[wpilib] Fixup alerts (#8663)

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

.bazelignore

@@ -6,12 +6,12 @@ apriltag/bin
 cameraserver/bin
 cameraserver/multiCameraServer/bin
 cscore/bin
-fieldImages/bin
+fields/bin
 hal/bin
 developerRobot/bin
 ntcore/bin
 romiVendordep/bin
-wpilibNewCommands/bin
+commandsv2/bin
 wpilibj/bin
 wpimath/bin
 wpinet/bin

.bazelrc

@@ -1,7 +1,6 @@
-try-import %workspace%/bazel_auth.rc
 try-import %workspace%/user.bazelrc
 
-common --noenable_bzlmod
+common --enable_bzlmod --enable_workspace
 # Resolves to --config=linux on Linux, --config=macos on Mac, --windows on windows
 common --enable_platform_specific_config
 
@@ -10,10 +9,10 @@ common --enable_workspace
 build --experimental_cc_static_library
 build --experimental_cc_shared_library
 
-build --java_language_version=17
-build --java_runtime_version=roboriojdk_17
-build --tool_java_language_version=17
-build --tool_java_runtime_version=remotejdk_17
+build --java_language_version=21
+build --java_runtime_version=remotejdk_21
+build --tool_java_language_version=21
+build --tool_java_runtime_version=remotejdk_21
 
 test --test_output=errors
 test --test_verbose_timeout_warnings
@@ -35,16 +34,21 @@ build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=all
 build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
 build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
 test:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example
+common:skip_robotpy --test_tag_filters=-robotpy --build_tag_filters=-robotpy
+
+# Build Buddy BES Setup
+build:build_buddy_bes --bes_results_url=https://app.buildbuddy.io/invocation/
+build:build_buddy_bes --bes_backend=grpcs://remote.buildbuddy.io
+
+# Common Cache Settings
+build:common_cache --remote_timeout=3600
+build:common_cache --remote_cache_compression
+build:common_cache --experimental_remote_cache_compression_threshold=100
 
 # Build Buddy Cache Setup
-build:build_buddy --bes_results_url=https://app.buildbuddy.io/invocation/
-build:build_buddy --bes_backend=grpcs://remote.buildbuddy.io
+build:build_buddy --config=common_cache
+build:build_buddy --config=build_buddy_bes
 build:build_buddy --remote_cache=grpcs://remote.buildbuddy.io
-build:build_buddy --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
@@ -52,18 +56,36 @@ build:build_buddy --nolegacy_important_outputs
 
 common:build_buddy_readonly --noremote_upload_local_results
 
+# Bazel-remote cache setup
+build:remote_cache --config=common_cache
+build:remote_cache --remote_cache=grpcs://gitlib-bazel.wpi.edu
+
+common:remote_cache_readonly --noremote_upload_local_results
+
 # This config should be used locally. It downloads more than the CI version
-build:remote_user --config=build_buddy
-build:remote_user --config=build_buddy_readonly
+build:remote_user --config=remote_cache
+build:remote_user --config=remote_cache_readonly
 build:remote_user --remote_download_toplevel
 
-build:ci --config=build_buddy
+build:ci --config=remote_cache
 build:ci --remote_download_minimal
+build:ci --progress_report_interval=60 --show_progress_rate_limit=60
 
 build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git
 
 common --define="WPILIB_VERSION=2025.424242.3.1-unknown"
+common --define="ROBOTPY_VERSION=2025.424242.3.1"
 
 # List of artifact types to build in CI.
 # Anything else gets skipped to speed up CI.
 common:ci --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
+
+# The 2 configurations for windows are very slow to build each time.
+# Instead, skip the cross transition for ARM on x86, and the reverse on x86.
+common:ci_windows_x86 --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsx86-64,windowsx86-64debug,windowsx86-64static,windowsx86-64staticdebug"
+common:ci_windows_arm --repo_env="WPI_PUBLISH_CLASSIFIER_FILTER=headers,sources,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug,linuxx86-64,linuxx86-64debug,linuxx86-64static,linuxx86-64staticdebug,osxuniversal,osxuniversaldebug,osxuniversalstatic,osxuniversalstaticdebug,windowsarm64,windowsarm64debug,windowsarm64static,windowsarm64staticdebug"
+
+build --@rules_python//python/config_settings:bootstrap_impl=script
+build --@rules_python//python/config_settings:venvs_use_declare_symlink=no
+
+try-import %workspace%/bazel_auth.rc

.bazelversion

@@ -1 +1 @@
-8.2.1
+8.5.0

.clang-format

@@ -104,25 +104,52 @@ ForEachMacros:
   - BOOST_FOREACH
 IfMacros:
   - KJ_IF_MAYBE
-IncludeBlocks:   Regroup
+IncludeBlocks: Regroup
 IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*\.h>'
-    Priority:        1
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '^<.*'
-    Priority:        2
-    SortPriority:    0
-    CaseSensitive:   false
-  - Regex:           '.*'
-    Priority:        3
-    SortPriority:    0
-    CaseSensitive:   false
-IncludeIsMainRegex: '([-_](test|unittest))?$'
+  # C standard library headers
+  #
+  # https://en.cppreference.com/w/cpp/header:
+  #  * C compatibility headers
+  #  * Special C compatibility headers
+  #  * Empty C headers
+  #  * Meaningless C headers
+  #  * Unsupported C headers
+  - Regex:        '^<(assert\.h|ctype\.h|errno\.h|fenv\.h|float\.h|inttypes\.h|limits\.h|locale\.h|math\.h|setjmp\.h|signal\.h|stdarg\.h|stddef\.h|stdint\.h|stdio\.h|stdlib\.h|string\.h|time\.h|uchar\.h|wchar\.h|wctype\.h|stdatomic\.h|ccomplex|complex\.h|ctgmath|tgmath\.h|ciso646|cstdalign|cstdbool|iso646\.h|stdalign\.h|stdbool\.h|stdatomic\.h|stdnoreturn\.h|threads\.h)>'
+    Priority:     1
+    SortPriority: 0
+  # Linux system headers
+  - Regex:        '^<((arpa\/|linux\/|net/|netinet\/|sys\/).*|arm_neon\.h|dirent\.h|dlfcn\.h|fcntl\.h|ifaddrs\.h|jni\.h|libgen\.h|poll\.h|spawn\.h|termios\.h|unistd\.h)>'
+    Priority:     1
+    SortPriority: 1
+  # winsock2.h
+  - Regex:        '^<winsock2\.h>'
+    Priority:     1
+    SortPriority: 2
+  # windows.h
+  - Regex:        '^<windows.\h>'
+    Priority:     1
+    SortPriority: 3
+  # Windows def.h headers
+  - Regex:        '^<(comdef\.h|ws2def\.h|ws2ipdef\.h)>'
+    Priority:     1
+    SortPriority: 4
+  # Windows system headers
+  - Regex:        '^<(dbghelp\.h|dbt\.h|delayimp\.h|dshow\.h|io\.h|iphlpapi\.h|ks\.h|ksmedia\.h|memoryapi\.h|mfapi\.h|mferror\.h|mfidl\.h|mfreadwrite\.h|netioapi\.h|ntstatus\.h|shellapi\.h|shlobj\.h|shlwapi\.h|sysinfoapi\.h|windns\.h|windowsx\.h|winternl\.h|ws2tcpip\.h)>'
+    Priority:     1
+    SortPriority: 5
+  # C++ standard library headers (lowercase and underscores with no .h suffix)
+  - Regex:        '^<([a-z_]+|cxxabi\.h)>'
+    Priority:     2
+    SortPriority: 6
+  # Other library headers (angle brackets)
+  - Regex:        '^<.*'
+    Priority:     3
+    SortPriority: 7
+  # Project headers (double quotes)
+  - Regex:        '^".*'
+    Priority:     4
+    SortPriority: 8
+IncludeIsMainRegex: '(Test|_bench|_test)?$'
 IncludeIsMainSourceRegex: ''
 IndentAccessModifiers: false
 IndentCaseBlocks: false
@@ -213,7 +240,7 @@ RequiresClausePosition: OwnLine
 RequiresExpressionIndentation: OuterScope
 SeparateDefinitionBlocks: Leave
 ShortNamespaceLines: 1
-SortIncludes:    false
+SortIncludes: true
 SortJavaStaticImport: Before
 SortUsingDeclarations: LexicographicNumeric
 SpaceAfterCStyleCast: false

.clang-tidy

@@ -45,6 +45,8 @@ Checks:
   -clang-diagnostic-#warnings,
   -clang-diagnostic-pedantic,
   clang-analyzer-*,
+  -clang-analyzer-optin.cplusplus.UninitializedObject,
+  -clang-analyzer-security.FloatLoopCounter,
   cppcoreguidelines-slicing,
   google-build-namespaces,
   google-explicit-constructor,
@@ -66,4 +68,7 @@ Checks:
   modernize-use-override,
   modernize-use-using,
   readability-braces-around-statements'
+CheckOptions:
+  - key: modernize-use-using.IgnoreExternC
+    value: 'true'
 FormatStyle: file

.gersemirc

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

.gitattributes

@@ -1,8 +1,8 @@
 *.adoc text eol=lf
 *.c text eol=lf
-*.cmake text eol=lf
 *.clang-format text eol=lf
 *.clang-tidy text eol=lf
+*.cmake text eol=lf
 *.cpp text eol=lf
 *.gradle text eol=lf
 *.groovy text eol=lf
@@ -20,11 +20,14 @@
 *.plist text eol=lf
 *.proto text eol=lf
 *.py text eol=lf
-*.styleguide text eol=lf
 *.txt text eol=lf
+*.wpiformat text eol=lf
+*.wpiformat-license text eol=lf
 *.xml text eol=lf
 *.yaml text eol=lf
 *.yml text eol=lf
 
 # Generated files
 */src/generated/** linguist-generated
+*/robotpy_native_build_info.bzl linguist-generated
+*/robotpy_pybind_build_info.bzl linguist-generated

.github/CODEOWNERS

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

.github/actions/pregen/action.yml

@@ -5,7 +5,7 @@ runs:
   using: "composite"
   steps:
     - name: Set up Python 3.12
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: '3.12'
     - name: Install jinja and protobuf
@@ -23,6 +23,10 @@ runs:
       run: ./ntcore/generate_topics.py
       shell: bash
 
+    - name: Regenerate mrccomm
+      run: ./hal/generate_nanopb.py
+      shell: bash
+
     - name: Regenerate imgui
       run: |
         ./thirdparty/imgui_suite/generate_fonts.sh
@@ -33,7 +37,7 @@ runs:
       run: |
         ./wpilibc/generate_hids.py
         ./wpilibj/generate_hids.py
-        ./wpilibNewCommands/generate_hids.py
+        ./commandsv2/generate_hids.py
       shell: bash
 
     - name: Regenerate PWM motor controllers
@@ -43,7 +47,7 @@ runs:
       shell: bash
 
     - name: Regenerate mrcal minimath
-      run: ./wpical/generate_mrcal.py
+      run: ./tools/wpical/generate_mrcal.py
       shell: bash
 
     - name: Regenerate wpimath
@@ -53,6 +57,11 @@ runs:
         ./wpimath/generate_quickbuf.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       shell: bash
 
+    - name: Regenerate Commands v3
+      run: |
+        ./commandsv3/generate_files.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      shell: bash
+
     - name: Regenerate wpiunits
       run: ./wpiunits/generate_units.py
       shell: bash

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

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

.github/labeler.yml

@@ -5,7 +5,7 @@
   - any-glob-to-any-file: apriltag/**
 'component: command-based':
 - changed-files:
-  - any-glob-to-any-file: wpilibNewCommands/**
+  - any-glob-to-any-file: commandsv2/**
 'component: cscore':
 - changed-files:
   - any-glob-to-any-file: cscore/**

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

@@ -3,7 +3,10 @@
     {
       "aql": {
         "items.find": {
-          "repo": "wpilib-mvn-development-local",
+          "$or":[
+            { "repo": "wpilib-mvn-development-local" },
+            { "repo": "wpilib-mvn-development-2027-local" }
+          ],
           "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
           "$or":[
             {

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

@@ -10,7 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - uses: jfrog/setup-jfrog-cli@v4
@@ -23,7 +23,7 @@ jobs:
     runs-on: ubuntu-latest
     if: github.repository == 'wpilibsuite/allwpilib' && github.ref == 'refs/heads/main'
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - uses: jfrog/setup-jfrog-cli@v4

.github/workflows/bazel.yml

@@ -7,84 +7,106 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build-windows:
+  build:
     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: "Linux System Core", classifier: "linuxsystemcore",                 os: ubuntu-24.04, action: "build" }
+          - { name: "Linux System Core Debug", classifier: "linuxsystemcoredebug",            os: ubuntu-24.04, action: "build" }
+          - { name: "Linux System Core Static", classifier: "linuxsystemcorestatic",           os: ubuntu-24.04, action: "build" }
+          - { name: "Linux System Core Static Debug", classifier: "linuxsystemcorestaticdebug",    os: ubuntu-24.04, action: "build" }
+          - { name: "Linux x86-64",      classifier: "linuxx86-64,headers,sources",     os: ubuntu-24.04, action: "test" }
+          - { name: "Linux x86-64 Debug",  classifier: "linuxx86-64debug",                os: ubuntu-24.04, action: "test" }
+          - { name: "Linux x86-64 Static", classifier: "linuxx86-64static",               os: ubuntu-24.04, action: "test" }
+          - { name: "Linux x86-64 Static Debug", classifier: "linuxx86-64staticdebug",        os: ubuntu-24.04, action: "test" }
 
-    name: "Build ${{ matrix.name }}"
+          - { name: "macOS", classifier: "osxuniversal,osxuniversaldebug,headers,sources,osxuniversalstatic,osxuniversalstaticdebug,linuxsystemcore,linuxsystemcoredebug,linuxsystemcorestatic,linuxsystemcorestaticdebug", os: macOS-15, action: "test" }
+
+          - { name: "Windows x86-64",      classifier: "windowsx86-64,windowsx86-64debug,headers,sources",   os: windows-2022, action: "test" }
+          - { name: "Windows x86-64 Static", classifier: "windowsx86-64static,windowsx86-64staticdebug",        os: windows-2022, action: "test" }
+
+          - { name: "Windows ARM64",       classifier: "windowsarm64,windowsarm64debug",                    os: windows-2022, action: "build" }
+          - { name: "Windows ARM64 Static",  classifier: "windowsarm64static,windowsarm64staticdebug",         os: windows-2022, action: "build" }
+
+          - { name: "Windows System Core", classifier: "linuxsystemcore,linuxsystemcoredebug", os: windows-2022, action: "build" }
+          - { name: "Windows System Core Static", classifier: "linuxsystemcorestatic,linuxsystemcorestaticdebug", os: windows-2022, action: "build" }
+
+    name: "${{ matrix.action == 'test' && 'Test' || 'Build' }} ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v4
-        with: { fetch-depth: 0 }
-      - uses: actions/setup-java@v4
+      - name: Check disk free space pre-cleanup
+        run: df -h
+
+      - name: Free disk space (Linux)
+        uses: jlumbroso/free-disk-space@main
         with:
-          distribution: 'zulu'
-          java-version: 17
-          architecture: x64
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
+        if: startsWith(matrix.os, 'ubuntu')
+      - name: Free disk space (macOS)
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: startsWith(matrix.os, 'macOS')
 
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
-        with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+      - name: Check disk free space post-cleanup
+        run: df -h
 
-      - name: bazel ${{ matrix.action }}
-        run: bazel --output_user_root=C:\\bazelroot ${{ matrix.action }} -k ...   --config=ci ${{ matrix.config }} --verbose_failures
-        shell: bash
-
-  build-mac:
-    name: "Mac"
-    runs-on: macos-14
-    steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
-      - id: Setup_build_buddy
-        uses: ./.github/actions/setup-build-buddy
+      - id: Setup_bazel_remote
+        uses: ./.github/actions/setup-bazel-remote
         with:
-          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+          username: ${{ secrets.BAZEL_CACHE_USERNAME }}
+          password: ${{ secrets.BAZEL_CACHE_PASSWORD }}
 
-      - name: bazel test (release)
-        run: bazel test -k ...   --config=ci -c opt --nojava_header_compilation --verbose_failures
-        shell: bash
+      - name: Install apt dependencies
+        if: matrix.os == 'ubuntu-24.04'
+        run: sudo apt-get update && sudo apt-get install -y libgl1-mesa-dev libx11-dev libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev
 
-  build-linux:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - { name: "Linux",      os: ubuntu-24.04,   container: "wpilib/ubuntu-base:24.04", action: "test",   config: "",    }
-    name: "${{ matrix.name }}"
-    runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
-    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 }}
-
-      - uses: bazel-contrib/setup-bazel@0.15.0
+      - if: matrix.os == 'ubuntu-24.04'
+        uses: bazel-contrib/setup-bazel@0.15.0
         with:
           bazelisk-cache: true
           repository-cache: true
           bazelisk-version: 1.x
 
-      - name: bazel ${{ matrix.action }} (release)
-        run: bazel ${{ matrix.action }} ... --config=ci -c opt ${{ matrix.config }} -k --verbose_failures
+      - name: bazel ${{ matrix.action }}
+        run: |
+          ACTION='${{ matrix.action }}'
+          if [[ "${ACTION}" == "build" ]]; then
+            TARGETS=:publish
+          else
+            TARGETS=...
+          fi
+          if [[ "${{ matrix.os }}" == "windows-2022" ]]; then
+            bazel --output_user_root=C:\\bazelroot ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
+          else
+            bazel ${ACTION} ${TARGETS} --config=ci -c opt --repo_env=WPI_PUBLISH_CLASSIFIER_FILTER='${{ matrix.classifier }}'
+          fi
+        shell: bash
+
+      - name: Check disk free space
+        if: always()
+        run: df -h
 
   buildifier:
     name: "buildifier"
     runs-on: ubuntu-24.04
     steps:
       - name: Set up Go 1.15.x
-        uses: actions/setup-go@v5
+        uses: actions/setup-go@v6
         with:
           cache: false
           go-version: 1.15.x
@@ -95,7 +117,7 @@ jobs:
           cd $(mktemp -d)
           GO111MODULE=on go get github.com/bazelbuild/buildtools/buildifier@6.0.0
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with: { fetch-depth: 0 }
 
       - name: Run buildifier
@@ -108,8 +130,44 @@ jobs:
         run: git diff HEAD > bazel-lint-fixes.patch
         if: ${{ failure() }}
 
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.platform }}-bazel-lint-fixes
           path: bazel-lint-fixes.patch
         if: ${{ failure() }}
+
+  robotpy_pregeneration:
+    name: "Robotpy Pregeneration"
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+        with: { fetch-depth: 0 }
+
+      - id: Setup_build_buddy
+        uses: ./.github/actions/setup-build-buddy
+        with:
+          token: ${{ secrets.BUILDBUDDY_API_KEY }}
+
+      # You should ensure the headers are correct before trying to pregen files
+      - name: Test Scan Headers
+        run: bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
+        shell: bash
+
+      - name: Run yaml file generation
+        run: bazel run //:write_robotpy_update_yaml_files
+
+      - name: Run build file generation
+        run: bazel run //:write_robotpy_generated_pybind_files
+
+      - name: Check Output
+        run: git --no-pager diff --exit-code HEAD
+
+      - name: Generate diff
+        run: git diff HEAD > robotpy-pregeneration.patch
+        if: ${{ failure() }}
+
+      - uses: actions/upload-artifact@v6
+        with:
+          name: robotpy-pregeneration-fixes
+          path: robotpy-pregeneration.patch
+        if: ${{ failure() }}

.github/workflows/cmake-android.yml

@@ -26,17 +26,17 @@ jobs:
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: nttld/setup-ndk@v1
         id: setup-ndk
         with:
-          ndk-version: r27c
+          ndk-version: r27d
           add-to-path: false
 
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
           distribution: 'temurin'
-          java-version: 17
+          java-version: 21
 
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.9
@@ -45,7 +45,13 @@ jobs:
         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
+        run: cmake --preset with-sccache -DCMAKE_BUILD_TYPE=RelWithDebInfo -DWITH_WPILIB=OFF -DWITH_GUI=OFF -DWITH_CSCORE=OFF -DWITH_TESTS=OFF -DWITH_SIMULATION_MODULES=OFF -DWITH_JAVA=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=${{ steps.setup-ndk.outputs.ndk-path }}/build/cmake/android.toolchain.cmake -DANDROID_ABI="${{ matrix.abi }}" -DANDROID_PLATFORM=android-24
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
 
       - name: build
         run: cmake --build build-cmake --parallel $(nproc)
+        env:
+          SCCACHE_WEBDAV_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+          SCCACHE_WEBDAV_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/cmake.yml

@@ -18,12 +18,11 @@ jobs:
         include:
           - os: ubuntu-24.04
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2025-24.04
+            container: wpilib/systemcore-cross-ubuntu:2027-24.04
             flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-14
+          - os: macOS-15
             name: macOS
             container: ""
-            env: ""
             flags: "--preset with-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
           - os: windows-2022
             name: Windows
@@ -36,11 +35,11 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java ninja-build
 
       - name: Install dependencies (macOS)
         if: runner.os == 'macOS'
-        run: brew install opencv protobuf@29 ninja
+        run: brew install opencv ninja
 
       - uses: ilammy/msvc-dev-cmd@v1.13.0
         if: runner.os == 'Windows'
@@ -52,14 +51,14 @@ jobs:
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.9
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - name: Run vcpkg (Windows only)
         if: runner.os == 'Windows'
         uses: lukka/run-vcpkg@v11.5
         with:
           vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17
 
       - name: configure
         run: cmake ${{ matrix.flags }}

.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

@@ -1,72 +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-24.04
-    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
-    concurrency: ci-docs-publish
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          persist-credentials: false
-      - uses: 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: Set environment variables (2027)
-        run: |
-          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
-          echo "BRANCH=2027" >> $GITHUB_ENV
-        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '2027')
-      - name: 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

@@ -31,6 +31,9 @@ def main():
             # Replace GCC warning argument with one Clang recognizes
             elif arg == "-Wno-maybe-uninitialized":
                 out_args.append("-Wno-uninitialized")
+            # Skip GCC-specific warning argument
+            elif arg == "-Wno-error=restrict":
+                pass
             else:
                 out_args.append(arg)
 

.github/workflows/gradle.yml

@@ -11,31 +11,31 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
 
   build-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2025-24.04
-            artifact-name: SystemCore
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: Systemcore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
-            artifact-name: Arm32
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:24.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-24.04
     needs: [validation]
     steps:
-      - name: Free Disk Space
+      - name: Check disk free space pre-cleanup
+        run: df -h
+
+      - name: Free disk space
         uses: jlumbroso/free-disk-space@main
         with:
           tool-cache: false
@@ -45,28 +45,34 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v4
+
+      - name: Check disk free space post-cleanup
+        run: df -h
+
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - name: Check free disk space
-        run: df .
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
 
+      - name: Check disk free space
+        if: always()
+        run: df -h
+
   build-host:
     env:
       MACOSX_DEPLOYMENT_TARGET: 13.3
@@ -98,7 +104,7 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
@@ -113,16 +119,32 @@ jobs:
     runs-on: ${{ matrix.os }}
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - name: Check disk free space pre-cleanup
+        run: df -h
+
+      - name: Free disk space (macOS)
+        # CodeQL: 5G
+        # go: 748M
+        # Android: 12G
+        run: |
+          rm -rf /Users/runner/hostedtoolcache/CodeQL
+          rm -rf /Users/runner/hostedtoolcache/go
+          rm -rf /Users/runner/Library/Android
+        if: startsWith(matrix.os, 'macOS')
+
+      - name: Check disk free space post-cleanup
+        run: df -h
+
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
           distribution: 'temurin'
-          java-version: 17
+          java-version: 21
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v2
+        uses: wpilibsuite/import-signing-certificate@v3
         with:
           certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
@@ -139,24 +161,6 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         shell: bash
         if: startsWith(github.ref, 'refs/tags/v2027')
-      - 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:
@@ -167,48 +171,113 @@ jobs:
         if: |
           matrix.artifact-name == 'macOS' && (github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027')))
-      - 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
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}
 
+      - name: Check disk free space
+        if: always()
+        run: df -h
+
   build-documentation:
     name: "Build - Documentation"
     runs-on: ubuntu-24.04
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
           distribution: 'temurin'
-          java-version: 17
+          java-version: 25
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v2027')
       - name: Build with Gradle
-        run: ./gradlew docs:zipDocs --build-cache -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew docs:zipDocs --build-cache -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: Documentation
           path: docs/build/outputs
 
+  publish:
+    name: "Documentation - Publish"
+    runs-on: ubuntu-22.04
+    if: github.repository == 'wpilibsuite/allwpilib' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+    needs: [build-documentation]
+    concurrency: ci-docs-publish
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+          persist-credentials: false
+      - name: Download docs artifacts
+        uses: actions/download-artifact@v7
+        with:
+          name: Documentation
+      - name: Make output directories
+        run: |
+          mkdir -p docs/tmp/doxygen/html
+          mkdir -p docs/tmp/javadoc
+      - name: Extract docs
+        run: |
+          unzip _GROUP_org_wpilib_wpilibc_ID_documentation_CLS.zip -d docs/tmp/doxygen/html
+          unzip _GROUP_org_wpilib_wpilibj_ID_documentation_CLS.zip -d docs/tmp/javadoc
+      - name: Set environment variables (Development)
+        run: |
+          echo "BRANCH=development" >> $GITHUB_ENV
+        if: github.ref == 'refs/heads/main'
+      - name: Set environment variables (Tag)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=beta" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
+      - name: Set environment variables (Release)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=release" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, '2027')
+      - name: Set environment variables (2027)
+        run: |
+          echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
+          echo "BRANCH=2027" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/v') && contains(github.ref, '2027')
+      - name: Install SSH Client 🔑
+        uses: webfactory/ssh-agent@v0.9.1
+        with:
+          ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
+      - name: Deploy 🚀
+        uses: JamesIves/github-pages-deploy-action@v4.6.1
+        with:
+          ssh-key: true
+          repository-name: wpilibsuite/wpilibsuite.github.io
+          branch: allwpilib-${{ env.BRANCH }}
+          clean: true
+          single-commit: true
+          folder: docs/tmp
+      - name: Trigger Workflow
+        uses: actions/github-script@v8
+        with:
+          github-token: ${{ secrets.DISPATCH_PAT_TOKEN }}
+          script: |
+            github.rest.actions.createWorkflowDispatch({
+              owner: context.repo.owner,
+              repo: 'wpilibsuite.github.io',
+              workflow_id: 'static.yml',
+              ref: 'main',
+            })
+
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-24.04
     steps:
-      - name: Free Disk Space
+      - name: Free disk space
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
@@ -221,13 +290,14 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v4
+
+      - uses: actions/checkout@v6
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
@@ -245,13 +315,13 @@ jobs:
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))
         with:
           distribution: 'temurin'
-          java-version: 17
+          java-version: 21
       - name: Combine (2027)
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
@@ -270,7 +340,7 @@ jobs:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         if: |
           github.repository == 'wpilibsuite/allwpilib' &&
           (github.ref == 'refs/heads/2027' || startsWith(github.ref, 'refs/tags/v2027'))

.github/workflows/labeler.yml

@@ -9,6 +9,6 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/labeler@v5
+      - uses: actions/labeler@v6
         with:
           sync-labels: true

.github/workflows/lint-format.yml

@@ -15,36 +15,36 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
 
   wpiformat:
     name: "wpiformat"
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git checkout -b pr
-          git branch -f main origin/main
+          git branch -f 2027 origin/2027
       - name: Set up Python 3.12
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.12'
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.79
       - name: Run
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027
       - name: Check output
         run: git --no-pager diff --exit-code HEAD
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
@@ -63,47 +63,47 @@ jobs:
     needs: [validation]
     container: wpilib/ubuntu-base:24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
-          git branch -f main origin/main
+          git branch -f 2027 origin/2027
       - name: Set up Python 3.12
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.12'
       - name: Install wpiformat
         run: |
           python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.33
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.79
       - name: Create compile_commands.json
         run: |
           ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64release/compile_commands.json
           ./.github/workflows/fix_compile_commands.py build/TargetedCompileCommands/linuxx86-64debug/compile_commands.json
       - name: List changed files
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -list-changed-files
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -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
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64release
       - name: Run clang-tidy debug
-        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug -vv
+        run: ${{ runner.temp }}/wpiformat/bin/wpiformat -default-branch 2027 -no-format -tidy-changed -compile-commands=build/TargetedCompileCommands/linuxx86-64debug
   javaformat:
     name: "Java format"
     runs-on: ubuntu-24.04
     needs: [validation]
-    container: wpilib/ubuntu-base:24.04
+    container: wpilib/systemcore-cross-ubuntu:2027-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
         run: |
           git config --global --add safe.directory /__w/allwpilib/allwpilib
           git checkout -b pr
-          git branch -f main origin/main
+          git branch -f 2027 origin/2027
       - name: Run Java format
         run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
       - name: Check output
@@ -111,7 +111,7 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > javaformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: javaformat fixes
           path: javaformat-fixes.patch
@@ -123,18 +123,3 @@ jobs:
           echo '' >> $GITHUB_STEP_SUMMARY
           echo '```' >> $GITHUB_STEP_SUMMARY
         if: ${{ failure() }}
-
-  documentation:
-    name: "Documentation"
-    runs-on: ubuntu-24.04
-    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

@@ -15,7 +15,7 @@ jobs:
     name: "Update"
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Run pregen
@@ -27,7 +27,7 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > pregenerated-files-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: pregenerated-files-fixes
           path: pregenerated-files-fixes.patch

.github/workflows/sanitizers.yml

@@ -23,7 +23,7 @@ jobs:
           - name: tsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Tsan"
             ctest-env: "TSAN_OPTIONS=second_deadlock_stack=1"
-            ctest-flags: "-E 'cscore|cameraserver|wpilibc|wpilibNewCommands'"
+            ctest-flags: "-E 'cscore|cameraserver'"
           - name: ubsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
             ctest-env: ""
@@ -33,12 +33,12 @@ jobs:
     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-18 libprotobuf-dev protobuf-compiler ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv-java clang-18 ninja-build
 
       - name: Install sccache
         uses: mozilla-actions/sccache-action@v0.0.9
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - name: configure
         run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-18 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-18 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..

.github/workflows/sentinel-build.yml

@@ -14,8 +14,8 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: gradle/actions/wrapper-validation@v4
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
 
   build-docker:
     if: (github.repository_owner == 'wpilibsuite' && github.ref == 'refs/heads/main') || github.event_name != 'schedule'
@@ -23,16 +23,13 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2025-24.04
-            artifact-name: Athena
-            build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:bookworm-24.04
-            artifact-name: Arm32
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:bookworm-24.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+            artifact-name: Systemcore
+            build-options: "-Ponlylinuxsystemcore"
+          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
             artifact-name: Arm64
             build-options: "-Ponlylinuxarm64"
-          - container: wpilib/ubuntu-base:24.04
+          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
@@ -49,18 +46,18 @@ jobs:
           large-packages: false
           docker-images: false
           swap-storage: false
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          run: ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -97,25 +94,31 @@ jobs:
             build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
             task: "copyAllOutputs"
             outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
             artifact-name: macOS
             architecture: aarch64
             task: "build"
             outputs: "build/allOutputs"
+          - os: windows-2022
+            artifact-name: Win64FFI
+            architecture: x64
+            task: ":ntcoreffi:build"
+            build-options: "-Pntcoreffibuild -Pbuildwinarm64"
+            outputs: "ntcoreffi/build/outputs"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
           distribution: 'temurin'
-          java-version: 17
+          java-version: 21
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
-        uses: wpilibsuite/import-signing-certificate@v2
+        uses: wpilibsuite/import-signing-certificate@v3
         with:
           certificate-data: ${{ secrets.APPLE_CERTIFICATE_DATA }}
           certificate-passphrase: ${{ secrets.APPLE_CERTIFICATE_PASSWORD }}
@@ -131,7 +134,7 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space pre-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Cleanup disk space
         # CodeQL: 5G
         # go: 748M
@@ -140,10 +143,10 @@ jobs:
           rm -rf /Users/runner/hostedtoolcache/CodeQL
           rm -rf /Users/runner/hostedtoolcache/go
           rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Check disk free space post-cleanup (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
       - name: Build with Gradle
         run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Sign Libraries with Developer ID
@@ -155,8 +158,8 @@ jobs:
         if: matrix.os == 'windows-2022'
       - name: Check disk free space (macOS)
         run: df -h .
-        if: matrix.os == 'macOS-14'
-      - uses: actions/upload-artifact@v4
+        if: matrix.os == 'macOS-15'
+      - uses: actions/upload-artifact@v6
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}

.github/workflows/upstream-utils.yml

@@ -15,7 +15,7 @@ jobs:
     name: "Update"
     runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch all history and metadata
@@ -23,7 +23,7 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.12
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: '3.12'
       - name: Configure committer identity
@@ -120,12 +120,6 @@ jobs:
           ./mpack.py clone
           ./mpack.py copy-src
           ./mpack.py format-patch
-      - name: Run protobuf.py
-        run: |
-          cd upstream_utils
-          ./protobuf.py clone
-          ./protobuf.py copy-src
-          ./protobuf.py format-patch
       - name: Run sleipnir.py
         run: |
           cd upstream_utils
@@ -138,7 +132,20 @@ jobs:
           ./stb.py clone
           ./stb.py copy-src
           ./stb.py format-patch
+      - name: Run upb.py
+        run: |
+          cd upstream_utils
+          ./upb.py clone
+          ./upb.py copy-src
+          ./upb.py format-patch
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD ':!*.bazel'
+        run: |
+          set +e
+          git --no-pager diff --exit-code HEAD ':!*.bazel'
+          git_exit_code=$?
+          if test "$git_exit_code" -ne "0"; then
+            echo "::error ::upstream_utils check failed. This is usually caused by a bad script or the copied files differing from what the script outputs. You can learn more about using upstream_utils to modify thirdparty libraries at https://github.com/wpilibsuite/allwpilib/blob/main/upstream_utils/README.md"
+            exit $git_exit_code
+          fi

.gitignore

@@ -258,3 +258,6 @@ bazel_auth.rc
 
 # Meson
 .meson-subproject*
+
+# Copybara user config
+shared/bazel/copybara/.copybara.json

.styleguide

@@ -1,55 +0,0 @@
-cppHeaderFileInclude {
-  \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  cmake/toolchains/
-  thirdparty/
-  \.patch$
-  gradlew
-  BUILD.bazel
-}
-
-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/
-}

.wpiformat

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

BUILD.bazel

@@ -1,6 +1,14 @@
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
+load("@rules_java//java:java_binary.bzl", "java_binary")
 load("@rules_pkg//:mappings.bzl", "pkg_files")
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")
+load("//shared/bazel/rules:publishing.bzl", "publish_all")
+load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
+
+exports_files([
+    "LICENSE.md",
+    "ThirdPartyNotices.txt",
+])
 
 pkg_files(
     name = "license_pkg_files",
@@ -17,6 +25,7 @@ compile_pip_requirements(
     extra_args = ["--allow-unsafe"],
     requirements_in = "requirements.txt",
     requirements_txt = "requirements_lock.txt",
+    requirements_windows = "//:requirements_windows_lock.txt",
     # compile_pip_requirements does not respect target_compatible_with for some of the targets it generates under the hood
     tags = ["no-systemcore"],
 )
@@ -24,7 +33,7 @@ compile_pip_requirements(
 alias(
     name = "quickbuf_protoc",
     actual = select({
-        "@bazel_tools//src/conditions:windows": "@quickbuffer_protoc_windows//file",
+        "@platforms//os:windows": "@quickbuffer_protoc_windows//file",
         "@rules_bzlmodrio_toolchains//conditions:osx_aarch64": "@quickbuffer_protoc_osx_aarch64//file",
         "@rules_bzlmodrio_toolchains//conditions:osx_x86_64": "@quickbuffer_protoc_osx_x86-64//file",
         "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
@@ -33,9 +42,15 @@ alias(
     visibility = ["//visibility:public"],
 )
 
+java_binary(
+    name = "copybara",
+    main_class = "com.google.copybara.Main",
+    runtime_deps = ["@com_github_google_copybara//jar"],
+)
+
 # This is a helper to run all of the pregeneration scripts at once.
 write_source_files(
-    name = "write_all",
+    name = "write_pregenerated_files",
     additional_update_targets = [
         "//hal:write_hal",
         "//ntcore:write_ntcore",
@@ -43,10 +58,213 @@ write_source_files(
         "//wpilibcExamples:write_example_project_list",
         "//wpilibj:write_wpilibj",
         "//wpilibjExamples:write_example_project_list",
-        "//wpilibNewCommands:write_wpilib_new_commands",
+        "//commandsv2:write_wpilib_new_commands",
+        "//commandsv3:write_commandsv3",
         "//wpimath:write_wpimath",
         "//wpiunits:write_wpiunits",
         "//wpiutil:write_wpiutil",
+        "//robotpyExamples:write_example_project_list",
     ],
     tags = ["pregeneration"],
 )
+
+publish_all(
+    name = "publish",
+    targets = [
+        "//apriltag:apriltag-cpp_publish.publish",
+        "//apriltag:apriltag-java_publish.publish",
+        "//cameraserver:cameraserver-cpp_publish.publish",
+        "//cameraserver:cameraserver-java_publish.publish",
+        "//cscore:cscore-cpp_publish.publish",
+        "//cscore:cscore-java_publish.publish",
+        "//cscore:cscorejnicvstatic-cpp_publish.publish",
+        "//datalog:datalog-cpp_publish.publish",
+        "//datalog:datalog-java_publish.publish",
+        "//tools/datalogtool:datalogtool_publish.publish",
+        "//docs:wpilibj_publish.publish",
+        "//epilogue-processor:processor-java_publish.publish",
+        "//epilogue-runtime:epilogue-java_publish.publish",
+        "//fields:fields-cpp_publish.publish",
+        "//fields:fields-java_publish.publish",
+        "//glass:glass-cpp_publish.publish",
+        "//glass:glassapp_publish.publish",
+        "//glass:glassnt-cpp_publish.publish",
+        "//hal:hal-java_publish.publish",
+        "//hal:wpiHal-cpp_publish.publish",
+        "//ntcore:ntcore-cpp_publish.publish",
+        "//ntcore:ntcore-java_publish.publish",
+        "//ntcoreffi:ntcoreffi-cpp_publish.publish",
+        "//tools/outlineviewer:outlineviewer_publish.publish",
+        "//tools/processstarter:processstarter_publish.publish",
+        "//romiVendordep:romiVendordep-cpp_publish.publish",
+        "//romiVendordep:romiVendordep-java_publish.publish",
+        "//simulation/halsim_ds_socket:halsim_ds_socket-cpp_publish.publish",
+        "//simulation/halsim_gui:halsim_gui-cpp_publish.publish",
+        "//simulation/halsim_ws_client:halsim_ws_client-cpp_publish.publish",
+        "//simulation/halsim_ws_core:halsim_ws_core-cpp_publish.publish",
+        "//simulation/halsim_ws_server:halsim_ws_server-cpp_publish.publish",
+        "//simulation/halsim_xrp:halsim_xrp-cpp_publish.publish",
+        "//tools/sysid:sysid_publish.publish",
+        "//thirdparty/googletest:googletest-cpp_publish.publish",
+        "//thirdparty/imgui_suite:imguiSuite-cpp_publish.publish",
+        "//tools/wpical:wpical_publish.publish",
+        "//wpigui:wpigui-cpp_publish.publish",
+        "//commandsv2:commandsv2-cpp_publish.publish",
+        "//commandsv2:commandsv2-java_publish.publish",
+        "//commandsv3:commandsv3-java_publish.publish",
+        "//wpilibc:wpilibc-cpp_publish.publish",
+        "//wpilibcExamples:commands_publish.publish",
+        "//wpilibcExamples:examples_publish.publish",
+        "//wpilibcExamples:templates_publish.publish",
+        "//wpilibj:wpilibj-java_publish.publish",
+        "//wpilibjExamples:commands_publish.publish",
+        "//wpilibjExamples:examples_publish.publish",
+        "//wpilibjExamples:templates_publish.publish",
+        "//wpimath:wpimath-cpp_publish.publish",
+        "//wpimath:wpimath-java_publish.publish",
+        "//wpinet:wpinet-cpp_publish.publish",
+        "//wpinet:wpinet-java_publish.publish",
+        "//wpiunits:wpiunits-java_publish.publish",
+        "//wpiutil:wpiutil-cpp_publish.publish",
+        "//wpiutil:wpiutil-java_publish.publish",
+        "//xrpVendordep:xrpVendordep-cpp_publish.publish",
+        "//xrpVendordep:xrpVendordep-java_publish.publish",
+    ] + select({
+        "@platforms//cpu:x86_64": [
+            "//docs:wpilibc_publish.publish",
+        ],
+        "//conditions:default": [],
+    }),
+)
+
+write_source_files(
+    name = "write_robotpy_generated_native_files",
+    additional_update_targets = [
+        "//apriltag:robotpy-native-apriltag-generator.generate_build_info",
+        "//datalog:robotpy-native-datalog-generator.generate_build_info",
+        "//hal:robotpy-native-wpihal-generator.generate_build_info",
+        "//ntcore:robotpy-native-ntcore-generator.generate_build_info",
+        "//romiVendordep:robotpy-native-xrp-generator.generate_build_info",
+        "//wpilibc:robotpy-native-wpilib-generator.generate_build_info",
+        "//wpinet:robotpy-native-wpinet-generator.generate_build_info",
+        "//wpimath:robotpy-native-wpimath-generator.generate_build_info",
+        "//wpiutil:robotpy-native-wpiutil-generator.generate_build_info",
+        "//xrpVendordep:robotpy-native-xrp-generator.generate_build_info",
+    ],
+    tags = [
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_generated_pybind_files",
+    additional_update_targets = [
+        "//apriltag:robotpy-apriltag-generator.generate_build_info",
+        "//datalog:robotpy-datalog-generator.generate_build_info",
+        "//hal:robotpy-hal-generator.generate_build_info",
+        "//ntcore:pyntcore-generator.generate_build_info",
+        "//romiVendordep:robotpy-romi-generator.generate_build_info",
+        "//wpilibc:robotpy-wpilib-generator.generate_build_info",
+        "//wpinet:robotpy-wpinet-generator.generate_build_info",
+        "//wpimath:robotpy-wpimath-generator.generate_build_info",
+        "//wpimath:robotpy-wpimath_test-generator.generate_build_info",
+        "//wpiutil:robotpy-wpiutil-generator.generate_build_info",
+        "//xrpVendordep:robotpy-xrp-generator.generate_build_info",
+    ],
+    tags = [
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_update_yaml_files",
+    additional_update_targets = [
+        "//apriltag:write_robotpy-apriltag-update-yaml",
+        "//datalog:write_robotpy-wpilog-update-yaml",
+        "//hal:write_robotpy-hal-update-yaml",
+        "//ntcore:write_pyntcore-update-yaml",
+        "//romiVendordep:write_robotpy-romi-update-yaml",
+        "//wpilibc:write_robotpy-wpilib-update-yaml",
+        "//wpinet:write_robotpy-wpinet-update-yaml",
+        "//wpimath:write_robotpy-wpimath-update-yaml",
+        "//wpimath:write_robotpy-wpimath-test-update-yaml",
+        "//wpiutil:write_robotpy-wpiutil-update-yaml",
+        "//xrpVendordep:write_robotpy-xrp-update-yaml",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_create_imports",
+    additional_update_targets = [
+        "//apriltag:robotpy-apriltag-create-imports",
+        "//datalog:robotpy-wpilog-create-imports",
+        "//hal:robotpy-hal-create-imports",
+        "//ntcore:pyntcore-create-imports",
+        "//romiVendordep:robotpy-romi-create-imports",
+        "//wpilibc:robotpy-wpilib-create-imports",
+        "//wpinet:robotpy-wpinet-create-imports",
+        "//wpimath:robotpy-wpimath-create-imports",
+        "//wpimath:robotpy-wpimath-test-create-imports",
+        "//wpiutil:robotpy-wpiutil-create-imports",
+        "//xrpVendordep:robotpy-xrp-create-imports",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+        "robotpy",
+    ],
+    target_compatible_with = robotpy_compatibility_select(),
+)
+
+write_source_files(
+    name = "write_robotpy_files",
+    additional_update_targets = [
+        ":write_robotpy_generated_native_files",
+        ":write_robotpy_generated_pybind_files",
+        ":write_robotpy_update_yaml_files",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+    ],
+)
+
+write_source_files(
+    name = "write_all",
+    additional_update_targets = [
+        ":write_pregenerated_files",
+        ":write_robotpy_files",
+    ],
+    tags = [
+        "manual",
+        "pregeneration",
+    ],
+)
+
+# Helper easily run the semiwrap parsing tools on all of the robotpy projects.
+filegroup(
+    name = "robotpy_generated_files",
+    srcs = [
+        "//apriltag:robotpy-apriltag.generated_files",
+        "//datalog:robotpy-wpilog.generated_files",
+        "//hal:robotpy-hal.generated_files",
+        "//ntcore:pyntcore.generated_files",
+        "//wpilibc:robotpy-wpilib.generated_files",
+        "//wpimath:robotpy-wpimath.generated_files",
+        "//wpimath:robotpy-wpimath-test.generated_files",
+        "//wpinet:robotpy-wpinet.generated_files",
+        "//wpiutil:robotpy-wpiutil.generated_files",
+    ],
+    tags = ["manual"],
+    target_compatible_with = robotpy_compatibility_select(),
+)

CMakeLists.txt

@@ -90,13 +90,13 @@ 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)
 option(WITH_BENCHMARK "Build the benchmark project" ON)
 
 # Options for using a package manager (e.g., vcpkg) for certain dependencies.
 option(USE_SYSTEM_FMTLIB "Use system fmtlib" OFF)
 option(USE_SYSTEM_LIBUV "Use system libuv" OFF)
 option(USE_SYSTEM_EIGEN "Use system eigen" OFF)
+option(USE_LINKED_AVAHI "Use directly linked Avahi instead of loading at runtime" OFF)
 
 # Options for location of OpenCV Java.
 set(OPENCV_JAVA_INSTALL_DIR "" CACHE PATH "Location to search for the OpenCV jar file")
@@ -151,14 +151,6 @@ 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)
@@ -276,6 +268,9 @@ if(WITH_TESTS)
     enable_testing()
     add_subdirectory(thirdparty/googletest)
     include(GoogleTest)
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/catch2/extras")
+    add_subdirectory(thirdparty/catch2)
+    include(Catch)
 endif()
 
 if(USE_SYSTEM_LIBUV)
@@ -289,7 +284,9 @@ endif()
 set(FILENAME_DEP_REPLACE "get_filename_component(SELF_DIR \"$\{CMAKE_CURRENT_LIST_FILE\}\" PATH)")
 set(SELF_DIR "$\{SELF_DIR\}")
 set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
+set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
+set(DATALOG_DEP_REPLACE "find_dependency(datalog)")
 add_subdirectory(wpiutil)
 
 add_subdirectory(datalog)
@@ -310,6 +307,10 @@ if(WITH_WPIMATH)
     add_subdirectory(wpimath)
 endif()
 
+if(WITH_JAVA)
+    add_subdirectory(wpiannotations)
+endif()
+
 if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
     # In case of building wpiunits standalone
     set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})
@@ -317,17 +318,17 @@ if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
 endif()
 
 if(WITH_GUI)
-    add_subdirectory(fieldImages)
+    add_subdirectory(fields)
     add_subdirectory(thirdparty/imgui_suite)
     add_subdirectory(wpigui)
     add_subdirectory(glass)
-    add_subdirectory(outlineviewer)
-    add_subdirectory(sysid)
+    add_subdirectory(tools/outlineviewer)
+    add_subdirectory(tools/sysid)
     if(WITH_WPICAL)
-        add_subdirectory(wpical)
+        add_subdirectory(tools/wpical)
     endif()
     if(LIBSSH_FOUND)
-        add_subdirectory(datalogtool)
+        add_subdirectory(tools/datalogtool)
     endif()
 endif()
 
@@ -346,13 +347,17 @@ endif()
 
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
+    set(COMMANDSV3_DEP_REPLACE "find_dependency(commandsv3)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
-    set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
+    set(COMMAND_DEP_REPLACE "find_dependency(commandsv2)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
-    add_subdirectory(wpilibNewCommands)
+    add_subdirectory(commandsv3) # must be after wpilibj
+    add_subdirectory(commandsv2)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)
     if(WITH_EXAMPLES)

CODE_OF_CONDUCT.md

@@ -56,7 +56,7 @@ the consequences for any action they deem in violation of this Code of Conduct:
 **Community Impact**: Use of inappropriate language or other behavior deemed
 unprofessional or unwelcome in the community.
 
-**Consequence**: A private, written warning from community leaders, providing
+**Consequence**: A warning from community leaders, providing
 clarity around the nature of the violation and an explanation of why the
 behavior was inappropriate. A public apology may be requested.
 

CONTRIBUTING.md

@@ -51,46 +51,13 @@ Have an idea to make WPILib better? Here's some steps to go from idea to impleme
 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.
+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
 

DevelopmentBuilds.md

@@ -13,13 +13,12 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2027 GradleRIO version, ie `2027.0.0-alpha-3`
 
 ```groovy
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.+'
-wpi.versions.wpimathVersion = 'YEAR.+'
 ```
 
 The top of your ``build.gradle`` file should now look similar to the code below. Ignore any differences in versions.
@@ -28,13 +27,12 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2027.+'
 ```
 
 C++
@@ -42,13 +40,12 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2027.+'
 ```
 
 ### Development Build Documentation
@@ -64,13 +61,12 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
 C++
@@ -78,15 +74,14 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2027.0.0-alpha-3"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useFrcMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
-wpi.versions.wpimathVersion = 'YEAR.424242.+'
 ```
 
-# roboRIO Development
+# Systemcore Development
 
 See the [developerRobot](developerRobot/README.md) subproject.

GeneratedFiles.md

@@ -6,9 +6,9 @@ The Python script used to generate a subproject's files will always be located i
 
 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 C++, the hierarchy should be symmetrical, so if a generated header is located under `subproject/src/generated/main/native/include/wpi/header.h`, the template to generate it should be located under `subproject/src/generate/main/native/include/wpi/template.h.jinja`. You should pretend like `subproject/src/generate/main` is just like `subproject/src/main`, in that the file hierarchy must make sense if the files weren't generated, e.g, headers that would go in `subproject/src/main/native/include/blah` should be in `subproject/src/generated/main/native/include/blah`.
 
-If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `edu.wpi.first.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/edu/wpi/first/wpilibj`
+If the generated file is for Java, templates should be located under `subproject/src/generate/main/java`, and the hierarchy for output files should reflect the declared package of the output Java files. For example, a Jinja template at `subproject/src/main/java/template.java.jinja` with the package `org.wpilib.wpilibj` would be used to generate Java files located at `subproject/src/generated/main/java/org/wpilib/wpilibj`
 
 The JSON files live under `subproject/src/generate` since they apply to both languages. One unique case is JSON files that are used by multiple subprojects, currently only JSON files shared by wpilibc and wpilibj. In that specific case, the JSON files will always be located in wpilibj since Java is the most used language.
 

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2025 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

MODULE.bazel

@@ -0,0 +1,159 @@
+module(
+    name = "allwpilib",
+    version = "0.0.0",
+)
+
+bazel_dep(name = "apple_support", version = "2.0.0", repo_name = "build_bazel_apple_support")
+
+# TODO(austin): Upgrade when the patches land.
+# https://github.com/bazelbuild/rules_cc/pull/430
+# https://github.com/bazelbuild/rules_cc/pull/431
+# https://github.com/bazelbuild/rules_cc/pull/432
+bazel_dep(name = "rules_cc", version = "0.2.13")
+single_version_override(
+    module_name = "rules_cc",
+    patch_strip = 1,
+    patches = ["//:shared/bazel/patches/rules_cc_windows.patch"],
+)
+
+bazel_dep(name = "rules_pkg", version = "1.1.0")
+bazel_dep(name = "bazel_features", version = "1.33.0")
+bazel_dep(name = "aspect_bazel_lib", version = "2.14.0")
+bazel_dep(name = "bazel_skylib", version = "1.8.2")
+bazel_dep(name = "platforms", version = "1.0.0")
+bazel_dep(name = "rules_java", version = "8.14.0")
+bazel_dep(name = "rules_python", version = "1.7.0")
+bazel_dep(name = "rules_pycross", version = "0.8.1")
+
+python = use_extension("@rules_python//python/extensions:python.bzl", "python")
+python.toolchain(
+    python_version = "3.13",
+)
+use_repo(
+    python,
+    "python_3_13",
+    "python_3_13_x86_64-unknown-linux-gnu",
+)
+
+pip = use_extension("@rules_python//python/extensions:pip.bzl", "pip")
+pip.parse(
+    hub_name = "allwpilib_pip_deps",
+    python_version = "3.13",
+    requirements_lock = "//:requirements_lock.txt",
+    requirements_windows = "//:requirements_windows_lock.txt",
+)
+use_repo(pip, "allwpilib_pip_deps")
+
+bazel_dep(name = "rules_jvm_external", version = "6.8")
+
+maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
+maven.install(
+    name = "maven",
+    artifacts = [
+        "org.ejml:ejml-simple:0.44.0",
+        "com.fasterxml.jackson.core:jackson-annotations:2.19.2",
+        "com.fasterxml.jackson.core:jackson-core:2.19.2",
+        "com.fasterxml.jackson.core:jackson-databind:2.19.2",
+        "us.hebi.quickbuf:quickbuf-runtime:1.4",
+        "com.google.code.gson:gson:2.13.1",
+        "edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-3",
+        "org.junit.jupiter:junit-jupiter:5.10.1",
+        "org.junit.platform:junit-platform-console:1.10.1",
+        "org.junit.platform:junit-platform-launcher:1.10.1",
+        "org.junit.platform:junit-platform-reporting:1.10.1",
+        "org.hamcrest:hamcrest-all:1.3",
+        "com.googlecode.junit-toolbox:junit-toolbox:2.4",
+        "org.apache.ant:ant:1.10.12",
+        "org.apache.ant:ant-junit:1.10.12",
+        "org.mockito:mockito-core:4.1.0",
+        "com.google.testing.compile:compile-testing:0.21.0",
+    ],
+    lock_file = "//:maven_install.json",
+    repositories = [
+        "https://repo1.maven.org/maven2",
+        "https://frcmaven.wpi.edu/artifactory/release/",
+    ],
+)
+use_repo(maven, "maven", "unpinned_maven")
+
+bazel_dep(name = "caseyduquettesc_rules_python_pytest", version = "1.1.1", repo_name = "rules_python_pytest")
+bazel_dep(name = "rules_doxygen", version = "2.5.0")
+archive_override(
+    module_name = "rules_doxygen",
+    integrity = "sha256-qxfKreTkQnV4tUX6KJDFXuOJj4p6VZdBYjAie77I5ho=",
+    strip_prefix = "rules_doxygen-2.5.0",
+    urls = ["https://github.com/TendTo/rules_doxygen/releases/download/2.5.0/rules_doxygen-2.5.0.tar.gz"],
+)
+
+doxygen_extension = use_extension("@rules_doxygen//:extensions.bzl", "doxygen_extension")
+doxygen_extension.configuration(
+    platform = "windows",
+    sha256 = "44658b9cc5c91749e6e3cc426ba63e2550b4a4a7619065acd77029aa234719c6",
+    version = "1.15.0",
+)
+doxygen_extension.configuration(
+    platform = "mac",
+    sha256 = "b7630eaa0d97bb50b0333929ef5dc1c18f9e38faf1e22dca3166189a9718faf0",
+    version = "1.15.0",
+)
+doxygen_extension.configuration(
+    platform = "linux",
+    sha256 = "0ec2e5b2c3cd82b7106d19cb42d8466450730b8cb7a9e85af712be38bf4523a1",
+    version = "1.15.0",
+)
+use_repo(doxygen_extension, "doxygen")
+
+bazel_dep(name = "eigen", version = "5.0.1")
+local_path_override(
+    module_name = "eigen",
+    path = "wpimath/src/main/native/thirdparty/eigen/include",
+)
+
+bazel_dep(name = "rules_license", version = "1.0.0")
+
+http_file = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_file")
+
+http_file(
+    name = "quickbuffer_protoc_linux",
+    executable = True,
+    sha256 = "f9a041bccaa7040db523666ef1b5fe9f6f94e70a82c88951f18f58aadd9c50b5",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-linux-x86_64.exe"],
+)
+
+http_file(
+    name = "quickbuffer_protoc_osx_x86-64",
+    executable = True,
+    sha256 = "ea307c2b69664ae7e7c69db4cddf5803187e5a34bceffd09a21652f0f16044f7",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-osx-x86_64.exe"],
+)
+
+http_file(
+    name = "quickbuffer_protoc_osx_aarch64",
+    executable = True,
+    sha256 = "a9abdee09d8b5ef0aa954b238536917313511deec11e1901994af26ade033e28",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-osx-aarch_64.exe"],
+)
+
+http_file(
+    name = "quickbuffer_protoc_windows",
+    executable = True,
+    sha256 = "27dc1f29764a62b5e6a813a4bcd63e81bbdc3394da760a44acae1025b4a89f1d",
+    urls = ["https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/1.3.2/protoc-gen-quickbuf-1.3.2-windows-x86_64.exe"],
+)
+
+bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr6")
+archive_override(
+    module_name = "rules_bzlmodrio_toolchains",
+    integrity = "sha256-ECtFB2KOlySwweRBcndiw0TkAXD2WsYFFhaBeOozqJo=",
+    urls = ["https://github.com/wpilibsuite/rules_bzlmodrio_toolchains/releases/download/2025-1.bcr6/rules_bzlmodrio_toolchains-2025-1.bcr6.tar.gz"],
+)
+
+bazel_dep(name = "protobuf", version = "32.1", repo_name = "com_google_protobuf")
+
+http_jar = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "http_jar")
+
+http_jar(
+    name = "com_github_google_copybara",
+    integrity = "sha256-IHW6y6WXJFjX9RYD+IwVAMwAbEo36fLqonIKR+FaqpQ=",
+    urls = ["https://github.com/google/copybara/releases/download/v20251027/copybara_deploy.jar"],
+)

MODULE.bazel.lock

@@ -0,0 +1,853 @@
+{
+  "lockFileVersion": 24,
+  "registryFileHashes": {
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+    "https://bcr.bazel.build/modules/abseil-cpp/20211102.0/MODULE.bazel": "70390338f7a5106231d20620712f7cccb659cd0e9d073d1991c038eb9fc57589",
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MavenArtifacts.md

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

README-Bazel.md

@@ -20,9 +20,10 @@ Examples:
 - `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
+  build --local_resources=memory=HOST_RAM*.5 # Don't use more than half my RAM when building
+  build --local_resources=cpu=HOST_CPUS-1 # Leave one core alone
   ```
+Bazel's RAM usage estimation is simplistic and hardcoded, so limiting the allowed number of CPU cores is the best way to reduce memory usage if it becomes a problem.
 
 The default settings build all the release artifact variants relevant for your platform.  The overall list of options ends up being, essentially, all the variants of (linux, osx, windows) x (debug, release) x (static, shared) x (aarch64, x86).  OSX and Windows are hard to compile for from any other OS, so we by default build for your local OS and the system core, with all the variants.
 

README-CMake.md

@@ -5,15 +5,16 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 ## Libraries that get built
 * apriltag
 * cameraserver
+* commandsv3
 * cscore
-* fieldImages
+* fields
 * hal (simulation HAL only)
 * ntcore
 * romiVendordep
 * simulation extensions
 * wpigui
 * wpilib (wpilibc, wpilibj, and myRobot)
-* wpilibNewCommands
+* commandsv2
 * wpimath
 * wpinet
 * wpiunits
@@ -31,11 +32,9 @@ By default, all libraries get built with a default CMake setup. The libraries ar
 
 ## 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 want JNI and Java, you will need a JDK of at least version 21 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
 
 If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
 
@@ -65,8 +64,6 @@ The following build options are available:
   * 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`
@@ -90,8 +87,6 @@ If you want to change any of the options, add `-DOPTIONHERE=VALUE` to the `cmake
 
 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`.
@@ -118,7 +113,7 @@ 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.
+On Windows, make sure the directories for the libraries you built are on PATH. For wpilib, the default install location is `C:\Program Files (x86)\allwpilib`. If you built other libraries like OpenCV from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
 
 You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program. If you are using OpenCV and Java, the `opencv_java` DLL is located in either the `lib` subdirectory if you built but didn't install OpenCV, or the `java` subdirectory if you did install OpenCV.
 
@@ -167,7 +162,7 @@ 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})
+    INCLUDE_JARS apriltag_jar cscore_jar hal_jar ntcore_jar commandsv2_jar wpimath_jar wpinet_jar wpiutil_jar wpiunits_jar wpilibj_jar ${opencvJar})
 export_jars(TARGETS robot FILE robot.jar)
 ```
 This includes all the built JARs except for the vendordeps. If you are not using a JAR/library, you may remove it.
@@ -181,7 +176,7 @@ After that, run `cmake --build .` to create your JAR file. To execute the JAR fi
 
 ## 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.
+Vendordeps are not included as part of the `wpilib` CMake package. However, if you want to use a vendordep, you need to use `find_package(VENDORDEP)`, where `VENDORDEP` is the name of the vendordep (case-sensitive), like `xrpVendordep` or `romiVendordep`. Note that commandsv2, while a vendordep in normal robot projects, is not built as a vendordep in CMake, and is instead included as part of the `wpilib` CMake package. After you used `find_package`, you can reference the vendordep library like normal, either by using `target_link_libraries` for C++ or `add_jar` for Java.
 
 ## Troubleshooting
 Below are some common issues that are run into when building.
@@ -234,6 +229,6 @@ 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.
+If you get this error, that's usually an indication that not all your libraries are in your PATH. If the error is coming from cscore specifically, it's likely you're missing OpenCV. Otherwise, it's likely the wpilib libraries are not in a directory on PATH.
 
 Note that Linux will not have this specific type of error, as it will usually tell you the dependent library you are missing. In that case, you most likely need to add the library to `LD_LIBRARY_PATH`.

README-RobotPy.md

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

README.md

@@ -42,24 +42,27 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 
 ## Requirements
 
-- [JDK 17](https://adoptium.net/temurin/releases/?version=17)
+- [JDK 21](https://adoptium.net/temurin/releases/?version=21)
     - Note that the JRE is insufficient; the full JDK is required
-    - On Ubuntu, run `sudo apt install openjdk-17-jdk`
-    - On Windows, install the JDK 17 .msi from the link above
-    - On macOS, install the JDK 17 .pkg from the link above
+    - On Ubuntu, run `sudo apt install openjdk-21-jdk`
+    - On Windows, install the JDK 21 .msi from the link above
+    - On macOS, install the JDK 21 .pkg from the link above
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS 13.3 or newer, install Xcode 14 or later (the command-line build tools are insufficient).
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed
 - Raspberry Pi toolchain (optional)
     - Run `./gradlew installArm32Toolchain` after cloning this repository
+- Systemcore toolchain (required for Systemcore development)
+    - Run `./gradlew installSystemCoreToolchain` after cloning this repository
+    - If the WPILib installer was used, this toolchain is already installed
 
 On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be able to use the macOS x86 roboRIO toolchain on ARM.
 
-On linux, run `sudo apt install gfortran`. This is necessary to be able to build WPIcal on linux platforms.
+On linux, run `sudo apt install libx11-dev libgl-dev libxcursor-dev libxrandr-dev libxinerama-dev libxi-dev` to be able to build things depending on glfw.
 
 ## Setup
 
@@ -100,7 +103,7 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 - `cscore`
 - `hal`
 - `ntcore`
-- `wpilibNewCommands`
+- `commandsv2`
 - `wpimath`
 - `wpinet`
 - `wpiunits`

ThirdPartyNotices.txt

@@ -31,28 +31,28 @@ CoreUI                wpinet/src/main/native/resources/coreui-*
 Feather Icons         wpinet/src/main/native/resources/feather-*
 jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
-units                 wpimath/src/main/native/include/units/
+units                 wpimath/src/main/native/include/wpi/units/
 Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
-Team 254 Library      wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
-                      wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
-                      wpimath/src/main/native/include/frc/spline/SplineParameterizer.h
-                      wpimath/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
+Team 254 Library      wpimath/src/main/java/org/wpilib/math/spline/SplineParameterizer.java
+                      wpimath/src/main/java/org/wpilib/math/trajectory/TrajectoryParameterizer.java
+                      wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
+                      wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryParameterizer.hpp
                       wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
-Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
+Portable File Dialogs wpigui/src/main/native/include/wpi/gui/portable-file-dialogs.h
+V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.hpp
 GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 Sleipnir              wpimath/src/main/native/thirdparty/sleipnir
 Debugging             wpiutil/src/main/native/thirdparty/debugging
-argparse              wpiutil/src/main/native/thirdparty/argparse/include/wpi/argparse.h
+argparse              wpiutil/src/main/native/thirdparty/argparse/include/wpi/util/argparse.hpp
 apriltag              apriltag/src/main/native/thirdparty/apriltag
 glfw                  thirdparty/imgui_suite/glfw
 Dear ImGui            thirdparty/imgui_suite/imgui
 implot                thirdparty/imgui_suite/implot
 nanopb                wpiutil/src/main/native/thirdparty/nanopb
-protobuf              wpiutil/src/main/native/thirdparty/protobuf
-mrcal                 wpical/src/main/native/thirdparty/mrcal
-libdogleg             wpical/src/main/native/thirdparty/libdogleg
-Simd                  hal/src/main/native/athena/simd
+upb                   wpiutil/src/main/native/thirdparty/upb
+mrcal                 tools/wpical/src/main/native/thirdparty/mrcal
+libdogleg             tools/wpical/src/main/native/thirdparty/libdogleg
+Simd                  hal/src/main/native/systemcore/simd
 
 Additionally, glfw and nanopb were modified for use in WPILib.
 
@@ -1355,7 +1355,7 @@ redistribute it freely, subject to the following restrictions:
    distribution.
 
 ================
-protobuf License
+upb License
 ================
 Copyright 2008 Google Inc.  All rights reserved.
 

WORKSPACE

@@ -1,372 +0,0 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file")
-
-http_archive(
-    name = "bazel_features",
-    sha256 = "a015f3f2ebf4f1ac3f4ca8ea371610acb63e1903514fa8725272d381948d2747",
-    strip_prefix = "bazel_features-1.31.0",
-    url = "https://github.com/bazel-contrib/bazel_features/releases/download/v1.31.0/bazel_features-v1.31.0.tar.gz",
-)
-
-# TODO(austin): Upgrade when the patches land.
-# https://github.com/bazelbuild/rules_cc/pull/430
-# https://github.com/bazelbuild/rules_cc/pull/431
-# https://github.com/bazelbuild/rules_cc/pull/432
-http_archive(
-    name = "rules_cc",
-    patch_args = ["-p1"],
-    patches = ["//:shared/bazel/patches/rules_cc_windows.patch"],
-    sha256 = "712d77868b3152dd618c4d64faaddefcc5965f90f5de6e6dd1d5ddcd0be82d42",
-    strip_prefix = "rules_cc-0.1.1",
-    url = "https://github.com/bazelbuild/rules_cc/releases/download/0.1.1/rules_cc-0.1.1.tar.gz",
-)
-
-# TODO(austinschuh): Update to the next released apple_support once it lands.
-# This needs to contain https://github.com/bazelbuild/apple_support/commit/7009b77c98a67d3fea081c9db4dbcee8effc3b7e and should be the next release after 1.22.1
-http_archive(
-    name = "build_bazel_apple_support",
-    sha256 = "7d542be113180bc1da3660e51fe4792a867fb85537c9ef36a0d3366665a76803",
-    strip_prefix = "apple_support-7009b77c98a67d3fea081c9db4dbcee8effc3b7e",
-    url = "https://github.com/bazelbuild/apple_support/archive/7009b77c98a67d3fea081c9db4dbcee8effc3b7e.tar.gz",
-)
-
-http_archive(
-    name = "rules_java",
-    sha256 = "d31b6c69e479ffa45460b64dc9c7792a431cac721ef8d5219fc9f603fa2ff877",
-    urls = [
-        "https://github.com/bazelbuild/rules_java/releases/download/8.11.0/rules_java-8.11.0.tar.gz",
-    ],
-)
-
-http_archive(
-    name = "rules_pkg",
-    sha256 = "cad05f864a32799f6f9022891de91ac78f30e0fa07dc68abac92a628121b5b11",
-    urls = [
-        "https://github.com/bazelbuild/rules_pkg/releases/download/1.0.0/rules_pkg-1.0.0.tar.gz",
-    ],
-)
-
-# Rules Python
-http_archive(
-    name = "rules_python",
-    sha256 = "9f9f3b300a9264e4c77999312ce663be5dee9a56e361a1f6fe7ec60e1beef9a3",
-    strip_prefix = "rules_python-1.4.1",
-    url = "https://github.com/bazel-contrib/rules_python/releases/download/1.4.1/rules_python-1.4.1.tar.gz",
-)
-
-# Download Extra java rules
-http_archive(
-    name = "rules_jvm_external",
-    sha256 = "4f55980c25d0783b9fe43b049362018d8d79263476b5340a5491893ffcc06ab6",
-    strip_prefix = "rules_jvm_external-30899314873b6ec69dc7d02c4457fbe52a6e535d",
-    url = "https://github.com/bazel-contrib/rules_jvm_external/archive/30899314873b6ec69dc7d02c4457fbe52a6e535d.tar.gz",
-)
-
-# Setup aspect lib
-http_archive(
-    name = "aspect_bazel_lib",
-    sha256 = "a8a92645e7298bbf538aa880131c6adb4cf6239bbd27230f077a00414d58e4ce",
-    strip_prefix = "bazel-lib-2.7.2",
-    url = "https://github.com/aspect-build/bazel-lib/releases/download/v2.7.2/bazel-lib-v2.7.2.tar.gz",
-)
-
-# Download toolchains
-http_archive(
-    name = "rules_bzlmodrio_toolchains",
-    sha256 = "37780b3d3f30de72aaca12d9f80edc4216f6d708bed5b261c424d4dde49e8531",
-    url = "https://github.com/wpilibsuite/rules_bzlmodrio_toolchains/releases/download/2025-1.bcr4/rules_bzlmodrio_toolchains-2025-1.bcr4.tar.gz",
-)
-
-load("@bazel_features//:deps.bzl", "bazel_features_deps")
-
-bazel_features_deps()
-
-load("@build_bazel_apple_support//lib:repositories.bzl", "apple_support_dependencies")
-
-apple_support_dependencies()
-
-load("@rules_cc//cc:repositories.bzl", "rules_cc_toolchains")
-
-rules_cc_toolchains()
-
-load("@rules_java//java:rules_java_deps.bzl", "rules_java_dependencies")
-
-rules_java_dependencies()
-
-# note that the following line is what is minimally required from protobuf for the java rules
-# consider using the protobuf_deps() public API from @com_google_protobuf//:protobuf_deps.bzl
-load("@com_google_protobuf//bazel/private:proto_bazel_features.bzl", "proto_bazel_features")  # buildifier: disable=bzl-visibility
-
-proto_bazel_features(name = "proto_bazel_features")
-
-# register toolchains
-load("@rules_java//java:repositories.bzl", "rules_java_toolchains")
-
-rules_java_toolchains()
-
-load("@rules_python//python:repositories.bzl", "py_repositories", "python_register_toolchains")
-
-py_repositories()
-
-python_register_toolchains(
-    name = "python_3_10",
-    ignore_root_user_error = True,
-    python_version = "3.10",
-)
-
-load("@rules_python//python:pip.bzl", "pip_parse")
-
-pip_parse(
-    name = "allwpilib_pip_deps",
-    python_interpreter_target = "@python_3_10_host//:python",
-    requirements_lock = "//:requirements_lock.txt",
-)
-
-load("@allwpilib_pip_deps//:requirements.bzl", "install_deps")
-
-install_deps()
-
-load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
-
-rules_jvm_external_deps()
-
-load("@rules_jvm_external//:setup.bzl", "rules_jvm_external_setup")
-
-rules_jvm_external_setup()
-
-load("@rules_jvm_external//:defs.bzl", "maven_install")
-load("@rules_jvm_external//:specs.bzl", "maven")
-
-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.artifact(
-        "org.junit.jupiter",
-        "junit-jupiter",
-        "5.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.junit.platform",
-        "junit-platform-console",
-        "1.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.junit.platform",
-        "junit-platform-launcher",
-        "1.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.junit.platform",
-        "junit-platform-reporting",
-        "1.10.1",
-        testonly = True,
-    ),
-    maven.artifact(
-        "com.google.code.gson",
-        "gson",
-        "2.10.1",
-        testonly = False,
-    ),
-    maven.artifact(
-        "org.hamcrest",
-        "hamcrest-all",
-        "1.3",
-        testonly = True,
-    ),
-    maven.artifact(
-        "com.googlecode.junit-toolbox",
-        "junit-toolbox",
-        "2.4",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.apache.ant",
-        "ant",
-        "1.10.12",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.apache.ant",
-        "ant-junit",
-        "1.10.12",
-        testonly = True,
-    ),
-    maven.artifact(
-        "org.mockito",
-        "mockito-core",
-        "4.1.0",
-        testonly = True,
-    ),
-    maven.artifact(
-        "com.google.testing.compile",
-        "compile-testing",
-        "0.21.0",
-        testonly = True,
-    ),
-]
-
-maven_install(
-    name = "maven",
-    artifacts = maven_artifacts,
-    maven_install_json = "//:maven_install.json",
-    repositories = [
-        "https://repo1.maven.org/maven2",
-        "https://frcmaven.wpi.edu/artifactory/release/",
-    ],
-)
-
-load("@maven//:defs.bzl", "pinned_maven_install")
-
-pinned_maven_install()
-
-load("@aspect_bazel_lib//lib:repositories.bzl", "aspect_bazel_lib_dependencies", "aspect_bazel_lib_register_toolchains")
-
-aspect_bazel_lib_dependencies()
-
-aspect_bazel_lib_register_toolchains()
-
-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 = "623b8bcdba1c3140f56e940365f011d2e5d90d74c7a30ace6a8817c037c1dd61",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7.bcr1/rules_bzlmodrio_jdk-17.0.12-7.bcr1.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 = "27dff7aaedd00165b1a94867616ebf383220532e3956892cec649197077a9d01",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr3/bzlmodRio-opencv-2025.4.10.0-3.bcr3.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 = "bzlmodrio-libssh",
-    sha256 = "f8fef627c7b393f7f6ed638e12b80ff90b2cfea11488b15214f25ce1e470723a",
-    url = "https://github.com/wpilibsuite/bzlmodRio-libssh/releases/download/2024.0.105-1.bcr1/bzlmodrio-libssh-2024.0.105-1.bcr1.tar.gz",
-)
-
-load("@bzlmodrio-libssh//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_libssh_cpp_dependencies")
-
-setup_legacy_bzlmodrio_libssh_cpp_dependencies()
-
-# Setup quickbuf compiler
-QUICKBUF_VERSION = "1.3.2"
-
-http_file(
-    name = "quickbuffer_protoc_linux",
-    executable = True,
-    sha256 = "f9a041bccaa7040db523666ef1b5fe9f6f94e70a82c88951f18f58aadd9c50b5",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-linux-x86_64.exe",
-)
-
-http_file(
-    name = "quickbuffer_protoc_osx_x86-64",
-    executable = True,
-    sha256 = "ea307c2b69664ae7e7c69db4cddf5803187e5a34bceffd09a21652f0f16044f7",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-osx-x86_64.exe   ",
-)
-
-http_file(
-    name = "quickbuffer_protoc_osx_aarch64",
-    executable = True,
-    sha256 = "a9abdee09d8b5ef0aa954b238536917313511deec11e1901994af26ade033e28",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-osx-aarch_64.exe   ",
-)
-
-http_file(
-    name = "quickbuffer_protoc_windows",
-    executable = True,
-    sha256 = "27dc1f29764a62b5e6a813a4bcd63e81bbdc3394da760a44acae1025b4a89f1d",
-    url = "https://repo1.maven.org/maven2/us/hebi/quickbuf/protoc-gen-quickbuf/" + QUICKBUF_VERSION + "/protoc-gen-quickbuf-" + QUICKBUF_VERSION + "-windows-x86_64.exe ",
-)
-
-# Setup rules_proto
-http_archive(
-    name = "rules_proto",
-    sha256 = "0e5c64a2599a6e26c6a03d6162242d231ecc0de219534c38cb4402171def21e8",
-    strip_prefix = "rules_proto-7.0.2",
-    url = "https://github.com/bazelbuild/rules_proto/releases/download/7.0.2/rules_proto-7.0.2.tar.gz",
-)
-
-load("@rules_proto//proto:repositories.bzl", "rules_proto_dependencies")
-
-rules_proto_dependencies()
-
-load("@rules_proto//proto:setup.bzl", "rules_proto_setup")
-
-rules_proto_setup()
-
-load("@rules_pkg//:deps.bzl", "rules_pkg_dependencies")
-
-rules_pkg_dependencies()
-
-# Capture the repository environmental variables which specify the filter list for what architectures to build in CI.
-load("//shared/bazel/rules:publishing_rule.bzl", "publishing_repo")
-
-publishing_repo(
-    name = "com_wpilib_allwpilib_publishing_config",
-)

WORKSPACE.bzlmod

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

apriltag/BUILD.bazel

@@ -1,13 +1,26 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_pkg//:mappings.bzl", "pkg_files")
-load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
 load("@rules_python//python:defs.bzl", "py_binary")
+load("//apriltag:robotpy_native_build_info.bzl", "define_native_wrapper")
+load("//apriltag:robotpy_pybind_build_info.bzl", "apriltag_extension", "define_pybind_library")
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
-load("//shared/bazel/rules:packaging.bzl", "pkg_java_files")
+load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project")
 load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
+
+filegroup(
+    name = "doxygen-files",
+    srcs = glob([
+        "src/main/native/include/**/*",
+        "src/main/native/thirdparty/apriltag/include/**/*",
+    ]),
+    visibility = ["//visibility:public"],
+)
 
 pkg_files(
     name = "thirdparty-apriltag-src-pkg",
@@ -20,14 +33,14 @@ cc_library(
     srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
     hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
     copts = select({
-        "@bazel_tools//src/conditions:darwin": [
+        "@platforms//os:osx": [
             "-Wno-format-nonliteral",
             "-Wno-gnu-zero-variadic-macro-arguments",
             "-Wno-uninitialized",
             "-Wno-sign-compare",
             "-Wno-type-limits",
         ],
-        "@bazel_tools//src/conditions:windows": [
+        "@platforms//os:windows": [
             "/wd4005",
             "/wd4018",
             "/wd4244",
@@ -47,7 +60,7 @@ cc_library(
 
 generate_resources(
     name = "generate-resources",
-    namespace = "frc",
+    namespace = "wpi::apriltag",
     prefix = "APRILTAG",
     resource_files = glob(["src/main/native/resources/**"]),
 )
@@ -81,6 +94,7 @@ wpilib_cc_shared_library(
     visibility = ["//visibility:public"],
     deps = [
         ":apriltag",
+        ":thirdparty-apriltag",
     ],
 )
 
@@ -114,6 +128,7 @@ wpilib_cc_shared_library(
         "//wpimath:shared/wpimath",
         "//wpiutil:shared/wpiutil",
     ],
+    use_debug_name = False,
     visibility = ["//visibility:public"],
     deps = [":apriltagjni"],
 )
@@ -121,6 +136,9 @@ wpilib_cc_shared_library(
 wpilib_jni_java_library(
     name = "apriltag-java",
     srcs = glob(["src/main/java/**/*.java"]),
+    extra_source_pkgs = ["resources"],
+    maven_artifact_name = "apriltag-java",
+    maven_group_id = "org.wpilib.apriltag",
     native_libs = [":apriltagjni"],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
@@ -135,23 +153,12 @@ wpilib_jni_java_library(
     ],
 )
 
-pkg_java_files(name = "apriltag-java-srcs")
-
 pkg_files(
     name = "resources",
     srcs = glob(["src/main/native/resources/**"]),
     strip_prefix = "src/main/native/resources/",
 )
 
-pkg_zip(
-    name = "libapriltag-java-sources",
-    srcs = [
-        ":apriltag-java-srcs",
-        ":resources",
-    ],
-    out = "libapriltag-java-sources.jar",
-)
-
 cc_test(
     name = "apriltag-cpp-test",
     size = "small",
@@ -189,8 +196,8 @@ cc_binary(
 
 java_binary(
     name = "DevMain-Java",
-    srcs = ["src/dev/java/edu/wpi/first/apriltag/DevMain.java"],
-    main_class = "edu.wpi.first.apriltag.DevMain",
+    srcs = ["src/dev/java/org/wpilib/vision/apriltag/DevMain.java"],
+    main_class = "org.wpilib.vision.apriltag.DevMain",
     deps = [
         ":apriltag-java",
     ],
@@ -204,3 +211,62 @@ py_binary(
         "//conditions:default": [],
     }),
 )
+
+package_default_jni_project(
+    name = "apriltag",
+    maven_artifact_name = "apriltag-cpp",
+    maven_group_id = "org.wpilib.apriltag",
+)
+
+generate_robotpy_native_wrapper_build_info(
+    name = "robotpy-native-apriltag-generator",
+    pyproject_toml = "src/main/python/native-pyproject.toml",
+    third_party_dirs = ["apriltag"],
+)
+
+define_native_wrapper(
+    name = "robotpy-native-apriltag",
+    pyproject_toml = "src/main/python/native-pyproject.toml",
+)
+
+PYBIND_PKGCFG_DEPS = [
+    "//apriltag:native/apriltag/robotpy-native-apriltag.pc",
+    "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
+    "//wpimath:robotpy-wpimath.generated_pkgcfg_files",
+    "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
+    "//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
+]
+
+generate_robotpy_pybind_build_info(
+    name = "robotpy-apriltag-generator",
+    additional_srcs = [":robotpy-native-apriltag.copy_headers"],
+    package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
+    pkgcfgs = PYBIND_PKGCFG_DEPS,
+    yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
+)
+
+apriltag_extension(
+    srcs = ["src/main/python/robotpy_apriltag/src/main.cpp"],
+    includes = [
+        "src/main/python/datalog/",
+    ],
+)
+
+define_pybind_library(
+    name = "robotpy-apriltag",
+    pkgcfgs = PYBIND_PKGCFG_DEPS,
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    data = glob([
+        "src/test/python/*.png",
+        "src/test/python/*.jpg",
+    ]),
+    deps = [
+        ":robotpy-apriltag",
+        requirement("pytest"),
+        requirement("opencv-python"),
+    ],
+)

apriltag/CMakeLists.txt

@@ -62,7 +62,7 @@ if(WITH_JAVA)
         apriltag_jar
         SOURCES ${JAVA_SOURCES}
         RESOURCES
-        NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
+        NAMESPACE "org/wpilib/vision/apriltag" ${JAVA_RESOURCES}
         INCLUDE_JARS
             wpimath_jar
             wpiunits_jar
@@ -107,10 +107,10 @@ if(WITH_JAVA_SOURCE)
 endif()
 
 generate_resources(
-    src/main/native/resources/edu/wpi/first/apriltag
+    src/main/native/resources/org/wpilib/vision/apriltag
     generated/main/cpp
     APRILTAG
-    frc
+    wpi::apriltag
     apriltag_resources_src
 )
 

apriltag/build.gradle

@@ -4,7 +4,7 @@ apply plugin: 'c'
 
 ext {
     nativeName = 'apriltag'
-    devMain = 'edu.wpi.first.apriltag.DevMain'
+    devMain = 'org.wpilib.vision.apriltag.DevMain'
     useJava = true
     useCpp = true
     sharedCvConfigs = [
@@ -12,7 +12,7 @@ ext {
         apriltagTest: []]
     staticCvConfigs = []
 
-    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'frc', project)
+    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'wpi::apriltag', project)
 
     tasks.withType(CppCompile) {
         dependsOn generateTask

apriltag/robotpy_native_build_info.bzl

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

apriltag/robotpy_pybind_build_info.bzl

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

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

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

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

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

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

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

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

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

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

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

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

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

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

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
 import com.fasterxml.jackson.annotation.JsonAutoDetect;
 import com.fasterxml.jackson.annotation.JsonCreator;
@@ -10,9 +10,6 @@ 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;
@@ -25,6 +22,9 @@ import java.util.List;
 import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
 
 /**
  * Class for representing a layout of AprilTags on a field and reading them from a JSON format.
@@ -152,9 +152,10 @@ public class AprilTagFieldLayout {
     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));
+          case kRedAllianceWallRightSide ->
+              new Pose3d(
+                  new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
+                  new Rotation3d(0, 0, Math.PI));
         };
     setOrigin(pose);
   }

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

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag;
+package org.wpilib.vision.apriltag;
 
 import java.io.UncheckedIOException;
 
@@ -17,13 +17,17 @@ public enum AprilTagFields {
   /** 2025 Reefscape Welded (see TU 12). */
   k2025ReefscapeWelded("2025-reefscape-welded.json"),
   /** 2025 Reefscape AndyMark (see TU 12). */
-  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
+  /** 2026 Rebuilt Welded. */
+  k2026RebuiltWelded("2026-rebuilt-welded.json"),
+  /** 2026 Rebuilt AndyMark. */
+  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
 
   /** Base resource directory. */
-  public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
+  public static final String kBaseResourceDir = "/org/wpilib/vision/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
+  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

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

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

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

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

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

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package edu.wpi.first.apriltag.jni;
+package org.wpilib.vision.apriltag.jni;
 
-import edu.wpi.first.apriltag.AprilTagDetection;
-import edu.wpi.first.apriltag.AprilTagDetector;
-import edu.wpi.first.apriltag.AprilTagPoseEstimate;
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.util.RawFrame;
-import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.util.RawFrame;
+import org.wpilib.util.runtime.RuntimeLoader;
+import org.wpilib.vision.apriltag.AprilTagDetection;
+import org.wpilib.vision.apriltag.AprilTagDetector;
+import org.wpilib.vision.apriltag.AprilTagPoseEstimate;
 
 /** AprilTag JNI. */
 public class AprilTagJNI {

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

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

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

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

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

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagDetector.h"
+#include "wpi/apriltag/AprilTagDetector.hpp"
 
 #include <cmath>
 #include <utility>
@@ -19,7 +19,7 @@
 #include "tag16h5.h"
 #include "tag36h11.h"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 AprilTagDetector::Results::Results(void* impl, const private_init&)
     : span{reinterpret_cast<AprilTagDetection**>(

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

@@ -2,38 +2,41 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/apriltag/AprilTagFieldLayout.h"
+#include "wpi/apriltag/AprilTagFieldLayout.hpp"
 
 #include <system_error>
 #include <utility>
 #include <vector>
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/util/MemoryBuffer.hpp"
+#include "wpi/util/json.hpp"
+#include "wpi/util/raw_ostream.hpp"
 
-using namespace frc;
+using namespace wpi::apriltag;
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
+  auto fileBuffer = wpi::util::MemoryBuffer::GetFile(path);
   if (!fileBuffer) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
+  wpi::util::json json =
+      wpi::util::json::parse(fileBuffer.value()->GetCharBuffer());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
   }
-  m_fieldWidth = units::meter_t{json.at("field").at("width").get<double>()};
-  m_fieldLength = units::meter_t{json.at("field").at("length").get<double>()};
+  m_fieldWidth =
+      wpi::units::meter_t{json.at("field").at("width").get<double>()};
+  m_fieldLength =
+      wpi::units::meter_t{json.at("field").at("length").get<double>()};
 }
 
 AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
-                                         units::meter_t fieldLength,
-                                         units::meter_t fieldWidth)
+                                         wpi::units::meter_t fieldLength,
+                                         wpi::units::meter_t fieldWidth)
     : m_fieldLength(std::move(fieldLength)),
       m_fieldWidth(std::move(fieldWidth)) {
   for (const auto& tag : apriltags) {
@@ -41,11 +44,11 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
-units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+wpi::units::meter_t AprilTagFieldLayout::GetFieldLength() const {
   return m_fieldLength;
 }
 
-units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
+wpi::units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
   return m_fieldWidth;
 }
 
@@ -61,26 +64,27 @@ std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
-      SetOrigin(Pose3d{});
+      SetOrigin(wpi::math::Pose3d{});
       break;
     case OriginPosition::kRedAllianceWallRightSide:
-      SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
-                       Rotation3d{0_deg, 0_deg, 180_deg}});
+      SetOrigin(wpi::math::Pose3d{
+          wpi::math::Translation3d{m_fieldLength, m_fieldWidth, 0_m},
+          wpi::math::Rotation3d{0_deg, 0_deg, 180_deg}});
       break;
     default:
       throw std::invalid_argument("Invalid origin");
   }
 }
 
-void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
+void AprilTagFieldLayout::SetOrigin(const wpi::math::Pose3d& origin) {
   m_origin = origin;
 }
 
-Pose3d AprilTagFieldLayout::GetOrigin() const {
+wpi::math::Pose3d AprilTagFieldLayout::GetOrigin() const {
   return m_origin;
 }
 
-std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
+std::optional<wpi::math::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {
     return std::nullopt;
@@ -91,43 +95,45 @@ std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
 void AprilTagFieldLayout::Serialize(std::string_view path) {
   std::error_code error_code;
 
-  wpi::raw_fd_ostream output{path, error_code};
+  wpi::util::raw_fd_ostream output{path, error_code};
   if (error_code) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = *this;
+  wpi::util::json json = *this;
   output << json;
   output.flush();
 }
 
-void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
+void wpi::apriltag::to_json(wpi::util::json& json,
+                            const AprilTagFieldLayout& layout) {
   std::vector<AprilTag> tagVector;
   tagVector.reserve(layout.m_apriltags.size());
   for (const auto& pair : layout.m_apriltags) {
     tagVector.push_back(pair.second);
   }
 
-  json = wpi::json{{"field",
-                    {{"length", layout.m_fieldLength.value()},
-                     {"width", layout.m_fieldWidth.value()}}},
-                   {"tags", tagVector}};
+  json = wpi::util::json{{"field",
+                          {{"length", layout.m_fieldLength.value()},
+                           {"width", layout.m_fieldWidth.value()}}},
+                         {"tags", tagVector}};
 }
 
-void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
+void wpi::apriltag::from_json(const wpi::util::json& json,
+                              AprilTagFieldLayout& layout) {
   layout.m_apriltags.clear();
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     layout.m_apriltags[tag.ID] = tag;
   }
 
   layout.m_fieldLength =
-      units::meter_t{json.at("field").at("length").get<double>()};
+      wpi::units::meter_t{json.at("field").at("length").get<double>()};
   layout.m_fieldWidth =
-      units::meter_t{json.at("field").at("width").get<double>()};
+      wpi::units::meter_t{json.at("field").at("width").get<double>()};
 }
 
 // Use namespace declaration for forward declaration
-namespace frc {
+namespace wpi::apriltag {
 
 // C++ generated from resource files
 std::string_view GetResource_2022_rapidreact_json();
@@ -135,8 +141,10 @@ std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
 std::string_view GetResource_2025_reefscape_welded_json();
 std::string_view GetResource_2025_reefscape_andymark_json();
+std::string_view GetResource_2026_rebuilt_welded_json();
+std::string_view GetResource_2026_rebuilt_andymark_json();
 
-}  // namespace frc
+}  // namespace wpi::apriltag
 
 AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
   std::string_view fieldString;
@@ -156,14 +164,21 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2025ReefscapeAndyMark:
       fieldString = GetResource_2025_reefscape_andymark_json();
       break;
+    case AprilTagField::k2026RebuiltWelded:
+      fieldString = GetResource_2026_rebuilt_welded_json();
+      break;
+    case AprilTagField::k2026RebuiltAndyMark:
+      fieldString = GetResource_2026_rebuilt_andymark_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }
 
-  wpi::json json = wpi::json::parse(fieldString);
+  wpi::util::json json = wpi::util::json::parse(fieldString);
   return json.get<AprilTagFieldLayout>();
 }
 
-AprilTagFieldLayout frc::LoadAprilTagLayoutField(AprilTagField field) {
+AprilTagFieldLayout wpi::apriltag::LoadAprilTagLayoutField(
+    AprilTagField field) {
   return AprilTagFieldLayout::LoadField(field);
 }

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

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

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

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

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

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

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

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

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

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

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

@@ -1,262 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <stdint.h>
-
-#include <memory>
-#include <span>
-#include <string_view>
-#include <utility>
-
-#include <units/angle.h>
-#include <wpi/StringMap.h>
-#include <wpi/SymbolExports.h>
-
-#include "frc/apriltag/AprilTagDetection.h"
-
-namespace frc {
-
-/**
- * An AprilTag detector engine. This is expensive to set up and tear down, so
- * most use cases should only create one of these, add a family to it, set up
- * any other configuration, and repeatedly call Detect().
- */
-class WPILIB_DLLEXPORT AprilTagDetector {
- public:
-  /** Detector configuration. */
-  struct Config {
-    bool operator==(const Config&) const = default;
-
-    /**
-     * How many threads should be used for computation. Default is
-     * single-threaded operation (1 thread).
-     */
-    int numThreads = 1;
-
-    /**
-     * Quad decimation. Detection of quads can be done on a lower-resolution
-     * image, improving speed at a cost of pose accuracy and a slight decrease
-     * in detection rate. Decoding the binary payload is still done at full
-     * resolution. Default is 2.0.
-     */
-    float quadDecimate = 2.0f;
-
-    /**
-     * What Gaussian blur should be applied to the segmented image (used for
-     * quad detection). Very noisy images benefit from non-zero values (e.g.
-     * 0.8). Default is 0.0.
-     */
-    float quadSigma = 0.0f;
-
-    /**
-     * When true, the edges of the each quad are adjusted to "snap to" strong
-     * gradients nearby. This is useful when decimation is employed, as it can
-     * increase the quality of the initial quad estimate substantially.
-     * Generally recommended to be on (true). Default is true.
-     *
-     * Very computationally inexpensive. Option is ignored if
-     * quad_decimate = 1.
-     */
-    bool refineEdges = true;
-
-    /**
-     * How much sharpening should be done to decoded images. This can help
-     * decode small tags but may or may not help in odd lighting conditions or
-     * low light conditions. Default is 0.25.
-     */
-    double decodeSharpening = 0.25;
-
-    /**
-     * Debug mode. When true, the decoder writes a variety of debugging images
-     * to the current working directory at various stages through the detection
-     * process. This is slow and should *not* be used on space-limited systems
-     * such as the RoboRIO. Default is disabled (false).
-     */
-    bool debug = false;
-  };
-
-  /** Quad threshold parameters. */
-  struct QuadThresholdParameters {
-    bool operator==(const QuadThresholdParameters&) const = default;
-
-    /**
-     * Threshold used to reject quads containing too few pixels. Default is 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/include/wpi/apriltag/AprilTag.hpp

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

apriltag/src/main/native/resources/org/wpilib/vision/apriltag/2026-rebuilt-andymark.csv

@@ -0,0 +1,33 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,467.085,291.791,35,180,0
+2,468.559,182.077,44.25,90,0
+3,444.797,172.321,44.25,180,0
+4,444.797,158.321,44.25,180,0
+5,468.559,134.565,44.25,270,0
+6,467.085,24.851,35,180,0
+7,470.034,24.851,35,0,0
+8,482.559,134.565,44.25,270,0
+9,492.329,144.321,44.25,0,0
+10,492.329,158.321,44.25,0,0
+11,482.559,182.077,44.25,90,0
+12,470.034,291.791,35,0,0
+13,649.58,291.02,21.75,180,0
+14,649.58,274.02,21.75,180,0
+15,649.566,169.783,21.75,180,0
+16,649.566,152.783,21.75,180,0
+17,183.034,24.851,35,0,0
+18,181.559,134.565,44.25,270,0
+19,205.321,144.321,44.25,0,0
+20,205.321,158.321,44.25,0,0
+21,181.559,182.077,44.25,90,0
+22,183.034,291.791,35,0,0
+23,180.085,291.791,35,180,0
+24,167.559,182.077,44.25,90,0
+25,157.79,172.321,44.25,180,0
+26,157.79,158.321,44.25,180,0
+27,167.559,134.565,44.25,270,0
+28,180.085,24.851,35,180,0
+29,0.539,25.621,21.75,0,0
+30,0.539,42.621,21.75,0,0
+31,0.553,146.858,21.75,0,0
+32,0.553,163.858,21.75,0,0

apriltag/src/main/native/resources/org/wpilib/vision/apriltag/2026-rebuilt-andymark.json

@@ -0,0 +1,584 @@
+{
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+    {
+      "ID": 1,
+      "pose": {
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+          }
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+}

apriltag/src/main/python/README.md

@@ -0,0 +1,4 @@
+robotpy-apriltag
+================
+
+RobotPy wrappers around WPILib's version of the apriltag library.

apriltag/src/main/python/native-pyproject.toml

@@ -0,0 +1,41 @@
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "hatchling",
+    "hatch-nativelib~=0.2.0",
+    "hatch-robotpy~=0.2.1",
+    "robotpy-native-wpiutil==0.0.0",
+    "robotpy-native-wpimath==0.0.0",
+]
+
+[project]
+name = "robotpy-native-apriltag"
+version = "0.0.0"
+description = "WPILib AprilTag Library"
+license = "BSD-3-Clause"
+
+dependencies = [
+    "robotpy-native-wpiutil==0.0.0",
+    "robotpy-native-wpimath==0.0.0",
+]
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/native"]
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "apriltag-cpp"
+group_id = "org.wpilib.apriltag"
+repo_url = ""
+version = "0.0.0"
+
+extract_to = "src/native/apriltag"
+libs = ["apriltag"]
+
+[[tool.hatch.build.hooks.nativelib.pcfile]]
+pcfile = "src/native/apriltag/robotpy-native-apriltag.pc"
+name = "apriltag"
+
+includedir = "src/native/apriltag/include"
+libdir = "src/native/apriltag/lib"
+shared_libraries = ["apriltag"]
+requires = ["robotpy-native-wpiutil", "robotpy-native-wpimath"]

apriltag/src/main/python/pyproject.toml

@@ -0,0 +1,74 @@
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "semiwrap~=0.3.0",
+    "hatch-meson~=0.1.0",
+    "hatch-robotpy~=0.2.1",
+    "hatchling",
+    "robotpy-native-apriltag==0.0.0",
+    "robotpy-wpiutil==0.0.0",
+    "robotpy-wpimath==0.0.0",
+]
+
+[project]
+name = "robotpy-apriltag"
+version = "0.0.0"
+description = "RobotPy bindings for WPILib's AprilTag library"
+authors = [
+    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
+]
+license = "BSD-3-Clause"
+dependencies = [
+    "robotpy-native-apriltag==0.0.0",
+    "robotpy-wpiutil==0.0.0",
+    "robotpy-wpimath==0.0.0",
+]
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/mostrobotpy"
+
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "robotpy_apriltag/version.py"
+
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
+
+[tool.hatch.build.targets.wheel]
+packages = ["robotpy_apriltag"]
+
+
+[tool.semiwrap]
+update_init = [
+  "robotpy_apriltag robotpy_apriltag._apriltag"
+]
+scan_headers_ignore = [
+  "common/*",
+  "test/*",
+
+  "apriltag.h",
+  "apriltag_math.h",
+  "apriltag_pose.h",
+
+  "wpi/apriltag/AprilTagDetector_cv.hpp",
+
+  "tag16h5.h",
+  "tag36h11.h",
+]
+
+[tool.semiwrap.extension_modules."robotpy_apriltag._apriltag"]
+name = "apriltag"
+wraps = ["robotpy-native-apriltag"]
+depends = ["wpiutil", "wpimath"]
+
+[tool.semiwrap.extension_modules."robotpy_apriltag._apriltag".headers]
+# frc/apriltag
+AprilTag = "wpi/apriltag/AprilTag.hpp"
+AprilTagDetection = "wpi/apriltag/AprilTagDetection.hpp"
+AprilTagDetector = "wpi/apriltag/AprilTagDetector.hpp"
+# AprilTagDetector_cv = "wpi/apriltag/AprilTagDetector_cv.hpp"
+AprilTagFieldLayout = "wpi/apriltag/AprilTagFieldLayout.hpp"
+AprilTagFields = "wpi/apriltag/AprilTagFields.hpp"
+AprilTagPoseEstimate = "wpi/apriltag/AprilTagPoseEstimate.hpp"
+AprilTagPoseEstimator = "wpi/apriltag/AprilTagPoseEstimator.hpp"