[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

wpimath/src/main/python/tools/create_units.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+
+import io
+import inspect
+import pathlib
+import re
+import subprocess
+import sys
+import toml
+
+out = {}
+
+for f in sorted(pathlib.Path(sys.argv[1]).glob("*.h")):
+    if f.name == "base.h":
+        continue
+
+    names = []
+
+    with open(f) as fp:
+        last_line = None
+        for line in fp.readlines():
+            line = line.strip()
+            if last_line is not None:
+                line = last_line + line
+                last_line = None
+            elif line.endswith("(") or line.endswith(","):
+                last_line = line
+                continue
+
+            m = re.match(r"UNIT_ADD\(\w+, (\w+), (\w+),", line)
+            if m:
+                names.append((m.group(1), m.group(2)))
+            else:
+                m = re.match(r"UNIT_ADD_WITH_METRIC_PREFIXES\(\w+, (\w+), (\w+),", line)
+                if m:
+                    names.append((m.group(1), m.group(2)))
+                    for i in ("nano", "micro", "milli", "kilo"):
+                        names.append((f"{i}{m.group(1)}", f"{i}{m.group(2)}"))
+
+    out_name = f"units_{f.name[:-2]}_type_caster.h"
+
+    if names:
+        if True:
+            ofp = io.StringIO()
+
+            ofp.write("#pragma once\n")
+            ofp.write("\n")
+            ofp.write(f"#include <units/{f.name}>\n")
+            ofp.write("\n")
+
+            ofp.write("\nnamespace pybind11 { namespace detail {\n")
+
+            for single, double in names:
+                ofp.write(
+                    inspect.cleandoc(
+                        f"""
+                
+                    template <> struct handle_type_name<units::{single}_t> {{
+                    static constexpr auto name = _("{double}");
+                    }};
+
+                    template <> struct handle_type_name<units::{double}> {{
+                    static constexpr auto name = _("{double}");
+                    }};
+
+                """
+                    )
+                )
+                ofp.write("\n\n")
+
+            ofp.write("\n}\n}\n\n")
+
+            ofp.write(f'#include "_units_base_type_caster.h"\n')
+            ofp.write("\n")
+
+            ofp.seek(0)
+
+            content = subprocess.check_output(
+                ["clang-format"], input=ofp.getvalue(), encoding="utf-8"
+            )
+
+            with open(out_name, "w+") as fp:
+                fp.write(content)
+        else:
+            out[out_name] = sorted(
+                [f"units::{single}_t" for single, _ in names]
+                + [f"units::{single}" for single, _ in names]
+                + [f"units::{double}" for _, double in names]
+            )
+
+
+print(toml.dumps(dict(sup=out)))