Added support for Jenkins to generate doxygen.

Change-Id: I2febfe42cc9301446f796376cfe8e1ef6744f19a

.bazelignore

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

.bazelrc

@@ -1,57 +0,0 @@
-try-import %workspace%/bazel_auth.rc
-try-import %workspace%/user.bazelrc
-
-common --noenable_bzlmod
-
-build --java_language_version=17
-build --java_runtime_version=roboriojdk_17
-build --tool_java_language_version=17
-build --tool_java_runtime_version=remotejdk_17
-
-test --test_output=errors
-test --test_verbose_timeout_warnings
-
-import shared/bazel/compiler_flags/sanitizers.rc
-import shared/bazel/compiler_flags/base_linux_flags.rc
-import shared/bazel/compiler_flags/linux_flags.rc
-import shared/bazel/compiler_flags/osx_flags.rc
-import shared/bazel/compiler_flags/roborio_flags.rc
-import shared/bazel/compiler_flags/systemcore_flags.rc
-import shared/bazel/compiler_flags/windows_flags.rc
-import shared/bazel/compiler_flags/coverage_flags.rc
-
-# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
-build:athena --config=roborio
-build:linuxarm32 --config=raspibookworm32
-build:linuxarm64 --config=bookworm64
-
-build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
-build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
-build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
-test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
-
-# Build Buddy Cache Setup
-build:build_buddy --bes_results_url=https://app.buildbuddy.io/invocation/
-build:build_buddy --bes_backend=grpcs://remote.buildbuddy.io
-build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
-build:build_buddy --remote_timeout=3600
-
-# Additional suggestions from buildbuddy for speed
-build:build_buddy --experimental_remote_cache_compression
-build:build_buddy --experimental_remote_cache_compression_threshold=100
-build:build_buddy --noslim_profile
-build:build_buddy --experimental_profile_include_target_label
-build:build_buddy --experimental_profile_include_primary_output
-build:build_buddy --nolegacy_important_outputs
-
-common:build_buddy_readonly --noremote_upload_local_results
-
-# This config should be used locally. It downloads more than the CI version
-build:remote_user --config=build_buddy
-build:remote_user --config=build_buddy_readonly
-build:remote_user --remote_download_toplevel
-
-build:ci --config=build_buddy
-build:ci --remote_download_minimal
-
-build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git

.bazelversion

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

.clang-format

@@ -1,271 +0,0 @@
----
-Language:        Cpp
-BasedOnStyle:  Google
-AccessModifierOffset: -1
-AlignAfterOpenBracket: Align
-AlignArrayOfStructures: None
-AlignConsecutiveAssignments:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    true
-AlignConsecutiveBitFields:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    false
-AlignConsecutiveDeclarations:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    false
-AlignConsecutiveMacros:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCompound:   false
-  PadOperators:    false
-AlignConsecutiveShortCaseStatements:
-  Enabled:         false
-  AcrossEmptyLines: false
-  AcrossComments:  false
-  AlignCaseColons: false
-AlignEscapedNewlines: Left
-AlignOperands:   Align
-AlignTrailingComments:
-  Kind:            Always
-  OverEmptyLines:  0
-AllowAllArgumentsOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: Never
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortEnumsOnASingleLine: true
-AllowShortFunctionsOnASingleLine: Inline
-AllowShortIfStatementsOnASingleLine: Never
-AllowShortLambdasOnASingleLine: All
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakAfterDefinitionReturnType: None
-AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: true
-AlwaysBreakTemplateDeclarations: Yes
-AttributeMacros:
-  - __capability
-BinPackArguments: true
-BinPackParameters: true
-BitFieldColonSpacing: Both
-BraceWrapping:
-  AfterCaseLabel:  false
-  AfterClass:      false
-  AfterControlStatement: Never
-  AfterEnum:       false
-  AfterExternBlock: false
-  AfterFunction:   false
-  AfterNamespace:  false
-  AfterObjCDeclaration: false
-  AfterStruct:     false
-  AfterUnion:      false
-  BeforeCatch:     false
-  BeforeElse:      false
-  BeforeLambdaBody: false
-  BeforeWhile:     false
-  IndentBraces:    false
-  SplitEmptyFunction: true
-  SplitEmptyRecord: true
-  SplitEmptyNamespace: true
-BreakAfterAttributes: Always
-BreakAfterJavaFieldAnnotations: false
-BreakArrays:     true
-BreakBeforeBinaryOperators: None
-BreakBeforeConceptDeclarations: Always
-BreakBeforeBraces: Attach
-BreakBeforeInlineASMColon: OnlyMultiline
-BreakBeforeTernaryOperators: true
-BreakConstructorInitializers: BeforeColon
-BreakInheritanceList: BeforeColon
-BreakStringLiterals: true
-ColumnLimit:     80
-CommentPragmas:  '^ IWYU pragma:'
-CompactNamespaces: false
-ConstructorInitializerIndentWidth: 4
-ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-DerivePointerAlignment: false
-DisableFormat:   false
-EmptyLineAfterAccessModifier: Never
-EmptyLineBeforeAccessModifier: LogicalBlock
-ExperimentalAutoDetectBinPacking: false
-FixNamespaceComments: true
-ForEachMacros:
-  - foreach
-  - Q_FOREACH
-  - BOOST_FOREACH
-IfMacros:
-  - KJ_IF_MAYBE
-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))?$'
-IncludeIsMainSourceRegex: ''
-IndentAccessModifiers: false
-IndentCaseBlocks: false
-IndentCaseLabels: true
-IndentExternBlock: AfterExternBlock
-IndentGotoLabels: true
-IndentPPDirectives: None
-IndentRequiresClause: true
-IndentWidth:     2
-IndentWrappedFunctionNames: false
-InsertBraces:    false
-InsertNewlineAtEOF: false
-InsertTrailingCommas: None
-IntegerLiteralSeparator:
-  Binary:          0
-  BinaryMinDigits: 0
-  Decimal:         0
-  DecimalMinDigits: 0
-  Hex:             0
-  HexMinDigits:    0
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
-KeepEmptyLinesAtTheStartOfBlocks: false
-KeepEmptyLinesAtEOF: false
-LambdaBodyIndentation: Signature
-LineEnding:      DeriveLF
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-Macros:
-  - 'HAL_ENUM(name)=enum name'
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCBinPackProtocolList: Never
-ObjCBlockIndentWidth: 2
-ObjCBreakBeforeNestedBlockParam: true
-ObjCSpaceAfterProperty: false
-ObjCSpaceBeforeProtocolList: true
-PackConstructorInitializers: NextLine
-PenaltyBreakAssignment: 2
-PenaltyBreakBeforeFirstCallParameter: 1
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakOpenParenthesis: 0
-PenaltyBreakString: 1000
-PenaltyBreakTemplateDeclaration: 10
-PenaltyExcessCharacter: 1000000
-PenaltyIndentedWhitespace: 0
-PenaltyReturnTypeOnItsOwnLine: 200
-PointerAlignment: Left
-PPIndentWidth:   -1
-QualifierAlignment: Leave
-RawStringFormats:
-  - Language:        Cpp
-    Delimiters:
-      - cc
-      - CC
-      - cpp
-      - Cpp
-      - CPP
-      - 'c++'
-      - 'C++'
-    CanonicalDelimiter: ''
-    BasedOnStyle:    google
-  - Language:        TextProto
-    Delimiters:
-      - pb
-      - PB
-      - proto
-      - PROTO
-    EnclosingFunctions:
-      - EqualsProto
-      - EquivToProto
-      - PARSE_PARTIAL_TEXT_PROTO
-      - PARSE_TEST_PROTO
-      - PARSE_TEXT_PROTO
-      - ParseTextOrDie
-      - ParseTextProtoOrDie
-      - ParseTestProto
-      - ParsePartialTestProto
-    CanonicalDelimiter: pb
-    BasedOnStyle:    google
-ReferenceAlignment: Pointer
-ReflowComments:  true
-RemoveBracesLLVM: false
-RemoveParentheses: Leave
-RemoveSemicolon: false
-RequiresClausePosition: OwnLine
-RequiresExpressionIndentation: OuterScope
-SeparateDefinitionBlocks: Leave
-ShortNamespaceLines: 1
-SortIncludes:    false
-SortJavaStaticImport: Before
-SortUsingDeclarations: LexicographicNumeric
-SpaceAfterCStyleCast: false
-SpaceAfterLogicalNot: false
-SpaceAfterTemplateKeyword: true
-SpaceAroundPointerQualifiers: Default
-SpaceBeforeAssignmentOperators: true
-SpaceBeforeCaseColon: false
-SpaceBeforeCpp11BracedList: false
-SpaceBeforeCtorInitializerColon: true
-SpaceBeforeInheritanceColon: true
-SpaceBeforeJsonColon: false
-SpaceBeforeParens: ControlStatements
-SpaceBeforeParensOptions:
-  AfterControlStatements: true
-  AfterForeachMacros: true
-  AfterFunctionDefinitionName: false
-  AfterFunctionDeclarationName: false
-  AfterIfMacros:   true
-  AfterOverloadedOperator: false
-  AfterRequiresInClause: false
-  AfterRequiresInExpression: false
-  BeforeNonEmptyParentheses: false
-SpaceBeforeRangeBasedForLoopColon: true
-SpaceBeforeSquareBrackets: false
-SpaceInEmptyBlock: false
-SpacesBeforeTrailingComments: 2
-SpacesInAngles:  Never
-SpacesInContainerLiterals: true
-SpacesInLineCommentPrefix:
-  Minimum:         1
-  Maximum:         -1
-SpacesInParens:  Never
-SpacesInParensOptions:
-  InCStyleCasts:   false
-  InConditionalStatements: false
-  InEmptyParentheses: false
-  Other:           false
-SpacesInSquareBrackets: false
-Standard:        c++20
-StatementAttributeLikeMacros:
-  - Q_EMIT
-StatementMacros:
-  - Q_UNUSED
-  - QT_REQUIRE_VERSION
-TabWidth:        8
-UseTab:          Never
-VerilogBreakBetweenInstancePorts: true
-WhitespaceSensitiveMacros:
-  - BOOST_PP_STRINGIZE
-  - CF_SWIFT_NAME
-  - NS_SWIFT_NAME
-  - PP_STRINGIZE
-  - STRINGIZE
-...

.clang-tidy

@@ -1,69 +0,0 @@
-Checks:
-  'bugprone-assert-side-effect,
-  bugprone-bool-pointer-implicit-conversion,
-  bugprone-copy-constructor-init,
-  bugprone-dangling-handle,
-  bugprone-dynamic-static-initializers,
-  bugprone-forward-declaration-namespace,
-  bugprone-forwarding-reference-overload,
-  bugprone-inaccurate-erase,
-  bugprone-incorrect-roundings,
-  bugprone-integer-division,
-  bugprone-lambda-function-name,
-  bugprone-misplaced-operator-in-strlen-in-alloc,
-  bugprone-misplaced-widening-cast,
-  bugprone-move-forwarding-reference,
-  bugprone-multiple-statement-macro,
-  bugprone-parent-virtual-call,
-  bugprone-posix-return,
-  bugprone-sizeof-container,
-  bugprone-sizeof-expression,
-  bugprone-spuriously-wake-up-functions,
-  bugprone-string-constructor,
-  bugprone-string-integer-assignment,
-  bugprone-string-literal-with-embedded-nul,
-  bugprone-suspicious-enum-usage,
-  bugprone-suspicious-include,
-  bugprone-suspicious-memset-usage,
-  bugprone-suspicious-missing-comma,
-  bugprone-suspicious-semicolon,
-  bugprone-suspicious-string-compare,
-  bugprone-throw-keyword-missing,
-  bugprone-too-small-loop-variable,
-  bugprone-undefined-memory-manipulation,
-  bugprone-undelegated-constructor,
-  bugprone-unhandled-self-assignment,
-  bugprone-unused-raii,
-  bugprone-virtual-near-miss,
-  cert-err52-cpp,
-  cert-err60-cpp,
-  cert-mem57-cpp,
-  cert-oop57-cpp,
-  cert-oop58-cpp,
-  clang-diagnostic-*,
-  -clang-diagnostic-deprecated-declarations,
-  -clang-diagnostic-#warnings,
-  -clang-diagnostic-pedantic,
-  clang-analyzer-*,
-  cppcoreguidelines-slicing,
-  google-build-namespaces,
-  google-explicit-constructor,
-  google-global-names-in-headers,
-  google-readability-casting,
-  google-runtime-operator,
-  misc-definitions-in-headers,
-  misc-misplaced-const,
-  misc-new-delete-overloads,
-  misc-non-copyable-objects,
-  modernize-avoid-bind,
-  modernize-concat-nested-namespaces,
-  modernize-make-shared,
-  modernize-make-unique,
-  modernize-pass-by-value,
-  modernize-use-default-member-init,
-  modernize-use-noexcept,
-  modernize-use-nullptr,
-  modernize-use-override,
-  modernize-use-using,
-  readability-braces-around-statements'
-FormatStyle: file

.gersemirc

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

.gitattributes

@@ -1,30 +0,0 @@
-*.adoc text eol=lf
-*.c text eol=lf
-*.cmake text eol=lf
-*.clang-format text eol=lf
-*.clang-tidy text eol=lf
-*.cpp text eol=lf
-*.gradle text eol=lf
-*.groovy text eol=lf
-*.h text eol=lf
-*.hpp text eol=lf
-*.in text eol=lf
-*.inc text eol=lf
-*.java text eol=lf
-*.jinja text eol=lf
-*.json text eol=lf
-*.m text eol=lf
-*.md text eol=lf
-*.mm text eol=lf
-*.patch text eol=lf
-*.plist text eol=lf
-*.proto text eol=lf
-*.py text eol=lf
-*.styleguide text eol=lf
-*.txt text eol=lf
-*.xml text eol=lf
-*.yaml text eol=lf
-*.yml text eol=lf
-
-# Generated files
-*/src/generated/** linguist-generated

.github/CODEOWNERS

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

.github/ISSUE_TEMPLATE/bug_report.md

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

.github/ISSUE_TEMPLATE/feature_request.md

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

.github/ISSUE_TEMPLATE/question.md

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

.github/actions/pregen/action.yml

@@ -1,65 +0,0 @@
-name: 'Setup and run pregeneration'
-description: 'Sets up the dependencies needed to generate generated files and runs all generation scripts'
-
-runs:
-  using: "composite"
-  steps:
-    - name: Set up Python 3.12
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.12'
-    - name: Install jinja and protobuf
-      run: python -m pip install jinja2 protobuf grpcio-tools
-      shell: bash
-    - name: Install protobuf and perl dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y protobuf-compiler liblist-moreutils-perl
-        wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-        chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      shell: bash
-    - name: Regenerate hal
-      run: ./hal/generate_usage_reporting.py
-      shell: bash
-
-    - name: Regenerate ntcore
-      run: ./ntcore/generate_topics.py
-      shell: bash
-
-    - name: Regenerate imgui
-      run: |
-        ./thirdparty/imgui_suite/generate_fonts.sh
-        ./thirdparty/imgui_suite/generate_gl3w.py
-      shell: bash
-
-    - name: Regenerate HIDs
-      run: |
-        ./wpilibc/generate_hids.py
-        ./wpilibj/generate_hids.py
-        ./wpilibNewCommands/generate_hids.py
-      shell: bash
-
-    - name: Regenerate PWM motor controllers
-      run: |
-        ./wpilibc/generate_pwm_motor_controllers.py
-        ./wpilibj/generate_pwm_motor_controllers.py
-      shell: bash
-
-    - name: Regenerate mrcal minimath
-      run: ./wpical/generate_mrcal.py
-      shell: bash
-
-    - name: Regenerate wpimath
-      run: |
-        ./wpimath/generate_nanopb.py
-        ./wpimath/generate_numbers.py
-        ./wpimath/generate_quickbuf.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
-      shell: bash
-
-    - name: Regenerate wpiunits
-      run: ./wpiunits/generate_units.py
-      shell: bash
-
-    - name: Regenerate wpiutil nanopb
-      run: ./wpiutil/generate_nanopb.py
-      shell: bash

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

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

.github/labeler.yml

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

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

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

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

@@ -1,29 +0,0 @@
-{
-  "files": [
-    {
-      "aql": {
-        "items.find": {
-          "repo": "wpilib-mvn-development-local",
-          "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
-          "$or":[
-            {
-                "artifact.module.build.name": { "$eq":"allwpilib" }
-            },
-            {
-                "artifact.module.build.name": { "$eq":"combiner" }
-            }
-          ],
-          "$or":[
-            {
-                "stat.downloaded": { "$before":"3mo" }
-            },
-            {
-                "stat.downloaded": { "$eq":null }
-            }
-          ],
-          "created": { "$before":"3mo" }
-        }
-      }
-    }
-  ]
-}

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

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

.github/workflows/bazel.yml

@@ -1,109 +0,0 @@
-name: Bazel
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build-windows:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { name: "Windows (native)",             os: windows-2022, action: "test",  config: "--config=windows",     }
-          - { name: "Windows (arm)",                os: windows-2022, action: "build", config: "--config=windows_arm", }
-
-    name: "Build ${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    steps:
-      - uses: actions/checkout@v4
-        with: { fetch-depth: 0 }
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'zulu'
-          java-version: 17
-          architecture: x64
-
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
-        with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
-
-      - name: Build Release
-        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci -c opt ${{ matrix.config }} --verbose_failures
-        shell: bash
-
-  build-mac:
-    name: "Mac"
-    runs-on: macos-14
-    steps:
-      - uses: actions/checkout@v4
-        with: { fetch-depth: 0 }
-
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
-        with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
-
-      - name: Build Release
-        run: bazel test -k ...   --config=ci -c opt --config=macos --nojava_header_compilation --verbose_failures
-        shell: bash
-
-  build-linux:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { name: "Linux (native)",  os: ubuntu-22.04,   action: "test",  config: "--config=linux",    }
-          - { name: "Linux (roborio)", os: ubuntu-22.04,   action: "build", config: "--config=roborio",  }
-    name: "${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    steps:
-      - uses: actions/checkout@v4
-        with: { fetch-depth: 0 }
-      - uses: bazelbuild/setup-bazelisk@v3
-
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
-        with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
-
-      - name: Build and Test Release
-        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
-
-  buildifier:
-    name: "buildifier"
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Set up Go 1.15.x
-        uses: actions/setup-go@v5
-        with:
-          cache: false
-          go-version: 1.15.x
-        id: go
-
-      - name: Install Buildifier
-        run: |
-          cd $(mktemp -d)
-          GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
-
-      - uses: actions/checkout@v4
-        with: { fetch-depth: 0 }
-
-      - name: Run buildifier
-        run: buildifier -warnings all --lint=fix -r .
-
-      - name: Check Output
-        run: git --no-pager diff --exit-code HEAD
-
-      - name: Generate diff
-        run: git diff HEAD > bazel-lint-fixes.patch
-        if: ${{ failure() }}
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.platform }}-bazel-lint-fixes
-          path: bazel-lint-fixes.patch
-        if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -1,51 +0,0 @@
-name: CMake Android
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-env:
-  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-22.04
-            name: Android Arm64
-            abi: arm64-v8a
-          - os: ubuntu-22.04
-            name: Android X64
-            abi: "x86_64"
-
-    name: "Build - ${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: nttld/setup-ndk@v1
-        id: setup-ndk
-        with:
-          ndk-version: r27c
-          add-to-path: false
-
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-
-      - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
-
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get install -y ninja-build
-
-      - name: configure
-        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_PROTOBUF=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
-
-      - name: build
-        run: cmake --build build-cmake --parallel $(nproc)

.github/workflows/cmake.yml

@@ -1,85 +0,0 @@
-name: CMake
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-env:
-  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-22.04
-            name: Linux
-            container: wpilib/roborio-cross-ubuntu:2025-22.04
-            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-14
-            name: macOS
-            container: ""
-            env: "PATH=\"/opt/homebrew/opt/protobuf@3/bin:$PATH\""
-            flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/opt/homebrew/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/opt/homebrew/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/opt/homebrew/opt/protobuf@3/bin/protoc"
-          - os: windows-2022
-            name: Windows
-            container: ""
-            flags: '--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=OFF -DCMAKE_TOOLCHAIN_FILE="$Env:RUNNER_WORKSPACE/vcpkg/scripts/buildsystems/vcpkg.cmake" -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release'
-
-    name: "Build - ${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
-    steps:
-      - name: Install dependencies (Linux)
-        if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java libprotobuf-dev protobuf-compiler ninja-build
-
-      - name: Install dependencies (macOS)
-        if: runner.os == 'macOS'
-        run: brew install opencv protobuf@3 ninja
-
-      - uses: ilammy/msvc-dev-cmd@v1.13.0
-        if: runner.os == 'Windows'
-
-      - name: Install CMake (Windows only)
-        if: runner.os == 'Windows'
-        uses: lukka/get-cmake@v3.29.3
-
-      - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
-
-      - uses: actions/checkout@v4
-
-      - 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
-
-      - name: configure
-        run: cmake ${{ matrix.flags }}
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: build
-        run: cmake --build build-cmake --parallel $(nproc)
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: test
-        if: runner.os != 'Windows'
-        working-directory: build-cmake
-        run: ctest --output-on-failure
-
-      - name: test (windows)
-        if: runner.os == 'Windows'
-        working-directory: build-cmake
-        # UnitTest_test segfaults on exit occasionally
-        run: ctest --output-on-failure -E 'UnitTest'

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

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

.github/workflows/documentation.yml

@@ -1,67 +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 == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - uses: gradle/actions/wrapper-validation@v4
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - 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: Build with Gradle
-        run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-      - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
-      - name: Deploy 🚀
-        uses: JamesIves/github-pages-deploy-action@v4.6.1
-        with:
-          ssh-key: true
-          repository-name: wpilibsuite/wpilibsuite.github.io
-          branch: allwpilib-${{ env.BRANCH }}
-          clean: true
-          single-commit: true
-          folder: docs/build/docs
-      - name: Trigger Workflow
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
-          script: |
-            github.rest.actions.createWorkflowDispatch({
-              owner: context.repo.owner,
-              repo: 'wpilibsuite.github.io',
-              workflow_id: 'static.yml',
-              ref: 'main',
-            })

.github/workflows/fix_compile_commands.py

@@ -1,45 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import json
-
-
-def main():
-    parser = argparse.ArgumentParser(
-        description="Fix compile_commands.json generated by Gradle"
-    )
-    parser.add_argument("filename", help="compile_commands.json location")
-    cmd_args = parser.parse_args()
-
-    # Read JSON
-    with open(cmd_args.filename) as f:
-        data = json.load(f)
-
-    for obj in data:
-        out_args = []
-
-        iter_args = iter(obj["arguments"])
-        for arg in iter_args:
-            # Filter out -isystem flags that cause false positives
-            if arg == "-isystem":
-                next_arg = next(iter_args)
-
-                # /usr/lib/gcc/x86_64-pc-linux-gnu/13.2.1/include/xmmintrin.h:54:1:
-                # error: conflicting types for '_mm_prefetch' [clang-diagnostic-error]
-                if not next_arg.startswith("/usr/lib/gcc/"):
-                    out_args += ["-isystem", next_arg]
-            # Replace GCC warning argument with one Clang recognizes
-            elif arg == "-Wno-maybe-uninitialized":
-                out_args.append("-Wno-uninitialized")
-            else:
-                out_args.append(arg)
-
-        obj["arguments"] = out_args
-
-    # Write JSON
-    with open(cmd_args.filename, "w") as f:
-        json.dump(data, f, indent=2)
-
-
-if __name__ == "__main__":
-    main()

.github/workflows/gradle.yml

@@ -1,306 +0,0 @@
-name: Gradle
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
-
-  build-docker:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/roborio-cross-ubuntu:2025-22.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
-            artifact-name: Arm32
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
-            artifact-name: Arm64
-            build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:22.04
-            artifact-name: Linux
-            build-options: "-Ponlylinuxx86-64"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      - name: Free Disk Space
-        uses: jlumbroso/free-disk-space@main
-        with:
-          tool-cache: false
-          android: true
-          dotnet: true
-          haskell: true
-          large-packages: false
-          docker-images: false
-          swap-storage: false
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-      - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ matrix.container }}
-          options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        env:
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Check free disk space
-        run: df .
-      - uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
-
-  build-host:
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 13.3
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            artifact-name: Win64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: macOS-14
-            artifact-name: macOS
-            architecture: aarch64
-            task: "build"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win32FFI
-            architecture: x86
-            task: ":ntcoreffi:build"
-            build-options: "-Pntcoreffibuild \"-Dorg.gradle.jvmargs=-Xmx1096m\""
-            outputs: "ntcoreffi/build/outputs"
-          - os: windows-2022
-            artifact-name: Win64FFI
-            architecture: x64
-            task: ":ntcoreffi:build"
-            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
-            outputs: "ntcoreffi/build/outputs"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ${{ matrix.os }}
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-          architecture: ${{ matrix.architecture }}
-      - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v2
-        with:
-          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
-          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
-          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
-      - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 21600
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        shell: bash
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-      - name: Set Java Heap Size
-        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
-        if: matrix.artifact-name == 'Win32'
-      - name: Check disk free space (Windows)
-        run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
-      - name: Check disk free space pre-cleanup (macOS)
-        run: df -h .
-        if: matrix.os == 'macOS-14'
-      - name: Cleanup disk space
-        # CodeQL: 5G
-        # go: 748M
-        # Android: 12G
-        run: |
-          rm -rf /Users/runner/hostedtoolcache/CodeQL
-          rm -rf /Users/runner/hostedtoolcache/go
-          rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
-      - name: Check disk free space post-cleanup (macOS)
-        run: df -h .
-        if: matrix.os == 'macOS-14'
-      - name: Build with Gradle
-        run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        env:
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Sign Libraries with Developer ID
-        run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027'))))
-      - name: Check disk free space (Windows)
-        run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
-      - name: Check disk free space (macOS)
-        run: df -h .
-        if: matrix.os == 'macOS-14'
-      - uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.outputs }}
-
-  build-documentation:
-    name: "Build - Documentation"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - name: Set release environment variable
-        run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-      - name: Build with Gradle
-        run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
-        env:
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: Documentation
-          path: docs/build/outputs
-
-  combine:
-    name: Combine
-    needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Free Disk Space
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        uses: jlumbroso/free-disk-space@main
-        with:
-          tool-cache: false
-          android: true
-          dotnet: true
-          haskell: true
-          large-packages: false
-          docker-images: false
-          swap-storage: false
-      - uses: actions/checkout@v4
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        with:
-          repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v4
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        with:
-          path: combiner/products/build/allOutputs
-      - name: Flatten Artifacts
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
-      - name: Check version number exists
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        run: |
-          cat combiner/products/build/allOutputs/version.txt
-          test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v4
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        with:
-          distribution: 'temurin'
-          java-version: 17
-      - name: Combine (Main)
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          github.ref == 'refs/heads/main'
-        run: cd combiner && ./gradlew publish -Pallwpilib
-        env:
-          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Combine (Release)
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-        run: cd combiner && ./gradlew publish -Pallwpilib -PreleaseRepoPublish
-        env:
-          RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
-          ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v4
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          (github.ref == 'refs/heads/main' || (startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')))
-        with:
-          name: Maven
-          path: ~/releases
-
-  dispatch:
-    name: dispatch
-    needs: [combine]
-    strategy:
-      matrix:
-        repo: ['SmartDashboard', 'PathWeaver', 'Shuffleboard', 'RobotBuilder']
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: peter-evans/repository-dispatch@v3
-        if: |
-          github.repository == 'wpilibsuite/allwpilib' &&
-          startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
-        with:
-          token: ${{ secrets.TOOL_REPO_ACCESS_TOKEN }}
-          repository: wpilibsuite/${{ matrix.repo }}
-          event-type: tag
-          client-payload: '{"package_name": "allwpilib", "package_version": "${{ github.ref_name }}"}'

.github/workflows/labeler.yml

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

.github/workflows/lint-format.yml

@@ -1,140 +0,0 @@
-name: Lint and Format
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
-
-  wpiformat:
-    name: "wpiformat"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Install wpiformat
-        run: |
-          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2024.51
-      - name: Run
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: wpiformat fixes
-          path: wpiformat-fixes.patch
-        if: ${{ failure() }}
-      - name: Write to job summary
-        run: |
-          echo '```diff' >> $GITHUB_STEP_SUMMARY
-          cat wpiformat-fixes.patch >> $GITHUB_STEP_SUMMARY
-          echo '' >> $GITHUB_STEP_SUMMARY
-          echo '```' >> $GITHUB_STEP_SUMMARY
-        if: ${{ failure() }}
-
-  tidy:
-    name: "clang-tidy"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    container: wpilib/ubuntu-base:22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Install wpiformat
-        run: |
-          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2024.51
-      - name: Create compile_commands.json
-        run: |
-          ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
-          ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
-          ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
-      - name: List changed files
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -list-changed-files
-      - name: Run clang-tidy release
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release -vv
-      - name: Run clang-tidy debug
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
-  javaformat:
-    name: "Java format"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    container: wpilib/ubuntu-base:22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git config --global --add safe.directory /__w/allwpilib/allwpilib
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Run Java format
-        run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > javaformat-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: javaformat fixes
-          path: javaformat-fixes.patch
-        if: ${{ failure() }}
-      - name: Write to job summary
-        run: |
-          echo '```diff' >> $GITHUB_STEP_SUMMARY
-          cat javaformat-fixes.patch >> $GITHUB_STEP_SUMMARY
-          echo '' >> $GITHUB_STEP_SUMMARY
-          echo '```' >> $GITHUB_STEP_SUMMARY
-        if: ${{ failure() }}
-
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 21
-      - name: Build with Gradle
-        run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/pregenerate.yml

@@ -1,34 +0,0 @@
-name: Check Pregenerated Files
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  update:
-    name: "Update"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Run pregen
-        uses: ./.github/actions/pregen
-      - name: Add untracked files to index so they count as changes
-        run: git add -A
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD
-      - name: Generate diff
-        run: git diff HEAD > pregenerated-files-fixes.patch
-        if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
-        with:
-          name: pregenerated-files-fixes
-          path: pregenerated-files-fixes.patch
-        if: ${{ failure() }}

.github/workflows/sanitizers.yml

@@ -1,58 +0,0 @@
-name: Sanitizers
-
-on: [pull_request, push]
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-env:
-  SCCACHE_WEBDAV_ENDPOINT: "https://frcmaven.wpi.edu/artifactory/wpilib-generic-cache-cmake-local"
-  SCCACHE_WEBDAV_KEY_PREFIX: "sccache"
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - name: asan
-            cmake-flags: "-DCMAKE_BUILD_TYPE=Asan"
-            ctest-env: ""
-            ctest-flags: "-E 'wpilibc'"
-          - name: tsan
-            cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
-            ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
-            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
-          - name: ubsan
-            cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
-            ctest-env: ""
-            ctest-flags: ""
-    name: "${{ matrix.name }}"
-    runs-on: ubuntu-24.04
-    container: wpilib/roborio-cross-ubuntu:2025-24.04
-    steps:
-      - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-17 libprotobuf-dev protobuf-compiler ninja-build
-
-      - name: Install sccache
-        uses: mozilla-actions/sccache-action@v0.0.5
-
-      - uses: actions/checkout@v4
-
-      - name: configure
-        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-17 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-17 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: build
-        working-directory: build
-        run: cmake --build . --parallel $(nproc)
-        env:
-          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
-          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-
-      - name: test
-        working-directory: build
-        run: ${{ matrix.ctest-env }} ctest --output-on-failure ${{ matrix.ctest-flags }}

.github/workflows/sentinel-build.yml

@@ -1,170 +0,0 @@
-name: Sentinel Build (No Cache)
-
-on:
-  workflow_dispatch:
-  schedule:
-    - cron: "15 3 * * Sat" # 11:15PM EST every Friday
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  validation:
-    name: "Validation"
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
-
-  build-docker:
-    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - container: wpilib/roborio-cross-ubuntu:2025-22.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-22.04
-            artifact-name: Arm32
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-22.04
-            artifact-name: Arm64
-            build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:22.04
-            artifact-name: Linux
-            build-options: "-Ponlylinuxx86-64"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-22.04
-    needs: [validation]
-    steps:
-      - name: Free Disk Space
-        uses: jlumbroso/free-disk-space@main
-        with:
-          tool-cache: false
-          android: true
-          dotnet: true
-          haskell: true
-          large-packages: false
-          docker-images: false
-          swap-storage: false
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ matrix.container }}
-          options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
-      - name: Check free disk space
-        run: df .
-      - uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: build/allOutputs
-
-  build-host:
-    if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
-    env:
-      MACOSX_DEPLOYMENT_TARGET: 13.3
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: windows-2022
-            artifact-name: Win64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Debug
-            architecture: x64
-            task: "build"
-            build-options: "-PciDebugOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: WinArm64Release
-            architecture: x64
-            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
-            task: "copyAllOutputs"
-            outputs: "build/allOutputs"
-          - os: macOS-14
-            artifact-name: macOS
-            architecture: aarch64
-            task: "build"
-            outputs: "build/allOutputs"
-          - os: windows-2022
-            artifact-name: Win32
-            architecture: x86
-            task: ":ntcoreffi:build"
-            outputs: "ntcoreffi/build/outputs"
-    name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ${{ matrix.os }}
-    needs: [validation]
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v4
-        with:
-          distribution: 'temurin'
-          java-version: 17
-          architecture: ${{ matrix.architecture }}
-      - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v2
-        with:
-          certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
-          certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
-          keychain-password: ${{ secrets.APPLE_KEYCHAIN_PASSWORD }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
-      - name: Set Keychain Lock Timeout
-        run: security set-keychain-settings -lut 21600
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
-      - name: Set Java Heap Size
-        run: sed -i 's/-Xmx2g/-Xmx1g/g' gradle.properties
-        if: matrix.artifact-name == 'Win32'
-      - name: Check disk free space (Windows)
-        run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
-      - name: Check disk free space pre-cleanup (macOS)
-        run: df -h .
-        if: matrix.os == 'macOS-14'
-      - name: Cleanup disk space
-        # CodeQL: 5G
-        # go: 748M
-        # Android: 12G
-        run: |
-          rm -rf /Users/runner/hostedtoolcache/CodeQL
-          rm -rf /Users/runner/hostedtoolcache/go
-          rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
-      - name: Check disk free space post-cleanup (macOS)
-        run: df -h .
-        if: matrix.os == 'macOS-14'
-      - name: Build with Gradle
-        run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
-      - name: Sign Libraries with Developer ID
-        run: ./gradlew copyAllOutputs -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }}
-        if: |
-          matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main')
-      - name: Check disk free space (Windows)
-        run: wmic logicaldisk get caption, freespace
-        if: matrix.os == 'windows-2022'
-      - name: Check disk free space (macOS)
-        run: df -h .
-        if: matrix.os == 'macOS-14'
-      - uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}
-          path: ${{ matrix.outputs }}

.github/workflows/tools.yml

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

.github/workflows/upstream-utils.yml

@@ -1,150 +0,0 @@
-name: Upstream utils
-
-on:
-  pull_request:
-  push:
-    branches-ignore:
-      - main
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  update:
-    name: "Update"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-      - name: Fetch all history and metadata
-        run: |
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Set up Python 3.12
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-      - name: Configure committer identity
-        run: |
-          git config --global user.email "you@example.com"
-          git config --global user.name "Your Name"
-      - name: Run apriltag.py
-        run: |
-          cd upstream_utils
-          ./apriltag.py clone
-          ./apriltag.py copy-src
-          ./apriltag.py format-patch
-      - name: Run argparse_lib.py
-        run: |
-          cd upstream_utils
-          ./argparse_lib.py clone
-          ./argparse_lib.py copy-src
-          ./argparse_lib.py format-patch
-      - name: Run eigen.py
-        run: |
-          cd upstream_utils
-          ./eigen.py clone
-          ./eigen.py copy-src
-          ./eigen.py format-patch
-      - name: Run expected.py
-        run: |
-          cd upstream_utils
-          ./expected.py clone
-          ./expected.py copy-src
-          ./expected.py format-patch
-      - name: Run fmt.py
-        run: |
-          cd upstream_utils
-          ./fmt.py clone
-          ./fmt.py copy-src
-          ./fmt.py format-patch
-      - name: Run gcem.py
-        run: |
-          cd upstream_utils
-          ./gcem.py clone
-          ./gcem.py copy-src
-          ./gcem.py format-patch
-      - name: Run gl3w.py
-        run: |
-          cd upstream_utils
-          ./gl3w.py clone
-          ./gl3w.py copy-src
-          ./gl3w.py format-patch
-      - name: Run glfw.py
-        run: |
-          cd upstream_utils
-          ./glfw.py clone
-          ./glfw.py copy-src
-          ./glfw.py format-patch
-      - name: Run googletest.py
-        run: |
-          cd upstream_utils
-          ./googletest.py clone
-          ./googletest.py copy-src
-          ./googletest.py format-patch
-      - name: Run imgui.py
-        run: |
-          cd upstream_utils
-          ./imgui.py clone
-          ./imgui.py copy-src
-          ./imgui.py format-patch
-      - name: Run implot.py
-        run: |
-          cd upstream_utils
-          ./implot.py clone
-          ./implot.py copy-src
-          ./implot.py format-patch
-      - name: Run json.py
-        run: |
-          cd upstream_utils
-          ./json.py clone
-          ./json.py copy-src
-          ./json.py format-patch
-      - name: Run libuv.py
-        run: |
-          cd upstream_utils
-          ./libuv.py clone
-          ./libuv.py copy-src
-          ./libuv.py format-patch
-      - name: Run llvm.py
-        run: |
-          cd upstream_utils
-          ./llvm.py clone
-          ./llvm.py copy-src
-          ./llvm.py format-patch
-      - name: Run mpack.py
-        run: |
-          cd upstream_utils
-          ./mpack.py clone
-          ./mpack.py copy-src
-          ./mpack.py format-patch
-      - name: Run memory.py
-        run: |
-          cd upstream_utils
-          ./memory.py clone
-          ./memory.py copy-src
-          ./memory.py format-patch
-      - name: Run protobuf.py
-        run: |
-          cd upstream_utils
-          ./protobuf.py clone
-          ./protobuf.py copy-src
-          ./protobuf.py format-patch
-      - name: Run sleipnir.py
-        run: |
-          cd upstream_utils
-          ./sleipnir.py clone
-          ./sleipnir.py copy-src
-          ./sleipnir.py format-patch
-      - name: Run stb.py
-        run: |
-          cd upstream_utils
-          ./stb.py clone
-          ./stb.py copy-src
-          ./stb.py format-patch
-      - name: Add untracked files to index so they count as changes
-        run: git add -A
-      - name: Check output
-        run: git --no-pager diff --exit-code HEAD ':!*.bazel'

.gitignore

@@ -1,95 +1,21 @@
-# WPIlib Specific
-
-dependency-reduced-pom.xml
-doxygen.log
-build*/
-!buildSrc/
-
-simgui-ds.json
-simgui-window.json
-simgui.json
-
-networktables.json
-*.bck
-
-ntcore/connectionlistenertest.json
-ntcore/timesynctest.json
-
-nanopb_pb2.py
-
-# Created by the jenkins test script
-test-reports
-
-# IntelliJ
-*.iml
-*.ipr
-*.iws
-.idea/
-out/
-
-# Fleet
-.fleet
-
-# jdtls
-.factorypath
-
-# Created by http://www.gitignore.io
-
-### Linux ###
+wpilibc/build/
+hal/build/
+networktables/cpp/build/
+build/
+networktables/OutlineViewer/nbproject/private
 *~
+target/
+dist/
+bin/
+.project
+.cproject
+.settings/
+.classpath
+**/dependency-reduced-pom.xml
 
-# KDE directory preferences
-.directory
-
-
-### Windows ###
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-
-### OSX ###
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Icon must end with two \r
-Icon
-
-
-# Thumbnails
-._*
-
-# Files that might appear on external disk
-.Spotlight-V100
-.Trashes
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
-
-
-### Java ###
+#Java File extentions
 *.class
 
-# Mobile Tools for Java (J2ME)
-.mtj.tmp/
-
 # Package Files #
 *.jar
 *.war
@@ -97,164 +23,3 @@ Temporary Items
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
-
-
-### C++ ###
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Compiled Dynamic libraries
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
-
-
-### Maven ###
-target/
-pom.xml.tag
-pom.xml.releaseBackup
-pom.xml.versionsBackup
-pom.xml.next
-release.properties
-
-
-### CMake ###
-CMakeCache.txt
-CMakeFiles
-cmake_install.cmake
-install_manifest.txt
-CMakeUserPresets.json
-
-
-### Gradle ###
-.gradle
-build/
-
-# Ignore Gradle GUI config
-gradle-app.setting
-
-
-### Vagrant ###
-.vagrant/
-
-
-### Eclipse ###
-*.pydevproject
-.metadata
-.gradle
-bin/
-tmp/
-*.tmp
-*.bak
-*.swp
-*~.nib
-local.properties
-.settings/
-.loadpath
-
-### Python ###
-*.pyc
-__pycache__
-
-# Gradle wrapper
-!gradle-wrapper.jar
-
-# External tool builders
-.externalToolBuilders/
-
-# Locally stored "Eclipse launch configurations"
-*.launch
-
-# CDT-specific
-.cproject
-
-# PDT-specific
-.buildpath
-
-# sbteclipse plugin
-.target
-
-# TeXlipse plugin
-.texlipse
-
-#catkin stuff
-package.xml
-
-# Doxygen stuff
-NO
-
-# Simulation folder stuff
-!simulation/install_resources/*
-
-# VSCode
-.vscode/
-
-#classpaths and projects
-.project
-.classpath
-
-#Visual Studio
-# User-specific files
-*.suo
-*.user
-*.userosscache
-*.sln.docstates
-CMakeSettings.json
-
-# Visual C++ cache files
-ipch/
-*.aps
-*.ncb
-*.opendb
-*.opensdf
-*.cachefile
-*.VC.db
-*.VC.VC.opendb
-*.VC.db-shm
-*.VC.db-wal
-
-*.sln
-*.vcxproj
-*.vcxproj.filters
-
-# Visual Studio 2015 cache/options directory
-.vs/
-
-# compile_commands
-compile_commands.json
-
-# clang configuration and clangd cache
-.clang
-.clangd
-.cache/
-
-imgui.ini
-
-# Bazel
-/.ijwb/
-/bazel-*
-user.bazelrc
-coverage_report/
-bazel_auth.rc
-
-# ctest
-/Testing/
-
-# Meson
-.meson-subproject*

.gitreview

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

.styleguide

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

.styleguide-license

@@ -1,3 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.

.wpilib/wpilib_preferences.json

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

Building.md

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

CMakeLists.txt

@@ -1,367 +1,13 @@
-# Disable in-source builds to prevent source tree corruption.
-if(" ${CMAKE_CURRENT_SOURCE_DIR}" STREQUAL " ${CMAKE_CURRENT_BINARY_DIR}")
-    message(
-        FATAL_ERROR
-        "
-FATAL: In-source builds are not allowed.
-       You should create a separate directory for build files.
-"
-    )
-endif()
+cmake_minimum_required(VERSION 2.8)
+project(All-WPILib)
+set(CMAKE_BUILD_TYPE Debug)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
+SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
-    set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
-    set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
-    message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
-endif()
-
-# Set default build type to release with debug info (i.e. release mode optimizations
-# are performed, but debug info still exists).
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
-endif()
-
-cmake_minimum_required(VERSION 3.21)
-project(allwpilib)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
-
-# Make timestamps of extracted files from FetchContent the time of extraction
-if(POLICY CMP0135)
-    cmake_policy(SET CMP0135 NEW)
-endif()
-
-set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
-
-include(CMakeDependentOption)
-include(CPack)
-include(OptionValidation)
-
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
-set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
-if(MSVC)
-    add_compile_options(/Zc:__cplusplus)
-endif()
-set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
-
-# use, i.e. don't skip the full RPATH for the build tree
-set(CMAKE_SKIP_BUILD_RPATH FALSE)
-
-# when building, don't use the install RPATH already
-# (but later on when installing)
-set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-
-set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-
-# add the automatically determined parts of the RPATH
-# which point to directories outside the build tree to the install RPATH
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
-# Options for building certain parts of the repo. Everything is built by default.
-option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
-option(WITH_JAVA "Include Java and JNI in the build" OFF)
-option(WITH_JAVA_SOURCE "Build Java source jars" ${WITH_JAVA})
-option(WITH_DOCS "Build Doxygen docs (needs Git for versioning)" OFF)
-cmake_dependent_option(
-    DOCS_WARNINGS_AS_ERRORS
-    "Make docs warnings into errors"
-    OFF
-    WITH_DOCS
-    OFF
-)
-option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
-option(WITH_NTCORE "Build ntcore" ON)
-option(WITH_WPICAL "Build wpical" OFF)
-option(WITH_WPIMATH "Build wpimath" ON)
-cmake_dependent_option(
-    WITH_WPIUNITS
-    "Build wpiunits"
-    ON
-    WITH_JAVA
-    OFF
-)
-option(WITH_WPILIB "Build hal, wpilibc/j, and developerRobot (needs OpenCV)" ON)
-option(WITH_EXAMPLES "Build examples" OFF)
-option(WITH_TESTS "Build unit tests (requires internet connection)" ON)
-option(WITH_GUI "Build GUI items" ON)
-option(WITH_SIMULATION_MODULES "Build simulation modules" ON)
-option(WITH_PROTOBUF "Build protobuf support" ON)
-
-# Options for using a package manager (e.g., vcpkg) for certain dependencies.
-option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
-option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
-option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
-
-# Options for location of OpenCV Java.
-set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
-
-# Options for compilation flags.
-option(NO_WERROR "Disable -Werror flag during compilation" OFF)
-
-if(NOT WITH_JAVA OR NOT WITH_CSCORE)
-    if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
-        message(
-            WARNING
-            "
-WARNING: OpenCV Java dir set but java is not enabled!
-It will be ignored.
-"
-        )
-    endif()
-endif()
-
-wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
-
-wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
-
-wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
-
-wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
-
-wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
-
-wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
-
-set(include_dest include)
-set(java_lib_dest java)
-if(WITH_JAVA OR WITH_JAVA_SOURCE)
-    set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
-    find_package(Java REQUIRED COMPONENTS Development)
-    if(NOT ANDROID)
-        find_package(JNI REQUIRED COMPONENTS JVM)
-    endif()
-endif()
-
-if(WITH_DOCS)
-    find_package(Doxygen REQUIRED)
-    find_package(Git REQUIRED)
-    include(AddDoxygenDocs)
-    add_doxygen_docs()
-endif()
-
-if(WITH_WPICAL)
-    find_package(Ceres CONFIG REQUIRED)
-endif()
-
-find_package(LIBSSH CONFIG 0.7.1)
-
-set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
-if(WITH_PROTOBUF)
-    set(protobuf_MODULE_COMPATIBLE ON CACHE BOOL "" FORCE)
-    find_package(Protobuf REQUIRED)
-    find_program(PROTOC_COMPILER protoc REQUIRED)
-endif()
-set(CMAKE_FIND_PACKAGE_PREFER_CONFIG OFF)
-
-get_property(isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
-
-if(isMultiConfig)
-    if(NOT "Asan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Asan)
-    endif()
-    if(NOT "Tsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Tsan)
-    endif()
-    if(NOT "Ubsan" IN_LIST CMAKE_CONFIGURATION_TYPES)
-        list(APPEND CMAKE_CONFIGURATION_TYPES Ubsan)
-    endif()
-else()
-    set(allowedBuildTypes
-        Asan
-        Tsan
-        Ubsan
-        Debug
-        Release
-        RelWithDebInfo
-        MinSizeRel
-    )
-    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "${allowedBuildTypes}")
-
-    if(CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE IN_LIST allowedBuildTypes)
-        message(FATAL_ERROR "Invalid build type: ${CMAKE_BUILD_TYPE}")
-    endif()
-endif()
-
-set(CMAKE_C_FLAGS_ASAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C compiler for Asan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_CXX_FLAGS_ASAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C++ compiler for Asan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_EXE_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
-    CACHE STRING
-    "Linker flags to be used to create executables for Asan build type."
-    FORCE
-)
-
-set(CMAKE_SHARED_LINKER_FLAGS_ASAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=address"
-    CACHE STRING
-    "Linker flags to be used to create shared libraries for Asan build type."
-    FORCE
-)
-
-set(CMAKE_C_FLAGS_TSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C compiler for Tsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_CXX_FLAGS_TSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=thread -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C++ compiler for Tsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_EXE_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
-    CACHE STRING
-    "Linker flags to be used to create executables for Tsan build type."
-    FORCE
-)
-
-set(CMAKE_SHARED_LINKER_FLAGS_TSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=thread"
-    CACHE STRING
-    "Linker flags to be used to create shared libraries for Tsan build type."
-    FORCE
-)
-
-set(CMAKE_C_FLAGS_UBSAN
-    "${CMAKE_C_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C compiler for Ubsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_CXX_FLAGS_UBSAN
-    "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all -fno-omit-frame-pointer"
-    CACHE STRING
-    "Flags used by the C++ compiler for Ubsan build type or configuration."
-    FORCE
-)
-
-set(CMAKE_EXE_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined -fno-sanitize-recover=all"
-    CACHE STRING
-    "Linker flags to be used to create executables for Ubsan build type."
-    FORCE
-)
-
-set(CMAKE_SHARED_LINKER_FLAGS_UBSAN
-    "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} -fsanitize=undefined"
-    CACHE STRING
-    "Linker flags to be used to create shared libraries for Ubsan build type."
-    FORCE
-)
-
-if(WITH_TESTS)
-    enable_testing()
-    add_subdirectory(thirdparty/googletest)
-    include(GoogleTest)
-endif()
-
-if(USE_SYSTEM_LIBUV)
-    set(LIBUV_SYSTEM_REPLACE "find_dependency(libuv CONFIG)")
-endif()
-
-if(USE_SYSTEM_EIGEN)
-    set(EIGEN_SYSTEM_REPLACE "find_package(Eigen3 CONFIG)")
-endif()
-
-set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
-set(SELF_DIR "$\{SELF_DIR\}")
-set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
-set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
-add_subdirectory(wpiutil)
-
-if(WITH_NTCORE)
-    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_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(thirdparty/imgui_suite)
-    add_subdirectory(wpigui)
-    add_subdirectory(glass)
-    add_subdirectory(outlineviewer)
-    add_subdirectory(sysid)
-    if(WITH_WPICAL)
-        add_subdirectory(wpical)
-    endif()
-    if(LIBSSH_FOUND)
-        add_subdirectory(roborioteamnumbersetter)
-        add_subdirectory(datalogtool)
-    endif()
-endif()
-
-if(WITH_WPILIB OR WITH_SIMULATION_MODULES)
-    set(HAL_DEP_REPLACE "find_dependency(hal)")
-    add_subdirectory(hal)
-endif()
-
-if(WITH_CSCORE)
-    set(CAMERASERVER_DEP_REPLACE "find_dependency(cameraserver)")
-    set(CSCORE_DEP_REPLACE "find_dependency(cscore)")
-    find_package(OpenCV REQUIRED)
-    add_subdirectory(cscore)
-    add_subdirectory(cameraserver)
-endif()
-
-if(WITH_WPILIB)
-    set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
-    set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
-    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
-    add_subdirectory(apriltag)
-    add_subdirectory(wpilibj)
-    add_subdirectory(wpilibc)
-    add_subdirectory(wpilibNewCommands)
-    add_subdirectory(romiVendordep)
-    add_subdirectory(xrpVendordep)
-    if(WITH_EXAMPLES)
-        add_subdirectory(wpilibcExamples)
-    endif()
-    add_subdirectory(developerRobot)
-endif()
-
-if(WITH_SIMULATION_MODULES)
-    add_subdirectory(simulation)
-endif()
-
-configure_file(wpilib-config.cmake.in ${WPILIB_BINARY_DIR}/wpilib-config.cmake)
-install(FILES ${WPILIB_BINARY_DIR}/wpilib-config.cmake DESTINATION share/wpilib)
+file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
+get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
+get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
+get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
+add_subdirectory(hal)
+add_subdirectory(networktables/cpp)
+add_subdirectory(wpilibc)

CMakePresets.json

@@ -1,50 +0,0 @@
-{
-  "version": 3,
-  "cmakeMinimumRequired": {
-    "major": 3,
-    "minor": 21,
-    "patch": 0
-  },
-  "configurePresets": [
-    {
-      "name": "default",
-      "displayName": "Default Config",
-      "description": "Default build using Ninja generator",
-      "binaryDir": "build-cmake",
-      "generator": "Ninja",
-      "cacheVariables": {}
-    },
-    {
-      "name": "with-sccache",
-      "displayName": "",
-      "description": "Ninja config with sccache",
-      "generator": "Ninja",
-      "binaryDir": "build-cmake",
-      "cacheVariables": {
-        "CMAKE_C_COMPILER_LAUNCHER": "sccache",
-        "CMAKE_CXX_COMPILER_LAUNCHER": "sccache"
-      }
-    },
-    {
-      "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

@@ -1,112 +0,0 @@
-# Contributor Community Code of Conduct
-
-## Our Pledge
-
-As members, contributors, and leaders, we commit to fostering a community where everyone feels safe, respected, and valued. We are dedicated to ensuring that participation in this community is harassment-free, inclusive, and welcoming, regardless of age, body type, abilities (visible or invisible), ethnicity, gender identity or expression, sexual orientation, socioeconomic background, education, nationality, personal appearance, race, or religion.
-
-Above all, we pledge to act with integrity, kindness, and empathy—striving to be not only good participants but also good humans.
-
-
-## Our Standards
-
-Positive and respectful behavior is essential to creating a thriving community. This includes:
-
-* Practicing **Gracious Professionalism®** at all times. Gracious Professionalism
-  is a way of doing things that encourages high-quality work, emphasizes the
-  value of others, and respects individuals and the community.
-* Showing empathy, kindness, and patience.
-* Respecting diverse perspectives and experiences.
-* Giving and receiving constructive feedback with openness and humility.
-* Owning mistakes, apologizing when necessary, and learning from them.
-* Prioritizing the well-being and success of the entire community over individual interests.
-
-Unacceptable behavior include:
-
-* Using sexualized language, imagery, or making inappropriate advances
-* Trolling, insulting or derogatory comments, and personal or political attacks
-* Harassment in any form, whether public or private.
-* Sharing private information (e.g., email or physical addresses) without explicit consent.
-
-* Any behavior that is unprofessional, harmful, or exclusionary.
-
-## Enforcement Responsibilities
-
-Community leaders are responsible for maintaining these standards and will take appropriate action to address any behavior deemed harmful, threatening, or inappropriate. Actions may include removing content, issuing warnings, or, when necessary, banning individuals. Moderation decisions will be communicated transparently where appropriate.
-
-## Scope
-
-This Code of Conduct applies to all community spaces, events, and instances where individuals represent the community (e.g., official email accounts, social media posts, or in-person/virtual events).
-
-## Enforcement
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be
-reported to the community leaders responsible for enforcement at
-[wpilib@wpi.edu](mailto:wpilib@wpi.edu).
-All complaints will be reviewed and investigated promptly and fairly.
-
-All community leaders are obligated to respect the privacy and security of the
-reporter of any incident.
-
-## Enforcement Guidelines
-
-Community leaders will follow these Community Impact Guidelines in determining
-the consequences for any action they deem in violation of this Code of Conduct:
-
-### 1. Correction
-
-**Community Impact**: Use of inappropriate language or other behavior deemed
-unprofessional or unwelcome in the community.
-
-**Consequence**: A private, written warning from community leaders, providing
-clarity around the nature of the violation and an explanation of why the
-behavior was inappropriate. A public apology may be requested.
-
-### 2. Warning
-
-**Community Impact**: A violation through a single incident or series
-of actions.
-
-**Consequence**: A warning with consequences for continued behavior. No
-interaction with the people involved, including unsolicited interaction with
-those enforcing the Code of Conduct, for a specified period of time. This
-includes avoiding interactions in community spaces as well as external channels
-like social media. Violating these terms may lead to a temporary or
-permanent ban.
-
-### 3. Temporary Ban
-
-**Community Impact**: A serious violation of community standards, including
-sustained inappropriate behavior.
-
-**Consequence**: A temporary ban from any sort of interaction or public
-communication with the community for a specified period of time. No public or
-private interaction with the people involved, including unsolicited interaction
-with those enforcing the Code of Conduct, is allowed during this period.
-Violating these terms may lead to a permanent ban.
-
-### 4. Permanent Ban
-
-**Community Impact**: Demonstrating a pattern of violation of community
-standards, including sustained inappropriate behavior, harassment of an
-individual, or aggression toward or disparagement of classes of individuals.
-
-**Consequence**: A permanent ban from any sort of public interaction within
-the community.
-
-## A Note on Kindness
-Building a community isn’t just about rules—it’s about connection. Every interaction is an opportunity to be understanding, compassionate, and supportive. Being a good human is the key to our ethos.
-
-## Attribution
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage],
-version 2.0, available at
-https://www.contributor-covenant.org/version/2/0/code_of_conduct.html.
-
-Community Impact Guidelines were inspired by [Mozilla's code of conduct
-enforcement ladder](https://github.com/mozilla/diversity).
-
-[homepage]: https://www.contributor-covenant.org
-
-For answers to common questions about this code of conduct, see the FAQ at
-https://www.contributor-covenant.org/faq. Translations are available at
-https://www.contributor-covenant.org/translations.

CONTRIBUTING.md

@@ -1,91 +0,0 @@
-# Contributing to WPILib
-
-So you want to contribute your changes back to WPILib. Great! We have a few contributing rules that will help you make sure your changes will be accepted into the project. Please remember to follow the rules in the [code of conduct](https://github.com/wpilibsuite/allwpilib/blob/main/CODE_OF_CONDUCT.md), and behave with Gracious Professionalism.
-
-- [General Contribution Rules](#general-contribution-rules)
-- [What to Contribute](#what-to-contribute)
-- [Coding Guidelines](#coding-guidelines)
-- [Submitting Changes](#submitting-changes)
-    - [Pull Request Format](#pull-request-format)
-    - [Merge Process](#merge-process)
-- [Licensing](#licensing)
-
-## General Contribution Rules
-
-- Everything in the library must work for the 4000+ teams that will be using it.
-- We need to be able to maintain submitted changes, even if you are no longer working on the project.
-- Tool suite changes must be generally useful to a broad range of teams
-- Excluding bug fixes, changes in one language generally need to have corresponding changes in other languages.
-    - Some features, such the addition of C++23 for WPILibC or Functional Interfaces for WPILibJ, are specific to that version of WPILib only. New language features added to C++ must be wrappable in Python for [RobotPy](https://github.com/robotpy).
-    - Substantial changes often need to have corresponding LabVIEW changes. To do this, we will work with NI on these large changes.
-- Changes should have tests.
-- Code should be well documented.
-    - This involves writing tutorials and/or usage guides for your submitted feature. These articles are then hosted on the [WPILib](https://docs.wpilib.org/) documentation website. See the [frc-docs repository](https://github.com/wpilibsuite/frc-docs) for more information.
-
-## What to Contribute
-
-- Bug reports and fixes
-    - We will generally accept bug fixes without too much question. If they are only implemented for one language, we will implement them for any other necessary languages. Bug reports are also welcome, please submit them to our GitHub issue tracker.
-- While we do welcome improvements to the API, there are a few important rules to consider:
-    - Features must be added to Java (WPILibJ), C++ (WPILibC), with rare exceptions.
-        - Most of Python (RobotPy) is created by wrapping WPILibC with pybind11 via robotpy-build. However, new features to the command framework should also be submitted to [robotpy-commands-v2](https://github.com/robotpy/robotpy-commands-v2) as the command framework is reimplemented in Python.
-    - During competition season, we will not merge any new feature additions. We want to ensure that the API is stable during the season to help minimize issues for teams.
-    - Ask about large changes before spending a bunch of time on them! You can create a new issue on our GitHub tracker for feature request/discussion and talk about it with us there.
-    - Features that make it easier for teams with less experience to be more successful are more likely to be accepted.
-    - 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.
-
-## 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.
-
-## Licensing
-
-By contributing to WPILib, you agree that your code will be distributed with WPILib, and licensed under the license for the WPILib project. You should not contribute code that you do not have permission to relicense in this manner. This includes code that is licensed under the GPL that you do not have permission to relicense, as WPILib is not released under a copyleft license. Our license is the 3-clause BSD license, which you can find [here](LICENSE.md).

DevelopmentBuilds.md

@@ -1,92 +0,0 @@
-# Installing Development Builds
-
-This article contains instructions on building projects using a development build and a local WPILib build.
-
-**Note:** This only applies to Java/C++ teams.
-
-> [!WARNING]
-> **There are no stability or compatibility guarantees for builds outside of [tagged releases](https://github.com/wpilibsuite/allwpilib/releases). Changes may not be fully documented. Use them at your own risk!**
->
-> Development builds may be non-functional between the end of the season and the start of beta testing. Development builds are also likely to be incompatible with vendor libraries during this time.
-
-## Development Build
-
-Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
-
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1`
-
-```groovy
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.+'
-wpi.versions.wpimathVersion = 'YEAR.+'
-```
-
-The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
-
-Java
-```groovy
-plugins {
-  id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
-```
-
-C++
-```groovy
-plugins {
-  id "cpp"
-  id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
-```
-
-### Development Build Documentation
-
-* C++: https://github.wpilib.org/allwpilib/docs/development/cpp/
-* Java: https://github.wpilib.org/allwpilib/docs/development/java/
-
-## Local Build
-
-Building with a local build is very similar to building with a development build. Ensure you have built and published WPILib by following the instructions attached [here](https://github.com/wpilibsuite/allwpilib#building-wpilib). Next, find the ``build.gradle`` file in your robot project and open it. Then, add the following code below the plugin section and replace ``YEAR`` with the year of the local version.
-
-Java
-```groovy
-plugins {
-  id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
-```
-
-C++
-```groovy
-plugins {
-  id "cpp"
-  id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
-}
-
-wpi.maven.useLocal = false
-wpi.maven.useFrcMavenLocalDevelopment = true
-wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
-```
-
-# roboRIO Development
-
-See the [developerRobot](developerRobot/README.md) subproject.

GeneratedFiles.md

@@ -1,25 +0,0 @@
-# Maintaining Generated Files
-WPILib extensively uses [metaprogramming](https://en.wikipedia.org/wiki/Metaprogramming#Code_generation) to generate code that would otherwise be tedious and error-prone to maintain. We use [Jinja](https://jinja.palletsprojects.com), a templating engine with a Python API, alongside JSON files that contain data to generate code. This document explains how to maintain these generated files and create new ones.
-
-## File hierarchy
-The Python script used to generate a subproject's files will always be located in the subproject's directory, e.g. wpilibc. It will always be called `generate_<thing>.py` where `<thing>` is the name for what you're generating.
-
-The templates will be located under `subproject/src/generate/main`, and generated files will be located under `subproject/src/generated/main`.
-
-If the generated file is for C++, the hierarchy should be symmetrical, so if a generated header is located under `subproject/src/generated/main/native/include/frc/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/frc/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
-
-If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `edu.wpi.first.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/edu/wpi/first/wpilibj`
-
-The JSON files live under `subproject/src/generate` since they apply to both languages. One unique case is JSON files that are used by multiple subprojects, currently only JSON files shared by wpilibc and wpilibj. In that specific case, the JSON files will always be located in wpilibj since Java is the most used language.
-
-## Using code generation
-If you've identified a set of files which are extremely similar, one file with lots of repetitive code, or both, you can create Jinja templates, a JSON file, and a Python script to automatically generate the code instead.
-
-### Preparing files for codegen
-Once you've identified the files you want to codegen, you will need to identify parts of code that are similar, and extract the data that's different. Code needs to go into your Jinja template, while data that will be used to fill in the template goes into a JSON file. Using game controllers as an example, they have lots of similar methods to read the value of a button, check if a button has been pressed since the last check, and check if a button has been released since the last check. Those methods are code that goes in a Jinja template, with the specific button replaced with a Jinja expression. The buttons, both the name and value, go into a JSON file.
-
-### Writing a Python script
-To maintain consistency with other Python scripts, copy an existing `generate_*.py` script. [generate_pwm_motor_controllers.py](./wpilibj/generate_pwm_motor_controllers.py) is a good start, since it's relatively basic. Modify the script to reference your templates and JSON file, modify the paths so the files end up in the right place, and rename the functions so they match what you're generating. An important part of the script is to give the files the correct name. Depending on files you're generating, this could be the name of the template itself (see [ntcore/generate_topics.py](./ntcore/generate_topics.py)) or it could be part of the data in the JSON file.
-
-### (Re)Generating files and committing them
-Once your Python script is complete, you can run `python generate_<thing>.py` to generate the files. Once you're finished with your files, commit these files to Git. If you regenerated the files and Git indicates the files have changed, but the diff doesn't show any changes, only the line endings have changed. If you expected changes to the generated code, you didn't correctly make changes. If you didn't expect changes, you can ignore this and discard the changes. Also ensure that you've marked the Python script as executable, since this is necessary for CI workflows to run your scripts. To add your script to the CI workflows, edit [.github/workflows/pregen_all.py](.github/workflows/pregen_all.py), and add your script alongside the rest of the scripts.

LICENSE.md

@@ -1,24 +0,0 @@
-Copyright (c) 2009-2025 FIRST and other WPILib contributors
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-   * Redistributions of source code must retain the above copyright
-     notice, this list of conditions and the following disclaimer.
-   * Redistributions in binary form must reproduce the above copyright
-     notice, this list of conditions and the following disclaimer in the
-     documentation and/or other materials provided with the distribution.
-   * Neither the name of FIRST, WPILib, nor the names of other WPILib
-     contributors may be used to endorse or promote products derived from
-     this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
-PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

MAINTAINERS.md

@@ -1,27 +0,0 @@
-## Publishing Third Party Dependencies
-Currently the 3rd party deps are imgui, opencv, google test, libssh, and apriltaglib
-
-For publishing these dependencies, the version needs to be manually updated in the publish.gradle file of their respective repository.
-Then, in the azure build for the dependency you want to build for, manually start a pipeline build (As of current, this is the `Run Pipeline` button).
-A variable needs to be added called `RUN_AZURE_ARTIFACTORY_RELEASE`, with a value of `true`. Then when the pipeline gets started, the final build outputs will be updated to artifactory.
-
-To use newer versions of C++ dependencies, in `shared/config.gradle`, update the version related to the specific dependency.
-For Java dependencies, there is likely a file related to the specific dependency in the shared folder. Update the version in there.
-
-Note, changing artifact locations (This includes changing the artifact year currently, I have an issue open to change this) requires updating the `native-utils` plugin
-
-## Publishing allwpilib
-allwpilib publishes to the development repo on every push to main. To publish a release build, upload a new tag, and a release will automatically be built and published.
-
-## Publishing desktop tools
-Desktop tools publish to the development repo on every push to main. To publish a release build, upload a new tag, and a release will automatically be built and published.
-
-## Publishing VS Code
-Before publishing, make sure to update the gradlerio version in `vscode-wpilib/resources/gradle/version.txt` Also make sure the gradle wrapper version matches the wrapper required by gradlerio.
-Upon pushing a tag, a release will be built, and the files will be uploaded to the releases on GitHub.
-
-## Publishing GradleRIO
-Before publishing, make sure to update the version in build.gradle. Publishing must happen locally, using the command `./gradlew publishPlugin`. This does require your API key for publishing to be set.
-
-## Building the installer
-Update the GradleRIO version in gradle.properties, and in the scripts folder in vscode, update the vscode extension. To publish a release build, upload a new tag, and a release will automatically be built and published to artifactory and cloudflare.

MavenArtifacts.md

@@ -1,164 +0,0 @@
-# WPILib Maven Artifacts
-
-WPILib publishes its built artifacts to our Maven server for use by downstream projects. This document explains these locations, and the meanings of artifact names, classifiers, and versions.
-
-## Repositories
-We provide two repositories. These repositories are:
-
-* (Release)     https://frcmaven.wpi.edu/artifactory/release/
-* (Development) https://frcmaven.wpi.edu/artifactory/development/
-
-The release repository is where official WPILib releases are pushed.
-The development repository is where development releases of every commit to [main](https://github.com/wpilibsuite/allwpilib/tree/main) is pushed.
-
-## Artifact classifiers
-We provide two base types of artifacts.
-
-The first types are Java artifacts. These are usually published as `jar` files. Usually, the actual jar file is published with no classifier. The sources are published with the `-sources` classifier, and the javadocs are published with the `-javadoc` classifier.
-
-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.
-
-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.
-
-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)
-```
-
-## 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.
-
-For C++, if building with static dependencies, the listed order should be the link order in your linker.
-
-All artifacts are based at `edu.wpi.first.artifactname` in the repository.
-
-* wpiutil
-
-* wpigui
-  * imgui
-
-* wpimath
-  * wpiutil
-
-* wpinet
-  * wpiutil
-
-* ntcore
-  * wpiutil
-  * wpinet
-
-* glass/libglass
-  * wpiutil
-  * wpimath
-  * wpigui
-
-* glass/libglassnt
-  * wpiutil
-  * wpinet
-  * ntcore
-  * wpimath
-  * wpigui
-
-* hal
-  * wpiutil
-
-* halsim
-  * wpiutil
-  * wpinet
-  * ntcore
-  * wpimath
-  * wpigui
-  * libglass
-  * libglassnt
-
-* cscore
-  * opencv
-  * wpinet
-  * wpiutil
-
-* cameraserver
-  * ntcore
-  * cscore
-  * opencv
-  * wpinet
-  * wpiutil
-
-* wpilibj
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpinet
-  * wpiutil
-
-* wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpimath
-  * wpinet
-  * wpiutil
-
-* wpilibNewCommands
-  * wpilibc
-  * hal
-  * cameraserver
-  * ntcore
-  * cscore
-  * wpimath
-  * wpinet
-  * wpiutil
-
-* wpiunits
-
-* apriltag
-  * wpiutil
-  * wpimath
-
-### Third Party Artifacts
-
-This repository provides the builds of the following third party software.
-
-All artifacts are based at `edu.wpi.first.thirdparty.frcYEAR` in the repository.
-
-* apriltaglib
-* googletest
-* imgui
-* opencv
-* libssh

README-Bazel.md

@@ -1,25 +0,0 @@
-# WPILib Bazel Support
-
-WPILib is normally built with Gradle, but [Bazel](https://www.bazel.build/) can also be used to increase development speed due to the superior caching ability and the ability to use remote caching and remote execution (on select platforms)
-
-
-## Prerequisites
-- Install [Bazelisk](https://github.com/bazelbuild/bazelisk/releases) and add it to your path. Bazelisk is a wrapper that will download the correct version of bazel specified in the repository. Note: You can alias/rename the binary to `bazel` if you want to keep the familiar `bazel build` vs `bazelisk build` syntax.
-
-## Building
-To build the entire repository, simply run `bazel build //...`. To run all of the unit tests, run `bazel test //...`
-Other examples:
-- `bazel build //wpimath/...` - Builds every target in the wpimath folder
-- `bazel test //wpiutil:wpiutil-cpp-test` - Runs only the cpp test target in the wpiutil folder
-- `bazel coverage //wpiutil/...` - (*Nix only) - Runs a code coverage report for both C++ and Java on all the targets under wpiutil
-
-## User settings
-When invoking bazel, it will check if `user.bazelrc` exists for additional, user specified flags. You can use these settings to do things like always ignore buildin a specific folder, or limiting the CPU/RAM usage during a build.
-Examples:
-- `build --build_tag_filters=-wpi-example` - Do not build any targets tagged with `wpi-example` (Currently all of the targets in wpilibcExamples and wpilibjExamples contain this tag)
-- `build -c opt` - Always build optimized targets. The default compiler flags were chosen to build as fast as possible, and thus don't contain many optimizations
-- `build -k` - `-k` is analogous to the MAKE flag `--keep-going`, so the build will not stop on the first error.
-- ```
-  build --local_ram_resources=HOST_RAM*.5 # Don't use more than half my RAM when building
-  build --local_cpu_resources=HOST_CPUS-1 # Leave one core alone
-  ```

README-CMake.md

@@ -1,240 +0,0 @@
-# WPILib CMake Support
-
-WPILib is normally built with Gradle, however for some systems, such as Linux based coprocessors, Gradle doesn't work correctly, especially if cscore is needed, which requires OpenCV. Furthermore, the CMake build can be used for C++ development because it provides better build caching compared to Gradle. We provide the CMake build for these cases. Although macOS is supported, these docs will only go over Linux and Windows builds, but should mostly work for macOS as well. If you are stuck, you can look at the GitHub workflows for any OS to see how it works.
-
-## Libraries that get built
-* apriltag
-* cameraserver
-* cscore
-* fieldImages
-* hal (simulation HAL only)
-* ntcore
-* romiVendordep
-* simulation extensions
-* wpigui
-* wpilib (wpilibc, wpilibj, and myRobot)
-* wpilibNewCommands
-* wpimath
-* wpinet
-* wpiunits
-* wpiutil
-* xrpVendordep
-
-## GUI apps that get built
-* datalogtool
-* glass
-* outlineviewer
-* roborioteamnumbersetter
-* sysid
-* halsim_gui (if simulation extensions are enabled)
-
-By default, all libraries get built with a default CMake setup. The libraries are built as shared libraries, and include the JNI libraries as well as building the Java JARs. Data Log Tool and the roboRIO Team Number Setter are only built if libssh is available.
-
-## Prerequisites
-
-The protobuf library and compiler are needed for protobuf generation.
-
-OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
-
-If you want JNI and Java, you will need a JDK of at least version 17 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
-
-If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
-
-## Build Options
-
-The following build options are available:
-
-* `BUILD_SHARED_LIBS` (ON Default)
-  * This option will cause CMake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
-* `WITH_CSCORE` (ON Default)
-  * This option will cause cscore to be built. Turning this off will implicitly disable cameraserver. If this is off, the OpenCV build requirement is removed.
-* `WITH_EXAMPLES` (OFF Default)
-  * This option will build C++ examples.
-* `WITH_GUI` (ON Default)
-  * This option will build GUI items. If this is off, and `WITH_SIMULATION_MODULES` is on, the simulation GUI will not be built.
-* `WITH_JAVA` (OFF Default)
-  * This option will enable Java and JNI builds. If this is on, `BUILD_SHARED_LIBS` must be on. Otherwise CMake will error.
-* `WITH_JAVA_SOURCE` (`WITH_JAVA` Default)
-  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
-* `WITH_NTCORE` (ON Default)
-  * This option will cause ntcore to be built. Turning this off will implicitly disable wpinet, and will cause an error if `WITH_WPILIB` is enabled.
-* `WITH_SIMULATION_MODULES` (ON Default)
-  * This option will build simulation modules.
-* `WITH_TESTS` (ON Default)
-  * This option will build C++ unit tests. These can be run via `ctest -C <config>`, where `<config>` is the build configuration, e.g. `Debug` or `Release`.
-* `WITH_WPILIB` (ON Default)
-  * This option will build the HAL and wpilibc/j during the build. The HAL is the simulation HAL, unless the external HAL options are used. The CMake build has no capability to build for the roboRIO.
-* `WITH_WPIMATH` (ON Default)
-  * This option will build the wpimath library. This option must be on to build wpilib.
-* `WITH_PROTOBUF` (ON Default)
-  * This option will build with the protobuf library.
-* `WITH_WPIUNITS` (`WITH_JAVA` Default)
-  * This option will build the wpiunits library. This option must be on to build the Java wpimath library and requires `WITH_JAVA` to also be on.
-* `OPENCV_JAVA_INSTALL_DIR`
-  * Set this option to the location of the archive of the OpenCV Java bindings (it should be called opencv-xxx.jar, with the x'es being version numbers). NOTE: set it to the LOCATION of the file, not the file itself!
-* `NO_WERROR` (OFF Default)
-  * This option will disable the `-Werror` compilation flag for non-MSVC builds.
-* `WPILIB_TARGET_WARNINGS`
-  * Add compiler flags to this option to customize compiler options like warnings.
-
-## Build Setup
-
-The WPILib CMake build does not allow in source builds. Because the `build` directory is used by Gradle, we recommend a `build-cmake` directory in the root. This folder is included in the gitignore. We support building with Ninja; other options like Makefiles may be broken.
-
-Once you have a build folder, run CMake configuration in the root directory with the following command.
-
-```
-cmake --preset default
-```
-
-If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake` command. This will check for any dependencies. If everything works properly this will succeed. If not, please check out the troubleshooting section for help.
-
-If you want, you can also use `ccmake` in order to visually set these properties as well. [Here](https://cmake.org/cmake/help/v3.0/manual/ccmake.1.html) is the link to the documentation for that program. On Windows, you can use `cmake-gui` instead.
-
-Note that if you are cross-compiling, you will need to override the protobuf options manually to point to the libraries for the target platform. Leave the protoc binary location as the path to the binary for the host platform, since protoc needs to execute on the host platform.
-
-## Presets
-
-The WPILib CMake setup has a variety of presets for common configurations and options used. The default sets the generator to Ninja and build directory to `build-cmake`. The other presets are `with-java` (sets `WITH_JAVA=ON`), `sccache` (sets the C/C++ compiler launcher to sccache), and `with-java-sccache` (a comibination of `with-java` and `sccache`.
-
-## Building
-
-Once you have CMake setup. run `cmake --build .` from the directory you configured CMake in. This will build all libraries possible. We recommend running `cmake --build .` with multiple jobs. For allwpilib, a good rule of thumb is one worker for every 2 GB of available RAM. To run a multiple job build, run the following command with x being the number of jobs you want.
-
-```
-cmake --build . --parallel x
-```
-
-Note: wpimath takes gigabytes of RAM to compile. Because of this, the compilers may crash while building due to a lack of memory and your computer may slow down. If you have less than 16 GB of RAM available, you may want to consider building it separately first by adding `--target wpimath` and running it with ~3 jobs to prevent crashes from running out of memory.
-
-To build with a certain configuration, like `Debug` or `Release`, add `--config <config>`, where `<config>` is the name of the configuration you want to build with.
-
-## Installing
-
-After build, the easiest way to use the libraries is to install them. Run the following command to install the libraries. This will install them so that they can be used from external CMake projects.
-
-```
-sudo cmake --build . --target install
-```
-
-## Preparing to use the installed libraries
-
-On Windows, make sure the directories for the libraries you built are on PATH. For wpilib, the default install location is `C:\Program Files (x86)\allwpilib`. If you built other libraries like OpenCV and protobuf from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
-
-You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program. If you are using OpenCV and Java, the `opencv_java` DLL is located in either the `lib` subdirectory if you built but didn't install OpenCV, or the `java` subdirectory if you did install OpenCV.
-
-## Using the installed libraries for C++.
-
-Using the libraries from C++ is the easiest way to use the built libraries.
-
-To do so, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
-
-```cmake
-cmake_minimum_required(VERSION 3.11)
-project(vision_app) # Project Name Here
-
-find_package(wpilib REQUIRED)
-
-add_executable(my_vision_app main.cpp) # executable name as first parameter
-target_link_libraries(my_vision_app cameraserver ntcore cscore wpiutil)
-```
-
-If you want to use other libraries or are building a robot program, `wpilibc` and `hal` should be added in the `target_link_libraries` function, along with any other libraries you plan on using, e.g. `wpimath`.
-
-Add a `main.cpp` file to contain your code, and create a build folder. Move into the build folder, and run
-
-```
-cmake /path/to/folder/containing/CMakeLists
-```
-
-After that, run `cmake --build .`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
-
-## Using the installed libraries for Java
-
-Using the built JARs is more involved than using the C++ libraries, but the additional work involves providing the paths to various libraries and JARs when needed.
-
-Create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
-
-```cmake
-cmake_minimum_required(VERSION 3.11)
-project(robot)
-
-find_package(Java REQUIRED COMPONENTS Development)
-include(UseJava)
-find_package(wpilib REQUIRED)
-find_jar(opencvJar opencv-xxx PATHS ENV PATH) # Change to OpenCV version
-
-file(GLOB_RECURSE JAVA_SOURCES *.java)
-# If you want Gradle compatibility or you are using one of the templates/examples, comment out the above line and uncomment this line instead:
-# file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-add_jar(robot ${JAVA_SOURCES}
-    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar wpilibNewCommands_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
-export_jars(TARGETS robot FILE robot.jar)
-```
-This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
-Add a `Main.java` file to contain your code, and create a build folder. Move into the build folder, and run
-
-```
-cmake /path/to/folder/containing/CMakeLists
-```
-
-After that, run `cmake --build .` to create your JAR file. To execute the JAR file, you need to include the wpilib JARs and your JAR in the classpath, and execute your Java program's entry point. If you are using cscore or cameraserver, you also need to include the path to the OpenCV JAR. If you built it from source, it will be in your OpenCV build directory. If it's installed on the system, CMake may find it from PATH, but you will likely need to locate the JAR and manually give CMake the JAR directory. If you are on Linux, you will also need to add the path of the libraries to `LD_LIBRARY_PATH`. This can be done by prepending `LD_LIBRARY_PATH=/path/to/libraries` to the Java command. If you need to add more paths, separate them with colons. The final command should look like `java -cp "robot.jar:/path/to/library_jars/*" main.package.Main`, using a semicolon to separate paths instead of a colon if you are on Windows. If you are on Linux, the final command should look more like `LD_LIBRARY_PATH=/path/to/libraries java -cp robot.jar:/path/to/library_jars/* main.package.Main`.
-
-## Using vendordeps
-
-Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that wpilibNewCommands, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
-
-## Troubleshooting
-Below are some common issues that are run into when building.
-
-#### Missing OpenCV
-
-If you are missing OpenCV, you will get an error message similar to this.
-
-```
-CMake Error at cscore/CMakeLists.txt:3 (find_package):
-  By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
-  asked CMake to find a package configuration file provided by "OpenCV", but
-  CMake did not find one.
-
-  Could not find a package configuration file provided by "OpenCV" with any
-  of the following names:
-
-    OpenCVConfig.cmake
-    opencv-config.cmake
-
-  Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set
-  "OpenCV_DIR" to a directory containing one of the above files.  If "OpenCV"
-  provides a separate development package or SDK, be sure it has been
-  installed.
-```
-
-If you get that, you need make sure OpenCV was installed, and then reattempt to configure. If that doesn't work, set the `OpenCV_DIR` variable to the directory where you built OpenCV.
-
-#### Missing Java
-
-If you are missing Java, you will get a message like the following.
-```
-CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
-  Could NOT find Java (missing: Java_JAVA_EXECUTABLE Java_JAR_EXECUTABLE
-  Java_JAVAC_EXECUTABLE Java_JAVAH_EXECUTABLE Java_JAVADOC_EXECUTABLE)
-```
-
-If this happens, make sure you have a JDK of at least version 8 installed, and that your JAVA_HOME variable is set properly to point to the JDK.
-
-In addition, if you do not need Java, you can disable it with `-DWITH_JAVA=OFF`.
-
-#### Java: Can't find dependent libraries
-
-If one of the libraries can't be found, you will get an error similar to this one:
-
-```
-java.io.IOException: wpiHaljni could not be loaded from path or an embedded resource.
-        attempted to load for platform /windows/x86-64/
-Last Load Error:
-C:\Program Files (x86)\allwpilib\bin\wpiHaljni.dll: Can't find dependent libraries
-```
-
-If you get this error, that's usually an indication that not all your libraries are in your PATH. The two libraries that should be in your PATH are OpenCV and protobuf. If the error is coming from cscore, it's likely you're missing OpenCV. Otherwise, it's likely you're missing protobuf.
-
-Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

README.md

@@ -1,195 +0,0 @@
-# WPILib Project
-
-[![Gradle](https://github.com/wpilibsuite/allwpilib/actions/workflows/gradle.yml/badge.svg?branch=main)](https://github.com/wpilibsuite/allwpilib/actions/workflows/gradle.yml)
-[![C++ Documentation](https://img.shields.io/badge/documentation-c%2B%2B-blue)](https://github.wpilib.org/allwpilib/docs/development/cpp/)
-[![Java Documentation](https://img.shields.io/badge/documentation-java-orange)](https://github.wpilib.org/allwpilib/docs/development/java/)
-
-Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.
-
-- [WPILib Project](#wpilib-project)
-  - [WPILib Mission](#wpilib-mission)
-- [Building WPILib](#building-wpilib)
-  - [Requirements](#requirements)
-  - [Setup](#setup)
-  - [Building](#building)
-    - [Faster builds](#faster-builds)
-    - [Using Development Builds](#using-development-builds)
-    - [Custom toolchain location](#custom-toolchain-location)
-    - [Formatting/Linting](#formattinglinting)
-    - [CMake](#cmake)
-    - [Bazel](#bazel)
-  - [Running examples in simulation](#running-examples-in-simulation)
-  - [Publishing](#publishing)
-  - [Structure and Organization](#structure-and-organization)
-- [Contributing to WPILib](./CONTRIBUTING.md)
-
-## WPILib Mission
-
-The WPILib Mission is to enable FIRST Robotics 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
-
-Below is a list of instructions that guide you through cloning, building, publishing and using local allwpilib binaries in a robot project. This quick start is not intended as a replacement for the information further listed in this document.
-
-1. Clone the repository with `git clone https://github.com/wpilibsuite/allwpilib.git`
-2. Build the repository with `./gradlew build` or `./gradlew build --build-cache` if you have an internet connection
-3. Publish the artifacts locally by running `./gradlew publish`
-4. [Update your](DevelopmentBuilds.md) `build.gradle` [to use the artifacts](DevelopmentBuilds.md)
-
-# Building WPILib
-
-Using Gradle makes building WPILib very straightforward. It only has a few dependencies on outside tools, such as the ARM cross compiler for creating roboRIO binaries.
-
-## Requirements
-
-- [JDK 17](https://adoptium.net/temurin/releases/?version=17)
-    - Note that the JRE is insufficient; the full JDK is required
-    - On Ubuntu, run `sudo apt install openjdk-17-jdk`
-    - On Windows, install the JDK 17 .msi from the link above
-    - On macOS, install the JDK 17 .pkg from the link above
-- C++ compiler
-    - On Linux, install GCC 11 or greater
-    - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 13 or later is required.
-- ARM compiler toolchain
-    - Run `./gradlew installRoboRioToolchain` after cloning this repository
-    - If the WPILib installer was used, this toolchain is already installed
-- Raspberry Pi toolchain (optional)
-    - Run `./gradlew installArm32Toolchain` after cloning this repository
-
-On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
-
-On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
-
-## Setup
-
-Clone the WPILib repository and follow the instructions above for installing any required tooling. The build process uses versioning information from git. Downloading the source is not sufficient to run the build.
-
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
-
-## Building
-
-All build steps are executed using the Gradle wrapper, `gradlew`. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is `build`. This will build all the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:
-
-```bash
-./gradlew build
-```
-
-To build a specific subproject, such as WPILibC, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use `:subproject_name:task_name` with the Gradle wrapper. For example, building just WPILibC:
-
-```bash
-./gradlew :wpilibc:build
-```
-
-The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change in the HAL and then run `./gradlew :wpilibc:build`, the HAL will be rebuilt, then WPILibC.
-
-There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
-
-If opening from a fresh clone, generated java dependencies will not exist. Most IDEs will not run the generation tasks, which will cause lots of IDE errors. Manually run `./gradlew compileJava` from a terminal to run all the compile tasks, and then refresh your IDE's configuration (In VS Code open settings.gradle and save).
-
-### Faster builds
-
-`./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
-
-`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests. `./gradlew testDesktop` will run both `testDesktopJava` and `testDesktopCpp`.
-
-`testDesktopCpp`, `testDesktopJava`, and `testDesktop` tasks also exist for the following projects:
-
-- `apriltag`
-- `cameraserver`
-- `cscore`
-- `hal`
-- `ntcore`
-- `wpilibNewCommands`
-- `wpimath`
-- `wpinet`
-- `wpiunits`
-- `wpiutil`
-- `romiVendordep`
-- `xrpVendordep`
-
-These can be ran with `./gradlew :projectName:task`.
-
-`./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
-
-### Build Cache
-
-Run with `--build-cache` on the command-line to use the shared [build cache](https://docs.gradle.org/current/userguide/build_cache.html) artifacts generated by the continuous integration server. Example:
-
-```bash
-./gradlew build --build-cache
-```
-
-### Using Development Builds
-
-Please read the documentation available [here](DevelopmentBuilds.md)
-
-### Custom toolchain location
-
-If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
-
-```bash
-./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin
-```
-
-### Formatting/linting
-
-Once a PR has been submitted, formatting can be run in CI by commenting `/format` on the PR. A new commit will be pushed with the formatting changes.
-
-> [!NOTE]
-> The `/format` action has been temporarily disabled. The individual formatting commands can be run locally as shown below. Alternately, the Lint and Format action for a PR will upload a patch file that can be downloaded and applied manually.
-
-#### wpiformat
-
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
-
-#### Java Code Quality Tools
-
-The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./gradlew javaFormat`. SpotBugs can be run via the `spotbugsMain`, `spotbugsTest`, and `spotbugsDev` tasks. These tools will all be run automatically by the `build` task. To disable this behavior, pass the `-PskipJavaFormat` flag.
-
-If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
-
-### Generated files
-
-Several files within WPILib are generated using Jinja. If a PR is opened that modifies these templates then the files can be generated through CI by commenting `/pregen` on the PR. A new commit will be pushed with the regenerated files. See [GeneratedFiles.md](GeneratedFiles.md) for more information.
-
-### CMake
-
-CMake is also supported for building. See [README-CMake.md](README-CMake.md).
-
-### Bazel
-
-Bazel is also supported for building. See [README-Bazel.md](README-Bazel.md).
-
-## Running examples in simulation
-
-Examples can be run in simulation with the following command:
-
-```bash
-./gradlew wpilibcExamples:runExample
-./gradlew wpilibjExamples:runExample
-```
-where `Example` is the example's folder name.
-
-## Publishing
-
-If you are building to test with other dependencies or just want to export the build as a Maven-style dependency, simply run the `publish` task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with `-Prepo=repo_name`. Valid options are:
-
-- development - The default repo.
-- beta - Publishes to ~/releases/maven/beta.
-- stable - Publishes to ~/releases/maven/stable.
-- release - Publishes to ~/releases/maven/release.
-
-The maven artifacts are described in [MavenArtifacts.md](MavenArtifacts.md)
-
-## Structure and Organization
-
-The main WPILib code you're probably looking for is in WPILibJ and WPILibC. Those directories are split into shared, sim, and athena. Athena contains the WPILib code meant to run on your roboRIO. Sim is WPILib code meant to run on your computer, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).
-
-The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
-
-The hal directory contains more C++ code meant to run on the roboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the [ni-libraries](https://github.com/wpilibsuite/ni-libraries) project.
-
-The upstream_utils directory contains scripts for updating copies of thirdparty code in the repository.
-
-The [styleguide repository](https://github.com/wpilibsuite/styleguide) contains our style guides for C++ and Java code. Anything submitted to the WPILib project needs to follow the code style guides outlined in there. For details about the style, please see the contributors document [here](CONTRIBUTING.md#coding-guidelines).

WORKSPACE

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

apriltag/BUILD.bazel

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

apriltag/CMakeLists.txt

@@ -1,158 +0,0 @@
-project(apriltag)
-
-include(CompileWarnings)
-include(GenResources)
-
-file(
-    GLOB_RECURSE apriltaglib_src
-    src/main/native/thirdparty/apriltag/src/*.c
-    src/main/native/thirdparty/apriltag/src/*.cpp
-)
-
-# Disable apriltag C library warnings
-if(MSVC)
-    set_source_files_properties(
-        ${apriltaglib_src}
-        PROPERTIES COMPILE_FLAGS "/wd4005 /wd4018 /wd4244 /wd4267 /wd4996"
-    )
-elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    set_source_files_properties(
-        ${apriltaglib_src}
-        PROPERTIES
-            COMPILE_FLAGS
-                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-uninitialized -Wno-sign-compare -Wno-type-limits"
-    )
-else()
-    set_source_files_properties(
-        ${apriltaglib_src}
-        PROPERTIES
-            COMPILE_FLAGS
-                "-Wno-format-nonliteral -Wno-gnu-zero-variadic-macro-arguments -Wno-maybe-uninitialized -Wno-sign-compare -Wno-type-limits"
-    )
-endif()
-
-file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
-
-if(WITH_JAVA)
-    include(UseJava)
-
-    set(CMAKE_JNI_TARGET true)
-
-    file(GLOB EJML_JARS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/*.jar")
-    file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
-    find_file(
-        OPENCV_JAR_FILE
-        NAMES opencv-${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.jar
-        PATHS
-            ${OPENCV_JAVA_INSTALL_DIR}
-            ${OpenCV_INSTALL_PATH}/bin
-            ${OpenCV_INSTALL_PATH}/share/java
-            ${OpenCV_INSTALL_PATH}/share/java/opencv4
-            ${OpenCV_INSTALL_PATH}/share/OpenCV/java
-        NO_DEFAULT_PATH
-    )
-
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-    file(
-        GLOB_RECURSE JAVA_RESOURCES
-        RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-        src/main/native/resources/*.json
-    )
-    add_jar(
-        apriltag_jar
-        SOURCES ${JAVA_SOURCES}
-        RESOURCES
-        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-        INCLUDE_JARS
-            wpimath_jar
-            wpiunits_jar
-            wpiutil_jar
-            ${EJML_JARS}
-            ${OPENCV_JAR_FILE}
-            ${JACKSON_JARS}
-        OUTPUT_NAME apriltag
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-        GENERATE_NATIVE_HEADERS apriltag_jni_headers
-    )
-    set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
-
-    install_jar(apriltag_jar DESTINATION ${java_lib_dest})
-    install_jar_exports(TARGETS apriltag_jar FILE apriltag_jar.cmake DESTINATION share/apriltag)
-
-    add_library(apriltagjni ${apriltag_jni_src} ${apriltaglib_src})
-    wpilib_target_warnings(apriltagjni)
-    target_link_libraries(apriltagjni PUBLIC apriltag)
-
-    set_property(TARGET apriltagjni PROPERTY FOLDER "libraries")
-
-    target_link_libraries(apriltagjni PRIVATE apriltag_jni_headers)
-    add_dependencies(apriltagjni apriltag_jar)
-
-    install(TARGETS apriltagjni EXPORT apriltagjni)
-    export(TARGETS apriltagjni FILE apriltagjni.cmake NAMESPACE apriltagjni::)
-endif()
-
-if(WITH_JAVA_SOURCE)
-    include(UseJava)
-    include(CreateSourceJar)
-    add_source_jar(
-        apriltag_src_jar
-        BASE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/src/main/java
-        OUTPUT_NAME apriltag-sources
-        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
-    )
-    set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
-
-    install_jar(apriltag_src_jar DESTINATION ${java_lib_dest})
-endif()
-
-generate_resources(
-    src/main/native/resources/edu/wpi/first/apriltag
-    generated/main/cpp
-    APRILTAG
-    frc
-    apriltag_resources_src
-)
-
-file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)
-
-add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltaglib_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)
-
-target_link_libraries(apriltag wpimath)
-
-target_include_directories(
-    apriltag
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-        $<INSTALL_INTERFACE:${include_dest}/apriltag>
-)
-
-install(
-    DIRECTORY src/main/native/include/ src/main/native/thirdparty/apriltag/include/
-    DESTINATION "${include_dest}/apriltag"
-)
-target_include_directories(
-    apriltag
-    SYSTEM
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/apriltag/include/common>
-)
-
-install(TARGETS apriltag EXPORT apriltag)
-export(TARGETS apriltag FILE apriltag.cmake NAMESPACE apriltag::)
-
-configure_file(apriltag-config.cmake.in ${WPILIB_BINARY_DIR}/apriltag-config.cmake)
-install(FILES ${WPILIB_BINARY_DIR}/apriltag-config.cmake DESTINATION share/apriltag)
-install(EXPORT apriltag DESTINATION share/apriltag)
-
-if(WITH_TESTS)
-    wpilib_add_test(apriltag src/test/native/cpp)
-    target_include_directories(apriltag_test PRIVATE src/test/native/include)
-    target_link_libraries(apriltag_test apriltag googletest)
-endif()

apriltag/README.md

@@ -1,28 +0,0 @@
-# AprilTag
-
-## Adding new field to AprilTagFields
-
-### Adding field JSON
-
-1. Add a field layout CSV file to `src/main/native/resources/edu/wpi/first/apriltag`
-    1. See docstring in `convert_apriltag_layouts.py` for more
-2. Run `convert_apriltag_layouts.py` in the same directory as this readme to generate the JSON
-3. That script overwrites all generated JSONs, so undo undesired changes if necessary
-4. Update the field dimensions at the bottom of the JSON
-    1. Length should be in meters from alliance wall to alliance wall
-    2. Width should be in meters from inside guardrail plastic to plastic
-
-### Java updates
-
-1. Update `src/main/java/edu/wpi/first/apriltag/AprilTagFields.java`
-    1. Add enum value for new field to `AprilTagFields`
-    2. Update `AprilTagFields.kDefaultField` if necessary
-
-### C++ updates
-
-1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h`
-    1. Add enum value for new field to `AprilTagFields`
-    2. Update `AprilTagFields::kDefaultField` if necessary
-2. Update `src/main/native/cpp/AprilTagFields.cpp`
-    1. Add resource getter prototype like `std::string_view GetResource_2024_crescendo_json()`
-    2. Add case for new field to switch in `LoadAprilTagLayoutField()`

apriltag/apriltag-config.cmake.in

@@ -1,10 +0,0 @@
-include(CMakeFindDependencyMacro)
-@FILENAME_DEP_REPLACE@
-@WPIMATH_DEP_REPLACE@
-@WPIUTIL_DEP_REPLACE@
-
-@FILENAME_DEP_REPLACE@
-include(${SELF_DIR}/apriltag.cmake)
-if(@WITH_JAVA@)
-    include(${SELF_DIR}/apriltag_jar.cmake)
-endif()

apriltag/build.gradle

@@ -1,135 +0,0 @@
-apply from: "${rootDir}/shared/resources.gradle"
-
-apply plugin: 'c'
-
-ext {
-    nativeName = 'apriltag'
-    devMain = 'edu.wpi.first.apriltag.DevMain'
-    useJava = true
-    useCpp = true
-    sharedCvConfigs = [
-        apriltagDev : [],
-        apriltagTest: []]
-    staticCvConfigs = []
-
-    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'frc', project)
-
-    tasks.withType(CppCompile) {
-        dependsOn generateTask
-    }
-    splitSetup = {
-        it.sources {
-            resourcesCpp(CppSourceSet) {
-                source {
-                    srcDirs "$buildDir/generated/main/cpp", "$rootDir/shared/singlelib"
-                    include '*.cpp'
-                }
-            }
-            apriltagC(CSourceSet) {
-                source {
-                    srcDirs 'src/main/native/thirdparty/apriltag/src'
-                    include '**/*.c', '**/*.cpp'
-                }
-                exportedHeaders {
-                    srcDirs 'src/main/native/thirdparty/apriltag/include',
-                            'src/main/native/thirdparty/apriltag/include/common'
-                }
-            }
-        }
-    }
-}
-
-evaluationDependsOn(':wpimath')
-
-apply from: "${rootDir}/shared/jni/setupBuild.gradle"
-apply from: "${rootDir}/shared/opencv.gradle"
-
-dependencies {
-    implementation project(':wpimath')
-}
-
-sourceSets {
-    main {
-        resources {
-            srcDirs 'src/main/native/resources'
-        }
-    }
-}
-
-cppHeadersZip {
-    from('src/main/native/thirdparty/apriltag/include') {
-        into '/'
-    }
-}
-
-// Suppress sign-compare warnings
-nativeUtils.platformConfigs.each {
-    if (it.name.contains('windows')) {
-        it.cCompiler.args.add("/wd4005")
-        it.cCompiler.args.add("/wd4018")
-        it.cCompiler.args.add("/wd4244")
-        it.cCompiler.args.add("/wd4267")
-        it.cCompiler.args.add("/wd4996")
-    } else if (it.name.contains('osx')) {
-        it.cCompiler.args.add("-Wno-format-nonliteral")
-        it.cCompiler.args.add("-Wno-gnu-zero-variadic-macro-arguments")
-        it.cCompiler.args.add("-Wno-uninitialized")
-        it.cCompiler.args.add("-Wno-sign-compare")
-        it.cCompiler.args.add("-Wno-type-limits")
-    } else {
-        it.cCompiler.args.add("-Wno-format-nonliteral")
-        it.cCompiler.args.add("-Wno-gnu-zero-variadic-macro-arguments")
-        it.cCompiler.args.add("-Wno-maybe-uninitialized")
-        it.cCompiler.args.add("-Wno-sign-compare")
-        it.cCompiler.args.add("-Wno-type-limits")
-    }
-}
-
-model {
-    components {
-        all {
-            it.sources.each {
-                it.exportedHeaders {
-                    srcDirs 'src/main/native/include',
-                            'src/main/native/thirdparty/apriltag/include',
-                            'src/main/native/thirdparty/apriltag/include/common'
-                }
-            }
-        }
-    }
-    binaries {
-        all {
-            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
-                return
-            }
-            it.cppCompiler.define 'WPILIB_EXPORTS'
-
-            if (it.component.name == "${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'
-            }
-        }
-    }
-    tasks {
-        def c = $.components
-        def found = false
-        def systemArch = getCurrentArch()
-        c.each {
-            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
-                it.binaries.each {
-                    if (!found) {
-                        def arch = it.targetPlatform.name
-                        if (arch == systemArch) {
-                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
-
-                            found = true
-                        }
-                    }
-                }
-            }
-        }
-    }
-}

apriltag/convert_apriltag_layouts.py

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

apriltag/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/native/cpp/main.cpp

@@ -1,11 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/apriltag/AprilTagDetector.h"
-
-int main() {
-  frc::AprilTagDetector detector;
-  detector.AddFamily("tag16h5");
-  detector.SetConfig({.refineEdges = false});
-}

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

@@ -1,78 +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 com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonProperty;
-import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.util.RawFrame;
-import java.util.Objects;
-
-/** Represents an AprilTag's metadata. */
-@SuppressWarnings("MemberName")
-public class AprilTag {
-  /** The tag's ID. */
-  @JsonProperty(value = "ID")
-  public int ID;
-
-  /** The tag's pose. */
-  @JsonProperty(value = "pose")
-  public Pose3d pose;
-
-  /**
-   * Constructs an AprilTag.
-   *
-   * @param ID The tag's ID.
-   * @param pose The tag's pose.
-   */
-  @SuppressWarnings("ParameterName")
-  @JsonCreator
-  public AprilTag(
-      @JsonProperty(required = true, value = "ID") int ID,
-      @JsonProperty(required = true, value = "pose") Pose3d pose) {
-    this.ID = ID;
-    this.pose = pose;
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    return obj instanceof AprilTag tag && ID == tag.ID && pose.equals(tag.pose);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(ID, pose);
-  }
-
-  @Override
-  public String toString() {
-    return "AprilTag(ID: " + ID + ", pose: " + pose + ")";
-  }
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
-   *
-   * @param id id
-   * @return A RawFrame containing the AprilTag image
-   */
-  public static RawFrame generate16h5AprilTagImage(int id) {
-    RawFrame frame = new RawFrame();
-    AprilTagJNI.generate16h5AprilTagImage(frame, frame.getNativeObj(), id);
-    return frame;
-  }
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
-   *
-   * @param id id
-   * @return A RawFrame containing the AprilTag image
-   */
-  public static RawFrame generate36h11AprilTagImage(int id) {
-    RawFrame frame = new RawFrame();
-    AprilTagJNI.generate36h11AprilTagImage(frame, frame.getNativeObj(), id);
-    return frame;
-  }
-}

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

@@ -1,191 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.apriltag;
-
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.numbers.N3;
-import java.util.Arrays;
-
-/** A detection of an AprilTag tag. */
-public class AprilTagDetection {
-  /**
-   * Gets the decoded tag's family name.
-   *
-   * @return Decoded family name
-   */
-  public String getFamily() {
-    return m_family;
-  }
-
-  /**
-   * Gets the decoded ID of the tag.
-   *
-   * @return Decoded ID
-   */
-  public int getId() {
-    return m_id;
-  }
-
-  /**
-   * Gets how many error bits were corrected. Note: accepting large numbers of corrected errors
-   * leads to greatly increased false positive rates. NOTE: As of this implementation, the detector
-   * cannot detect tags with a hamming distance greater than 2.
-   *
-   * @return Hamming distance (number of corrected error bits)
-   */
-  public int getHamming() {
-    return m_hamming;
-  }
-
-  /**
-   * Gets a measure of the quality of the binary decoding process: the average difference between
-   * the intensity of a data bit versus the decision threshold. Higher numbers roughly indicate
-   * better decodes. This is a reasonable measure of detection accuracy only for very small tags--
-   * not effective for larger tags (where we could have sampled anywhere within a bit cell and still
-   * gotten a good detection.)
-   *
-   * @return Decision margin
-   */
-  public float getDecisionMargin() {
-    return m_decisionMargin;
-  }
-
-  /**
-   * Gets the 3x3 homography matrix describing the projection from an "ideal" tag (with corners at
-   * (-1,1), (1,1), (1,-1), and (-1, -1)) to pixels in the image.
-   *
-   * @return Homography matrix data
-   */
-  @SuppressWarnings("PMD.MethodReturnsInternalArray")
-  public double[] getHomography() {
-    return m_homography;
-  }
-
-  /**
-   * Gets the 3x3 homography matrix describing the projection from an "ideal" tag (with corners at
-   * (-1,1), (1,1), (1,-1), and (-1, -1)) to pixels in the image.
-   *
-   * @return Homography matrix
-   */
-  public Matrix<N3, N3> getHomographyMatrix() {
-    return MatBuilder.fill(Nat.N3(), Nat.N3(), m_homography);
-  }
-
-  /**
-   * Gets the center of the detection in image pixel coordinates.
-   *
-   * @return Center point X coordinate
-   */
-  public double getCenterX() {
-    return m_centerX;
-  }
-
-  /**
-   * Gets the center of the detection in image pixel coordinates.
-   *
-   * @return Center point Y coordinate
-   */
-  public double getCenterY() {
-    return m_centerY;
-  }
-
-  /**
-   * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag. Index 0 is the bottom left corner.
-   *
-   * @param ndx Corner index (range is 0-3, inclusive)
-   * @return Corner point X coordinate
-   */
-  public double getCornerX(int ndx) {
-    return m_corners[ndx * 2];
-  }
-
-  /**
-   * Gets a corner of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag. Index 0 is the bottom left corner.
-   *
-   * @param ndx Corner index (range is 0-3, inclusive)
-   * @return Corner point Y coordinate
-   */
-  public double getCornerY(int ndx) {
-    return m_corners[ndx * 2 + 1];
-  }
-
-  /**
-   * Gets the corners of the tag in image pixel coordinates. These always wrap counter-clock wise
-   * around the tag. The first set of corner coordinates are the coordinates for the bottom left
-   * corner.
-   *
-   * @return Corner point array (X and Y for each corner in order)
-   */
-  @SuppressWarnings("PMD.MethodReturnsInternalArray")
-  public double[] getCorners() {
-    return m_corners;
-  }
-
-  private final String m_family;
-  private final int m_id;
-  private final int m_hamming;
-  private final float m_decisionMargin;
-  private final double[] m_homography;
-  private final double m_centerX;
-  private final double m_centerY;
-  private final double[] m_corners;
-
-  /**
-   * Constructs a new detection result. Used from JNI.
-   *
-   * @param family family
-   * @param id id
-   * @param hamming hamming
-   * @param decisionMargin dm
-   * @param homography homography
-   * @param centerX centerX
-   * @param centerY centerY
-   * @param corners corners
-   */
-  @SuppressWarnings("PMD.ArrayIsStoredDirectly")
-  public AprilTagDetection(
-      String family,
-      int id,
-      int hamming,
-      float decisionMargin,
-      double[] homography,
-      double centerX,
-      double centerY,
-      double[] corners) {
-    m_family = family;
-    m_id = id;
-    m_hamming = hamming;
-    m_decisionMargin = decisionMargin;
-    m_homography = homography;
-    m_centerX = centerX;
-    m_centerY = centerY;
-    m_corners = corners;
-  }
-
-  @Override
-  public String toString() {
-    return "DetectionResult [centerX="
-        + m_centerX
-        + ", centerY="
-        + m_centerY
-        + ", corners="
-        + Arrays.toString(m_corners)
-        + ", decisionMargin="
-        + m_decisionMargin
-        + ", hamming="
-        + m_hamming
-        + ", homography="
-        + Arrays.toString(m_homography)
-        + ", family="
-        + m_family
-        + ", id="
-        + m_id
-        + "]";
-  }
-}

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

@@ -1,304 +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 edu.wpi.first.apriltag.jni.AprilTagJNI;
-import org.opencv.core.Mat;
-
-/**
- * An AprilTag detector engine. This is expensive to set up and tear down, so most use cases should
- * only create one of these, add a family to it, set up any other configuration, and repeatedly call
- * Detect().
- */
-public class AprilTagDetector implements AutoCloseable {
-  /** Detector configuration. */
-  @SuppressWarnings("MemberName")
-  public static class Config {
-    /**
-     * How many threads should be used for computation. Default is single-threaded operation (1
-     * thread).
-     */
-    public int numThreads = 1;
-
-    /**
-     * Quad decimation. Detection of quads can be done on a lower-resolution image, improving speed
-     * at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary
-     * payload is still done at full resolution. Default is 2.0.
-     */
-    public float quadDecimate = 2.0f;
-
-    /**
-     * What Gaussian blur should be applied to the segmented image (used for quad detection). Very
-     * noisy images benefit from non-zero values (e.g. 0.8). Default is 0.0.
-     */
-    public float quadSigma;
-
-    /**
-     * When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This
-     * is useful when decimation is employed, as it can increase the quality of the initial quad
-     * estimate substantially. Generally recommended to be on (true). Default is true.
-     *
-     * <p>Very computationally inexpensive. Option is ignored if quad_decimate = 1.
-     */
-    public boolean refineEdges = true;
-
-    /**
-     * How much sharpening should be done to decoded images. This can help decode small tags but may
-     * or may not help in odd lighting conditions or low light conditions. Default is 0.25.
-     */
-    public double decodeSharpening = 0.25;
-
-    /**
-     * Debug mode. When true, the decoder writes a variety of debugging images to the current
-     * working directory at various stages through the detection process. This is slow and should
-     * *not* be used on space-limited systems such as the RoboRIO. Default is disabled (false).
-     */
-    public boolean debug;
-
-    /** Default constructor. */
-    public Config() {}
-
-    /**
-     * Constructs a detector configuration.
-     *
-     * @param numThreads How many threads should be used for computation.
-     * @param quadDecimate Quad decimation.
-     * @param quadSigma What Gaussian blur should be applied to the segmented image (used for quad
-     *     detection).
-     * @param refineEdges When true, the edges of the each quad are adjusted to "snap to" strong
-     *     gradients nearby.
-     * @param decodeSharpening How much sharpening should be done to decoded images.
-     * @param debug Debug mode.
-     */
-    Config(
-        int numThreads,
-        float quadDecimate,
-        float quadSigma,
-        boolean refineEdges,
-        double decodeSharpening,
-        boolean debug) {
-      this.numThreads = numThreads;
-      this.quadDecimate = quadDecimate;
-      this.quadSigma = quadSigma;
-      this.refineEdges = refineEdges;
-      this.decodeSharpening = decodeSharpening;
-      this.debug = debug;
-    }
-
-    @Override
-    public int hashCode() {
-      return numThreads
-          + Float.hashCode(quadDecimate)
-          + Float.hashCode(quadSigma)
-          + Boolean.hashCode(refineEdges)
-          + Double.hashCode(decodeSharpening)
-          + Boolean.hashCode(debug);
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-      return obj instanceof Config other
-          && numThreads == other.numThreads
-          && quadDecimate == other.quadDecimate
-          && quadSigma == other.quadSigma
-          && refineEdges == other.refineEdges
-          && decodeSharpening == other.decodeSharpening
-          && debug == other.debug;
-    }
-  }
-
-  /** Quad threshold parameters. */
-  @SuppressWarnings("MemberName")
-  public static class QuadThresholdParameters {
-    /** Threshold used to reject quads containing too few pixels. Default is 300 pixels. */
-    public int minClusterPixels = 300;
-
-    /**
-     * How many corner candidates to consider when segmenting a group of pixels into a quad. Default
-     * is 10.
-     */
-    public int maxNumMaxima = 10;
-
-    /**
-     * Critical angle, in radians. The detector will reject quads where pairs of edges have angles
-     * that are close to straight or close to 180 degrees. Zero means that no quads are rejected.
-     * Default is 45 degrees.
-     */
-    public double criticalAngle = 45 * Math.PI / 180.0;
-
-    /**
-     * When fitting lines to the contours, the maximum mean squared error allowed. This is useful in
-     * rejecting contours that are far from being quad shaped; rejecting these quads "early" saves
-     * expensive decoding processing. Default is 10.0.
-     */
-    public float maxLineFitMSE = 10.0f;
-
-    /**
-     * Minimum brightness offset. When we build our model of black &amp; white pixels, we add an
-     * extra check that the white model must be (overall) brighter than the black model. How much
-     * brighter? (in pixel values, [0,255]). Default is 5.
-     */
-    public int minWhiteBlackDiff = 5;
-
-    /**
-     * Whether the thresholded image be should be deglitched. Only useful for very noisy images.
-     * Default is disabled (false).
-     */
-    public boolean deglitch;
-
-    /** Default constructor. */
-    public QuadThresholdParameters() {}
-
-    /**
-     * Constructs quad threshold parameters.
-     *
-     * @param minClusterPixels Threshold used to reject quads containing too few pixels.
-     * @param maxNumMaxima How many corner candidates to consider when segmenting a group of pixels
-     *     into a quad.
-     * @param criticalAngle Critical angle, in radians.
-     * @param maxLineFitMSE When fitting lines to the contours, the maximum mean squared error
-     *     allowed.
-     * @param minWhiteBlackDiff Minimum brightness offset.
-     * @param deglitch Whether the thresholded image be should be deglitched.
-     */
-    QuadThresholdParameters(
-        int minClusterPixels,
-        int maxNumMaxima,
-        double criticalAngle,
-        float maxLineFitMSE,
-        int minWhiteBlackDiff,
-        boolean deglitch) {
-      this.minClusterPixels = minClusterPixels;
-      this.maxNumMaxima = maxNumMaxima;
-      this.criticalAngle = criticalAngle;
-      this.maxLineFitMSE = maxLineFitMSE;
-      this.minWhiteBlackDiff = minWhiteBlackDiff;
-      this.deglitch = deglitch;
-    }
-
-    @Override
-    public int hashCode() {
-      return minClusterPixels
-          + maxNumMaxima
-          + Double.hashCode(criticalAngle)
-          + Float.hashCode(maxLineFitMSE)
-          + minWhiteBlackDiff
-          + Boolean.hashCode(deglitch);
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-      return obj instanceof QuadThresholdParameters other
-          && minClusterPixels == other.minClusterPixels
-          && maxNumMaxima == other.maxNumMaxima
-          && criticalAngle == other.criticalAngle
-          && maxLineFitMSE == other.maxLineFitMSE
-          && minWhiteBlackDiff == other.minWhiteBlackDiff
-          && deglitch == other.deglitch;
-    }
-  }
-
-  /** Constructs an AprilTagDetector. */
-  @SuppressWarnings("this-escape")
-  public AprilTagDetector() {
-    m_native = AprilTagJNI.createDetector();
-    setQuadThresholdParameters(new QuadThresholdParameters());
-  }
-
-  @Override
-  public void close() {
-    if (m_native != 0) {
-      AprilTagJNI.destroyDetector(m_native);
-    }
-    m_native = 0;
-  }
-
-  /**
-   * Sets detector configuration.
-   *
-   * @param config Configuration
-   */
-  public void setConfig(Config config) {
-    AprilTagJNI.setDetectorConfig(m_native, config);
-  }
-
-  /**
-   * Gets detector configuration.
-   *
-   * @return Configuration
-   */
-  public Config getConfig() {
-    return AprilTagJNI.getDetectorConfig(m_native);
-  }
-
-  /**
-   * Sets quad threshold parameters.
-   *
-   * @param params Parameters
-   */
-  public void setQuadThresholdParameters(QuadThresholdParameters params) {
-    AprilTagJNI.setDetectorQTP(m_native, params);
-  }
-
-  /**
-   * Gets quad threshold parameters.
-   *
-   * @return Parameters
-   */
-  public QuadThresholdParameters getQuadThresholdParameters() {
-    return AprilTagJNI.getDetectorQTP(m_native);
-  }
-
-  /**
-   * Adds a family of tags to be detected.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   * @throws IllegalArgumentException if family name not recognized
-   */
-  public void addFamily(String fam) {
-    addFamily(fam, 2);
-  }
-
-  /**
-   * Adds a family of tags to be detected.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected Maximum number of bits to correct
-   * @throws IllegalArgumentException if family name not recognized
-   */
-  public void addFamily(String fam, int bitsCorrected) {
-    if (!AprilTagJNI.addFamily(m_native, fam, bitsCorrected)) {
-      throw new IllegalArgumentException("unknown family name '" + fam + "'");
-    }
-  }
-
-  /**
-   * Removes a family of tags from the detector.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   */
-  public void removeFamily(String fam) {
-    AprilTagJNI.removeFamily(m_native, fam);
-  }
-
-  /** Unregister all families. */
-  public void clearFamilies() {
-    AprilTagJNI.clearFamilies(m_native);
-  }
-
-  /**
-   * Detect tags from an 8-bit image.
-   *
-   * <p>The image must be grayscale.
-   *
-   * @param img 8-bit OpenCV Mat image
-   * @return Results (array of AprilTagDetection)
-   */
-  public AprilTagDetection[] detect(Mat img) {
-    return AprilTagJNI.detect(m_native, img.cols(), img.rows(), (int) img.step1(), img.dataAddr());
-  }
-
-  private long m_native;
-}

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

@@ -1,299 +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 com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.JsonCreator;
-import com.fasterxml.jackson.annotation.JsonIgnore;
-import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
-import com.fasterxml.jackson.annotation.JsonProperty;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import java.io.IOException;
-import java.io.InputStream;
-import java.io.InputStreamReader;
-import java.io.UncheckedIOException;
-import java.nio.charset.StandardCharsets;
-import java.nio.file.Path;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
-import java.util.Optional;
-
-/**
- * Class for representing a layout of AprilTags on a field and reading them from a JSON format.
- *
- * <p>The JSON format contains two top-level objects, "tags" and "field". The "tags" object is a
- * list of all AprilTags contained within a layout. Each AprilTag serializes to a JSON object
- * containing an ID and a Pose3d. The "field" object is a descriptor of the size of the field in
- * meters with "width" and "length" values. This is to account for arbitrary field sizes when
- * transforming the poses.
- *
- * <p>Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU with the origin
- * at the bottom-right corner of the blue alliance wall. {@link #setOrigin(OriginPosition)} can be
- * used to change the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be from the
- * perspective of a specific alliance.
- *
- * <p>Tag poses represent the center of the tag, with a zero rotation representing a tag that is
- * upright and facing away from the (blue) alliance wall (that is, towards the opposing alliance).
- */
-@JsonIgnoreProperties(ignoreUnknown = true)
-@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class AprilTagFieldLayout {
-  /** Common origin positions for the AprilTag coordinate system. */
-  public enum OriginPosition {
-    /** Blue alliance wall, right side. */
-    kBlueAllianceWallRightSide,
-    /** Red alliance wall, right side. */
-    kRedAllianceWallRightSide,
-  }
-
-  private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
-
-  @JsonProperty(value = "field")
-  private FieldDimensions m_fieldDimensions;
-
-  private Pose3d m_origin;
-
-  /**
-   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
-   *
-   * @param path Path of the JSON file to import from.
-   * @throws IOException If reading from the file fails.
-   */
-  public AprilTagFieldLayout(String path) throws IOException {
-    this(Path.of(path));
-  }
-
-  /**
-   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
-   *
-   * @param path Path of the JSON file to import from.
-   * @throws IOException If reading from the file fails.
-   */
-  public AprilTagFieldLayout(Path path) throws IOException {
-    AprilTagFieldLayout layout =
-        new ObjectMapper().readValue(path.toFile(), AprilTagFieldLayout.class);
-    m_apriltags.putAll(layout.m_apriltags);
-    m_fieldDimensions = layout.m_fieldDimensions;
-    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
-  }
-
-  /**
-   * Construct a new AprilTagFieldLayout from a list of {@link AprilTag} objects.
-   *
-   * @param apriltags List of {@link AprilTag}.
-   * @param fieldLength Length of the field the layout is representing in meters.
-   * @param fieldWidth Width of the field the layout is representing in meters.
-   */
-  public AprilTagFieldLayout(List<AprilTag> apriltags, double fieldLength, double fieldWidth) {
-    this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
-  }
-
-  @JsonCreator
-  private AprilTagFieldLayout(
-      @JsonProperty(required = true, value = "tags") List<AprilTag> apriltags,
-      @JsonProperty(required = true, value = "field") FieldDimensions fieldDimensions) {
-    // To ensure the underlying semantics don't change with what kind of list is passed in
-    for (AprilTag tag : apriltags) {
-      m_apriltags.put(tag.ID, tag);
-    }
-    m_fieldDimensions = fieldDimensions;
-    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
-  }
-
-  /**
-   * Returns a List of the {@link AprilTag AprilTags} used in this layout.
-   *
-   * @return The {@link AprilTag AprilTags} used in this layout.
-   */
-  @JsonProperty("tags")
-  public List<AprilTag> getTags() {
-    return new ArrayList<>(m_apriltags.values());
-  }
-
-  /**
-   * Returns the length of the field the layout is representing in meters.
-   *
-   * @return length, in meters
-   */
-  @JsonIgnore
-  public double getFieldLength() {
-    return m_fieldDimensions.fieldLength;
-  }
-
-  /**
-   * Returns the length of the field the layout is representing in meters.
-   *
-   * @return width, in meters
-   */
-  @JsonIgnore
-  public double getFieldWidth() {
-    return m_fieldDimensions.fieldWidth;
-  }
-
-  /**
-   * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
-   * calculated from the field dimensions.
-   *
-   * <p>This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the
-   * correct pose relative to a predefined coordinate frame.
-   *
-   * @param origin The predefined origin
-   */
-  @JsonIgnore
-  public final void setOrigin(OriginPosition origin) {
-    var pose =
-        switch (origin) {
-          case kBlueAllianceWallRightSide -> Pose3d.kZero;
-          case kRedAllianceWallRightSide -> new Pose3d(
-              new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
-              new Rotation3d(0, 0, Math.PI));
-        };
-    setOrigin(pose);
-  }
-
-  /**
-   * Sets the origin for tag pose transformation.
-   *
-   * <p>This transforms the Pose3d objects returned by {@link #getTagPose(int)} to return the
-   * correct pose relative to the provided origin.
-   *
-   * @param origin The new origin for tag transformations
-   */
-  @JsonIgnore
-  public final void setOrigin(Pose3d origin) {
-    m_origin = origin;
-  }
-
-  /**
-   * Returns the origin used for tag pose transformation.
-   *
-   * @return the origin
-   */
-  @JsonIgnore
-  public Pose3d getOrigin() {
-    return m_origin;
-  }
-
-  /**
-   * Gets an AprilTag pose by its ID.
-   *
-   * @param ID The ID of the tag.
-   * @return The pose corresponding to the ID passed in or an empty optional if a tag with that ID
-   *     was not found.
-   */
-  @SuppressWarnings("ParameterName")
-  public Optional<Pose3d> getTagPose(int ID) {
-    AprilTag tag = m_apriltags.get(ID);
-    if (tag == null) {
-      return Optional.empty();
-    }
-    return Optional.of(tag.pose.relativeTo(m_origin));
-  }
-
-  /**
-   * Serializes a AprilTagFieldLayout to a JSON file.
-   *
-   * @param path The path to write to.
-   * @throws IOException If writing to the file fails.
-   */
-  public void serialize(String path) throws IOException {
-    serialize(Path.of(path));
-  }
-
-  /**
-   * Serializes a AprilTagFieldLayout to a JSON file.
-   *
-   * @param path The path to write to.
-   * @throws IOException If writing to the file fails.
-   */
-  public void serialize(Path path) throws IOException {
-    new ObjectMapper().writeValue(path.toFile(), this);
-  }
-
-  /**
-   * Get an official {@link AprilTagFieldLayout}.
-   *
-   * @param field The loadable AprilTag field layout.
-   * @return AprilTagFieldLayout of the field.
-   * @throws UncheckedIOException If the layout does not exist.
-   */
-  public static AprilTagFieldLayout loadField(AprilTagFields field) {
-    if (field.m_fieldLayout == null) {
-      try {
-        field.m_fieldLayout = loadFromResource(field.m_resourceFile);
-      } catch (IOException e) {
-        throw new UncheckedIOException(
-            "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
-      }
-    }
-    // Copy layout because the layout's origin is mutable
-    return new AprilTagFieldLayout(
-        field.m_fieldLayout.getTags(),
-        field.m_fieldLayout.getFieldLength(),
-        field.m_fieldLayout.getFieldWidth());
-  }
-
-  /**
-   * Deserializes a field layout from a resource within a internal jar file.
-   *
-   * <p>Users should use {@link AprilTagFields#loadAprilTagLayoutField()} to load official layouts
-   * and {@link #AprilTagFieldLayout(String)} for custom layouts.
-   *
-   * @param resourcePath The absolute path of the resource
-   * @return The deserialized layout
-   * @throws IOException If the resource could not be loaded
-   */
-  public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
-    InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
-    if (stream == null) {
-      // Class.getResourceAsStream() returns null if the resource does not exist.
-      throw new IOException("Could not locate resource: " + resourcePath);
-    }
-    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
-    try {
-      return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
-    } catch (IOException e) {
-      throw new IOException("Failed to load AprilTagFieldLayout: " + resourcePath);
-    }
-  }
-
-  @Override
-  public boolean equals(Object obj) {
-    return obj instanceof AprilTagFieldLayout layout
-        && m_apriltags.equals(layout.m_apriltags)
-        && m_origin.equals(layout.m_origin);
-  }
-
-  @Override
-  public int hashCode() {
-    return Objects.hash(m_apriltags, m_origin);
-  }
-
-  @JsonIgnoreProperties(ignoreUnknown = true)
-  @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-  private static class FieldDimensions {
-    @SuppressWarnings("MemberName")
-    @JsonProperty(value = "length")
-    public final double fieldLength;
-
-    @SuppressWarnings("MemberName")
-    @JsonProperty(value = "width")
-    public final double fieldWidth;
-
-    @JsonCreator()
-    FieldDimensions(
-        @JsonProperty(required = true, value = "length") double fieldLength,
-        @JsonProperty(required = true, value = "width") double fieldWidth) {
-      this.fieldLength = fieldLength;
-      this.fieldWidth = fieldWidth;
-    }
-  }
-}

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

@@ -1,48 +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"),
-  /** 2025 Reefscape Welded (see TU 12). */
-  k2025ReefscapeWelded("2025-reefscape-welded.json"),
-  /** 2025 Reefscape AndyMark (see TU 12). */
-  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
-
-  /** Base resource directory. */
-  public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
-
-  /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
-
-  /** Resource filename. */
-  public final String m_resourceFile;
-
-  AprilTagFieldLayout m_fieldLayout;
-
-  AprilTagFields(String resourceFile) {
-    m_resourceFile = kBaseResourceDir + resourceFile;
-  }
-
-  /**
-   * Get a {@link AprilTagFieldLayout} from the resource JSON.
-   *
-   * @return AprilTagFieldLayout of the field
-   * @throws UncheckedIOException If the layout does not exist
-   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
-   */
-  @Deprecated(forRemoval = true, since = "2025")
-  public AprilTagFieldLayout loadAprilTagLayoutField() {
-    return AprilTagFieldLayout.loadField(this);
-  }
-}

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

@@ -1,55 +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 edu.wpi.first.math.geometry.Transform3d;
-
-/** A pair of AprilTag pose estimates. */
-@SuppressWarnings("MemberName")
-public class AprilTagPoseEstimate {
-  /**
-   * Constructs a pose estimate.
-   *
-   * @param pose1 first pose
-   * @param pose2 second pose
-   * @param error1 error of first pose
-   * @param error2 error of second pose
-   */
-  public AprilTagPoseEstimate(Transform3d pose1, Transform3d pose2, double error1, double error2) {
-    this.pose1 = pose1;
-    this.pose2 = pose2;
-    this.error1 = error1;
-    this.error2 = error2;
-  }
-
-  /**
-   * Get the ratio of pose reprojection errors, called ambiguity. Numbers above 0.2 are likely to be
-   * ambiguous.
-   *
-   * @return The ratio of pose reprojection errors.
-   */
-  public double getAmbiguity() {
-    double min = Math.min(error1, error2);
-    double max = Math.max(error1, error2);
-
-    if (max > 0) {
-      return min / max;
-    } else {
-      return -1;
-    }
-  }
-
-  /** Pose 1. */
-  public final Transform3d pose1;
-
-  /** Pose 2. */
-  public final Transform3d pose2;
-
-  /** Object-space error of pose 1. */
-  public final double error1;
-
-  /** Object-space error of pose 2. */
-  public final double error2;
-}

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

@@ -1,195 +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 edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.math.geometry.Transform3d;
-
-/** Pose estimators for AprilTag tags. */
-public class AprilTagPoseEstimator {
-  /** Configuration for the pose estimator. */
-  @SuppressWarnings("MemberName")
-  public static class Config {
-    /**
-     * Creates a pose estimator configuration.
-     *
-     * @param tagSize tag size, in meters
-     * @param fx camera horizontal focal length, in pixels
-     * @param fy camera vertical focal length, in pixels
-     * @param cx camera horizontal focal center, in pixels
-     * @param cy camera vertical focal center, in pixels
-     */
-    public Config(double tagSize, double fx, double fy, double cx, double cy) {
-      this.tagSize = tagSize;
-      this.fx = fx;
-      this.fy = fy;
-      this.cx = cx;
-      this.cy = cy;
-    }
-
-    /** Tag size, in meters. */
-    public double tagSize;
-
-    /** Camera horizontal focal length, in pixels. */
-    public double fx;
-
-    /** Camera vertical focal length, in pixels. */
-    public double fy;
-
-    /** Camera horizontal focal center, in pixels. */
-    public double cx;
-
-    /** Camera vertical focal center, in pixels. */
-    public double cy;
-
-    @Override
-    public int hashCode() {
-      return Double.hashCode(tagSize)
-          + Double.hashCode(fx)
-          + Double.hashCode(fy)
-          + Double.hashCode(cx)
-          + Double.hashCode(cy);
-    }
-
-    @Override
-    public boolean equals(Object obj) {
-      return obj instanceof Config other
-          && tagSize == other.tagSize
-          && fx == other.fx
-          && fy == other.fy
-          && cx == other.cx
-          && cy == other.cy;
-    }
-  }
-
-  /**
-   * Creates estimator.
-   *
-   * @param config Configuration
-   */
-  public AprilTagPoseEstimator(Config config) {
-    m_config = new Config(config.tagSize, config.fx, config.fy, config.cx, config.cy);
-  }
-
-  /**
-   * Sets estimator configuration.
-   *
-   * @param config Configuration
-   */
-  public void setConfig(Config config) {
-    m_config.tagSize = config.tagSize;
-    m_config.fx = config.fx;
-    m_config.fy = config.fy;
-    m_config.cx = config.cx;
-    m_config.cy = config.cy;
-  }
-
-  /**
-   * Gets estimator configuration.
-   *
-   * @return Configuration
-   */
-  public Config getConfig() {
-    return new Config(m_config.tagSize, m_config.fx, m_config.fy, m_config.cx, m_config.cy);
-  }
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param detection Tag detection
-   * @return Pose estimate
-   */
-  public Transform3d estimateHomography(AprilTagDetection detection) {
-    return estimateHomography(detection.getHomography());
-  }
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param homography Homography 3x3 matrix data
-   * @return Pose estimate
-   */
-  public Transform3d estimateHomography(double[] homography) {
-    return AprilTagJNI.estimatePoseHomography(
-        homography, m_config.tagSize, m_config.fx, m_config.fy, m_config.cx, m_config.cy);
-  }
-
-  /**
-   * Estimates the pose of the tag. This returns one or two possible poses for the tag, along with
-   * the object-space error of each.
-   *
-   * <p>This uses the homography method described in [1] for the initial estimate. Then Orthogonal
-   * Iteration [2] is used to refine this estimate. Then [3] is used to find a potential second
-   * local minima and Orthogonal Iteration is used to refine this second estimate.
-   *
-   * <p>[1]: E. Olson, “Apriltag: A robust and flexible visual fiducial system,” in 2011 IEEE
-   * International Conference on Robotics and Automation, May 2011, pp. 3400–3407.
-   *
-   * <p>[2]: Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose estimation from
-   * video images," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no.
-   * 6, pp. 610-622, June 2000. doi: 10.1109/34.862199
-   *
-   * <p>[3]: Schweighofer and A. Pinz, "Robust Pose Estimation from a Planar Target," in IEEE
-   * Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 12, pp. 2024-2030, Dec.
-   * 2006. doi: 10.1109/TPAMI.2006.252
-   *
-   * @param detection Tag detection
-   * @param nIters Number of iterations
-   * @return Initial and (possibly) second pose estimates
-   */
-  public AprilTagPoseEstimate estimateOrthogonalIteration(AprilTagDetection detection, int nIters) {
-    return estimateOrthogonalIteration(detection.getHomography(), detection.getCorners(), nIters);
-  }
-
-  /**
-   * Estimates the pose of the tag. This returns one or two possible poses for the tag, along with
-   * the object-space error of each.
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param corners Corner point array (X and Y for each corner in order)
-   * @param nIters Number of iterations
-   * @return Initial and (possibly) second pose estimates
-   */
-  public AprilTagPoseEstimate estimateOrthogonalIteration(
-      double[] homography, double[] corners, int nIters) {
-    return AprilTagJNI.estimatePoseOrthogonalIteration(
-        homography,
-        corners,
-        m_config.tagSize,
-        m_config.fx,
-        m_config.fy,
-        m_config.cx,
-        m_config.cy,
-        nIters);
-  }
-
-  /**
-   * Estimates tag pose. This method is an easier to use interface to
-   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the pose with the lower
-   * object-space error.
-   *
-   * @param detection Tag detection
-   * @return Pose estimate
-   */
-  public Transform3d estimate(AprilTagDetection detection) {
-    return estimate(detection.getHomography(), detection.getCorners());
-  }
-
-  /**
-   * Estimates tag pose. This method is an easier to use interface to
-   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the pose with the lower
-   * object-space error.
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param corners Corner point array (X and Y for each corner in order)
-   * @return Pose estimate
-   */
-  public Transform3d estimate(double[] homography, double[] corners) {
-    return AprilTagJNI.estimatePose(
-        homography, corners, m_config.tagSize, m_config.fx, m_config.fy, m_config.cx, m_config.cy);
-  }
-
-  private final Config m_config;
-}

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

@@ -1,224 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.apriltag.jni;
-
-import edu.wpi.first.apriltag.AprilTagDetection;
-import edu.wpi.first.apriltag.AprilTagDetector;
-import edu.wpi.first.apriltag.AprilTagPoseEstimate;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.util.RawFrame;
-import edu.wpi.first.util.RuntimeLoader;
-import java.io.IOException;
-import java.util.concurrent.atomic.AtomicBoolean;
-
-/** AprilTag JNI. */
-public class AprilTagJNI {
-  static boolean libraryLoaded = false;
-
-  /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
-    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
-
-    /**
-     * Returns true if the JNI should be loaded in the static block.
-     *
-     * @return True if the JNI should be loaded in the static block.
-     */
-    public static boolean getExtractOnStaticLoad() {
-      return extractOnStaticLoad.get();
-    }
-
-    /**
-     * Sets whether the JNI should be loaded in the static block.
-     *
-     * @param load Whether the JNI should be loaded in the static block.
-     */
-    public static void setExtractOnStaticLoad(boolean load) {
-      extractOnStaticLoad.set(load);
-    }
-
-    /** Utility class. */
-    private Helper() {}
-  }
-
-  static {
-    if (Helper.getExtractOnStaticLoad()) {
-      try {
-        RuntimeLoader.loadLibrary("apriltagjni");
-      } catch (IOException ex) {
-        ex.printStackTrace();
-        System.exit(1);
-      }
-      libraryLoaded = true;
-    }
-  }
-
-  /**
-   * Constructs an AprilTag detector engine.
-   *
-   * @return The detector engine handle
-   */
-  public static native long createDetector();
-
-  /**
-   * Destroys an AprilTag detector engine.
-   *
-   * @param det The detector engine handle
-   */
-  public static native void destroyDetector(long det);
-
-  /**
-   * Sets the detector engine configuration.
-   *
-   * @param det The detector engine handle
-   * @param config A configuration
-   */
-  public static native void setDetectorConfig(long det, AprilTagDetector.Config config);
-
-  /**
-   * Gets the detector engine configuration.
-   *
-   * @param det The detector engine handle
-   * @return The configuration
-   */
-  public static native AprilTagDetector.Config getDetectorConfig(long det);
-
-  /**
-   * Sets the detector engine quad threshold parameters.
-   *
-   * @param det The detector engine handle
-   * @param params Quad threshold parameters
-   */
-  public static native void setDetectorQTP(
-      long det, AprilTagDetector.QuadThresholdParameters params);
-
-  /**
-   * Gets the detector engine quad threshold parameters.
-   *
-   * @param det The detector engine handle
-   * @return Quad threshold parameters
-   */
-  public static native AprilTagDetector.QuadThresholdParameters getDetectorQTP(long det);
-
-  /**
-   * Adds a family of tags to be detected by the detector engine.
-   *
-   * @param det The detector engine handle
-   * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected Maximum number of bits to correct
-   * @return False if family can't be found
-   */
-  public static native boolean addFamily(long det, String fam, int bitsCorrected);
-
-  /**
-   * Removes a family of tags from the detector.
-   *
-   * @param det The detector engine handle
-   * @param fam Family name, e.g. "tag16h5"
-   */
-  public static native void removeFamily(long det, String fam);
-
-  /**
-   * Unregister all families.
-   *
-   * @param det The detector engine handle
-   */
-  public static native void clearFamilies(long det);
-
-  /**
-   * Detect tags from an 8-bit image.
-   *
-   * @param det The detector engine handle
-   * @param width The width of the image
-   * @param height The height of the image
-   * @param stride The number of bytes between image rows (often the same as width)
-   * @param bufAddr The address of the image buffer
-   * @return The results (array of AprilTagDetection)
-   */
-  public static native AprilTagDetection[] detect(
-      long det, int width, int height, int stride, long bufAddr);
-
-  /**
-   * Estimates the pose of the tag using the homography method described in [1].
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param tagSize The tag size, in meters
-   * @param fx The camera horizontal focal length, in pixels
-   * @param fy The camera vertical focal length, in pixels
-   * @param cx The camera horizontal focal center, in pixels
-   * @param cy The camera vertical focal center, in pixels
-   * @return Pose estimate
-   */
-  public static native Transform3d estimatePoseHomography(
-      double[] homography, double tagSize, double fx, double fy, double cx, double cy);
-
-  /**
-   * Estimates the pose of the tag. This returns one or two possible poses for the tag, along with
-   * the object-space error of each.
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param corners Corner point array (X and Y for each corner in order)
-   * @param tagSize The tag size, in meters
-   * @param fx The camera horizontal focal length, in pixels
-   * @param fy The camera vertical focal length, in pixels
-   * @param cx The camera horizontal focal center, in pixels
-   * @param cy The camera vertical focal center, in pixels
-   * @param nIters Number of iterations
-   * @return Initial and (possibly) second pose estimates
-   */
-  public static native AprilTagPoseEstimate estimatePoseOrthogonalIteration(
-      double[] homography,
-      double[] corners,
-      double tagSize,
-      double fx,
-      double fy,
-      double cx,
-      double cy,
-      int nIters);
-
-  /**
-   * Estimates tag pose. This method is an easier to use interface to
-   * EstimatePoseOrthogonalIteration(), running 50 iterations and returning the pose with the lower
-   * object-space error.
-   *
-   * @param homography Homography 3x3 matrix data
-   * @param corners Corner point array (X and Y for each corner in order)
-   * @param tagSize The tag size, in meters
-   * @param fx The camera horizontal focal length, in pixels
-   * @param fy The camera vertical focal length, in pixels
-   * @param cx The camera horizontal focal center, in pixels
-   * @param cy The camera vertical focal center, in pixels
-   * @return Pose estimate
-   */
-  public static native Transform3d estimatePose(
-      double[] homography,
-      double[] corners,
-      double tagSize,
-      double fx,
-      double fy,
-      double cx,
-      double cy);
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 16h5 passed in.
-   *
-   * @param frameObj generated frame (output parameter).
-   * @param frame raw frame handle
-   * @param id id
-   */
-  public static native void generate16h5AprilTagImage(RawFrame frameObj, long frame, int id);
-
-  /**
-   * Generates a RawFrame containing the apriltag with the id with family 36h11 passed in.
-   *
-   * @param frameObj generated frame (output parameter).
-   * @param frame raw frame handle
-   * @param id id
-   */
-  public static native void generate36h11AprilTagImage(RawFrame frameObj, long frame, int id);
-
-  /** Utility class. */
-  private AprilTagJNI() {}
-}

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

@@ -1,61 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/apriltag/AprilTag.h"
-
-#include <cstring>
-
-#include <wpi/json.h>
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-#include "tag16h5.h"
-#include "tag36h11.h"
-
-using namespace frc;
-
-static bool FamilyToImage(wpi::RawFrame* frame, apriltag_family_t* family,
-                          int id) {
-  image_u8_t* image = apriltag_to_image(family, id);
-  size_t totalDataSize = image->height * image->stride;
-  bool rv = frame->Reserve(totalDataSize);
-  std::memcpy(frame->data, image->buf, totalDataSize);
-  frame->size = totalDataSize;
-  frame->width = image->width;
-  frame->height = image->height;
-  frame->stride = image->stride;
-  frame->pixelFormat = WPI_PIXFMT_GRAY;
-  image_u8_destroy(image);
-  return rv;
-}
-
-bool AprilTag::Generate36h11AprilTagImage(wpi::RawFrame* frame, int id) {
-  apriltag_family_t* tagFamily = tag36h11_create();
-  bool rv = FamilyToImage(frame, tagFamily, id);
-  tag36h11_destroy(tagFamily);
-  return rv;
-}
-
-bool AprilTag::Generate16h5AprilTagImage(wpi::RawFrame* frame, int id) {
-  apriltag_family_t* tagFamily = tag16h5_create();
-  bool rv = FamilyToImage(frame, tagFamily, id);
-  tag16h5_destroy(tagFamily);
-  return rv;
-}
-
-void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
-  json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
-}
-
-void frc::from_json(const wpi::json& json, AprilTag& apriltag) {
-  apriltag.ID = json.at("ID").get<int>();
-  apriltag.pose = json.at("pose").get<Pose3d>();
-}

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

@@ -1,37 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/apriltag/AprilTagDetection.h"
-
-#include <type_traits>
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-
-using namespace frc;
-
-static_assert(sizeof(AprilTagDetection) == sizeof(apriltag_detection_t),
-              "structure sizes don't match");
-static_assert(std::is_standard_layout_v<AprilTagDetection>,
-              "AprilTagDetection is not standard layout?");
-
-std::string_view AprilTagDetection::GetFamily() const {
-  return static_cast<const apriltag_family_t*>(family)->name;
-}
-
-std::span<const double, 9> AprilTagDetection::GetHomography() const {
-  return std::span<const double, 9>{static_cast<matd_t*>(H)->data, 9};
-}
-
-Eigen::Matrix3d AprilTagDetection::GetHomographyMatrix() const {
-  return Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
-      static_cast<matd_t*>(H)->data};
-}

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

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

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

@@ -1,169 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/apriltag/AprilTagFieldLayout.h"
-
-#include <system_error>
-#include <utility>
-#include <vector>
-
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
-
-using namespace frc;
-
-AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
-  if (!fileBuffer) {
-    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
-  }
-
-  wpi::json json = wpi::json::parse(fileBuffer.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>()};
-}
-
-AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                                         units::meter_t fieldLength,
-                                         units::meter_t fieldWidth)
-    : m_fieldLength(std::move(fieldLength)),
-      m_fieldWidth(std::move(fieldWidth)) {
-  for (const auto& tag : apriltags) {
-    m_apriltags[tag.ID] = tag;
-  }
-}
-
-units::meter_t AprilTagFieldLayout::GetFieldLength() const {
-  return m_fieldLength;
-}
-
-units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
-  return m_fieldWidth;
-}
-
-std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
-  std::vector<AprilTag> tags;
-  tags.reserve(m_apriltags.size());
-  for (const auto& tag : m_apriltags) {
-    tags.emplace_back(tag.second);
-  }
-  return tags;
-}
-
-void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
-  switch (origin) {
-    case OriginPosition::kBlueAllianceWallRightSide:
-      SetOrigin(Pose3d{});
-      break;
-    case OriginPosition::kRedAllianceWallRightSide:
-      SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
-                       Rotation3d{0_deg, 0_deg, 180_deg}});
-      break;
-    default:
-      throw std::invalid_argument("Invalid origin");
-  }
-}
-
-void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
-  m_origin = origin;
-}
-
-Pose3d AprilTagFieldLayout::GetOrigin() const {
-  return m_origin;
-}
-
-std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
-  const auto& it = m_apriltags.find(ID);
-  if (it == m_apriltags.end()) {
-    return std::nullopt;
-  }
-  return it->second.pose.RelativeTo(m_origin);
-}
-
-void AprilTagFieldLayout::Serialize(std::string_view path) {
-  std::error_code error_code;
-
-  wpi::raw_fd_ostream output{path, error_code};
-  if (error_code) {
-    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
-  }
-
-  wpi::json json = *this;
-  output << json;
-  output.flush();
-}
-
-void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
-  std::vector<AprilTag> tagVector;
-  tagVector.reserve(layout.m_apriltags.size());
-  for (const auto& pair : layout.m_apriltags) {
-    tagVector.push_back(pair.second);
-  }
-
-  json = wpi::json{{"field",
-                    {{"length", layout.m_fieldLength.value()},
-                     {"width", layout.m_fieldWidth.value()}}},
-                   {"tags", tagVector}};
-}
-
-void frc::from_json(const wpi::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>()};
-  layout.m_fieldWidth =
-      units::meter_t{json.at("field").at("width").get<double>()};
-}
-
-// Use namespace declaration for forward declaration
-namespace frc {
-
-// C++ generated from resource files
-std::string_view GetResource_2022_rapidreact_json();
-std::string_view GetResource_2023_chargedup_json();
-std::string_view GetResource_2024_crescendo_json();
-std::string_view GetResource_2025_reefscape_welded_json();
-std::string_view GetResource_2025_reefscape_andymark_json();
-
-}  // namespace frc
-
-AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
-  std::string_view fieldString;
-  switch (field) {
-    case AprilTagField::k2022RapidReact:
-      fieldString = GetResource_2022_rapidreact_json();
-      break;
-    case AprilTagField::k2023ChargedUp:
-      fieldString = GetResource_2023_chargedup_json();
-      break;
-    case AprilTagField::k2024Crescendo:
-      fieldString = GetResource_2024_crescendo_json();
-      break;
-    case AprilTagField::k2025ReefscapeWelded:
-      fieldString = GetResource_2025_reefscape_welded_json();
-      break;
-    case AprilTagField::k2025ReefscapeAndyMark:
-      fieldString = GetResource_2025_reefscape_andymark_json();
-      break;
-    case AprilTagField::kNumFields:
-      throw std::invalid_argument("Invalid Field");
-  }
-
-  wpi::json json = wpi::json::parse(fieldString);
-  return json.get<AprilTagFieldLayout>();
-}
-
-AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
-  return AprilTagFieldLayout::LoadField(field);
-}

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

@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/apriltag/AprilTagPoseEstimate.h"
-
-#include <algorithm>
-
-using namespace frc;
-
-double AprilTagPoseEstimate::GetAmbiguity() const {
-  auto min = (std::min)(error1, error2);
-  auto max = (std::max)(error1, error2);
-
-  if (max > 0) {
-    return min / max;
-  } else {
-    return -1;
-  }
-}

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

@@ -1,154 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/apriltag/AprilTagPoseEstimator.h"
-
-#include <Eigen/QR>
-
-#include "frc/apriltag/AprilTagDetection.h"
-
-#ifdef _WIN32
-#pragma warning(disable : 4200)
-#elif defined(__clang__)
-#pragma clang diagnostic ignored "-Wc99-extensions"
-#elif defined(__GNUC__)
-#pragma GCC diagnostic ignored "-Wpedantic"
-#endif
-
-#include "apriltag.h"
-#include "apriltag_pose.h"
-
-using namespace frc;
-
-static Eigen::Matrix3d OrthogonalizeRotationMatrix(
-    const Eigen::Matrix3d& input) {
-  Eigen::HouseholderQR<Eigen::Matrix3d> qr{input};
-
-  Eigen::Matrix3d Q = qr.householderQ();
-  Eigen::Matrix3d R = qr.matrixQR().triangularView<Eigen::Upper>();
-
-  // Fix signs in R if they're < 0 so it's close to an identity matrix
-  // (our QR decomposition implementation sometimes flips the signs of
-  // columns)
-  for (int colR = 0; colR < 3; ++colR) {
-    if (R(colR, colR) < 0) {
-      for (int rowQ = 0; rowQ < 3; ++rowQ) {
-        Q(rowQ, colR) = -Q(rowQ, colR);
-      }
-    }
-  }
-
-  return Q;
-}
-
-static 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(
-              Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>>{
-                  pose.R->data})}};
-}
-
-static apriltag_detection_info_t MakeDetectionInfo(
-    const apriltag_detection_t* det,
-    const AprilTagPoseEstimator::Config& config) {
-  return {const_cast<apriltag_detection_t*>(det),
-          config.tagSize.value(),
-          config.fx,
-          config.fy,
-          config.cx,
-          config.cy};
-}
-
-static apriltag_detection_t MakeBasicDet(
-    std::span<const double, 9> homography,
-    const std::span<const double, 8>* corners) {
-  apriltag_detection_t detection;
-  detection.H = matd_create(3, 3);
-  std::memcpy(detection.H->data, homography.data(), 9 * sizeof(double));
-  if (corners) {
-    for (int i = 0; i < 4; i++) {
-      detection.p[i][0] = (*corners)[i * 2];
-      detection.p[i][1] = (*corners)[i * 2 + 1];
-    }
-  }
-  return detection;
-}
-
-static Transform3d DoEstimateHomography(
-    const apriltag_detection_t* detection,
-    const AprilTagPoseEstimator::Config& config) {
-  auto info = MakeDetectionInfo(detection, config);
-  apriltag_pose_t pose;
-  estimate_pose_for_tag_homography(&info, &pose);
-  return MakePose(pose);
-}
-
-Transform3d AprilTagPoseEstimator::EstimateHomography(
-    const AprilTagDetection& detection) const {
-  return DoEstimateHomography(
-      reinterpret_cast<const apriltag_detection_t*>(&detection), m_config);
-}
-
-Transform3d AprilTagPoseEstimator::EstimateHomography(
-    std::span<const double, 9> homography) const {
-  auto detection = MakeBasicDet(homography, nullptr);
-  auto rv = DoEstimateHomography(&detection, m_config);
-  matd_destroy(detection.H);
-  return rv;
-}
-
-static AprilTagPoseEstimate DoEstimateOrthogonalIteration(
-    const apriltag_detection_t* detection,
-    const AprilTagPoseEstimator::Config& config, int nIters) {
-  auto info = MakeDetectionInfo(detection, config);
-  apriltag_pose_t pose1, pose2;
-  double err1, err2;
-  estimate_tag_pose_orthogonal_iteration(&info, &err1, &pose1, &err2, &pose2,
-                                         nIters, 1e-7);
-  return {MakePose(pose1), MakePose(pose2), err1, err2};
-}
-
-AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
-    const AprilTagDetection& detection, int nIters) const {
-  return DoEstimateOrthogonalIteration(
-      reinterpret_cast<const apriltag_detection_t*>(&detection), m_config,
-      nIters);
-}
-
-AprilTagPoseEstimate AprilTagPoseEstimator::EstimateOrthogonalIteration(
-    std::span<const double, 9> homography, std::span<const double, 8> corners,
-    int nIters) const {
-  auto detection = MakeBasicDet(homography, &corners);
-  auto rv = DoEstimateOrthogonalIteration(&detection, m_config, nIters);
-  matd_destroy(detection.H);
-  return rv;
-}
-
-static 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(
-    const AprilTagDetection& detection) const {
-  return DoEstimate(reinterpret_cast<const apriltag_detection_t*>(&detection),
-                    m_config);
-}
-
-Transform3d AprilTagPoseEstimator::Estimate(
-    std::span<const double, 9> homography,
-    std::span<const double, 8> corners) const {
-  auto detection = MakeBasicDet(homography, &corners);
-  auto rv = DoEstimate(&detection, m_config);
-  matd_destroy(detection.H);
-  return rv;
-}

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

@@ -1,634 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <jni.h>
-
-#include <cstdio>
-#include <cstring>
-
-#define WPI_RAWFRAME_JNI
-#include <wpi/RawFrame.h>
-#include <wpi/jni_util.h>
-
-#include "edu_wpi_first_apriltag_jni_AprilTagJNI.h"
-#include "frc/apriltag/AprilTag.h"
-#include "frc/apriltag/AprilTagDetector.h"
-#include "frc/apriltag/AprilTagPoseEstimator.h"
-
-using namespace frc;
-using namespace wpi::java;
-
-static JavaVM* jvm = nullptr;
-
-static JClass detectionCls;
-static JClass detectorConfigCls;
-static JClass detectorQTPCls;
-static JClass poseEstimateCls;
-static JClass quaternionCls;
-static JClass rotation3dCls;
-static JClass transform3dCls;
-static JClass translation3dCls;
-static JClass rawFrameCls;
-static JException illegalArgEx;
-static JException nullPointerEx;
-
-static const JClassInit classes[] = {
-    {"edu/wpi/first/apriltag/AprilTagDetection", &detectionCls},
-    {"edu/wpi/first/apriltag/AprilTagDetector$Config", &detectorConfigCls},
-    {"edu/wpi/first/apriltag/AprilTagDetector$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}};
-
-static const JExceptionInit exceptions[] = {
-    {"java/lang/IllegalArgumentException", &illegalArgEx},
-    {"java/lang/NullPointerException", &nullPointerEx}};
-
-extern "C" {
-
-JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
-  jvm = vm;
-
-  JNIEnv* env;
-  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
-    return JNI_ERR;
-  }
-
-  // Cache references to classes
-  for (auto& c : classes) {
-    *c.cls = JClass(env, c.name);
-    if (!*c.cls) {
-      std::fprintf(stderr, "could not load class %s\n", c.name);
-      return JNI_ERR;
-    }
-  }
-
-  for (auto& c : exceptions) {
-    *c.cls = JException(env, c.name);
-    if (!*c.cls) {
-      std::fprintf(stderr, "could not load exception %s\n", c.name);
-      return JNI_ERR;
-    }
-  }
-
-  return JNI_VERSION_1_6;
-}
-
-JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {
-  JNIEnv* env;
-  if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK) {
-    return;
-  }
-  // Delete global references
-  for (auto& c : classes) {
-    c.cls->free(env);
-  }
-  for (auto& c : exceptions) {
-    c.cls->free(env);
-  }
-  jvm = nullptr;
-}
-
-}  // extern "C"
-
-//
-// Conversions from Java to C++ objects
-//
-
-static AprilTagDetector::Config FromJavaDetectorConfig(JNIEnv* env,
-                                                       jobject jconfig) {
-  if (!jconfig) {
-    return {};
-  }
-#define FIELD(name, sig)                                          \
-  static jfieldID name##Field = nullptr;                          \
-  if (!name##Field) {                                             \
-    name##Field = env->GetFieldID(detectorConfigCls, #name, sig); \
-  }
-
-  FIELD(numThreads, "I");
-  FIELD(quadDecimate, "F");
-  FIELD(quadSigma, "F");
-  FIELD(refineEdges, "Z");
-  FIELD(decodeSharpening, "D");
-  FIELD(debug, "Z");
-
-#undef FIELD
-
-#define FIELD(ctype, jtype, name) \
-  .name = static_cast<ctype>(env->Get##jtype##Field(jconfig, name##Field))
-
-  return {
-      FIELD(int, Int, numThreads),
-      FIELD(float, Float, quadDecimate),
-      FIELD(float, Float, quadSigma),
-      FIELD(bool, Boolean, refineEdges),
-      FIELD(double, Double, decodeSharpening),
-      FIELD(bool, Boolean, debug),
-  };
-
-#undef GET
-#undef FIELD
-}
-
-static AprilTagDetector::QuadThresholdParameters FromJavaDetectorQTP(
-    JNIEnv* env, jobject jparams) {
-  if (!jparams) {
-    return {};
-  }
-#define FIELD(name, sig)                                       \
-  static jfieldID name##Field = nullptr;                       \
-  if (!name##Field) {                                          \
-    name##Field = env->GetFieldID(detectorQTPCls, #name, sig); \
-  }
-
-  FIELD(minClusterPixels, "I");
-  FIELD(maxNumMaxima, "I");
-  FIELD(criticalAngle, "D");
-  FIELD(maxLineFitMSE, "F");
-  FIELD(minWhiteBlackDiff, "I");
-  FIELD(deglitch, "Z");
-
-#undef FIELD
-
-#define FIELD(ctype, jtype, name) \
-  .name = static_cast<ctype>(env->Get##jtype##Field(jparams, name##Field))
-
-  return {
-      FIELD(int, Int, minClusterPixels),
-      FIELD(int, Int, maxNumMaxima),
-      .criticalAngle = units::radian_t{static_cast<double>(
-          env->GetDoubleField(jparams, criticalAngleField))},
-      FIELD(float, Float, maxLineFitMSE),
-      FIELD(int, Int, minWhiteBlackDiff),
-      FIELD(bool, Boolean, deglitch),
-  };
-
-#undef GET
-#undef FIELD
-}
-
-//
-// Conversions from C++ to Java objects
-//
-
-static jobject MakeJObject(JNIEnv* env, const AprilTagDetection& detect) {
-  static jmethodID constructor = env->GetMethodID(
-      detectionCls, "<init>", "(Ljava/lang/String;IIF[DDD[D)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jstring> fam{env, MakeJString(env, detect.GetFamily())};
-
-  auto homography = detect.GetHomography();
-  JLocal<jdoubleArray> harr{
-      env, MakeJDoubleArray(
-               env, {reinterpret_cast<const jdouble*>(homography.data()),
-                     homography.size()})};
-
-  double cornersBuf[8];
-  auto corners = detect.GetCorners(cornersBuf);
-  JLocal<jdoubleArray> carr{
-      env,
-      MakeJDoubleArray(env, {reinterpret_cast<const jdouble*>(corners.data()),
-                             corners.size()})};
-
-  auto center = detect.GetCenter();
-
-  return env->NewObject(detectionCls, constructor, fam.obj(),
-                        static_cast<jint>(detect.GetId()),
-                        static_cast<jint>(detect.GetHamming()),
-                        static_cast<jfloat>(detect.GetDecisionMargin()),
-                        harr.obj(), static_cast<jdouble>(center.x),
-                        static_cast<jdouble>(center.y), carr.obj());
-}
-
-static jobjectArray MakeJObject(JNIEnv* env,
-                                std::span<const AprilTagDetection* const> arr) {
-  jobjectArray jarr = env->NewObjectArray(arr.size(), detectionCls, nullptr);
-  if (!jarr) {
-    return nullptr;
-  }
-  for (size_t i = 0; i < arr.size(); ++i) {
-    JLocal<jobject> elem{env, MakeJObject(env, *arr[i])};
-    env->SetObjectArrayElement(jarr, i, elem.obj());
-  }
-  return jarr;
-}
-
-static jobject MakeJObject(JNIEnv* env,
-                           const AprilTagDetector::Config& config) {
-  static jmethodID constructor =
-      env->GetMethodID(detectorConfigCls, "<init>", "(IFFZDZ)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(detectorConfigCls, constructor,
-                        static_cast<jint>(config.numThreads),
-                        static_cast<jfloat>(config.quadDecimate),
-                        static_cast<jfloat>(config.quadSigma),
-                        static_cast<jboolean>(config.refineEdges),
-                        static_cast<jdouble>(config.decodeSharpening),
-                        static_cast<jboolean>(config.debug));
-}
-
-static jobject MakeJObject(
-    JNIEnv* env, const AprilTagDetector::QuadThresholdParameters& params) {
-  static jmethodID constructor =
-      env->GetMethodID(detectorQTPCls, "<init>", "(IIDFIZ)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(detectorQTPCls, constructor,
-                        static_cast<jint>(params.minClusterPixels),
-                        static_cast<jint>(params.maxNumMaxima),
-                        static_cast<jdouble>(params.criticalAngle),
-                        static_cast<jfloat>(params.maxLineFitMSE),
-                        static_cast<jint>(params.minWhiteBlackDiff),
-                        static_cast<jboolean>(params.deglitch));
-}
-
-static jobject MakeJObject(JNIEnv* env, const Translation3d& xlate) {
-  static jmethodID constructor =
-      env->GetMethodID(translation3dCls, "<init>", "(DDD)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(
-      translation3dCls, constructor, static_cast<jdouble>(xlate.X()),
-      static_cast<jdouble>(xlate.Y()), static_cast<jdouble>(xlate.Z()));
-}
-
-static jobject MakeJObject(JNIEnv* env, const Quaternion& q) {
-  static jmethodID constructor =
-      env->GetMethodID(quaternionCls, "<init>", "(DDDD)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  return env->NewObject(quaternionCls, constructor, static_cast<jdouble>(q.W()),
-                        static_cast<jdouble>(q.X()),
-                        static_cast<jdouble>(q.Y()),
-                        static_cast<jdouble>(q.Z()));
-}
-
-static jobject MakeJObject(JNIEnv* env, const Rotation3d& rot) {
-  static jmethodID constructor = env->GetMethodID(
-      rotation3dCls, "<init>", "(Ledu/wpi/first/math/geometry/Quaternion;)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jobject> q{env, MakeJObject(env, rot.GetQuaternion())};
-  return env->NewObject(rotation3dCls, constructor, q.obj());
-}
-
-static jobject MakeJObject(JNIEnv* env, const Transform3d& xform) {
-  static jmethodID constructor =
-      env->GetMethodID(transform3dCls, "<init>",
-                       "(Ledu/wpi/first/math/geometry/Translation3d;"
-                       "Ledu/wpi/first/math/geometry/Rotation3d;)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jobject> xlate{env, MakeJObject(env, xform.Translation())};
-  JLocal<jobject> rot{env, MakeJObject(env, xform.Rotation())};
-  return env->NewObject(transform3dCls, constructor, xlate.obj(), rot.obj());
-}
-
-static jobject MakeJObject(JNIEnv* env, const AprilTagPoseEstimate& est) {
-  static jmethodID constructor =
-      env->GetMethodID(poseEstimateCls, "<init>",
-                       "(Ledu/wpi/first/math/geometry/Transform3d;"
-                       "Ledu/wpi/first/math/geometry/Transform3d;DD)V");
-  if (!constructor) {
-    return nullptr;
-  }
-
-  JLocal<jobject> pose1{env, MakeJObject(env, est.pose1)};
-  JLocal<jobject> pose2{env, MakeJObject(env, est.pose2)};
-  return env->NewObject(poseEstimateCls, constructor, pose1.obj(), pose2.obj(),
-                        static_cast<jdouble>(est.error1),
-                        static_cast<jdouble>(est.error2));
-}
-
-extern "C" {
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    createDetector
- * Signature: ()J
- */
-JNIEXPORT jlong JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_createDetector
-  (JNIEnv* env, jclass)
-{
-  return reinterpret_cast<jlong>(new AprilTagDetector);
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    destroyDetector
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_destroyDetector
-  (JNIEnv* env, jclass, jlong det)
-{
-  delete reinterpret_cast<AprilTagDetector*>(det);
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    setDetectorConfig
- * Signature: (JLjava/lang/Object;)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_setDetectorConfig
-  (JNIEnv* env, jclass, jlong det, jobject config)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->SetConfig(
-      FromJavaDetectorConfig(env, config));
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    getDetectorConfig
- * Signature: (J)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_getDetectorConfig
-  (JNIEnv* env, jclass, jlong det)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return nullptr;
-  }
-  return MakeJObject(env,
-                     reinterpret_cast<AprilTagDetector*>(det)->GetConfig());
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    setDetectorQTP
- * Signature: (JLjava/lang/Object;)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_setDetectorQTP
-  (JNIEnv* env, jclass, jlong det, jobject params)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->SetQuadThresholdParameters(
-      FromJavaDetectorQTP(env, params));
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    getDetectorQTP
- * Signature: (J)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_getDetectorQTP
-  (JNIEnv* env, jclass, jlong det)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return nullptr;
-  }
-  return MakeJObject(
-      env,
-      reinterpret_cast<AprilTagDetector*>(det)->GetQuadThresholdParameters());
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    addFamily
- * Signature: (JLjava/lang/String;I)Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_addFamily
-  (JNIEnv* env, jclass, jlong det, jstring fam, jint bitsCorrected)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return false;
-  }
-  if (!fam) {
-    nullPointerEx.Throw(env, "fam cannot be null");
-    return false;
-  }
-  return reinterpret_cast<AprilTagDetector*>(det)->AddFamily(
-      JStringRef{env, fam}, bitsCorrected);
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    removeFamily
- * Signature: (JLjava/lang/String;)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_removeFamily
-  (JNIEnv* env, jclass, jlong det, jstring fam)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  if (!fam) {
-    nullPointerEx.Throw(env, "fam cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->RemoveFamily(JStringRef{env, fam});
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    clearFamilies
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_clearFamilies
-  (JNIEnv* env, jclass, jlong det)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return;
-  }
-  reinterpret_cast<AprilTagDetector*>(det)->ClearFamilies();
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    detect
- * Signature: (JIIIJ)[Ljava/lang/Object;
- */
-JNIEXPORT jobjectArray JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_detect
-  (JNIEnv* env, jclass, jlong det, jint width, jint height, jint stride,
-   jlong bufAddr)
-{
-  if (det == 0) {
-    nullPointerEx.Throw(env, "det cannot be null");
-    return nullptr;
-  }
-  if (bufAddr == 0) {
-    nullPointerEx.Throw(env, "bufAddr cannot be null");
-    return nullptr;
-  }
-  return MakeJObject(
-      env, reinterpret_cast<AprilTagDetector*>(det)->Detect(
-               width, height, stride, reinterpret_cast<uint8_t*>(bufAddr)));
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    estimatePoseHomography
- * Signature: ([DDDDDD)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseHomography
-  (JNIEnv* env, jclass, jdoubleArray homography, jdouble tagSize, jdouble fx,
-   jdouble fy, jdouble cx, jdouble cy)
-{
-  if (!homography) {
-    nullPointerEx.Throw(env, "homography cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 9> harr{env, homography};
-  if (harr.size() != 9) {
-    illegalArgEx.Throw(env, "homography array must be size 9");
-    return nullptr;
-  }
-
-  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.EstimateHomography(harr));
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    estimatePoseOrthogonalIteration
- * Signature: ([D[DDDDDDI)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePoseOrthogonalIteration
-  (JNIEnv* env, jclass, jdoubleArray homography, jdoubleArray corners,
-   jdouble tagSize, jdouble fx, jdouble fy, jdouble cx, jdouble cy, jint nIters)
-{
-  // homography
-  if (!homography) {
-    nullPointerEx.Throw(env, "homography cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 9> harr{env, homography};
-  if (harr.size() != 9) {
-    illegalArgEx.Throw(env, "homography array must be size 9");
-    return nullptr;
-  }
-
-  // corners
-  if (!corners) {
-    nullPointerEx.Throw(env, "corners cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 8> carr{env, corners};
-  if (carr.size() != 8) {
-    illegalArgEx.Throw(env, "corners array must be size 8");
-    return nullptr;
-  }
-
-  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env,
-                     estimator.EstimateOrthogonalIteration(harr, carr, nIters));
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    estimatePose
- * Signature: ([D[DDDDDD)Ljava/lang/Object;
- */
-JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_estimatePose
-  (JNIEnv* env, jclass, jdoubleArray homography, jdoubleArray corners,
-   jdouble tagSize, jdouble fx, jdouble fy, jdouble cx, jdouble cy)
-{
-  // homography
-  if (!homography) {
-    nullPointerEx.Throw(env, "homography cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 9> harr{env, homography};
-  if (harr.size() != 9) {
-    illegalArgEx.Throw(env, "homography array must be size 9");
-    return nullptr;
-  }
-
-  // corners
-  if (!corners) {
-    nullPointerEx.Throw(env, "corners cannot be null");
-    return nullptr;
-  }
-  JSpan<const jdouble, 8> carr{env, corners};
-  if (carr.size() != 8) {
-    illegalArgEx.Throw(env, "corners array must be size 8");
-    return nullptr;
-  }
-
-  AprilTagPoseEstimator estimator({units::meter_t{tagSize}, fx, fy, cx, cy});
-  return MakeJObject(env, estimator.Estimate(harr, carr));
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    generate16h5AprilTagImage
- * Signature: (Ljava/lang/Object;JI)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate16h5AprilTagImage
-  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
-{
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
-  if (!frame) {
-    nullPointerEx.Throw(env, "frame is null");
-    return;
-  }
-  bool newData = AprilTag::Generate16h5AprilTagImage(frame, id);
-  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
-}
-
-/*
- * Class:     edu_wpi_first_apriltag_jni_AprilTagJNI
- * Method:    generate36h11AprilTagImage
- * Signature: (Ljava/lang/Object;JI)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_apriltag_jni_AprilTagJNI_generate36h11AprilTagImage
-  (JNIEnv* env, jclass, jobject frameObj, jlong framePtr, jint id)
-{
-  auto* frame = reinterpret_cast<wpi::RawFrame*>(framePtr);
-  if (!frame) {
-    nullPointerEx.Throw(env, "frame is null");
-    return;
-  }
-  // function might reallocate
-  bool newData = AprilTag::Generate36h11AprilTagImage(frame, id);
-  wpi::SetFrameData(env, rawFrameCls, frameObj, *frame, newData);
-}
-
-}  // extern "C"

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

@@ -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 300
-     * pixels.
-     */
-    int minClusterPixels = 300;
-
-    /**
-     * How many corner candidates to consider when segmenting a group of pixels
-     * into a quad. Default is 10.
-     */
-    int maxNumMaxima = 10;
-
-    /**
-     * Critical angle. The detector will reject quads where pairs of edges have
-     * angles that are close to straight or close to 180 degrees. Zero means
-     * that no quads are rejected. Default is 45 degrees.
-     */
-    units::radian_t criticalAngle = 45_deg;
-
-    /**
-     * When fitting lines to the contours, the maximum mean squared error
-     * allowed. This is useful in rejecting contours that are far from being
-     * quad shaped; rejecting these quads "early" saves expensive decoding
-     * processing. Default is 10.0.
-     */
-    float maxLineFitMSE = 10.0f;
-
-    /**
-     * Minimum brightness offset. When we build our model of black & white
-     * pixels, we add an extra check that the white model must be (overall)
-     * brighter than the black model. How much brighter? (in pixel values,
-     * [0,255]). Default is 5.
-     */
-    int minWhiteBlackDiff = 5;
-
-    /**
-     * Whether the thresholded image be should be deglitched. Only useful for
-     * very noisy images. Default is disabled (false).
-     */
-    bool deglitch = false;
-  };
-
-  /**
-   * Array of detection results. Each array element is a pointer to an
-   * AprilTagDetection.
-   */
-  class WPILIB_DLLEXPORT Results
-      : public std::span<AprilTagDetection const* const> {
-    struct private_init {};
-    friend class AprilTagDetector;
-
-   public:
-    Results() = default;
-    Results(void* impl, const private_init&);
-    ~Results() { Destroy(); }
-    Results(const Results&) = delete;
-    Results& operator=(const Results&) = delete;
-    Results(Results&& rhs) : span{std::move(rhs)}, m_impl{rhs.m_impl} {
-      rhs.m_impl = nullptr;
-    }
-    Results& operator=(Results&& rhs);
-
-   private:
-    void Destroy();
-    void* m_impl = nullptr;
-  };
-
-  AprilTagDetector();
-  ~AprilTagDetector() { Destroy(); }
-  AprilTagDetector(const AprilTagDetector&) = delete;
-  AprilTagDetector& operator=(const AprilTagDetector&) = delete;
-  AprilTagDetector(AprilTagDetector&& rhs)
-      : m_impl{rhs.m_impl},
-        m_families{std::move(rhs.m_families)},
-        m_qtpCriticalAngle{rhs.m_qtpCriticalAngle} {
-    rhs.m_impl = nullptr;
-  }
-  AprilTagDetector& operator=(AprilTagDetector&& rhs);
-
-  /**
-   * @{
-   * @name Configuration functions
-   */
-
-  /**
-   * Sets detector configuration.
-   *
-   * @param config Configuration
-   */
-  void SetConfig(const Config& config);
-
-  /**
-   * Gets detector configuration.
-   *
-   * @return Configuration
-   */
-  Config GetConfig() const;
-
-  /**
-   * Sets quad threshold parameters.
-   *
-   * @param params Parameters
-   */
-  void SetQuadThresholdParameters(const QuadThresholdParameters& params);
-
-  /**
-   * Gets quad threshold parameters.
-   *
-   * @return Parameters
-   */
-  QuadThresholdParameters GetQuadThresholdParameters() const;
-
-  /** @} */
-
-  /**
-   * @{
-   * @name Tag family functions
-   */
-
-  /**
-   * Adds a family of tags to be detected.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   * @param bitsCorrected Maximum number of bits to correct
-   * @return False if family can't be found
-   */
-  bool AddFamily(std::string_view fam, int bitsCorrected = 2);
-
-  /**
-   * Removes a family of tags from the detector.
-   *
-   * @param fam Family name, e.g. "tag16h5"
-   */
-  void RemoveFamily(std::string_view fam);
-
-  /**
-   * Unregister all families.
-   */
-  void ClearFamilies();
-
-  /** @} */
-
-  /**
-   * Detect tags from an 8-bit image.
-   * The image must be grayscale.
-   *
-   * @param width width of the image
-   * @param height height of the image
-   * @param stride number of bytes between image rows (often the same as width)
-   * @param buf image buffer
-   * @return Results (array of AprilTagDetection pointers)
-   */
-  Results Detect(int width, int height, int stride, uint8_t* buf);
-
-  /**
-   * Detect tags from an 8-bit image.
-   * The image must be grayscale.
-   *
-   * @param width width of the image
-   * @param height height of the image
-   * @param buf image buffer
-   * @return Results (array of AprilTagDetection pointers)
-   */
-  Results Detect(int width, int height, uint8_t* buf) {
-    return Detect(width, height, width, buf);
-  }
-
- private:
-  void Destroy();
-  void DestroyFamilies();
-  void DestroyFamily(std::string_view name, void* data);
-
-  void* m_impl;
-  wpi::StringMap<void*> m_families;
-  units::radian_t m_qtpCriticalAngle = 10_deg;
-};
-
-}  // namespace frc

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

@@ -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

@@ -1,175 +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
- * @deprecated Use AprilTagFieldLayout::LoadField() instead
- */
-[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
-WPILIB_DLLEXPORT AprilTagFieldLayout
-LoadAprilTagLayoutField(AprilTagField field);
-
-}  // namespace frc

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

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

@@ -1,440 +0,0 @@
-{
-  "tags": [
-    {
-      "ID": 0,
-      "pose": {
-        "translation": {
-          "x": -0.0035306,
-          "y": 7.578928199999999,
-          "z": 0.8858503999999999
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 1,
-      "pose": {
-        "translation": {
-          "x": 3.2327088,
-          "y": 5.486654,
-          "z": 1.7254728
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 2,
-      "pose": {
-        "translation": {
-          "x": 3.067812,
-          "y": 5.3305202,
-          "z": 1.3762228
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 0.7071067811865476,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": -0.7071067811865475
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apriltag/src/main/native/resources/edu/wpi/first/apriltag/2023-chargedup.json

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

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

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

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

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

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

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-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdlib.h>
-
-#include "common/matd.h"
-#include "common/image_u8.h"
-#include "common/zarray.h"
-#include "common/workerpool.h"
-#include "common/timeprofile.h"
-#include "common/pthreads_cross.h"
-
-#define APRILTAG_TASKS_PER_THREAD_TARGET 10
-
-struct quad
-{
-    float p[4][2]; // corners
-
-    bool reversed_border;
-
-    // H: tag coordinates ([-1,1] at the black corners) to pixels
-    // Hinv: pixels to tag
-    matd_t *H, *Hinv;
-};
-
-// Represents a tag family. Every tag belongs to a tag family. Tag
-// families are generated by the Java tool
-// april.tag.TagFamilyGenerator and can be converted to C using
-// april.tag.TagToC.
-typedef struct apriltag_family apriltag_family_t;
-struct apriltag_family
-{
-    // How many codes are there in this tag family?
-    uint32_t ncodes;
-
-    // The codes in the family.
-    uint64_t *codes;
-
-    int width_at_border;
-    int total_width;
-    bool reversed_border;
-
-    // The bit locations.
-    uint32_t nbits;
-    uint32_t *bit_x;
-    uint32_t *bit_y;
-
-    // minimum hamming distance between any two codes. (e.g. 36h11 => 11)
-    uint32_t h;
-
-    // a human-readable name, e.g., "tag36h11"
-    char *name;
-
-    // some detector implementations may preprocess codes in order to
-    // accelerate decoding.  They put their data here. (Do not use the
-    // same apriltag_family instance in more than one implementation)
-    void *impl;
-};
-
-
-struct apriltag_quad_thresh_params
-{
-    // reject quads containing too few pixels
-    int min_cluster_pixels;
-
-    // how many corner candidates to consider when segmenting a group
-    // of pixels into a quad.
-    int max_nmaxima;
-
-    // Reject quads where pairs of edges have angles that are close to
-    // straight or close to 180 degrees. Zero means that no quads are
-    // rejected. (In radians).
-    float critical_rad;
-    float cos_critical_rad;
-
-    // When fitting lines to the contours, what is the maximum mean
-    // squared error allowed?  This is useful in rejecting contours
-    // that are far from being quad shaped; rejecting these quads "early"
-    // saves expensive decoding processing.
-    float max_line_fit_mse;
-
-    // When we build our model of black & white pixels, we add an
-    // extra check that the white model must be (overall) brighter
-    // than the black model.  How much brighter? (in pixel values,
-    // [0,255]). .
-    int min_white_black_diff;
-
-    // should the thresholded image be deglitched? Only useful for
-    // very noisy images
-    int deglitch;
-};
-
-// Represents a detector object. Upon creating a detector, all fields
-// are set to reasonable values, but can be overridden by accessing
-// these fields.
-typedef struct apriltag_detector apriltag_detector_t;
-struct apriltag_detector
-{
-    ///////////////////////////////////////////////////////////////
-    // User-configurable parameters.
-
-    // How many threads should be used?
-    int nthreads;
-
-    // detection of quads can be done on a lower-resolution image,
-    // improving speed at a cost of pose accuracy and a slight
-    // decrease in detection rate. Decoding the binary payload is
-    // still done at full resolution. .
-    float quad_decimate;
-
-    // What Gaussian blur should be applied to the segmented image
-    // (used for quad detection?)  Parameter is the standard deviation
-    // in pixels.  Very noisy images benefit from non-zero values
-    // (e.g. 0.8).
-    float quad_sigma;
-
-    // When true, the edges of the each quad are adjusted to "snap
-    // to" strong gradients nearby. This is useful when decimation is
-    // employed, as it can increase the quality of the initial quad
-    // estimate substantially. Generally recommended to be on (true).
-    //
-    // Very computationally inexpensive. Option is ignored if
-    // quad_decimate = 1.
-    bool refine_edges;
-
-    // How much sharpening should be done to decoded images? This
-    // can help decode small tags but may or may not help in odd
-    // lighting conditions or low light conditions.
-    //
-    // The default value is 0.25.
-    double decode_sharpening;
-
-    // When true, write a variety of debugging images to the
-    // current working directory at various stages through the
-    // detection process. (Somewhat slow).
-    bool debug;
-
-    struct apriltag_quad_thresh_params qtp;
-
-    ///////////////////////////////////////////////////////////////
-    // Statistics relating to last processed frame
-    timeprofile_t *tp;
-
-    uint32_t nedges;
-    uint32_t nsegments;
-    uint32_t nquads;
-
-    ///////////////////////////////////////////////////////////////
-    // Internal variables below
-
-    // Not freed on apriltag_destroy; a tag family can be shared
-    // between multiple users. The user should ultimately destroy the
-    // tag family passed into the constructor.
-    zarray_t *tag_families;
-
-    // Used to manage multi-threading.
-    workerpool_t *wp;
-
-    // Used for thread safety.
-    pthread_mutex_t mutex;
-};
-
-// Represents the detection of a tag. These are returned to the user
-// and must be individually destroyed by the user.
-typedef struct apriltag_detection apriltag_detection_t;
-struct apriltag_detection
-{
-    // a pointer for convenience. not freed by apriltag_detection_destroy.
-    apriltag_family_t *family;
-
-    // The decoded ID of the tag
-    int id;
-
-    // How many error bits were corrected? Note: accepting large numbers of
-    // corrected errors leads to greatly increased false positive rates.
-    // NOTE: As of this implementation, the detector cannot detect tags with
-    // a hamming distance greater than 2.
-    int hamming;
-
-    // A measure of the quality of the binary decoding process: the
-    // average difference between the intensity of a data bit versus
-    // the decision threshold. Higher numbers roughly indicate better
-    // decodes. This is a reasonable measure of detection accuracy
-    // only for very small tags-- not effective for larger tags (where
-    // we could have sampled anywhere within a bit cell and still
-    // gotten a good detection.)
-    float decision_margin;
-
-    // The 3x3 homography matrix describing the projection from an
-    // "ideal" tag (with corners at (-1,1), (1,1), (1,-1), and (-1,
-    // -1)) to pixels in the image. This matrix will be freed by
-    // apriltag_detection_destroy.
-    matd_t *H;
-
-    // The center of the detection in image pixel coordinates.
-    double c[2];
-
-    // The corners of the tag in image pixel coordinates. These always
-    // wrap counter-clock wise around the tag.
-    double p[4][2];
-};
-
-// don't forget to add a family!
-apriltag_detector_t *apriltag_detector_create(void);
-
-// add a family to the apriltag detector. caller still "owns" the family.
-// a single instance should only be provided to one apriltag detector instance.
-void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected);
-
-// Tunable, but really, 2 is a good choice. Values of >=3
-// consume prohibitively large amounts of memory, and otherwise
-// you want the largest value possible.
-static inline void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam)
-{
-    apriltag_detector_add_family_bits(td, fam, 2);
-}
-
-// does not deallocate the family.
-void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam);
-
-// unregister all families, but does not deallocate the underlying tag family objects.
-void apriltag_detector_clear_families(apriltag_detector_t *td);
-
-// Destroy the april tag detector (but not the underlying
-// apriltag_family_t used to initialize it.)
-void apriltag_detector_destroy(apriltag_detector_t *td);
-
-// Detect tags from an image and return an array of
-// apriltag_detection_t*. You can use apriltag_detections_destroy to
-// free the array and the detections it contains, or call
-// _detection_destroy and zarray_destroy yourself.
-zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig);
-
-// Call this method on each of the tags returned by apriltag_detector_detect
-void apriltag_detection_destroy(apriltag_detection_t *det);
-
-// destroys the array AND the detections within it.
-void apriltag_detections_destroy(zarray_t *detections);
-
-// Renders the apriltag.
-// Caller is responsible for calling image_u8_destroy on the image
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx);
-
-#ifdef __cplusplus
-}
-#endif

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

@@ -1,101 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#include <math.h>
-
-// Computes the cholesky factorization of A, putting the lower
-// triangular matrix into R.
-static inline void mat33_chol(const double *A,
-                              double *R)
-{
-    // A[0] = R[0]*R[0]
-    R[0] = sqrt(A[0]);
-
-    // A[1] = R[0]*R[3];
-    R[3] = A[1] / R[0];
-
-    // A[2] = R[0]*R[6];
-    R[6] = A[2] / R[0];
-
-    // A[4] = R[3]*R[3] + R[4]*R[4]
-    R[4] = sqrt(A[4] - R[3]*R[3]);
-
-    // A[5] = R[3]*R[6] + R[4]*R[7]
-    R[7] = (A[5] - R[3]*R[6]) / R[4];
-
-    // A[8] = R[6]*R[6] + R[7]*R[7] + R[8]*R[8]
-    R[8] = sqrt(A[8] - R[6]*R[6] - R[7]*R[7]);
-
-    R[1] = 0;
-    R[2] = 0;
-    R[5] = 0;
-}
-
-static inline void mat33_lower_tri_inv(const double *A,
-                                       double *R)
-{
-    // A[0]*R[0] = 1
-    R[0] = 1 / A[0];
-
-    // A[3]*R[0] + A[4]*R[3] = 0
-    R[3] = -A[3]*R[0] / A[4];
-
-    // A[4]*R[4] = 1
-    R[4] = 1 / A[4];
-
-    // A[6]*R[0] + A[7]*R[3] + A[8]*R[6] = 0
-    R[6] = (-A[6]*R[0] - A[7]*R[3]) / A[8];
-
-    // A[7]*R[4] + A[8]*R[7] = 0
-    R[7] = -A[7]*R[4] / A[8];
-
-    // A[8]*R[8] = 1
-    R[8] = 1 / A[8];
-}
-
-
-static inline void mat33_sym_solve(const double *A,
-                                   const double *B,
-                                   double *R)
-{
-    double L[9];
-    mat33_chol(A, L);
-
-    double M[9];
-    mat33_lower_tri_inv(L, M);
-
-    double tmp[3];
-    tmp[0] = M[0]*B[0];
-    tmp[1] = M[3]*B[0] + M[4]*B[1];
-    tmp[2] = M[6]*B[0] + M[7]*B[1] + M[8]*B[2];
-
-    R[0] = M[0]*tmp[0] + M[3]*tmp[1] + M[6]*tmp[2];
-    R[1] = M[4]*tmp[1] + M[7]*tmp[2];
-    R[2] = M[8]*tmp[2];
-}

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

@@ -1,81 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-#include "apriltag.h"
-#include "common/matd.h"
-
-typedef struct {
-    apriltag_detection_t* det;
-    double tagsize; // In meters.
-    double fx; // In pixels.
-    double fy; // In pixels.
-    double cx; // In pixels.
-    double cy; // In pixels.
-} apriltag_detection_info_t;
-
-/**
- * This struct holds the transformation from the camera optical frame to
- * the April tag frame. The pose refers to the position of the tag within
- * the camera frame.
- */
-typedef struct {
-    matd_t* R; // Rotation matrix 3x3 of doubles.
-    matd_t* t; // Translation matrix 3x1 of doubles.
-} apriltag_pose_t;
-
-/**
- * Estimate pose of the tag using the homography method described in [1].
- * @outparam pose
- */
-void estimate_pose_for_tag_homography(
-        apriltag_detection_info_t* info,
-        apriltag_pose_t* pose);
-
-/**
- * Estimate pose of the tag. This returns one or two possible poses for the
- * tag, along with the object-space error of each.
- *
- * This uses the homography method described in [1] for the initial estimate.
- * Then Orthogonal Iteration [2] is used to refine this estimate. Then [3] is
- * used to find a potential second local minima and Orthogonal Iteration is
- * used to refine this second estimate.
- *
- * [1]: E. Olson, “Apriltag: A robust and flexible visual fiducial system,” in
- *      2011 IEEE International Conference on Robotics and Automation,
- *      May 2011, pp. 3400–3407.
- * [2]: Lu, G. D. Hager and E. Mjolsness, "Fast and globally convergent pose
- *      estimation from video images," in IEEE Transactions on Pattern Analysis
- *      and Machine Intelligence, vol. 22, no. 6, pp. 610-622, June 2000.
- *      doi: 10.1109/34.862199
- * [3]: Schweighofer and A. Pinz, "Robust Pose Estimation from a Planar Target,"
- *      in IEEE Transactions on Pattern Analysis and Machine Intelligence,
- *      vol. 28, no. 12, pp. 2024-2030, Dec. 2006.  doi: 10.1109/TPAMI.2006.252
- *
- * @outparam err1, pose1, err2, pose2
- */
-void estimate_tag_pose_orthogonal_iteration(
-        apriltag_detection_info_t* info,
-        double* err1,
-        apriltag_pose_t* pose1,
-        double* err2,
-        apriltag_pose_t* pose2,
-        int nIters,
-        double min_improvement_per_iteration);
-
-/**
- * Estimate tag pose.
- * This method is an easier to use interface to estimate_tag_pose_orthogonal_iteration.
- *
- * @outparam pose 
- * @return Object-space error of returned pose.
- */
-double estimate_tag_pose(apriltag_detection_info_t* info, apriltag_pose_t* pose);
-
-#ifdef __cplusplus
-}
-#endif
-

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

@@ -1,41 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-#pragma once
-
-#if !defined(NDEBUG) || defined(_DEBUG)
-
-#include <string.h>
-#include <stdio.h>
-#define DEBUG 1
-
-#else
-#define DEBUG 0
-#endif
-
-#define debug_print(fmt, ...) \
-        do { if (DEBUG) fprintf(stderr, "%s:%d:%s(): " fmt, strrchr("/"__FILE__,'/')+1, \
-                                __LINE__, __func__, ##__VA_ARGS__); fflush(stderr);} while (0)

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

@@ -1,32 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#define TNAME double
-#include "doubles_floats_impl.h"
-#undef TNAME

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

@@ -1,32 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#define TNAME float
-#include "doubles_floats_impl.h"
-#undef TNAME

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

@@ -1,124 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "zarray.h"
-
-// This library tries to avoid needless proliferation of types.
-//
-// A point is a double[2]. (Note that when passing a double[2] as an
-// argument, it is passed by pointer, not by value.)
-//
-// A polygon is a zarray_t of double[2]. (Note that in this case, the
-// zarray contains the actual vertex data, and not merely a pointer to
-// some other data. IMPORTANT: A polygon must be specified in CCW
-// order.  It is implicitly closed (do not list the same point at the
-// beginning at the end.
-//
-// Where sensible, it is assumed that objects should be allocated
-// sparingly; consequently "init" style methods, rather than "create"
-// methods are used.
-
-////////////////////////////////////////////////////////////////////
-// Lines
-
-typedef struct
-{
-    // Internal representation: a point that the line goes through (p) and
-    // the direction of the line (u).
-    double p[2];
-    double u[2]; // always a unit vector
-} g2d_line_t;
-
-// initialize a line object.
-void g2d_line_init_from_points(g2d_line_t *line, const double p0[2], const double p1[2]);
-
-// The line defines a one-dimensional coordinate system whose origin
-// is p. Where is q? (If q is not on the line, the point nearest q is
-// returned.
-double g2d_line_get_coordinate(const g2d_line_t *line, const double q[2]);
-
-// Intersect two lines. The intersection, if it exists, is written to
-// p (if not NULL), and 1 is returned. Else, zero is returned.
-int g2d_line_intersect_line(const g2d_line_t *linea, const g2d_line_t *lineb, double *p);
-
-////////////////////////////////////////////////////////////////////
-// Line Segments. line.p is always one endpoint; p1 is the other
-// endpoint.
-typedef struct
-{
-    g2d_line_t line;
-    double p1[2];
-} g2d_line_segment_t;
-
-void g2d_line_segment_init_from_points(g2d_line_segment_t *seg, const double p0[2], const double p1[2]);
-
-// Intersect two segments. The intersection, if it exists, is written
-// to p (if not NULL), and 1 is returned. Else, zero is returned.
-int g2d_line_segment_intersect_segment(const g2d_line_segment_t *sega, const g2d_line_segment_t *segb, double *p);
-
-void g2d_line_segment_closest_point(const g2d_line_segment_t *seg, const double *q, double *p);
-double g2d_line_segment_closest_point_distance(const g2d_line_segment_t *seg, const double *q);
-
-////////////////////////////////////////////////////////////////////
-// Polygons
-
-zarray_t *g2d_polygon_create_data(double v[][2], int sz);
-
-zarray_t *g2d_polygon_create_zeros(int sz);
-
-zarray_t *g2d_polygon_create_empty(void);
-
-void g2d_polygon_add(zarray_t *poly, double v[2]);
-
-// Takes a polygon in either CW or CCW and modifies it (if necessary)
-// to be CCW.
-void g2d_polygon_make_ccw(zarray_t *poly);
-
-// Return 1 if point q lies within poly.
-int g2d_polygon_contains_point(const zarray_t *poly, double q[2]);
-
-// Do the edges of the polygons cross? (Does not test for containment).
-int g2d_polygon_intersects_polygon(const zarray_t *polya, const zarray_t *polyb);
-
-// Does polya completely contain polyb?
-int g2d_polygon_contains_polygon(const zarray_t *polya, const zarray_t *polyb);
-
-// Is there some point which is in both polya and polyb?
-int g2d_polygon_overlaps_polygon(const zarray_t *polya, const zarray_t *polyb);
-
-// returns the number of points written to x. see comments.
-int g2d_polygon_rasterize(const zarray_t *poly, double y, double *x);
-
-#ifdef __cplusplus
-}
-#endif

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

@@ -1,183 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#include "matd.h"
-#include "zarray.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-    /** Given a 3x3 homography matrix and the focal lengths of the
-     * camera, compute the pose of the tag. The focal lengths should
-     * be given in pixels. For example, if the camera's focal length
-     * is twice the width of the sensor, and the sensor is 600 pixels
-     * across, the focal length in pixels is 2*600. Note that the
-     * focal lengths in the fx and fy direction will be approximately
-     * equal for most lenses, and is not a function of aspect ratio.
-     *
-     * Theory: The homography matrix is the product of the camera
-     * projection matrix and the tag's pose matrix (the matrix that
-     * projects points from the tag's local coordinate system to the
-     * camera's coordinate frame).
-     *
-    * [ h00 h01 h02 h03] = [ fx   0     cx 0 ] [ R00 R01 R02 TX ]
-     * [ h10 h11 h12 h13] = [ 0    fy    cy 0 ] [ R10 R11 R12 TY ]
-     * [ h20 h21 h22 h23] = [ 0    0      s 0 ] [ R20 R21 R22 TZ ]
-     *                                          [ 0   0   0   1  ]
-     *
-     * fx is the focal length in the x direction of the camera
-     * (typically measured in pixels), fy is the focal length. cx and
-     * cy give the focal center (usually the middle of the image), and
-     * s is either +1 or -1, depending on the conventions you use. (We
-     * use 1.)
-
-     * When observing a tag, the points we project in world space all
-     * have z=0, so we can form a 3x3 matrix by eliminating the 3rd
-     * column of the pose matrix.
-     *
-     * [ h00 h01 h02 ] = [ fx   0    cx 0 ] [ R00 R01 TX ]
-     * [ h10 h11 h12 ] = [ 0    fy   cy 0 ] [ R10 R11 TY ]
-     * [ h20 h21 h22 ] = [ 0    0     s 0 ] [ R20 R21 TZ ]
-     *                                      [ 0   0   1  ]
-     *
-     * (note that these h's are different from the ones above.)
-     *
-     * We can multiply the right-hand side to yield a set of equations
-     * relating the values of h to the values of the pose matrix.
-     *
-     * There are two wrinkles. The first is that the homography matrix
-     * is known only up to scale. We recover the unknown scale by
-     * constraining the magnitude of the first two columns of the pose
-     * matrix to be 1. We use the geometric average scale. The sign of
-     * the scale factor is recovered by constraining the observed tag
-     * to be in front of the camera. Once scaled, we recover the first
-     * two colmuns of the rotation matrix. The third column is the
-     * cross product of these.
-     *
-     * The second wrinkle is that the computed rotation matrix might
-     * not be exactly orthogonal, so we perform a polar decomposition
-     * to find a good pure rotation approximation.
-     *
-     * Tagsize is the size of the tag in your desired units. I.e., if
-     * your tag measures 0.25m along the side, your tag size is
-     * 0.25. (The homography is computed in terms of *half* the tag
-     * size, i.e., that a tag is 2 units wide as it spans from -1 to
-     * +1, but this code makes the appropriate adjustment.)
-     *
-     * A note on signs:
-     *
-     * The code below incorporates no additional negative signs, but
-     * respects the sign of any parameters that you pass in. Flipping
-     * the signs allows you to modify the projection to suit a wide
-     * variety of conditions.
-     *
-     * In the "pure geometry" projection matrix, the image appears
-     * upside down; i.e., the x and y coordinates on the left hand
-     * side are the opposite of those on the right of the camera
-     * projection matrix. This would happen for all parameters
-     * positive: recall that points in front of the camera have
-     * negative Z values, which will cause the sign of all points to
-     * flip.
-     *
-     * However, most cameras flip things so that the image appears
-     * "right side up" as though you were looking through the lens
-     * directly. This means that the projected points should have the
-     * same sign as the points on the right of the camera projection
-     * matrix. To achieve this, flip fx and fy.
-     *
-     * One further complication: cameras typically put y=0 at the top
-     * of the image, instead of the bottom. Thus you generally want to
-     * flip y yet again (so it's now positive again).
-     *
-     * General advice: you probably want fx negative, fy positive, cx
-     * and cy positive, and s=1.
-     **/
-
-// correspondences is a list of float[4]s, consisting of the points x
-// and y concatenated. We will compute a homography such that y = Hx
-// Specifically, float [] { a, b, c, d } where x = [a b], y = [c d].
-
-
-#define HOMOGRAPHY_COMPUTE_FLAG_INVERSE 1
-#define HOMOGRAPHY_COMPUTE_FLAG_SVD 0
-
-matd_t *homography_compute(zarray_t *correspondences, int flags);
-
-//void homography_project(const matd_t *H, double x, double y, double *ox, double *oy);
-static inline void homography_project(const matd_t *H, double x, double y, double *ox, double *oy)
-{
-    double xx = MATD_EL(H, 0, 0)*x + MATD_EL(H, 0, 1)*y + MATD_EL(H, 0, 2);
-    double yy = MATD_EL(H, 1, 0)*x + MATD_EL(H, 1, 1)*y + MATD_EL(H, 1, 2);
-    double zz = MATD_EL(H, 2, 0)*x + MATD_EL(H, 2, 1)*y + MATD_EL(H, 2, 2);
-
-    *ox = xx / zz;
-    *oy = yy / zz;
-}
-
-// assuming that the projection matrix is:
-// [ fx 0  cx 0 ]
-// [  0 fy cy 0 ]
-// [  0  0  1 0 ]
-//
-// And that the homography is equal to the projection matrix times the model matrix,
-// recover the model matrix (which is returned). Note that the third column of the model
-// matrix is missing in the expression below, reflecting the fact that the homography assumes
-// all points are at z=0 (i.e., planar) and that the element of z is thus omitted.
-// (3x1 instead of 4x1).
-//
-// [ fx 0  cx 0 ] [ R00  R01  TX ]    [ H00 H01 H02 ]
-// [  0 fy cy 0 ] [ R10  R11  TY ] =  [ H10 H11 H12 ]
-// [  0  0  1 0 ] [ R20  R21  TZ ] =  [ H20 H21 H22 ]
-//                [  0    0    1 ]
-//
-// fx*R00 + cx*R20 = H00   (note, H only known up to scale; some additional adjustments required; see code.)
-// fx*R01 + cx*R21 = H01
-// fx*TX  + cx*TZ  = H02
-// fy*R10 + cy*R20 = H10
-// fy*R11 + cy*R21 = H11
-// fy*TY  + cy*TZ  = H12
-// R20 = H20
-// R21 = H21
-// TZ  = H22
-matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, double cy);
-
-// Similar to above
-// Recover the model view matrix assuming that the projection matrix is:
-//
-// [ F  0  A  0 ]     (see glFrustrum)
-// [ 0  G  B  0 ]
-// [ 0  0  C  D ]
-// [ 0  0 -1  0 ]
-
-matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B);
-
-#ifdef __cplusplus
-}
-#endif

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

@@ -1,84 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#include <stdint.h>
-
-// to support conversions between different types, we define all image
-// types at once. Type-specific implementations can then #include this
-// file, assured that the basic types of each image are known.
-
-typedef struct image_u8 image_u8_t;
-struct image_u8
-{
-    const int32_t width;
-    const int32_t height;
-    const int32_t stride;
-
-    uint8_t *buf;
-};
-
-typedef struct image_u8x3 image_u8x3_t;
-struct image_u8x3
-{
-    const int32_t width;
-    const int32_t height;
-    const int32_t stride; // bytes per line
-
-    uint8_t *buf;
-};
-
-typedef struct image_u8x4 image_u8x4_t;
-struct image_u8x4
-{
-    const int32_t width;
-    const int32_t height;
-    const int32_t stride; // bytes per line
-
-    uint8_t *buf;
-};
-
-typedef struct image_f32 image_f32_t;
-struct image_f32
-{
-    const int32_t width;
-    const int32_t height;
-    const int32_t stride; // floats per line
-
-    float *buf; // indexed as buf[y*stride + x]
-};
-
-typedef struct image_u32 image_u32_t;
-struct image_u32
-{
-    const int32_t width;
-    const int32_t height;
-    const int32_t stride; // int32_ts per line
-
-    uint32_t *buf; // indexed as buf[y*stride + x]
-};

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

@@ -1,90 +0,0 @@
-/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
-All rights reserved.
-This software was developed in the APRIL Robotics Lab under the
-direction of Edwin Olson, ebolson@umich.edu. This software may be
-available under alternative licensing terms; contact the address above.
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-The views and conclusions contained in the software and documentation are those
-of the authors and should not be interpreted as representing official policies,
-either expressed or implied, of the Regents of The University of Michigan.
-*/
-
-#pragma once
-
-#include <stdint.h>
-#include "image_types.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef struct image_u8_lut image_u8_lut_t;
-struct image_u8_lut
-{
-    // When drawing, we compute the squared distance between a given pixel and a filled region.
-    // int idx = squared_distance * scale;
-    // We then index into values[idx] to obtain the color. (If we must index beyond nvalues,
-    // no drawing is performed.)
-    float    scale;
-
-    int      nvalues;
-    uint8_t *values;
-};
-
-
-// Create or load an image. returns NULL on failure. Uses default
-// stride alignment.
-image_u8_t *image_u8_create_stride(unsigned int width, unsigned int height, unsigned int stride);
-image_u8_t *image_u8_create(unsigned int width, unsigned int height);
-image_u8_t *image_u8_create_alignment(unsigned int width, unsigned int height, unsigned int alignment);
-image_u8_t *image_u8_create_from_f32(image_f32_t *fim);
-
-image_u8_t *image_u8_create_from_pnm(const char *path);
-    image_u8_t *image_u8_create_from_pnm_alignment(const char *path, int alignment);
-
-image_u8_t *image_u8_copy(const image_u8_t *in);
-void image_u8_draw_line(image_u8_t *im, float x0, float y0, float x1, float y1, int v, int width);
-void image_u8_draw_circle(image_u8_t *im, float x0, float y0, float r, int v);
-void image_u8_draw_annulus(image_u8_t *im, float x0, float y0, float r0, float r1, int v);
-
-void image_u8_fill_line_max(image_u8_t *im, const image_u8_lut_t *lut, const float *xy0, const float *xy1);
-
-void image_u8_clear(image_u8_t *im);
-void image_u8_darken(image_u8_t *im);
-void image_u8_convolve_2D(image_u8_t *im, const uint8_t *k, int ksz);
-void image_u8_gaussian_blur(image_u8_t *im, double sigma, int k);
-
-// 1.5, 2, 3, 4, ... supported
-image_u8_t *image_u8_decimate(image_u8_t *im, float factor);
-
-void image_u8_destroy(image_u8_t *im);
-
-// Write a pnm. Returns 0 on success
-// Currently only supports GRAY and RGBA. Does not write out alpha for RGBA
-int image_u8_write_pnm(const image_u8_t *im, const char *path);
-
-// rotate the image by 'rad' radians. (Rotated in the "intuitive
-// sense", i.e., if Y were up. When input values are unavailable, the
-// value 'pad' is inserted instead. The geometric center of the output
-// image corresponds to the geometric center of the input image.
-image_u8_t *image_u8_rotate(const image_u8_t *in, double rad, uint8_t pad);
-
-#ifdef __cplusplus
-}
-#endif