diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..8acf4c8
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,110 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/roborio-cross-ubuntu:2024-22.04
+            artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
+          # - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+          #   artifact-name: Arm32
+          #   build-options: "-Ponlylinuxarm32"
+          # - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+          #   artifact-name: Arm64
+          #   build-options: "-Ponlylinuxarm64"
+          - container: wpilib/ubuntu-base:22.04
+            artifact-name: Linux
+            build-options: ""
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+          fetch-depth: 0
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/${{ github.event.repository.name }}/${{ github.event.repository.name }}
+      - name: Build with Gradle
+        run: ./gradlew build ${{ matrix.build-options }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  build-host:
+    env: 
+      MACOSX_DEPLOYMENT_TARGET: 13
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-2022
+            artifact-name: Win64
+            architecture: x64
+          - os: macos-14
+            artifact-name: macOS
+            architecture: x64
+    name: "Build - ${{ matrix.artifact-name }}"
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - name: Fetch all history and metadata
+        run: git fetch --prune --unshallow
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+          architecture: ${{ matrix.architecture }}
+      - name: Build with Gradle
+        run: ./gradlew build -Pbuildalldesktop
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact-name }}
+          path: build/allOutputs
+
+  combine:
+    name: Combine
+    needs: [build-docker, build-host]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          repository: wpilibsuite/build-tools
+      - uses: actions/download-artifact@v4
+        with:
+          path: combiner/products/build/allOutputs
+      - name: Flatten Artifacts
+        run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: 17
+      - name: Combine
+        # if: |
+        #   !startsWith(github.ref, 'refs/tags/v')
+        run: ./gradlew publish -Pthirdparty
+        working-directory: combiner
+      # - name: Combine (Release)
+      #   if: |
+      #     github.repository_owner == 'wpilibsuite' &&
+      #     startsWith(github.ref, 'refs/tags/v')
+      #   run: |
+      #     ./gradlew publish -Pthirdparty
+      #   working-directory: combiner
+      #   env:
+      #     RUN_AZURE_ARTIFACTORY_RELEASE: 'TRUE'
+      #     ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
+      #     ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: Maven
+          path: ~/releases
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..a332fb2
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,160 @@
+# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+.classpath
+.project
+.settings/
+bin/
+
+
+# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..cfccbf4
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "files.exclude": {
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true
+  },
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
+}
\ No newline at end of file
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..801c0d0
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+  "enableCppIntellisense": true,
+  "currentLanguage": "cpp",
+  "projectYear": "intellisense",
+  "teamNumber": 9999
+}
diff --git a/ExampleVendorJson.json b/ExampleVendorJson.json
new file mode 100644
index 0000000..e5188c9
--- /dev/null
+++ b/ExampleVendorJson.json
@@ -0,0 +1,74 @@
+{
+    "fileName": "ExampleVendorJson.json",
+    "name": "ExampleVendorDep",
+    "version": "0.0.1",
+    "frcYear": "2024",
+    "uuid": "Generate A Unique GUID https://guidgenerator.com/online-guid-generator.aspx and insert it here", This line is to purposely make this fail to parse
+    "mavenUrls": [
+        "ThisNeedsToBeTheRootMavenUrl"
+    ],
+    "jsonUrl": "InsertSomeUrlHere",
+    "javaDependencies": [
+        {
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-java",
+            "version": "0.0.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-driver",
+            "version": "0.0.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-cpp",
+            "version": "0.0.1",
+            "libName": "Vendor",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.vendor.frc",
+            "artifactId": "Vendor-driver",
+            "version": "0.0.1",
+            "libName": "VendorDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..0ebfba8
--- /dev/null
+++ b/README.md
@@ -0,0 +1,25 @@
+# WPILib Vendor Template
+
+This is the base WPILib vendor template for 2023.
+
+## Layout
+
+The build is split into 3 libraries. A java library is built. This has access to all of wpilib, and also can JNI load the driver library.
+
+A driver library is built. This should contain all low level code you want to access from both C++, Java and any other text based language. This will not work with LabVIEW. This library has access to the WPILib HAL and wpiutil. This library can only export C symbols. It cannot export C++ symbols at all, and all C symbols must be explicitly listed in the symbols.txt file in the driver folder. JNI symbols must be listed in this file as well. This library however can be written in C++. If you attempt to change this library to have access to all of wpilib, you will break JNI access and it will no longer work.
+
+A native C++ library is built. This has access to all of wpilib, and access to the driver library. This should implment the standard wpilib interfaces.
+
+## Customizing
+For Java, the library name will be the folder name the build is started from, so rename the folder to the name of your choosing. 
+
+For the native impl, you need to change the library name in the exportsConfigs block of build.gradle, the components block of build.gradle, and the taskList input array name in publish.gradle.
+
+For the driver, change the library name in privateExportsConfigs, the driver name in components, and the driverTaskList input array name. In addition, you'll need to change the `lib library` in the native C++ impl component, and the JNI library name in the JNI java class.
+
+For the maven artifact names, those are all in publish.gradle about 40 lines down.
+
+## Building and editing
+This uses gradle, and uses the same base setup as a standard GradleRIO robot project. This means you build with `./gradlew build`, and can install the native toolchain with `./gradlew installRoboRIOToolchain`. If you open this project in VS Code with the wpilib extension installed, you will get intellisense set up for both C++ and Java.
+
+By default, this template builds against the latest WPILib development build. To build against the last WPILib tagged release, build with `./gradlew build -PreleaseMode`.
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..bb4238b
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,130 @@
+plugins {
+  id 'cpp'
+  id 'java'
+  id 'google-test'
+  id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
+  id 'edu.wpi.first.NativeUtils' version '2024.7.2'
+  id 'edu.wpi.first.GradleJni' version '1.1.0'
+  id 'edu.wpi.first.GradleVsCode' version '2.1.0'
+}
+
+repositories {
+  mavenCentral()
+}
+if (project.hasProperty('releaseMode')) {
+  wpilibRepositories.addAllReleaseRepositories(project)
+} else {
+  wpilibRepositories.addAllDevelopmentRepositories(project)
+}
+
+// Apply C++ configuration
+apply from: 'config.gradle'
+
+// Apply Java configuration
+dependencies {
+    implementation 'edu.wpi.first.cscore:cscore-java:2024.+'
+    implementation 'edu.wpi.first.cameraserver:cameraserver-java:2024.+'
+    implementation 'edu.wpi.first.ntcore:ntcore-java:2024.+'
+    implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.+'
+    implementation 'edu.wpi.first.wpiutil:wpiutil-java:2024.+'
+    implementation 'edu.wpi.first.wpimath:wpimath-java:2024.+'
+    implementation 'edu.wpi.first.wpiunits:wpiunits-java:2024.+'
+    implementation 'edu.wpi.first.hal:hal-java:2024.+'
+    implementation "org.ejml:ejml-simple:0.43.1"
+    implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
+    implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
+    implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
+    implementation 'edu.wpi.first.thirdparty.frc2024.opencv:opencv-java:4.8.0-2'
+}
+
+// Set up exports properly
+nativeUtils {
+  exportsConfigs {
+    // Main library is just default empty. This will export everything
+    Vendor {
+    }
+  }
+  privateExportsConfigs {
+    // Only export explicit symbols from driver library
+    VendorDriver {
+      exportsFile = project.file("src/main/driver/symbols.txt")
+    }
+  }
+}
+
+model {
+  components {
+    Vendor(NativeLibrarySpec) {
+      sources {
+        cpp {
+          source {
+            srcDirs 'src/main/native/cpp'
+            include '**/*.cpp'
+          }
+          exportedHeaders {
+            srcDirs 'src/main/native/include'
+          }
+        }
+      }
+      binaries.all {
+        lib library: 'VendorDriver', linkage: 'shared'
+      }
+      nativeUtils.useRequiredLibrary(it, 'wpilib_shared')
+    }
+
+    VendorDriver(JniNativeLibrarySpec) {
+      enableCheckTask true
+      javaCompileTasks << compileJava
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.roborio)
+      // Leave these for future proofing
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm32)
+      jniCrossCompileOptions << JniCrossCompileOptions(nativeUtils.wpi.platforms.linuxarm64)
+      sources {
+        cpp {
+          source {
+            srcDirs 'src/main/driver/cpp'
+            include '**/*.cpp'
+          }
+          exportedHeaders {
+            srcDirs 'src/main/driver/include'
+          }
+        }
+      }
+
+      nativeUtils.useRequiredLibrary(it, "driver_shared")
+    }
+  }
+  testSuites {
+    VendorTest {
+        sources.cpp {
+            source {
+                srcDir 'src/test/native/cpp'
+                include '**/*.cpp'
+            }
+        }
+
+        binaries.all {
+          lib library: 'VendorDriver', linkage: 'shared'
+        }
+
+        nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
+    }
+
+    VendorDriverTest {
+        sources.cpp {
+            source {
+                srcDir 'src/test/driver/cpp'
+                include '**/*.cpp'
+            }
+        }
+
+        nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
+    }
+  }
+}
+
+apply from: 'publish.gradle'
+
+wrapper {
+  gradleVersion '8.5'
+}
diff --git a/config.gradle b/config.gradle
new file mode 100644
index 0000000..0c88342
--- /dev/null
+++ b/config.gradle
@@ -0,0 +1,177 @@
+import org.gradle.internal.os.OperatingSystem
+
+nativeUtils.addWpiNativeUtils()
+nativeUtils.withCrossRoboRIO()
+
+nativeUtils {
+    wpi {
+        configureDependencies {
+            wpiVersion = "2024.+"
+            opencvYear = "frc2024"
+            googleTestYear = "frc2024"
+            niLibVersion = "2024.2.1"
+            opencvVersion = "4.8.0-2"
+            googleTestVersion = "1.14.0-1"
+        }
+    }
+}
+
+nativeUtils.wpi.addWarnings()
+nativeUtils.wpi.addWarningsAsErrors()
+
+nativeUtils.setSinglePrintPerPlatform()
+
+model {
+    // Uncomment this, and remove lines below it to enable builds for just roborio
+    // components {
+    //     all {
+    //         targetPlatform nativeUtils.wpi.platforms.roborio
+    //     }
+    // }
+    components {
+        all {
+            nativeUtils.useAllPlatforms(it)
+        }
+    }
+    binaries {
+        withType(NativeBinarySpec).all {
+            nativeUtils.usePlatformArguments(it)
+        }
+    }
+}
+
+ext.appendDebugPathToBinaries = { binaries->
+    binaries.withType(StaticLibraryBinarySpec) {
+        if (it.buildType.name.contains('debug')) {
+            def staticFileDir = it.staticLibraryFile.parentFile
+            def staticFileName = it.staticLibraryFile.name
+            def staticFileExtension = staticFileName.substring(staticFileName.lastIndexOf('.'))
+            staticFileName = staticFileName.substring(0, staticFileName.lastIndexOf('.'))
+            staticFileName = staticFileName + 'd' + staticFileExtension
+            def newStaticFile = new File(staticFileDir, staticFileName)
+            it.staticLibraryFile = newStaticFile
+        }
+    }
+    binaries.withType(SharedLibraryBinarySpec) {
+        if (it.buildType.name.contains('debug')) {
+            def sharedFileDir = it.sharedLibraryFile.parentFile
+            def sharedFileName = it.sharedLibraryFile.name
+            def sharedFileExtension = sharedFileName.substring(sharedFileName.lastIndexOf('.'))
+            sharedFileName = sharedFileName.substring(0, sharedFileName.lastIndexOf('.'))
+            sharedFileName = sharedFileName + 'd' + sharedFileExtension
+            def newSharedFile = new File(sharedFileDir, sharedFileName)
+
+            def sharedLinkFileDir = it.sharedLibraryLinkFile.parentFile
+            def sharedLinkFileName = it.sharedLibraryLinkFile.name
+            def sharedLinkFileExtension = sharedLinkFileName.substring(sharedLinkFileName.lastIndexOf('.'))
+            sharedLinkFileName = sharedLinkFileName.substring(0, sharedLinkFileName.lastIndexOf('.'))
+            sharedLinkFileName = sharedLinkFileName + 'd' + sharedLinkFileExtension
+            def newLinkFile = new File(sharedLinkFileDir, sharedLinkFileName)
+
+            it.sharedLibraryLinkFile = newLinkFile
+            it.sharedLibraryFile = newSharedFile
+        }
+    }
+}
+
+ext.createComponentZipTasks = { components, names, base, type, project, func ->
+    def stringNames = names.collect {it.toString()}
+    def configMap = [:]
+    components.each {
+        if (it in NativeLibrarySpec && stringNames.contains(it.name)) {
+            it.binaries.each {
+                if (!it.buildable) return
+                def target = nativeUtils.getPublishClassifier(it)
+                if (configMap.containsKey(target)) {
+                    configMap.get(target).add(it)
+                } else {
+                    configMap.put(target, [])
+                    configMap.get(target).add(it)
+                }
+            }
+        }
+    }
+    def taskList = []
+    def outputsFolder = file("$project.buildDir/outputs")
+    configMap.each { key, value ->
+        def task = project.tasks.create(base + "-${key}", type) {
+            description = 'Creates component archive for platform ' + key
+            destinationDirectory = outputsFolder
+            archiveClassifier = key
+            archiveBaseName = '_M_' + base
+            duplicatesStrategy = 'exclude'
+
+            from(licenseFile) {
+                into '/'
+            }
+
+            func(it, value)
+        }
+        taskList.add(task)
+
+        project.build.dependsOn task
+
+        project.artifacts {
+            task
+        }
+        addTaskToCopyAllOutputs(task)
+    }
+    return taskList
+}
+
+ext.createAllCombined = { list, name, base, type, project ->
+    def outputsFolder = file("$project.buildDir/outputs")
+
+    def task = project.tasks.create(base + "-all", type) {
+        description = "Creates component archive for all classifiers"
+        destinationDirectory = outputsFolder
+        classifier = "all"
+        archiveBaseName = base
+        duplicatesStrategy = 'exclude'
+
+        list.each {
+            if (it.name.endsWith('debug')) return
+            from project.zipTree(it.archiveFile)
+            dependsOn it
+        }
+    }
+
+    project.build.dependsOn task
+
+    project.artifacts {
+        task
+    }
+
+    return task
+
+}
+
+ext.includeStandardZipFormat = { task, value ->
+    value.each { binary ->
+        if (binary.buildable) {
+            if (binary instanceof SharedLibraryBinarySpec) {
+                task.dependsOn binary.tasks.link
+                task.from(new File(binary.sharedLibraryFile.absolutePath + ".debug")) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+                def sharedPath = binary.sharedLibraryFile.absolutePath
+                sharedPath = sharedPath.substring(0, sharedPath.length() - 4)
+
+                task.from(new File(sharedPath + '.pdb')) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+                task.from(binary.sharedLibraryFile) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+                task.from(binary.sharedLibraryLinkFile) {
+                    into nativeUtils.getPlatformPath(binary) + '/shared'
+                }
+            } else  if (binary instanceof StaticLibraryBinarySpec) {
+                task.dependsOn binary.tasks.createStaticLib
+                task.from(binary.staticLibraryFile) {
+                    into nativeUtils.getPlatformPath(binary) + '/static'
+                }
+            }
+        }
+    }
+}
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..d64cd49
Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..1af9e09
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100755
index 0000000..1aa94a4
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,249 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..6689b85
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,92 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/publish.gradle b/publish.gradle
new file mode 100644
index 0000000..477455a
--- /dev/null
+++ b/publish.gradle
@@ -0,0 +1,205 @@
+apply plugin: 'maven-publish'
+
+ext.licenseFile = files("$rootDir/LICENSE.txt")
+
+def pubVersion = '0.0.1'
+
+def outputsFolder = file("$buildDir/outputs")
+
+def versionFile = file("$outputsFolder/version.txt")
+
+task outputVersions() {
+    description = 'Prints the versions of wpilib to a file for use by the downstream packaging project'
+    group = 'Build'
+    outputs.files(versionFile)
+
+    doFirst {
+        buildDir.mkdir()
+        outputsFolder.mkdir()
+    }
+
+    doLast {
+        versionFile.write pubVersion
+    }
+}
+
+task libraryBuild() {}
+
+build.dependsOn outputVersions
+
+task copyAllOutputs(type: Copy) {
+    destinationDir file("$buildDir/allOutputs")
+    from versionFile
+    dependsOn outputVersions
+}
+
+build.dependsOn copyAllOutputs
+copyAllOutputs.dependsOn outputVersions
+
+ext.addTaskToCopyAllOutputs = { task ->
+    copyAllOutputs.dependsOn task
+    copyAllOutputs.inputs.file task.archiveFile
+    copyAllOutputs.from task.archiveFile
+}
+
+def artifactGroupId = 'com.vendor.frc'
+def baseArtifactId = 'Vendor'
+def driverZipBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-driver_CLS"
+def zipBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-cpp_CLS"
+def javaBaseName = "_GROUP_com_vendor_frc_ID_${baseArtifactId}-java_CLS"
+
+task cppHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
+    archiveClassifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/include') {
+        into '/'
+    }
+}
+
+task cppSourceZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = zipBaseName
+    archiveClassifier = "sources"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/native/cpp') {
+        into '/'
+    }
+}
+
+task cppDriverHeadersZip(type: Zip) {
+    destinationDirectory = outputsFolder
+    archiveBaseName = driverZipBaseName
+    archiveClassifier = "headers"
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/driver/include') {
+        into '/'
+    }
+}
+
+build.dependsOn cppHeadersZip
+addTaskToCopyAllOutputs(cppHeadersZip)
+build.dependsOn cppSourceZip
+addTaskToCopyAllOutputs(cppSourceZip)
+build.dependsOn cppDriverHeadersZip
+addTaskToCopyAllOutputs(cppDriverHeadersZip)
+
+task sourcesJar(type: Jar, dependsOn: classes) {
+    archiveClassifier = 'sources'
+    from sourceSets.main.allSource
+}
+
+task javadocJar(type: Jar, dependsOn: javadoc) {
+    archiveClassifier = 'javadoc'
+    from javadoc.destinationDir
+}
+
+task outputJar(type: Jar, dependsOn: classes) {
+    archiveBaseName = javaBaseName
+    destinationDirectory = outputsFolder
+    from sourceSets.main.output
+}
+
+task outputSourcesJar(type: Jar, dependsOn: classes) {
+    archiveBaseName = javaBaseName
+    destinationDirectory = outputsFolder
+    archiveClassifier = 'sources'
+    from sourceSets.main.allSource
+}
+
+task outputJavadocJar(type: Jar, dependsOn: javadoc) {
+    archiveBaseName = javaBaseName
+    destinationDirectory = outputsFolder
+    archiveClassifier = 'javadoc'
+    from javadoc.destinationDir
+}
+
+artifacts {
+    archives sourcesJar
+    archives javadocJar
+    archives outputJar
+    archives outputSourcesJar
+    archives outputJavadocJar
+}
+
+addTaskToCopyAllOutputs(outputSourcesJar)
+addTaskToCopyAllOutputs(outputJavadocJar)
+addTaskToCopyAllOutputs(outputJar)
+
+build.dependsOn outputSourcesJar
+build.dependsOn outputJavadocJar
+build.dependsOn outputJar
+
+libraryBuild.dependsOn build
+
+def releasesRepoUrl = "$buildDir/repos/releases"
+
+publishing {
+    repositories {
+        maven {
+
+            url = releasesRepoUrl
+        }
+    }
+}
+
+task cleanReleaseRepo(type: Delete) {
+    delete releasesRepoUrl
+}
+
+tasks.matching {it != cleanReleaseRepo}.all {it.dependsOn cleanReleaseRepo}
+
+model {
+    publishing {
+        def taskList = createComponentZipTasks($.components, ['Vendor'], zipBaseName, Zip, project, includeStandardZipFormat)
+
+        def driverTaskList = createComponentZipTasks($.components, ['VendorDriver'], driverZipBaseName, Zip, project, includeStandardZipFormat)
+
+        publications {
+            cpp(MavenPublication) {
+                taskList.each {
+                    artifact it
+                }
+                artifact cppHeadersZip
+                artifact cppSourceZip
+
+                artifactId = "${baseArtifactId}-cpp"
+                groupId artifactGroupId
+                version pubVersion
+            }
+            driver(MavenPublication) {
+                driverTaskList.each {
+                    artifact it
+                }
+                artifact cppDriverHeadersZip
+
+                artifactId = "${baseArtifactId}-driver"
+                groupId artifactGroupId
+                version pubVersion
+            }
+
+            java(MavenPublication) {
+                artifact jar
+                artifact sourcesJar
+                artifact javadocJar
+
+                artifactId = "${baseArtifactId}-java"
+                groupId artifactGroupId
+                version pubVersion
+            }
+        }
+    }
+}
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..588dcaf
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,6 @@
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+    }
+}
\ No newline at end of file
diff --git a/src/main/driver/cpp/VendorJNI.cpp b/src/main/driver/cpp/VendorJNI.cpp
new file mode 100644
index 0000000..0a3ce66
--- /dev/null
+++ b/src/main/driver/cpp/VendorJNI.cpp
@@ -0,0 +1,22 @@
+#include "jni.h"
+#include "com_vendor_jni_VendorJNI.h"
+
+JNIEXPORT jint JNICALL JNI_OnLoad(JavaVM* vm, void* reserved) {
+    // Check to ensure the JNI version is valid
+
+    JNIEnv* env;
+    if (vm->GetEnv(reinterpret_cast<void**>(&env), JNI_VERSION_1_6) != JNI_OK)
+        return JNI_ERR;
+
+    // In here is also where you store things like class references
+    // if they are ever needed
+
+    return JNI_VERSION_1_6;
+}
+
+JNIEXPORT void JNICALL JNI_OnUnload(JavaVM* vm, void* reserved) {}
+
+JNIEXPORT jint JNICALL Java_com_vendor_jni_VendorJNI_initialize
+  (JNIEnv *, jclass) {
+  return 0;
+}
diff --git a/src/main/driver/cpp/driversource.cpp b/src/main/driver/cpp/driversource.cpp
new file mode 100644
index 0000000..15716a4
--- /dev/null
+++ b/src/main/driver/cpp/driversource.cpp
@@ -0,0 +1,7 @@
+#include "driverheader.h"
+
+extern "C" {
+void c_doThing() {
+
+}
+}
diff --git a/src/main/driver/include/driverheader.h b/src/main/driver/include/driverheader.h
new file mode 100644
index 0000000..5aeff00
--- /dev/null
+++ b/src/main/driver/include/driverheader.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void c_doThing();
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
diff --git a/src/main/driver/symbols.txt b/src/main/driver/symbols.txt
new file mode 100644
index 0000000..2f9b641
--- /dev/null
+++ b/src/main/driver/symbols.txt
@@ -0,0 +1,4 @@
+JNI_OnLoad
+JNI_OnUnload
+Java_com_vendor_jni_VendorJNI_initialize
+c_doThing
diff --git a/src/main/java/com/vendor/jni/VendorJNI.java b/src/main/java/com/vendor/jni/VendorJNI.java
new file mode 100644
index 0000000..9ee6fe1
--- /dev/null
+++ b/src/main/java/com/vendor/jni/VendorJNI.java
@@ -0,0 +1,60 @@
+package com.vendor.jni;
+
+import java.util.concurrent.atomic.AtomicBoolean;
+
+/**
+ * Demo class for loading the driver via JNI.
+ */
+public class VendorJNI {
+  static boolean libraryLoaded = false;
+
+  /**
+   * Helper class for determining whether or not to load the driver on static initialization.
+   */
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    /**
+     * Get whether to load the driver on static init.
+     * @return true if the driver will load on static init
+     */
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    /**
+     * Set whether to load the driver on static init.
+     * @param load the new value
+     */
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+  }
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      System.loadLibrary("VendorDriver");
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   */
+  public static synchronized void forceLoad() {
+    if (libraryLoaded) {
+      return;
+    }
+    System.loadLibrary("VendorDriver");
+    libraryLoaded = true;
+  }
+
+  /**
+   * Tells the driver to initialize.
+   * This is a demo of a native JNI method from the driver.
+   * 
+   * @return the int returned by the driver
+   * @see "VendorJNI.cpp"
+   */
+  public static native int initialize();
+}
diff --git a/src/main/native/cpp/source.cpp b/src/main/native/cpp/source.cpp
new file mode 100644
index 0000000..3990d40
--- /dev/null
+++ b/src/main/native/cpp/source.cpp
@@ -0,0 +1,6 @@
+#include "header.h"
+#include "driverheader.h"
+
+void func() {
+  c_doThing();
+}
diff --git a/src/main/native/include/header.h b/src/main/native/include/header.h
new file mode 100644
index 0000000..e69de29
diff --git a/src/test/driver/cpp/main.cpp b/src/test/driver/cpp/main.cpp
new file mode 100644
index 0000000..d0e7d22
--- /dev/null
+++ b/src/test/driver/cpp/main.cpp
@@ -0,0 +1,6 @@
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}
diff --git a/src/test/native/cpp/main.cpp b/src/test/native/cpp/main.cpp
new file mode 100644
index 0000000..d0e7d22
--- /dev/null
+++ b/src/test/native/cpp/main.cpp
@@ -0,0 +1,6 @@
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}