feather Icons         wpinet/src/main/native/resources/feather-*
 jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
-units                 wpimath/src/main/native/include/units/
+units                 wpimath/src/main/native/include/wpi/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
-Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
+Team 254 Library      wpimath/src/main/java/org/wpilib/math/spline/SplineParameterizer.java
+                      wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java
+                      wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
+                      wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
+                      wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
+Portable File Dialogs wpigui/src/main/native/include/wpi/gui/portable-file-dialogs.h
+V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.hpp
 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/util/argparse.hpp
+apriltag              apriltag/src/main/native/thirdparty/apriltag
+glfw                  thirdparty/imgui_suite/glfw
+Dear ImGui            thirdparty/imgui_suite/imgui
+implot                thirdparty/imgui_suite/implot
+nanopb                wpiutil/src/main/native/thirdparty/nanopb
+upb                   wpiutil/src/main/native/thirdparty/upb
+mrcal                 tools/wpical/src/main/native/thirdparty/mrcal
+libdogleg             tools/wpical/src/main/native/thirdparty/libdogleg
+Simd                  hal/src/main/native/systemcore/simd
+
+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.
+
+================
+upb 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
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright (c) 2017-2023 California Institute of Technology ("Caltech"). U.S.
+   Government sponsorship acknowledged. All rights reserved.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=================
+libdogleg License
+=================
+Copyright 2011 Oblong Industries 2017 Dima Kogan <dima@secretsauce.net>
+
+This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
+
+This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
+
+The full text of the license is available at http://www.gnu.org/licenses
+
+============
+Simd License
+============
+
+MIT License
+
+Copyright (c) 2011-2017 Ihar Yermalayeu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

WORKSPACE.bzlmod

@@ -0,0 +1,47 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
+load("//thirdparty/ceres:repositories.bzl", "ceres_repositories")
+
+ceres_repositories()
+
+http_archive(
+    name = "pybind11_bazel",
+    integrity = "sha256-iwRj1wuX2pDS6t6DqiCfhIXisv4y+7CvxSJtZoSAzGw=",
+    strip_prefix = "pybind11_bazel-2b6082a4d9d163a52299718113fa41e4b7978db5",
+    urls = ["https://github.com/pybind/pybind11_bazel/archive/2b6082a4d9d163a52299718113fa41e4b7978db5.tar.gz"],
+)
+
+http_archive(
+    name = "pybind11",
+    build_file = "@pybind11_bazel//:pybind11-BUILD.bazel",
+    integrity = "sha256-LyCgrwuSGBXg4Wnqf+xjkJhpMjWBuJ194VU0aFU/ai0=",
+    strip_prefix = "pybind11-3.0.2",
+    url = "https://github.com/pybind/pybind11/archive/refs/tags/v3.0.2.tar.gz",
+)
+
+http_archive(
+    name = "bzlmodrio-opencv",
+    sha256 = "867ec3e90b7efc30ff6eb68d14050e7f1e800656d390505b135069f080c5cd91",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr5/bzlmodRio-opencv-2025.4.10.0-3.bcr5.tar.gz",
+)
+
+load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")
+
+setup_legacy_bzlmodrio_opencv_cpp_dependencies()
+
+http_archive(
+    name = "bzlmodrio-libssh",
+    sha256 = "f8fef627c7b393f7f6ed638e12b80ff90b2cfea11488b15214f25ce1e470723a",
+    url = "https://github.com/wpilibsuite/bzlmodRio-libssh/releases/download/2024.0.105-1.bcr1/bzlmodrio-libssh-2024.0.105-1.bcr1.tar.gz",
+)
+
+load("@bzlmodrio-libssh//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_libssh_cpp_dependencies")
+
+setup_legacy_bzlmodrio_libssh_cpp_dependencies()
+
+# Capture the repository environmental variables which specify the filter list for what architectures to build in CI.
+load("//shared/bazel/rules:publishing_rule.bzl", "publishing_repo")
+
+publishing_repo(
+    name = "com_wpilib_allwpilib_publishing_config",
+)

apriltag/BUILD.bazel

@@ -0,0 +1,272 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pkg//:mappings.bzl", "pkg_files")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//apriltag:robotpy_native_build_info.bzl", "define_native_wrapper")
+load("//apriltag:robotpy_pybind_build_info.bzl", "apriltag_extension", "define_pybind_library")
+load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
+load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
+load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
+load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
+
+filegroup(
+    name = "doxygen-files",
+    srcs = glob([
+        "src/main/native/include/**/*",
+        "src/main/native/thirdparty/apriltag/include/**/*",
+    ]),
+    visibility = ["//visibility:public"],
+)
+
+pkg_files(
+    name = "thirdparty-apriltag-src-pkg",
+    srcs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
+    strip_prefix = "src/main/native/thirdparty/apriltag/include",
+)
+
+cc_library(
+    name = "thirdparty-apriltag",
+    srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
+    hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
+    copts = select({
+        "@platforms//os:osx": [
+            "-Wno-format-nonliteral",
+            "-Wno-gnu-zero-variadic-macro-arguments",
+            "-Wno-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+        "@platforms//os:windows": [
+            "/wd4005",
+            "/wd4018",
+            "/wd4244",
+            "/wd4267",
+            "/wd4996",
+        ],
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [
+            "-Wno-format-nonliteral",
+            "-Wno-maybe-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+    }),
+    includes = ["src/main/native/thirdparty/apriltag/include/common"],
+    strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
+)
+
+generate_resources(
+    name = "generate-resources",
+    namespace = "wpi::apriltag",
+    prefix = "APRILTAG",
+    resource_files = glob(["src/main/native/resources/**"]),
+)
+
+wpilib_cc_library(
+    name = "apriltag",
+    srcs = [":generate-resources"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    extra_hdr_pkg_files = [":thirdparty-apriltag-src-pkg"],
+    extra_src_pkg_files = [":apriltag-java-jni-hdrs-pkg"],
+    local_defines = ["WPILIB_EXPORTS"],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":thirdparty-apriltag",
+        "//wpimath",
+        "//wpiutil",
+    ],
+)
+
+wpilib_cc_shared_library(
+    name = "shared/apriltag",
+    auto_export_windows_symbols = False,
+    dynamic_deps = [
+        "//wpimath:shared/wpimath",
+        "//wpiutil:shared/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag",
+        ":thirdparty-apriltag",
+    ],
+)
+
+wpilib_cc_static_library(
+    name = "static/apriltag",
+    static_deps = [
+        "//wpimath:static/wpimath",
+        "//wpiutil:static/wpiutil",
+    ],
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag",
+    ],
+)
+
+wpilib_jni_cc_library(
+    name = "apriltagjni",
+    srcs = glob(["src/main/native/cpp/jni/**"]),
+    java_dep = ":apriltag-java",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":apriltag",
+    ],
+)
+
+wpilib_cc_shared_library(
+    name = "shared/apriltagjni",
+    auto_export_windows_symbols = False,
+    dynamic_deps = [
+        ":shared/apriltag",
+        "//wpimath:shared/wpimath",
+        "//wpiutil:shared/wpiutil",
+    ],
+    use_debug_name = False,
+    visibility = ["//visibility:public"],
+    deps = [":apriltagjni"],
+)
+
+wpilib_jni_java_library(
+    name = "apriltag-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    extra_source_pkgs = ["resources"],
+    maven_artifact_name = "apriltag-java",
+    maven_group_id = "org.wpilib.apriltag",
+    native_libs = [":apriltagjni"],
+    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",
+    ],
+)
+
+pkg_files(
+    name = "resources",
+    srcs = glob(["src/main/native/resources/**"]),
+    strip_prefix = "src/main/native/resources/",
+)
+
+cc_test(
+    name = "apriltag-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    tags = [
+        "no-asan",
+    ],
+    deps = [
+        ":apriltag",
+        "//thirdparty/googletest",
+    ],
+)
+
+wpilib_java_junit5_test(
+    name = "apriltag-java-test",
+    srcs = glob(["src/test/java/**/*.java"]),
+    resource_strip_prefix = "apriltag/src/test/resources",
+    resources = glob(["src/test/resources/**"]),
+    deps = [
+        ":apriltag-java",
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":apriltag",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/org/wpilib/vision/apriltag/DevMain.java"],
+    main_class = "org.wpilib.vision.apriltag.DevMain",
+    deps = [
+        ":apriltag-java",
+    ],
+)
+
+py_binary(
+    name = "convert_apriltag_layouts",
+    srcs = ["convert_apriltag_layouts.py"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+)
+
+package_default_jni_project(
+    name = "apriltag",
+    maven_artifact_name = "apriltag-cpp",
+    maven_group_id = "org.wpilib.apriltag",
+)
+
+generate_robotpy_native_wrapper_build_info(
+    name = "robotpy-native-apriltag-generator",
+    pyproject_toml = "src/main/python/native-pyproject.toml",
+    third_party_dirs = ["apriltag"],
+)
+
+define_native_wrapper(
+    name = "robotpy-native-apriltag",
+    pyproject_toml = "src/main/python/native-pyproject.toml",
+)
+
+PYBIND_PKGCFG_DEPS = [
+    "//apriltag:native/apriltag/robotpy-native-apriltag.pc",
+    "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
+    "//wpimath:robotpy-wpimath.generated_pkgcfg_files",
+    "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
+    "//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
+]
+
+generate_robotpy_pybind_build_info(
+    name = "robotpy-apriltag-generator",
+    additional_srcs = [":robotpy-native-apriltag.copy_headers"],
+    package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
+    pkgcfgs = PYBIND_PKGCFG_DEPS,
+    yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
+)
+
+apriltag_extension(
+    srcs = ["src/main/python/robotpy_apriltag/src/main.cpp"],
+    includes = [
+        "src/main/python/datalog/",
+    ],
+)
+
+define_pybind_library(
+    name = "robotpy-apriltag",
+    pkgcfgs = PYBIND_PKGCFG_DEPS,
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    data = glob([
+        "src/test/python/*.png",
+        "src/test/python/*.jpg",
+    ]),
+    deps = [
+        ":robotpy-apriltag",
+        requirement("pytest"),
+        requirement("opencv-python"),
+    ],
+)

apriltag/CMakeLists.txt

@@ -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
@@ -58,16 +62,24 @@ if(WITH_JAVA)
         apriltag_jar
         SOURCES ${JAVA_SOURCES}
         RESOURCES
-        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-        INCLUDE_JARS wpimath_jar wpiunits_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
+        NAMESPACE "org/wpilib/vision/apriltag" ${JAVA_RESOURCES}
+        INCLUDE_JARS
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            ${EJML_JARS}
+            ${OPENCV_JAR_FILE}
+            ${JACKSON_JARS}
         OUTPUT_NAME apriltag
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS apriltag_jni_headers
     )
+    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
 
     install_jar(apriltag_jar DESTINATION ${java_lib_dest})
     install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
 
-    add_library(apriltagjni ${apriltag_jni_src})
+    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/org/wpilib/vision/apriltag
+    generated/main/cpp
+    APRILTAG
+    wpi::apriltag
+    apriltag_resources_src
+)
 
 file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
 
-add_library(
-    apriltag
-    ${apriltag_native_src}
-    ${apriltag_resources_src}
-    ${APRILTAGLIB_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

@@ -1,8 +1,10 @@
 apply from: "${rootDir}/shared/resources.gradle"
 
+apply plugin: 'c'
+
 ext {
     nativeName = 'apriltag'
-    devMain = 'edu.wpi.first.apriltag.DevMain'
+    devMain = 'org.wpilib.vision.apriltag.DevMain'
     useJava = true
     useCpp = true
     sharedCvConfigs = [
@@ -10,7 +12,7 @@ ext {
         apriltagTest: []]
     staticCvConfigs = []
 
-    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'frc', project)
+    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'wpi::apriltag', project)
 
     tasks.withType(CppCompile) {
         dependsOn generateTask
@@ -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/robotpy_native_build_info.bzl

@@ -0,0 +1,47 @@
+# THIS FILE IS AUTO GENERATED
+
+load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
+load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
+
+def define_native_wrapper(name, pyproject_toml = None):
+    copy_to_directory(
+        name = "{}.copy_headers".format(name),
+        srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True) + native.glob([
+            "src/main/native/thirdparty/apriltag/include/**",
+        ]),
+        out = "native/apriltag/include",
+        root_paths = ["src/main/native/include/"],
+        replace_prefixes = {
+            "apriltag/src/generated/main/native/include": "",
+            "apriltag/src/main/native/include": "",
+            "apriltag/src/main/native/thirdparty/apriltag/include": "",
+        },
+        verbose = False,
+        visibility = ["//visibility:public"],
+    )
+
+    native_wrappery_library(
+        name = name,
+        pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
+        libinit_file = "native/apriltag/_init_robotpy_native_apriltag.py",
+        pc_file = "native/apriltag/robotpy-native-apriltag.pc",
+        pc_deps = [
+            "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
+            "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
+        ],
+        deps = [
+            "//wpimath:robotpy-native-wpimath",
+            "//wpiutil:robotpy-native-wpiutil",
+        ],
+        headers = "{}.copy_headers".format(name),
+        native_shared_library = "shared/apriltag",
+        install_path = "native/apriltag/",
+        strip_path_prefixes = ["apriltag"],
+        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpimath==0.0.0"],
+        summary = "WPILib AprilTag Library",
+        entry_points = {
+            "pkg_config": [
+                "apriltag = native.apriltag",
+            ],
+        },
+    )

apriltag/robotpy_pybind_build_info.bzl

@@ -0,0 +1,250 @@
+# THIS FILE IS AUTO GENERATED
+
+load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
+load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
+load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
+load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
+
+def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
+    APRILTAG_HEADER_GEN = [
+        struct(
+            class_name = "AprilTag",
+            yml_file = "semiwrap/AprilTag.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTag.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::apriltag::AprilTag", "wpi__apriltag__AprilTag.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "AprilTagDetection",
+            yml_file = "semiwrap/AprilTagDetection.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagDetection.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::apriltag::AprilTagDetection", "wpi__apriltag__AprilTagDetection.hpp"),
+                ("wpi::apriltag::AprilTagDetection::Point", "wpi__apriltag__AprilTagDetection__Point.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "AprilTagDetector",
+            yml_file = "semiwrap/AprilTagDetector.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagDetector.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::apriltag::AprilTagDetector", "wpi__apriltag__AprilTagDetector.hpp"),
+                ("wpi::apriltag::AprilTagDetector::Config", "wpi__apriltag__AprilTagDetector__Config.hpp"),
+                ("wpi::apriltag::AprilTagDetector::QuadThresholdParameters", "wpi__apriltag__AprilTagDetector__QuadThresholdParameters.hpp"),
+                ("wpi::apriltag::AprilTagDetector::Results", "wpi__apriltag__AprilTagDetector__Results.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "AprilTagFieldLayout",
+            yml_file = "semiwrap/AprilTagFieldLayout.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagFieldLayout.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::apriltag::AprilTagFieldLayout", "wpi__apriltag__AprilTagFieldLayout.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "AprilTagFields",
+            yml_file = "semiwrap/AprilTagFields.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagFields.hpp",
+            tmpl_class_names = [],
+            trampolines = [],
+        ),
+        struct(
+            class_name = "AprilTagPoseEstimate",
+            yml_file = "semiwrap/AprilTagPoseEstimate.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagPoseEstimate.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::apriltag::AprilTagPoseEstimate", "wpi__apriltag__AprilTagPoseEstimate.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "AprilTagPoseEstimator",
+            yml_file = "semiwrap/AprilTagPoseEstimator.yml",
+            header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
+            header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagPoseEstimator.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::apriltag::AprilTagPoseEstimator", "wpi__apriltag__AprilTagPoseEstimator.hpp"),
+                ("wpi::apriltag::AprilTagPoseEstimator::Config", "wpi__apriltag__AprilTagPoseEstimator__Config.hpp"),
+            ],
+        ),
+    ]
+
+    resolve_casters(
+        name = "apriltag.resolve_casters",
+        caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
+        casters_pkl_file = "apriltag.casters.pkl",
+        dep_file = "apriltag.casters.d",
+    )
+
+    gen_libinit(
+        name = "apriltag.gen_lib_init",
+        output_file = "src/main/python/robotpy_apriltag/_init__apriltag.py",
+        modules = ["native.apriltag._init_robotpy_native_apriltag", "wpiutil._init__wpiutil", "wpimath._init__wpimath"],
+    )
+
+    gen_pkgconf(
+        name = "apriltag.gen_pkgconf",
+        libinit_py = "robotpy_apriltag._init__apriltag",
+        module_pkg_name = "robotpy_apriltag._apriltag",
+        output_file = "apriltag.pc",
+        pkg_name = "apriltag",
+        install_path = "src/main/python/robotpy_apriltag",
+        project_file = "src/main/python/pyproject.toml",
+        package_root = "src/main/python/robotpy_apriltag/__init__.py",
+    )
+
+    gen_modinit_hpp(
+        name = "apriltag.gen_modinit_hpp",
+        input_dats = [x.class_name for x in APRILTAG_HEADER_GEN],
+        libname = "_apriltag",
+        output_file = "semiwrap_init.robotpy_apriltag._apriltag.hpp",
+    )
+
+    run_header_gen(
+        name = "apriltag",
+        casters_pickle = "apriltag.casters.pkl",
+        header_gen_config = APRILTAG_HEADER_GEN,
+        trampoline_subpath = "src/main/python/robotpy_apriltag",
+        deps = header_to_dat_deps,
+        local_native_libraries = [
+            "//apriltag:robotpy-native-apriltag.copy_headers",
+            "//wpimath:robotpy-native-wpimath.copy_headers",
+            "//wpiutil:robotpy-native-wpiutil.copy_headers",
+        ],
+    )
+
+    create_pybind_library(
+        name = "apriltag",
+        install_path = "src/main/python/robotpy_apriltag/",
+        extension_name = "_apriltag",
+        generated_srcs = [":apriltag.generated_srcs"],
+        semiwrap_header = [":apriltag.gen_modinit_hpp"],
+        deps = [
+            ":apriltag.tmpl_hdrs",
+            ":apriltag.trampoline_hdrs",
+            "//apriltag:apriltag",
+            "//wpimath:wpimath",
+            "//wpimath:wpimath_pybind_library",
+            "//wpiutil:wpiutil",
+            "//wpiutil:wpiutil_pybind_library",
+        ],
+        dynamic_deps = [
+            "//apriltag:shared/apriltag",
+            "//wpimath:shared/wpimath",
+            "//wpiutil:shared/wpiutil",
+        ],
+        extra_hdrs = extra_hdrs,
+        extra_srcs = srcs,
+        includes = includes,
+    )
+
+    native.filegroup(
+        name = "apriltag.generated_files",
+        srcs = [
+            "apriltag.gen_modinit_hpp.gen",
+            "apriltag.header_gen_files",
+            "apriltag.gen_pkgconf",
+            "apriltag.gen_lib_init",
+        ],
+        tags = ["manual", "robotpy"],
+    )
+
+def define_pybind_library(name, pkgcfgs = []):
+    # Helper used to generate all files with one target.
+    native.filegroup(
+        name = "{}.generated_files".format(name),
+        srcs = [
+            "apriltag.generated_files",
+        ],
+        tags = ["manual", "robotpy"],
+        visibility = ["//visibility:public"],
+    )
+
+    # Files that will be included in the wheel as data deps
+    native.filegroup(
+        name = "{}.generated_pkgcfg_files".format(name),
+        srcs = [
+            "src/main/python/robotpy_apriltag/apriltag.pc",
+        ],
+        tags = ["manual", "robotpy"],
+        visibility = ["//visibility:public"],
+    )
+
+    # Contains all of the non-python files that need to be included in the wheel
+    native.filegroup(
+        name = "{}.extra_files".format(name),
+        srcs = native.glob(["src/main/python/robotpy_apriltag/**"], exclude = ["src/main/python/robotpy_apriltag/**/*.py"], allow_empty = True),
+        tags = ["manual", "robotpy"],
+    )
+
+    generate_version_file(
+        name = "{}.generate_version".format(name),
+        output_file = "src/main/python/robotpy_apriltag/version.py",
+        template = "//shared/bazel/rules/robotpy:version_template.in",
+    )
+
+    robotpy_library(
+        name = name,
+        srcs = native.glob(["src/main/python/robotpy_apriltag/**/*.py"]) + [
+            "src/main/python/robotpy_apriltag/_init__apriltag.py",
+            "{}.generate_version".format(name),
+        ],
+        data = [
+            "{}.generated_pkgcfg_files".format(name),
+            "{}.extra_files".format(name),
+            ":src/main/python/robotpy_apriltag/_apriltag",
+            ":apriltag.trampoline_hdr_files",
+        ],
+        imports = ["src/main/python"],
+        deps = [
+            "//apriltag:robotpy-native-apriltag",
+            "//wpimath:robotpy-wpimath",
+            "//wpiutil:robotpy-wpiutil",
+        ],
+        strip_path_prefixes = ["apriltag/src/main/python", "apriltag"],
+        summary = "RobotPy bindings for WPILib's AprilTag library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-apriltag==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0"],
+        entry_points = {
+            "pkg_config": ["apriltag = robotpy_apriltag"],
+        },
+        visibility = ["//visibility:public"],
+    )
+
+    update_yaml_files(
+        name = "{}-update-yaml".format(name),
+        yaml_output_directory = "src/main/python/semiwrap",
+        extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
+            "//apriltag:robotpy-native-apriltag.copy_headers",
+            "//wpimath:robotpy-native-wpimath.copy_headers",
+            "//wpiutil:robotpy-native-wpiutil.copy_headers",
+        ],
+        package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
+        pkgcfgs = pkgcfgs,
+        pyproject_toml = "src/main/python/pyproject.toml",
+        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+    )
+
+    scan_headers(
+        name = "{}-scan-headers".format(name),
+        extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
+            "//apriltag:robotpy-native-apriltag.copy_headers",
+        ],
+        package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
+        pkgcfgs = pkgcfgs,
+        pyproject_toml = "src/main/python/pyproject.toml",
+    )

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

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

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

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

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

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

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

@@ -1,40 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.apriltag;
-
-import java.io.UncheckedIOException;
-
-/** Loadable AprilTag field layouts. */
-public enum AprilTagFields {
-  /** 2022 Rapid React. */
-  k2022RapidReact("2022-rapidreact.json"),
-  /** 2023 Charged Up. */
-  k2023ChargedUp("2023-chargedup.json"),
-  /** 2024 Crescendo. */
-  k2024Crescendo("2024-crescendo.json");
-
-  /** Base resource directory. */
-  public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
-
-  /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2024Crescendo;
-
-  /** Resource filename. */
-  public final String m_resourceFile;
-
-  AprilTagFields(String resourceFile) {
-    m_resourceFile = kBaseResourceDir + resourceFile;
-  }
-
-  /**
-   * Get a {@link AprilTagFieldLayout} from the resource JSON.
-   *
-   * @return AprilTagFieldLayout of the field
-   * @throws UncheckedIOException If the layout does not exist
-   */
-  public AprilTagFieldLayout loadAprilTagLayoutField() {
-    return AprilTagFieldLayout.loadField(this);
-  }
-}

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

@@ -2,14 +2,14 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.util.RawFrame;
 import java.util.Objects;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.util.RawFrame;
+import org.wpilib.vision.apriltag.jni.AprilTagJNI;
 
 /** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")
@@ -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/org/wpilib/vision/apriltag/AprilTagDetection.java

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

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

@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
 import org.opencv.core.Mat;
+import org.wpilib.vision.apriltag.jni.AprilTagJNI;
 
 /**
  * An AprilTag detector engine. This is expensive to set up and tear down, so most use cases should
@@ -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/org/wpilib/vision/apriltag/AprilTagFieldLayout.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
 import com.fasterxml.jackson.annotation.JsonAutoDetect;
 import com.fasterxml.jackson.annotation.JsonCreator;
@@ -10,13 +10,11 @@ import com.fasterxml.jackson.annotation.JsonIgnore;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation3d;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
 import java.io.UncheckedIOException;
+import java.nio.charset.StandardCharsets;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -24,6 +22,9 @@ import java.util.List;
 import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
 
 /**
  * Class for representing a layout of AprilTags on a field and reading them from a JSON format.
@@ -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/org/wpilib/vision/apriltag/AprilTagFields.java

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

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

@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
-import edu.wpi.first.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Transform3d;
 
 /** A pair of AprilTag pose estimates. */
 @SuppressWarnings("MemberName")

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

@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.vision.apriltag.jni.AprilTagJNI;
 
 /** Pose estimators for AprilTag tags. */
 public class AprilTagPoseEstimator {
@@ -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/org/wpilib/vision/apriltag/jni/AprilTagJNI.java

@@ -2,23 +2,21 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag.jni;
+package org.wpilib.vision.apriltag.jni;
 
-import edu.wpi.first.apriltag.AprilTagDetection;
-import edu.wpi.first.apriltag.AprilTagDetector;
-import edu.wpi.first.apriltag.AprilTagPoseEstimate;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.util.RawFrame;
-import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.util.RawFrame;
+import org.wpilib.util.runtime.RuntimeLoader;
+import org.wpilib.vision.apriltag.AprilTagDetection;
+import org.wpilib.vision.apriltag.AprilTagDetector;
+import org.wpilib.vision.apriltag.AprilTagPoseEstimate;
 
 /** AprilTag JNI. */
 public class AprilTagJNI {
   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/AprilTag.cpp

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

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

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

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

@@ -2,10 +2,10 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagDetector.h"
+#include "wpi/apriltag/AprilTagDetector.hpp"
 
 #include <cmath>
-#include <numbers>
+#include <utility>
 
 #ifdef _WIN32
 #pragma warning(disable : 4200)
@@ -17,15 +17,9 @@
 
 #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;
+using namespace wpi::apriltag;
 
 AprilTagDetector::Results::Results(void* impl, const private_init&)
     : span{reinterpret_cast<AprilTagDetection**>(
@@ -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

@@ -2,38 +2,41 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
 
 #include <system_error>
+#include <utility>
+#include <vector>
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 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::util::MemoryBuffer::GetFile(path);
+  if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse(fileBuffer->GetCharBuffer());
+  wpi::util::json json =
+      wpi::util::json::parse(fileBuffer.value()->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
   }
-  m_fieldWidth = units::meter_t{json.at("field").at("width").get<double>()};
-  m_fieldLength = units::meter_t{json.at("field").at("length").get<double>()};
+  m_fieldWidth =
+      wpi::units::meter_t{json.at("field").at("width").get<double>()};
+  m_fieldLength =
+      wpi::units::meter_t{json.at("field").at("length").get<double>()};
 }
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                                         units::meter_t fieldLength,
-                                         units::meter_t fieldWidth)
+                                         wpi::units::meter_t fieldLength,
+                                         wpi::units::meter_t fieldWidth)
     : m_fieldLength(std::move(fieldLength)),
       m_fieldWidth(std::move(fieldWidth)) {
   for (const auto& tag : apriltags) {
@@ -41,11 +44,11 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
-units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+wpi::units::meter_t AprilTagFieldLayout::GetFieldLength() const {
   return m_fieldLength;
 }
 
-units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
+wpi::units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
   return m_fieldWidth;
 }
 
@@ -61,26 +64,27 @@ std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
-      SetOrigin(Pose3d{});
+      SetOrigin(wpi::math::Pose3d{});
       break;
     case OriginPosition::kRedAllianceWallRightSide:
-      SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
-                       Rotation3d{0_deg, 0_deg, 180_deg}});
+      SetOrigin(wpi::math::Pose3d{
+          wpi::math::Translation3d{m_fieldLength, m_fieldWidth, 0_m},
+          wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}});
       break;
     default:
       throw std::invalid_argument("Invalid origin");
   }
 }
 
-void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
+void AprilTagFieldLayout::SetOrigin(const wpi::math::Pose3d& origin) {
   m_origin = origin;
 }
 
-Pose3d AprilTagFieldLayout::GetOrigin() const {
+wpi::math::Pose3d AprilTagFieldLayout::GetOrigin() const {
   return m_origin;
 }
 
-std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
+std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {
     return std::nullopt;
@@ -91,50 +95,56 @@ std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
 void AprilTagFieldLayout::Serialize(std::string_view path) {
   std::error_code error_code;
 
-  wpi::raw_fd_ostream output{path, error_code};
+  wpi::util::raw_fd_ostream output{path, error_code};
   if (error_code) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = *this;
+  wpi::util::json json = *this;
   output << json;
   output.flush();
 }
 
-void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
+void wpi::apriltag::to_json(wpi::util::json& json,
+                            const AprilTagFieldLayout& layout) {
   std::vector<AprilTag> tagVector;
   tagVector.reserve(layout.m_apriltags.size());
   for (const auto& pair : layout.m_apriltags) {
     tagVector.push_back(pair.second);
   }
 
-  json = wpi::json{{"field",
-                    {{"length", layout.m_fieldLength.value()},
-                     {"width", layout.m_fieldWidth.value()}}},
-                   {"tags", tagVector}};
+  json = wpi::util::json{{"field",
+                          {{"length", layout.m_fieldLength.value()},
+                           {"width", layout.m_fieldWidth.value()}}},
+                         {"tags", tagVector}};
 }
 
-void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
+void wpi::apriltag::from_json(const wpi::util::json& json,
+                              AprilTagFieldLayout& layout) {
   layout.m_apriltags.clear();
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     layout.m_apriltags[tag.ID] = tag;
   }
 
   layout.m_fieldLength =
-      units::meter_t{json.at("field").at("length").get<double>()};
+      wpi::units::meter_t{json.at("field").at("length").get<double>()};
   layout.m_fieldWidth =
-      units::meter_t{json.at("field").at("width").get<double>()};
+      wpi::units::meter_t{json.at("field").at("width").get<double>()};
 }
 
 // Use namespace declaration for forward declaration
-namespace frc {
+namespace wpi::apriltag {
 
 // C++ generated from resource files
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
+std::string_view GetResource_2025_reefscape_welded_json();
+std::string_view GetResource_2025_reefscape_andymark_json();
+std::string_view GetResource_2026_rebuilt_welded_json();
+std::string_view GetResource_2026_rebuilt_andymark_json();
 
-}  // namespace frc
+}  // namespace wpi::apriltag
 
 AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
   std::string_view fieldString;
@@ -148,14 +158,27 @@ 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");
   }
 
-  wpi::json json = wpi::json::parse(fieldString);
+  wpi::util::json json = wpi::util::json::parse(fieldString);
   return json.get<AprilTagFieldLayout>();
 }
 
-AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+AprilTagFieldLayout wpi::apriltag::LoadAprilTagLayoutField(
+    AprilTagField field) {
   return AprilTagFieldLayout::LoadField(field);
 }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -1,173 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <optional>
-#include <string_view>
-#include <unordered_map>
-#include <vector>
-
-#include <units/length.h>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
-
-#include "frc/apriltag/AprilTag.h"
-#include "frc/apriltag/AprilTagFields.h"
-#include "frc/geometry/Pose3d.h"
-
-namespace frc {
-/**
- * Class for representing a layout of AprilTags on a field and reading them from
- * a JSON format.
- *
- * The JSON format contains two top-level objects, "tags" and "field".
- * The "tags" object is a list of all AprilTags contained within a layout. Each
- * AprilTag serializes to a JSON object containing an ID and a Pose3d. The
- * "field" object is a descriptor of the size of the field in meters with
- * "width" and "length" values.  This is to account for arbitrary field sizes
- * when transforming the poses.
- *
- * Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU
- * with the origin at the bottom-right corner of the blue alliance wall.
- * SetOrigin(OriginPosition) can be used to change the poses returned from
- * GetTagPose(int) to be from the perspective of a specific alliance.
- *
- * Tag poses represent the center of the tag, with a zero rotation representing
- * a tag that is upright and facing away from the (blue) alliance wall (that is,
- * towards the opposing alliance). */
-class WPILIB_DLLEXPORT AprilTagFieldLayout {
- public:
-  /**
-   * Common origin positions for the AprilTag coordinate system.
-   */
-  enum class OriginPosition {
-    /// Blue alliance wall, right side.
-    kBlueAllianceWallRightSide,
-    /// Red alliance wall, right side.
-    kRedAllianceWallRightSide,
-  };
-
-  /**
-   * Loads an AprilTagFieldLayout from a predefined field
-   *
-   * @param field The predefined field
-   * @return AprilTagFieldLayout of the field
-   */
-  static AprilTagFieldLayout LoadField(AprilTagField field);
-
-  AprilTagFieldLayout() = default;
-
-  /**
-   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
-   *
-   * @param path Path of the JSON file to import from.
-   */
-  explicit AprilTagFieldLayout(std::string_view path);
-
-  /**
-   * Construct a new AprilTagFieldLayout from a vector of AprilTag objects.
-   *
-   * @param apriltags Vector of AprilTags.
-   * @param fieldLength Length of field the layout is representing.
-   * @param fieldWidth Width of field the layout is representing.
-   */
-  AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                      units::meter_t fieldLength, units::meter_t fieldWidth);
-
-  /**
-   * Returns the length of the field the layout is representing.
-   * @return length
-   */
-  units::meter_t GetFieldLength() const;
-
-  /**
-   * Returns the length of the field the layout is representing.
-   * @return width
-   */
-  units::meter_t GetFieldWidth() const;
-
-  /**
-   * Returns a vector of all the april tags used in this layout.
-   * @return list of tags
-   */
-  std::vector<AprilTag> GetTags() const;
-
-  /**
-   * Sets the origin based on a predefined enumeration of coordinate frame
-   * origins. The origins are calculated from the field dimensions.
-   *
-   * This transforms the Pose3ds returned by GetTagPose(int) to return the
-   * correct pose relative to a predefined coordinate frame.
-   *
-   * @param origin The predefined origin
-   */
-  void SetOrigin(OriginPosition origin);
-
-  /**
-   * Sets the origin for tag pose transformation.
-   *
-   * This transforms the Pose3ds returned by GetTagPose(int) to return the
-   * correct pose relative to the provided origin.
-   *
-   * @param origin The new origin for tag transformations
-   */
-  void SetOrigin(const Pose3d& origin);
-
-  /**
-   * Returns the origin used for tag pose transformation.
-   * @return the origin
-   */
-  Pose3d GetOrigin() const;
-
-  /**
-   * Gets an AprilTag pose by its ID.
-   *
-   * @param ID The ID of the tag.
-   * @return The pose corresponding to the ID that was passed in or an empty
-   * optional if a tag with that ID is not found.
-   */
-  std::optional<Pose3d> GetTagPose(int ID) const;
-
-  /**
-   * Serializes an AprilTagFieldLayout to a JSON file.
-   *
-   * @param path The path to write the JSON file to.
-   */
-  void Serialize(std::string_view path);
-
-  /*
-   * Checks equality between this AprilTagFieldLayout and another object.
-   */
-  bool operator==(const AprilTagFieldLayout&) const = default;
-
- private:
-  std::unordered_map<int, AprilTag> m_apriltags;
-  units::meter_t m_fieldLength;
-  units::meter_t m_fieldWidth;
-  Pose3d m_origin;
-
-  friend WPILIB_DLLEXPORT void to_json(wpi::json& json,
-                                       const AprilTagFieldLayout& layout);
-
-  friend WPILIB_DLLEXPORT void from_json(const wpi::json& json,
-                                         AprilTagFieldLayout& layout);
-};
-
-WPILIB_DLLEXPORT
-void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
-
-WPILIB_DLLEXPORT
-void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
-
-/**
- * Loads an AprilTagFieldLayout from a predefined field
- *
- * @param field The predefined field
- * @return AprilTagFieldLayout of the field
- */
-WPILIB_DLLEXPORT AprilTagFieldLayout
-LoadAprilTagLayoutField(AprilTagField field);
-
-}  // namespace frc

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

@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <string_view>
-
-#include <wpi/SymbolExports.h>
-
-namespace frc {
-
-/**
- * Loadable AprilTag field layouts.
- */
-enum class AprilTagField {
-  /// 2022 Rapid React.
-  k2022RapidReact,
-  /// 2023 Charged Up.
-  k2023ChargedUp,
-  /// 2024 Crescendo.
-  k2024Crescendo,
-
-  // This is a placeholder for denoting the last supported field. This should
-  // always be the last entry in the enum and should not be used by users
-  kNumFields,
-};
-
-}  // namespace frc

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

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

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

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

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

@@ -0,0 +1,36 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/util/RawFrame.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
+
+namespace wpi::apriltag {
+
+/**
+ * Represents an AprilTag's metadata.
+ */
+struct WPILIB_DLLEXPORT AprilTag {
+  /// The tag's ID.
+  int ID;
+
+  /// The tag's pose.
+  wpi::math::Pose3d pose;
+
+  bool operator==(const AprilTag&) const = default;
+
+  static bool Generate36h11AprilTagImage(wpi::util::RawFrame* frame, int id);
+  static bool Generate16h5AprilTagImage(wpi::util::RawFrame* frame, int id);
+};
+
+WPILIB_DLLEXPORT
+void to_json(wpi::util::json& json, const AprilTag& apriltag);
+
+WPILIB_DLLEXPORT
+void from_json(const wpi::util::json& json, AprilTag& apriltag);
+
+}  // namespace wpi::apriltag

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

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

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

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

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

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

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

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

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

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

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

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

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

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

apriltag/src/main/native/resources/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