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WPILib Maven Artifacts

WPILib publishes its built artifacts to our Maven server for use by downstream projects. This document explains these locations, and the meanings of artifact names, classifiers, and versions.

Repositories

We provide two repositories. These repositories are:

The release repository is where official WPILib releases are pushed. The development repository is where development releases of every commit to main is pushed.

Artifact classifiers

We provide two base types of artifacts.

The first types are Java artifacts. These are usually published as jar files. Usually, the actual jar file is published with no classifier. The sources are published with the -sources classifier, and the javadocs are published with the -javadoc classifier.

The second types are native artifacts. These are usually published as zip files (except for the JNI artifact types, which are jar files. See below for information on this). The -sources and -headers classifiers contain the sources and headers respectively for the library. Each artifact also contains a classifier for each platform we publish. This platform is in the format {os}{arch}. The platform artifact only contains the binaries for a specific platform. In addition, we provide a -all classifier. This classifier combines all of the platform artifacts into a single artifact. This is useful for tools that cannot determine what version to use during builds. However, we recommend using the platform specific classifier when possible. Note that the binary artifacts never contain the headers, you always need the -headers classifier to get those.

Artifact Names

WPILib builds four different types of artifacts.

C++ Only Libraries

When we publish C++ only libraries, they are published with the base artifact name as their artifact name, with a -cpp extension. All dependencies for the library are linked as shared libraries to the binary.

Example:

edu.wpi.first.wpilibc:wpilibc-cpp:version:classifier@zip

Java Only Libraries

When we publish Java only libraries, they are published with the base artifact name as their artifact name, with a -java extension.

Example:

edu.wpi.first.wpilibj:wpilibj-java:version

C++/Java Libraries without JNI

For libraries that are both C++ and Java, but without a JNI component, the C++ component is published with the basename-cpp artifact name, and the Java component is published with the basename-java artifact name.

Example:

edu.wpi.first.wpiutil:wpiutil-cpp:version:classifier@zip (C++)
edu.wpi.first.wpiutil:wpiutil-java:version (Java)

C++/Java Libraries with JNI

For libraries that are both C++ and Java with a JNI component there are three different artifact names. For Java, the component is published as basename-java. For C++, the basename-cpp artifact contains the C++ artifacts with all dependencies linked as shared libraries to the binary. These binaries DO contain the JNI entry points. The basename-jni artifact contains identical C++ binaries to the -cpp artifact, however all of its dependencies are statically linked, and only the JNI and C entry points are exported.

The -jni artifact should only be used in cases where you want to create a self contained Java application where the native artifacts are embedded in the jar. Note in an extraction scenario, extending off of the library is never supported, which is why the C++ entry points are not exposed. The name of the library is randomly generated during extraction. For pretty much all cases, and if you ever want to extend from a native library, you should use the -cpp artifacts. GradleRIO uses the -cpp artifacts for all platforms, even desktop, for this reason.

Example:

edu.wpi.first.ntcore:ntcore-cpp:version:classifier@zip (C++)
edu.wpi.first.ntcore:ntcore-jni:version:classifier (JNI jar library)
edu.wpi.first.ntcore:ntcore-java:version (Java)

Provided Artifacts

This repository provides the following artifacts. Below each artifact is its dependencies. Note if ever using the -jni artifacts, no dependencies are needed for native binaries.

For C++, if building with static dependencies, the listed order should be the link order in your linker.

All artifacts are based at edu.wpi.first.artifactname in the repository.

  • wpiutil

  • wpigui

    • imgui

  • wpimath

    • wpiutil

  • wpinet

    • wpiutil

  • ntcore

    • wpiutil
    • wpinet

  • glass/libglass

    • wpiutil
    • wpimath
    • wpigui

  • glass/libglassnt

    • wpiutil
    • wpinet
    • ntcore
    • wpimath
    • wpigui

  • hal

    • wpiutil

  • halsim

    • wpiutil
    • wpinet
    • ntcore
    • wpimath
    • wpigui
    • libglass
    • libglassnt

  • cscore

    • opencv
    • wpinet
    • wpiutil

  • cameraserver

    • ntcore
    • cscore
    • opencv
    • wpinet
    • wpiutil

  • wpilibj

    • hal
    • cameraserver
    • ntcore
    • cscore
    • wpinet
    • wpiutil

  • wpilibc

    • hal
    • cameraserver
    • ntcore
    • cscore
    • wpimath
    • wpinet
    • wpiutil

  • wpilibNewCommands

    • wpilibc
    • hal
    • cameraserver
    • ntcore
    • cscore
    • wpimath
    • wpinet
    • wpiutil

  • wpiunits

  • apriltag

    • wpiutil
    • wpimath

Third Party Artifacts

This repository provides the builds of the following third party software.

All artifacts are based at edu.wpi.first.thirdparty.frcYEAR in the repository.

  • apriltaglib
  • googletest
  • imgui
  • opencv
  • libssh