[2027] Perform the majority of the reorg changes

.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

.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

@@ -33,7 +33,7 @@ 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 +43,7 @@ runs:
       shell: bash
 
     - name: Regenerate mrcal minimath
-      run: ./wpical/generate_mrcal.py
+      run: ./tools/wpical/generate_mrcal.py
       shell: bash
 
     - name: Regenerate wpimath

.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/command-robotpy-pr.yml

@@ -5,7 +5,7 @@ on:
     types:
       - opened
     paths:
-      - 'wpilibNewCommands/src/**/*.java'
+      - 'commandsv2/src/**/*.java'
 
 jobs:
   comment:

.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|wpilibc|commandsv2'"
           - name: ubsan
             cmake-flags: "-DCMAKE_BUILD_TYPE=Ubsan"
             ctest-env: ""

.styleguide

@@ -20,7 +20,7 @@ modifiableFileExclude {
 generatedFileExclude {
   FRCNetComm\.java$
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
-  fieldImages/src/main/native/resources/
+  fields/src/main/native/resources/
   apriltag/src/test/resources/
   wpilibc/src/generated/
 
@@ -43,20 +43,13 @@ includeOtherLibs {
   ^fmt/
   ^glass/
   ^gtest/
-  ^hal/
   ^imgui
   ^implot
   ^mockdata/
-  ^networktables/
-  ^ntcore
   ^opencv2/
   ^support/
   ^units/
   ^unsupported/
   ^upb/
   ^vision/
-  ^wpi/
-  ^wpigui
-  ^wpimath/
-  ^wpinet/
 }

BUILD.bazel

@@ -50,7 +50,7 @@ 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",
@@ -70,12 +70,12 @@ publish_all(
         "//cscore:cscore-java_publish.publish",
         "//datalog:datalog-cpp_publish.publish",
         "//datalog:datalog-java_publish.publish",
-        "//datalogtool:datalogtool_publish.publish",
+        "//tools/datalogtool:datalogtool_publish.publish",
         "//docs:wpilibj_publish.publish",
         "//epilogue-processor:processor-java_publish.publish",
         "//epilogue-runtime:epilogue-java_publish.publish",
-        "//fieldImages:fieldImages-cpp_publish.publish",
-        "//fieldImages:fieldImages-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",
@@ -84,8 +84,8 @@ publish_all(
         "//ntcore:ntcore-cpp_publish.publish",
         "//ntcore:ntcore-java_publish.publish",
         "//ntcoreffi:ntcoreffi-cpp_publish.publish",
-        "//outlineviewer:outlineviewer_publish.publish",
-        "//processstarter:processstarter_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",
@@ -94,13 +94,13 @@ publish_all(
         "//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",
-        "//sysid:sysid_publish.publish",
+        "//tools/sysid:sysid_publish.publish",
         "//thirdparty/googletest:googletest-cpp_publish.publish",
         "//thirdparty/imgui_suite:imguiSuite-cpp_publish.publish",
-        "//wpical:wpical_publish.publish",
+        "//tools/wpical:wpical_publish.publish",
         "//wpigui:wpigui-cpp_publish.publish",
-        "//wpilibNewCommands:wpilibNewCommands-cpp_publish.publish",
-        "//wpilibNewCommands:wpilibNewCommands-java_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",

CMakeLists.txt

@@ -317,17 +317,17 @@ 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()
 
@@ -349,12 +349,12 @@ if(WITH_WPILIB)
     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)")
+    set(COMMAND_DEP_REPLACE "find_dependency(commandsv2)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(commandsv3) # must be after wpilibj
-    add_subdirectory(wpilibNewCommands)
+    add_subdirectory(commandsv2)
     add_subdirectory(romiVendordep)
     add_subdirectory(xrpVendordep)
     if(WITH_EXAMPLES)

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.
 

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-CMake.md

@@ -7,14 +7,14 @@ WPILib is normally built with Gradle, however for some systems, such as Linux ba
 * cameraserver
 * commandsv3
 * cscore
-* fieldImages
+* fields
 * hal (simulation HAL only)
 * ntcore
 * romiVendordep
 * simulation extensions
 * wpigui
 * wpilib (wpilibc, wpilibj, and myRobot)
-* wpilibNewCommands
+* commandsv2
 * wpimath
 * wpinet
 * wpiunits
@@ -162,7 +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.
@@ -176,7 +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.

README.md

@@ -105,7 +105,7 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 - `cscore`
 - `hal`
 - `ntcore`
-- `wpilibNewCommands`
+- `commandsv2`
 - `wpimath`
 - `wpinet`
 - `wpiunits`

apriltag/BUILD.bazel

@@ -55,7 +55,7 @@ cc_library(
 
 generate_resources(
     name = "generate-resources",
-    namespace = "frc",
+    namespace = "wpi::apriltag",
     prefix = "APRILTAG",
     resource_files = glob(["src/main/native/resources/**"]),
 )
@@ -133,7 +133,7 @@ wpilib_jni_java_library(
     srcs = glob(["src/main/java/**/*.java"]),
     extra_source_pkgs = ["resources"],
     maven_artifact_name = "apriltag-java",
-    maven_group_id = "edu.wpi.first.apriltag",
+    maven_group_id = "org.wpilib.apriltag",
     native_libs = [":apriltagjni"],
     resource_strip_prefix = "apriltag/src/main/native/resources",
     resources = glob(["src/main/native/resources/**"]),
@@ -191,8 +191,8 @@ 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",
     ],
@@ -210,5 +210,5 @@ py_binary(
 package_minimal_jni_project(
     name = "apriltag",
     maven_artifact_name = "apriltag-cpp",
-    maven_group_id = "edu.wpi.first.apriltag",
+    maven_group_id = "org.wpilib.apriltag",
 )

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

@@ -4,15 +4,15 @@ apply plugin: 'c'
 
 ext {
     nativeName = 'apriltag'
-    devMain = 'edu.wpi.first.apriltag.DevMain'
+    devMain = 'org.wpilib.vision.apriltag.DevMain'
     useJava = true
     useCpp = true
     sharedCvConfigs = [
         apriltagDev : [],
         apriltagTest: []]
     staticCvConfigs = []
 
-    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'frc', project)
+    def generateTask = createGenerateResourcesTask('main', 'APRILTAG', 'wpi::apriltag', project)
 
     tasks.withType(CppCompile) {
         dependsOn generateTask

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});
 }