[all java] Add Java module support

WORKSPACE

@@ -15,7 +15,7 @@ rules_jvm_external_deps()
 load("@rules_jvm_external//:defs.bzl", "maven_install")
 
 maven_artifacts = [
-    "org.ejml:ejml-simple:0.43.1",
+    "org.ejml:ejml-one: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",

apriltag/build.gradle

@@ -48,6 +48,9 @@ dependencies {
     implementation project(':wpimath')
 }
 
+apply from: "${rootDir}/shared/java/wpimath-module-patches.gradle"
+apply from: "${rootDir}/shared/java/opencv-module-patches.gradle"
+
 sourceSets {
     main {
         resources {

apriltag/src/main/java/module-info.java

@@ -0,0 +1,14 @@
+// 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.
+
+open module wpilib.apriltag {
+  requires transitive wpilib.opencv;
+  requires wpilib.math;
+  requires wpilib.util;
+  requires com.fasterxml.jackson.annotation;
+  requires com.fasterxml.jackson.databind;
+
+  exports edu.wpi.first.apriltag;
+  exports edu.wpi.first.apriltag.jni;
+}

build.gradle

@@ -21,6 +21,7 @@ plugins {
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
     id 'com.diffplug.spotless' version '6.20.0' apply false
     id 'com.github.spotbugs' version '6.0.2' apply false
+    id 'org.javamodularity.moduleplugin' version '1.8.15' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -29,8 +30,10 @@ wpilibVersioning.releaseMode = project.hasProperty('releaseMode')
 allprojects {
     repositories {
         maven {
-        url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
-    }
+            url = 'https://frcmaven.wpi.edu/artifactory/ex-mvn'
+        }
+        // For testing local EJML uberjar builds
+        mavenLocal()
     }
     if (project.hasProperty('releaseMode')) {
         wpilibRepositories.addAllReleaseRepositories(it)

buildSrc/build.gradle

@@ -10,4 +10,6 @@ repositories {
 }
 dependencies {
     implementation "edu.wpi.first:native-utils:2025.7.1"
+    implementation("org.gradlex:extra-java-module-info:1.9")
+    implementation("org.gradlex:java-module-testing:1.5")
 }

cameraserver/build.gradle

@@ -8,6 +8,7 @@ evaluationDependsOn(':cscore')
 evaluationDependsOn(':hal')
 
 apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+apply from: "${rootDir}/shared/java/opencv-module-patches.gradle"
 
 dependencies {
     implementation project(':wpiutil')

cameraserver/src/main/java/module-info.java

@@ -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.
+
+/**
+ * The WPILib cameraserver module. This defines APIs for streaming cameras from the robot for use by
+ * dashboards and coprocessors, and for running OpenCV pipelines (though note that the roboRIO is
+ * too slow to run any but the most simple pipelines at a reasonable speed).
+ */
+open module wpilib.cameraserver {
+  requires transitive wpilib.cscore;
+  requires transitive wpilib.ntcore;
+  requires wpilib.opencv;
+  requires wpilib.util;
+
+  exports edu.wpi.first.cameraserver;
+  exports edu.wpi.first.vision;
+}

cscore/build.gradle

@@ -14,6 +14,7 @@ if (OperatingSystem.current().isMacOsX()) {
 }
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
+apply from: "${rootDir}/shared/java/opencv-module-patches.gradle"
 
 model {
     components {

cscore/src/main/java/module-info.java

@@ -0,0 +1,15 @@
+// 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.
+
+/**
+ * The WPILib cscore module. This defines APIs for connecting to and reading images from cameras
+ * connected to the robot and for configuring those cameras.
+ */
+open module wpilib.cscore {
+  requires transitive wpilib.opencv;
+  requires wpilib.util;
+
+  exports edu.wpi.first.cscore;
+  exports edu.wpi.first.cscore.raw;
+}

epilogue-processor/build.gradle

@@ -8,10 +8,17 @@ ext {
 }
 
 apply from: "${rootDir}/shared/java/javacommon.gradle"
+//apply from: "${rootDir}/shared/java/opencv-module-patches.gradle"
 
 dependencies {
     implementation(project(':epilogue-runtime'))
     api project(':wpilibNewCommands')
 
     testImplementation 'com.google.testing.compile:compile-testing:+'
 }
+
+test {
+    moduleOptions {
+        runOnClasspath = true
+    }
+}

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

@@ -66,6 +66,7 @@ public boolean process(Set<? extends TypeElement> annotations, RoundEnvironment
             });
 
     roundEnv.getRootElements().stream()
+        .filter(e -> e instanceof TypeElement)
         .filter(
             e ->
                 processingEnv

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

@@ -46,15 +46,17 @@ public void writeEpilogueFile(
       List<String> loggerClassNames, Collection<TypeElement> mainRobotClasses) {
     try {
       var centralStore =
-          m_processingEnv.getFiler().createSourceFile("edu.wpi.first.epilogue.Epilogue");
+          m_processingEnv.getFiler().createSourceFile("edu.wpi.first.epilogue.generated.Epilogue");
 
       try (var out = new PrintWriter(centralStore.openOutputStream())) {
-        out.println("package edu.wpi.first.epilogue;");
+        out.println("package edu.wpi.first.epilogue.generated;");
         out.println();
 
         out.println("import static edu.wpi.first.units.Units.Seconds;");
         out.println();
 
+        out.println("import edu.wpi.first.epilogue.Logged;");
+        out.println("import edu.wpi.first.epilogue.EpilogueConfiguration;");
         out.println("import edu.wpi.first.hal.FRCNetComm;");
         out.println("import edu.wpi.first.hal.HAL;");
         out.println();

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

@@ -190,7 +190,7 @@ private void writeLoggerFile(
       }
 
       out.println("import edu.wpi.first.epilogue.Logged;");
-      out.println("import edu.wpi.first.epilogue.Epilogue;");
+      out.println("import edu.wpi.first.epilogue.generated.Epilogue;");
       out.println("import edu.wpi.first.epilogue.logging.ClassSpecificLogger;");
       out.println("import edu.wpi.first.epilogue.logging.EpilogueBackend;");
       if (requiresVarHandles) {

epilogue-processor/src/main/java/module-info.java

@@ -0,0 +1,14 @@
+// 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.
+
+import javax.annotation.processing.Processor;
+
+open module wpilib.epilogue.processor {
+  requires java.compiler;
+  requires jdk.compiler;
+  requires wpilib.epilogue;
+
+  provides Processor with
+      edu.wpi.first.epilogue.processor.AnnotationProcessor;
+}