[copybara] mostrobotpy to allwpilib (#8503)

Resync with `mostrobotpy`

This mostly involves the big "ignore almost everything in the HAL
project" and some fixups for the Addressable LED classes.

Required two small hand fixes to get it building over here with bazel,
and with more compiler warnings on.

I also manually zeroed out the `repo_url` field in the toml files to
avoid unnecessary churn whenever it goes from a release build to a
development build. I already did this with `version` field in there, and
will do a follow up PR that updates the copybara script to do it
automatically.

---------

Co-authored-by: Default email <default@default.com>

wpimath/src/test/python/geometry/test_rotation2d.py

@@ -3,7 +3,7 @@ import math
 
 import pytest
 
-from wpimath.geometry import Rotation2d
+from wpimath import Rotation2d
 
 
 @pytest.mark.parametrize(

wpimath/src/test/python/kinematics/test_chassis_accelerations.py

@@ -1,119 +0,0 @@
-import math
-import pytest
-from wpimath.kinematics import ChassisAccelerations
-from wpimath.geometry import Rotation2d
-from wpimath.units import feetToMeters
-
-K_EPSILON = 1e-9
-
-
-def test_default_constructor():
-    accelerations = ChassisAccelerations()
-
-    assert accelerations.ax == pytest.approx(0.0, abs=K_EPSILON)
-    assert accelerations.ay == pytest.approx(0.0, abs=K_EPSILON)
-    assert accelerations.alpha == pytest.approx(0.0, abs=K_EPSILON)
-
-
-def test_parameterized_constructor():
-    # 1.0 m/s^2, 2.0 m/s^2, 3.0 rad/s^2
-    accelerations = ChassisAccelerations(1.0, 2.0, 3.0)
-
-    assert accelerations.ax == pytest.approx(1.0, abs=K_EPSILON)
-    assert accelerations.ay == pytest.approx(2.0, abs=K_EPSILON)
-    assert accelerations.alpha == pytest.approx(3.0, abs=K_EPSILON)
-
-
-def test_to_robot_relative():
-    start_accel = ChassisAccelerations(1.0, 0.0, 0.5)
-
-    chassis_accelerations = start_accel.toRobotRelative(Rotation2d.fromDegrees(-90))
-
-    assert chassis_accelerations.ax == pytest.approx(0.0, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(1.0, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(0.5, abs=K_EPSILON)
-
-
-def test_to_field_relative():
-    start_accel = ChassisAccelerations(1.0, 0.0, 0.5)
-
-    chassis_accelerations = start_accel.toFieldRelative(Rotation2d.fromDegrees(45))
-
-    expected_val = 1.0 / math.sqrt(2.0)
-
-    assert chassis_accelerations.ax == pytest.approx(expected_val, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(expected_val, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(0.5, abs=K_EPSILON)
-
-
-def test_plus():
-    left = ChassisAccelerations(1.0, 0.5, 0.75)
-    right = ChassisAccelerations(2.0, 1.5, 0.25)
-
-    chassis_accelerations = left + right
-
-    assert chassis_accelerations.ax == pytest.approx(3.0, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(2.0, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(1.0, abs=K_EPSILON)
-
-
-def test_minus():
-    left = ChassisAccelerations(1.0, 0.5, 0.75)
-    right = ChassisAccelerations(2.0, 0.5, 0.25)
-
-    chassis_accelerations = left - right
-
-    assert chassis_accelerations.ax == pytest.approx(-1.0, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(0.0, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(0.5, abs=K_EPSILON)
-
-
-def test_unary_minus():
-    accel = ChassisAccelerations(1.0, 0.5, 0.75)
-
-    chassis_accelerations = -accel
-
-    assert chassis_accelerations.ax == pytest.approx(-1.0, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(-0.5, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(-0.75, abs=K_EPSILON)
-
-
-def test_multiplication():
-    accel = ChassisAccelerations(1.0, 0.5, 0.75)
-
-    chassis_accelerations = accel * 2.0
-
-    assert chassis_accelerations.ax == pytest.approx(2.0, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(1.0, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(1.5, abs=K_EPSILON)
-
-
-def test_division():
-    accel = ChassisAccelerations(2.0, 1.0, 1.5)
-
-    chassis_accelerations = accel / 2.0
-
-    assert chassis_accelerations.ax == pytest.approx(1.0, abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(0.5, abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(0.75, abs=K_EPSILON)
-
-
-def test_feet_constructor():
-    chassis_accelerations = ChassisAccelerations.fromFps(10, 11, math.radians(45))
-
-    assert chassis_accelerations.ax == pytest.approx(feetToMeters(10), abs=K_EPSILON)
-    assert chassis_accelerations.ay == pytest.approx(feetToMeters(11), abs=K_EPSILON)
-    assert chassis_accelerations.alpha == pytest.approx(math.radians(45), abs=K_EPSILON)
-
-    assert chassis_accelerations.ax_fpss == pytest.approx(10, abs=K_EPSILON)
-    assert chassis_accelerations.ay_fpss == pytest.approx(11, abs=K_EPSILON)
-    assert chassis_accelerations.alpha_dpss == pytest.approx(45, abs=K_EPSILON)
-
-
-def test_repr():
-    chassis_accelerations = ChassisAccelerations(1, 2, 3)
-
-    assert (
-        str(chassis_accelerations)
-        == "ChassisAccelerations(ax=1.000000, ay=2.000000, alpha=3.000000)"
-    )

wpimath/src/test/python/kinematics/test_chassis_speeds.py

@@ -1,7 +1,6 @@
 import math
 
-from wpimath.geometry import Rotation2d
-from wpimath.kinematics import ChassisSpeeds
+from wpimath import ChassisSpeeds
 
 
 def test_plus() -> None:

wpimath/src/test/python/kinematics/test_differential_drive_wheel_accelerations.py

@@ -1,5 +1,5 @@
 import pytest
-from wpimath.kinematics import DifferentialDriveWheelAccelerations
+from wpimath import DifferentialDriveWheelAccelerations
 from wpimath.units import feetToMeters
 
 K_EPSILON = 1e-9

wpimath/src/test/python/kinematics/test_mecanum_drive_wheel_accelerations.py

@@ -1,5 +1,5 @@
 import pytest
-from wpimath.kinematics import MecanumDriveWheelAccelerations
+from wpimath import MecanumDriveWheelAccelerations
 from wpimath.units import feetToMeters
 
 # Epsilon matching the C++ test

wpimath/src/test/python/kinematics/test_swerve.py

@@ -1,7 +1,9 @@
 import pytest
 
-from wpimath.geometry import Pose2d, Rotation2d, Translation2d
-from wpimath.kinematics import (
+from wpimath import (
+    Pose2d,
+    Rotation2d,
+    Translation2d,
     ChassisSpeeds,
     SwerveDrive4Kinematics,
     SwerveDrive4Odometry,

wpimath/src/test/python/kinematics/test_swerve_module_accelerations.py

@@ -1,7 +1,6 @@
 import pytest
 import math
-from wpimath.kinematics import SwerveModuleAcceleration
-from wpimath.geometry import Rotation2d
+from wpimath import Rotation2d, SwerveModuleAcceleration
 from wpimath.units import feetToMeters
 
 K_EPSILON = 1e-9

wpimath/src/test/python/test_controller.py

@@ -1,5 +0,0 @@
-import wpimath.controller
-
-
-def test_todo():
-    pass

wpimath/src/test/python/test_estimator.py

@@ -1,5 +0,0 @@
-import wpimath.estimator
-
-
-def test_todo():
-    pass

wpimath/src/test/python/test_interpolation.py

@@ -1,7 +1,8 @@
 import math
 
-from wpimath.geometry import Pose2d, Rotation2d
-from wpimath.interpolation import (
+from wpimath import (
+    Pose2d,
+    Rotation2d,
     TimeInterpolatableFloatBuffer,
     TimeInterpolatablePose2dBuffer,
     TimeInterpolatableRotation2dBuffer,

wpimath/src/test/python/test_optimization_simulated_annealing.py

@@ -5,7 +5,7 @@
 import math
 import random
 
-from wpimath.optimization import SimulatedAnnealing
+from wpimath import SimulatedAnnealing
 
 
 def clamp(v, minval, maxval):

wpimath/src/test/python/test_spline.py

@@ -1,5 +0,0 @@
-import wpimath.spline
-
-
-def test_todo():
-    pass

wpimath/src/test/python/test_system.py

@@ -1,6 +0,0 @@
-import wpimath.system
-import wpimath.system.plant
-
-
-def test_todo():
-    pass

wpimath/src/test/python/test_trajectory.py

@@ -1,25 +1,22 @@
 import math
 
-from wpimath.geometry import (
+from wpimath import (
+    CubicHermiteSpline,
     Ellipse2d,
+    EllipticalRegionConstraint,
+    MaxVelocityConstraint,
     Pose2d,
     Rectangle2d,
+    RectangularRegionConstraint,
     Rotation2d,
-    Transform2d,
-    Translation2d,
-)
-from wpimath.spline import CubicHermiteSpline, SplineHelper
-from wpimath.trajectory import (
+    SplineHelper,
+    TrajectoryConstraint,
     Trajectory,
     TrajectoryConfig,
     TrajectoryGenerator,
     TrajectoryParameterizer,
-)
-from wpimath.trajectory.constraint import (
-    EllipticalRegionConstraint,
-    MaxVelocityConstraint,
-    RectangularRegionConstraint,
-    TrajectoryConstraint,
+    Transform2d,
+    Translation2d,
 )
 
 

wpimath/src/test/python/test_trajectory_exponential_profile.py

@@ -4,8 +4,7 @@
 
 import pytest
 
-from wpimath.controller import SimpleMotorFeedforwardMeters
-from wpimath.trajectory import ExponentialProfileMeterVolts
+from wpimath import ExponentialProfileMeterVolts, SimpleMotorFeedforwardMeters
 
 kDt = 0.01
 feedforward = SimpleMotorFeedforwardMeters(0, 2.5629, 0.43277, kDt)

wpimath/src/test/python/test_trapezoid_profile.py

@@ -1,10 +1,10 @@
 import pytest
 
-from wpimath import trajectory
+import wpimath
 
 trapezoid_profile_types = [
-    trajectory.TrapezoidProfile,
-    trajectory.TrapezoidProfileRadians,
+    wpimath.TrapezoidProfile,
+    wpimath.TrapezoidProfileRadians,
 ]
 
 

wpimath/src/test/python/trajectory/test_trapezoidal_profile.py

@@ -5,7 +5,7 @@
 
 import math
 
-from wpimath.trajectory import TrapezoidProfile
+from wpimath import TrapezoidProfile
 
 kDt = 0.01  # 10 ms