Reorganize wpilib

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

@@ -7,9 +7,9 @@
 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;
 
 /** Represents an AprilTag's metadata. */
 @SuppressWarnings("MemberName")

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

@@ -4,11 +4,11 @@
 
 package edu.wpi.first.apriltag;
 
-import edu.wpi.first.math.MatBuilder;
-import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.Nat;
-import edu.wpi.first.math.numbers.N3;
 import java.util.Arrays;
+import org.wpilib.math.Nat;
+import org.wpilib.math.linalg.MatBuilder;
+import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.numbers.N3;
 
 /** A detection of an AprilTag tag. */
 public class AprilTagDetection {

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

@@ -10,9 +10,6 @@
 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.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.

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

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.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/edu/wpi/first/apriltag/AprilTagPoseEstimator.java

@@ -5,7 +5,7 @@
 package edu.wpi.first.apriltag;
 
 import edu.wpi.first.apriltag.jni.AprilTagJNI;
-import edu.wpi.first.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Transform3d;
 
 /** Pose estimators for AprilTag tags. */
 public class AprilTagPoseEstimator {

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

@@ -7,11 +7,11 @@
 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;
 
 /** AprilTag JNI. */
 public class AprilTagJNI {

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

@@ -8,8 +8,8 @@
 #include <utility>
 #include <vector>
 
-#include <units/angle.h>
-#include <units/length.h>
+#include <units/angle.hpp>
+#include <units/length.hpp>
 #include <wpi/MemoryBuffer.h>
 #include <wpi/json.h>
 #include <wpi/raw_ostream.h>

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

@@ -11,7 +11,7 @@
 #include <string_view>
 #include <utility>
 
-#include <units/angle.h>
+#include <units/angle.hpp>
 #include <wpi/StringMap.h>
 #include <wpi/SymbolExports.h>
 

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

@@ -9,7 +9,7 @@
 #include <unordered_map>
 #include <vector>
 
-#include <units/length.h>
+#include <units/length.hpp>
 #include <wpi/SymbolExports.h>
 #include <wpi/json_fwd.h>
 

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

@@ -6,7 +6,7 @@
 
 #include <span>
 
-#include <units/length.h>
+#include <units/length.hpp>
 #include <wpi/SymbolExports.h>
 
 #include "frc/apriltag/AprilTagPoseEstimate.h"

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagDetectorTest.java

@@ -8,8 +8,6 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.fail;
 
-import edu.wpi.first.math.geometry.Transform3d;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.util.RuntimeLoader;
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
@@ -23,6 +21,8 @@
 import org.opencv.core.Mat;
 import org.opencv.imgcodecs.Imgcodecs;
 import org.opencv.imgproc.Imgproc;
+import org.wpilib.math.geometry.Transform3d;
+import org.wpilib.math.util.Units;
 
 class AprilTagDetectorTest {
   @SuppressWarnings("MemberName")

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseSetOriginTest.java

@@ -6,12 +6,12 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Translation3d;
+import org.wpilib.math.util.Units;
 
 class AprilTagPoseSetOriginTest {
   @Test

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagSerializationTest.java

@@ -8,11 +8,11 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 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.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.util.Units;
 
 class AprilTagSerializationTest {
   @Test

apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java

@@ -9,14 +9,14 @@
 import static org.junit.jupiter.api.Assertions.assertNotNull;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-import edu.wpi.first.math.geometry.Pose3d;
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.util.Units;
 import java.util.Optional;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.EnumSource;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Rotation3d;
+import org.wpilib.math.util.Units;
 
 class LoadConfigTest {
   @ParameterizedTest

benchmark/src/main/java/frc/robot/Main.java

@@ -4,9 +4,6 @@
 
 package frc.robot;
 
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.path.TravelingSalesman;
 import java.util.concurrent.TimeUnit;
 import org.openjdk.jmh.annotations.Benchmark;
 import org.openjdk.jmh.annotations.BenchmarkMode;
@@ -18,6 +15,9 @@
 import org.openjdk.jmh.runner.options.Options;
 import org.openjdk.jmh.runner.options.OptionsBuilder;
 import org.openjdk.jmh.runner.options.TimeValue;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.path.TravelingSalesman;
 
 public class Main {
   private static final Pose2d[] poses = {

benchmark/src/main/native/cpp/Main.cpp

@@ -6,8 +6,8 @@
 #include <frc/geometry/Pose2d.h>
 #include <frc/path/TravelingSalesman.h>
 
-#include <units/angle.h>
-#include <units/length.h>
+#include <units/angle.hpp>
+#include <units/length.hpp>
 #include <wpi/array.h>
 
 static constexpr wpi::array<frc::Pose2d, 6> poses{

developerRobot/src/main/java/frc/robot/Main.java

@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.RobotBase;
+import org.wpilib.RobotBase;
 
 public final class Main {
   private Main() {}

developerRobot/src/main/java/frc/robot/Robot.java

@@ -4,7 +4,7 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import org.wpilib.TimedRobot;
 
 public class Robot extends TimedRobot {
   /**

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java

@@ -387,7 +387,7 @@ private void processEpilogue(
 
     // Used to check for a main robot class
     var robotBaseClass =
-        processingEnv.getElementUtils().getTypeElement("edu.wpi.first.wpilibj.TimedRobot").asType();
+        processingEnv.getElementUtils().getTypeElement("org.wpilib.TimedRobot").asType();
 
     boolean validFields = validateFields(annotatedElements);
     boolean validMethods = validateMethods(annotatedElements);

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -15,20 +15,20 @@
 
 #include <fields/fields.h>
 #include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation2d.h>
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
 #include <portable-file-dialogs.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include <units/angle.hpp>
+#include <units/length.hpp>
 #include <wpi/MemoryBuffer.h>
 #include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
 #include <wpi/StringMap.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
+#include <wpi/math/geometry/Rotation2d.hpp>
 #include <wpi/print.h>
 #include <wpigui.h>
 

glass/src/lib/native/cpp/other/Mechanism2D.cpp

@@ -14,15 +14,15 @@
 #include <vector>
 
 #include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Transform2d.h>
 #include <frc/geometry/Translation2d.h>
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <imgui_stdlib.h>
 #include <portable-file-dialogs.h>
-#include <units/angle.h>
-#include <units/length.h>
+#include <units/angle.hpp>
+#include <units/length.hpp>
+#include <wpi/math/geometry/Rotation2d.hpp>
 #include <wpi/print.h>
 #include <wpigui.h>
 

glass/src/lib/native/include/glass/other/Field2D.h

@@ -7,11 +7,11 @@
 #include <span>
 #include <string_view>
 
 #include <frc/geometry/Pose2d.h>
-#include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation2d.h>
 #include <imgui.h>
 #include <wpi/function_ref.h>
+#include <wpi/math/geometry/Rotation2d.hpp>
 
 #include "glass/Model.h"
 #include "glass/View.h"

glass/src/lib/native/include/glass/other/Mechanism2D.h

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation2d.h>
 #include <imgui.h>
 #include <wpi/function_ref.h>
+#include <wpi/math/geometry/Rotation2d.hpp>
 
 #include "glass/Model.h"
 #include "glass/View.h"

romiVendordep/BUILD.bazel

@@ -88,7 +88,7 @@ cc_binary(
 java_binary(
     name = "DevMain-Java",
     srcs = ["src/dev/java/edu/wpi/first/wpilibj/romi/DevMain.java"],
-    main_class = "edu.wpi.first.wpilibj.romi.DevMain",
+    main_class = "romi.org.wpilib.DevMain",
     deps = [
         "//hal:hal-java",
         "//ntcore:ntcore-java",

romiVendordep/src/dev/java/org/wpilib/romi/DevMain.java

@@ -0,0 +1,21 @@
+// 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.romi;
+
+import edu.wpi.first.hal.HALUtil;
+import edu.wpi.first.networktables.NetworkTablesJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {
+    System.out.println("Hello World!");
+    System.out.println(CombinedRuntimeLoader.getPlatformPath());
+    System.out.println(NetworkTablesJNI.now());
+    System.out.println(HALUtil.getHALRuntimeType());
+  }
+
+  private DevMain() {}
+}

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/OnBoardIO.java → romiVendordep/src/main/java/org/wpilib/romi/OnBoardIO.java

@@ -2,12 +2,12 @@
 // 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.wpilibj.romi;
+package org.wpilib.romi;
 
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DigitalOutput;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.Timer;
+import org.wpilib.DigitalInput;
+import org.wpilib.DigitalOutput;
+import org.wpilib.DriverStation;
+import org.wpilib.Timer;
 
 /**
  * This class represents the onboard IO of the Romi reference robot. This includes the pushbuttons

romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiGyro.java → romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.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.wpilibj.romi;
+package org.wpilib.romi;
 
 import edu.wpi.first.hal.SimDevice;
 import edu.wpi.first.hal.SimDevice.Direction;