[all java] Add Java module support

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.
+
+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;
+}

buildSrc/build.gradle

@@ -10,4 +10,5 @@ repositories {
 }
 dependencies {
     implementation "edu.wpi.first:native-utils:2025.3.0"
+    implementation("org.gradlex:extra-java-module-info:1.9")
 }

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 +1,13 @@
+// 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.
+
+module wpilib.cameraserver {
+  requires transitive wpilib.opencv;
+  requires wpilib.cscore;
+  requires wpilib.ntcore;
+  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 +1,11 @@
+// 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.
+
+module wpilib.cscore {
+  requires wpilib.opencv;
+  requires wpilib.util;
+
+  exports edu.wpi.first.cscore;
+  exports edu.wpi.first.cscore.raw;
+}

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;
+
+module wpilib.epilogue.processor {
+  requires java.compiler;
+  requires jdk.compiler;
+  requires wpilib.epilogue;
+
+  provides Processor with
+      edu.wpi.first.epilogue.processor.AnnotationProcessor;
+}

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

@@ -0,0 +1,12 @@
+// 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.
+
+module wpilib.epilogue {
+  requires wpilib.ntcore;
+  requires wpilib.units;
+  requires wpilib.util;
+
+  exports edu.wpi.first.epilogue;
+  exports edu.wpi.first.epilogue.logging;
+}

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

@@ -0,0 +1,13 @@
+// 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.
+
+module wpilib.hal {
+  requires wpilib.util;
+
+  exports edu.wpi.first.hal;
+  exports edu.wpi.first.hal.can;
+  exports edu.wpi.first.hal.communication;
+  exports edu.wpi.first.hal.simulation;
+  exports edu.wpi.first.hal.util;
+}

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

@@ -0,0 +1,9 @@
+// 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.
+
+module wpilib.ntcore {
+  requires wpilib.util;
+
+  exports edu.wpi.first.networktables;
+}

romiVendordep/build.gradle

@@ -23,6 +23,8 @@ dependencies {
     implementation project(":wpilibj")
 }
 
+apply from: "${rootDir}/shared/java/wpimath-module-patches.gradle"
+
 nativeUtils.exportsConfigs {
     // Main library is just default empty. This will export everything
     romiVendordep {

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

@@ -0,0 +1,8 @@
+// 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.
+
+module wpilib.romi {
+  requires transitive wpilib.wpilibj;
+  requires wpilib.hal;
+}

shared/java/javacommon.gradle

@@ -1,6 +1,7 @@
 apply plugin: 'maven-publish'
 apply plugin: 'java-library'
 apply plugin: 'jacoco'
+apply plugin: 'org.gradlex.extra-java-module-info'
 
 def baseArtifactId = project.baseId
 def artifactGroupId = project.groupId
@@ -114,6 +115,15 @@ tasks.withType(JavaCompile).configureEach {
         "-Xlint:-serial",
         // ignore unclaimed annotation warning from annotation processing
         "-Xlint:-processing",
+        "-Xlint:-preview",
+        // ignore modules requiring automatic library modules
+        "-Xlint:-requires-automatic",
+        "-Xlint:-requires-transitive-automatic",
+        "-Xlint:-exports",
+        // Java modules warn about exposing classes without an explicitly declared constructor
+        "-Xlint:-missing-explicit-ctor",
+        // Java modules warn about module names with trailing digits
+        "-Xlint:-module"
     ]
 }
 

shared/java/javastyle.gradle

@@ -10,6 +10,13 @@ checkstyle {
     config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
 }
 
+tasks.withType(Checkstyle) {
+    // Checkstyle falls over if module-info files are included in the check scope
+    // The suppressions file does not appear to work for this, so we need to configure the task
+    // itself
+    exclude("**/module-info.java")
+}
+
 apply plugin: 'pmd'
 
 pmd {

shared/java/opencv-module-patches.gradle

@@ -0,0 +1,6 @@
+// Patch legacy non-modularized dependencies to have module info
+extraJavaModuleInfo {
+    module('edu.wpi.first.thirdparty.frc2024.opencv:opencv-java', 'wpilib.opencv') {
+        exportAllPackages()
+    }
+}

shared/java/wpimath-module-patches.gradle

@@ -0,0 +1,34 @@
+// Patch legacy non-modularized dependencies to have module info
+extraJavaModuleInfo {
+    module('org.ejml:ejml-core', 'ejml.core') {
+        exportAllPackages()
+    }
+    module('org.ejml:ejml-simple', 'ejml.simple') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+    module('org.ejml:ejml-fsparse', 'ejml.fsparse') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+    module('org.ejml:ejml-dsparse', 'ejml.dsparse') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+    module('org.ejml:ejml-fdense', 'ejml.fdense') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+    module('org.ejml:ejml-ddense', 'ejml.ddense') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+    module('org.ejml:ejml-cdense', 'ejml.cdense') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+    module('org.ejml:ejml-zdense', 'ejml.zdense') {
+        exportAllPackages()
+        requiresTransitive('ejml.core')
+    }
+}

wpilibNewCommands/build.gradle

@@ -24,6 +24,8 @@ dependencies {
     testImplementation 'org.mockito:mockito-core:4.1.0'
 }
 
+apply from: "${rootDir}/shared/java/wpimath-module-patches.gradle"
+
 sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 
 nativeUtils.exportsConfigs {

wpilibNewCommands/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.
+
+module wpilib.commands2 {
+  requires wpilib.units;
+  requires wpilib.wpilibj;
+  requires wpilib.hal;
+  requires wpilib.ntcore;
+
+  exports edu.wpi.first.wpilibj2.command;
+  exports edu.wpi.first.wpilibj2.command.button;
+  exports edu.wpi.first.wpilibj2.command.sysid;
+}

wpilibj/build.gradle

@@ -74,6 +74,9 @@ dependencies {
     devImplementation sourceSets.main.output
 }
 
+apply from: "${rootDir}/shared/java/opencv-module-patches.gradle"
+apply from: "${rootDir}/shared/java/wpimath-module-patches.gradle"
+
 apply plugin: 'cpp'
 apply plugin: 'edu.wpi.first.NativeUtils'
 apply plugin: ExtraTasks

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

@@ -0,0 +1,28 @@
+// 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.
+
+module wpilib.wpilibj {
+  requires ejml.core;
+  requires ejml.simple;
+  requires transitive wpilib.math;
+  requires transitive wpilib.units;
+  requires transitive wpilib.util;
+  requires wpilib.hal;
+  requires wpilib.ntcore;
+  requires wpilib.cscore;
+  requires wpilib.cameraserver;
+
+  exports edu.wpi.first.wpilibj;
+  exports edu.wpi.first.wpilibj.counter;
+  exports edu.wpi.first.wpilibj.drive;
+  exports edu.wpi.first.wpilibj.event;
+  exports edu.wpi.first.wpilibj.internal;
+  exports edu.wpi.first.wpilibj.livewindow;
+  exports edu.wpi.first.wpilibj.motorcontrol;
+  exports edu.wpi.first.wpilibj.shuffleboard;
+  exports edu.wpi.first.wpilibj.simulation;
+  exports edu.wpi.first.wpilibj.smartdashboard;
+  exports edu.wpi.first.wpilibj.sysid;
+  exports edu.wpi.first.wpilibj.util;
+}

wpimath/build.gradle

@@ -90,6 +90,8 @@ dependencies {
     api "us.hebi.quickbuf:quickbuf-runtime:1.3.3"
 }
 
+apply from: "${rootDir}/shared/java/wpimath-module-patches.gradle"
+
 sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"
 sourceSets.main.resources.srcDir "${projectDir}/src/main/proto"
 

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

@@ -0,0 +1,46 @@
+// 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.
+
+module wpilib.math {
+  requires com.fasterxml.jackson.annotation;
+  requires ejml.core;
+  requires ejml.ddense;
+  requires ejml.simple;
+  requires us.hebi.quickbuf.runtime;
+  requires wpilib.units;
+  requires wpilib.util;
+
+  exports edu.wpi.first.math;
+  exports edu.wpi.first.math.controller;
+  exports edu.wpi.first.math.controller.proto;
+  exports edu.wpi.first.math.controller.struct;
+  exports edu.wpi.first.math.estimator;
+  exports edu.wpi.first.math.filter;
+  exports edu.wpi.first.math.geometry;
+  exports edu.wpi.first.math.geometry.proto;
+  exports edu.wpi.first.math.geometry.struct;
+  exports edu.wpi.first.math.interpolation;
+  exports edu.wpi.first.math.jni; // Probably unnecessary
+  exports edu.wpi.first.math.kinematics;
+  exports edu.wpi.first.math.kinematics.proto;
+  exports edu.wpi.first.math.kinematics.struct;
+  exports edu.wpi.first.math.optimization;
+  exports edu.wpi.first.math.path;
+  exports edu.wpi.first.math.proto;
+  exports edu.wpi.first.math.spline;
+  exports edu.wpi.first.math.spline.proto;
+  exports edu.wpi.first.math.spline.struct;
+  exports edu.wpi.first.math.struct;
+  exports edu.wpi.first.math.system;
+  exports edu.wpi.first.math.system.plant;
+  exports edu.wpi.first.math.system.plant.proto;
+  exports edu.wpi.first.math.system.plant.struct;
+  exports edu.wpi.first.math.system.proto;
+  exports edu.wpi.first.math.system.struct;
+  exports edu.wpi.first.math.trajectory;
+  exports edu.wpi.first.math.trajectory.constraint;
+  exports edu.wpi.first.math.trajectory.proto;
+  exports edu.wpi.first.math.util;
+  exports edu.wpi.first.math.numbers;
+}

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

@@ -0,0 +1,9 @@
+// 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.
+
+module wpilib.net {
+  requires wpilib.util;
+
+  exports edu.wpi.first.net;
+}

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

@@ -0,0 +1,10 @@
+// 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.
+
+module wpilib.units {
+  exports edu.wpi.first.units;
+  exports edu.wpi.first.units.collections;
+  exports edu.wpi.first.units.measure;
+  exports edu.wpi.first.units.mutable;
+}

wpiutil/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.
+
+@SuppressWarnings("requires-transitive-automatic")
+module wpilib.util {
+  requires com.fasterxml.jackson.databind;
+  requires transitive us.hebi.quickbuf.runtime;
+
+  exports edu.wpi.first.util;
+  exports edu.wpi.first.util.cleanup;
+  exports edu.wpi.first.util.concurrent;
+  exports edu.wpi.first.util.datalog;
+  exports edu.wpi.first.util.function;
+  exports edu.wpi.first.util.protobuf;
+  exports edu.wpi.first.util.sendable;
+  exports edu.wpi.first.util.struct;
+}

xrpVendordep/build.gradle

@@ -23,6 +23,8 @@ dependencies {
     implementation project(":wpilibj")
 }
 
+apply from: "${rootDir}/shared/java/wpimath-module-patches.gradle"
+
 nativeUtils.exportsConfigs {
     // Main library is just default empty. This will export everything
     xrpVendordep {

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

@@ -0,0 +1,8 @@
+// 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.
+
+module wpilib.xrp {
+  requires transitive wpilib.wpilibj;
+  requires wpilib.hal;
+}