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[robotpy] Add build scripts for wpilib and dependencies (#8348)

Browse Source 
This gets the majority of projects from mostrobotpy building in this mirror. Projects missing still are cscore and the halsim wrappers.
This commit is contained in:
PJ Reiniger
2025-11-09 13:32:58 -05:00
committed by GitHub
parent 5636b8cd77
commit 892666fbbe
38 changed files with 7273 additions and 92 deletions
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33
.github/workflows/bazel.yml vendored
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@@ -121,3 +121,36 @@ jobs:
name: ${{ matrix.platform }}-bazel-lint-fixes
path: bazel-lint-fixes.patch
if: ${{ failure() }}
robotpy_pregeneration:
name: "Robotpy Pregeneration"
runs-on: ubuntu-24.04
steps:
- uses: actions/checkout@v4
with: { fetch-depth: 0 }
- id: Setup_build_buddy
uses: ./.github/actions/setup-build-buddy
with:
token: ${{ secrets.BUILDBUDDY_API_KEY }}
# You should ensure the headers are correct before trying to pregen files
- name: Test Scan Headers
run: bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
shell: bash
- name: Run robotpy pregeneration
run: bazel run //:write_robotpy_files
- name: Check Output
run: git --no-pager diff --exit-code HEAD
- name: Generate diff
run: git diff HEAD > robotpy-pregeneration.patch
if: ${{ failure() }}
- uses: actions/upload-artifact@v4
with:
name: ${{ matrix.platform }}-robotpy-pregeneration-fixes
path: robotpy-pregeneration-fixes.patch
if: ${{ failure() }}

135
BUILD.bazel
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@@ -2,6 +2,7 @@ load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
load("@rules_pkg//:mappings.bzl", "pkg_files")
load("@rules_python//python:pip.bzl", "compile_pip_requirements")
load("//shared/bazel/rules:publishing.bzl", "publish_all")
load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
exports_files([
"LICENSE.md",
@@ -42,7 +43,7 @@ alias(
# This is a helper to run all of the pregeneration scripts at once.
write_source_files(
name = "write_all",
name = "write_pregenerated_files",
additional_update_targets = [
"//hal:write_hal",
"//ntcore:write_ntcore",
@@ -126,3 +127,135 @@ publish_all(
"//conditions:default": [],
}),
)
write_source_files(
name = "write_robotpy_generated_native_files",
additional_update_targets = [
"//apriltag:robotpy-native-apriltag-generator.generate_build_info",
"//datalog:robotpy-native-datalog-generator.generate_build_info",
"//hal:robotpy-native-wpihal-generator.generate_build_info",
"//ntcore:robotpy-native-ntcore-generator.generate_build_info",
"//romiVendordep:robotpy-native-xrp-generator.generate_build_info",
"//wpilibc:robotpy-native-wpilib-generator.generate_build_info",
"//wpinet:robotpy-native-wpinet-generator.generate_build_info",
"//wpimath:robotpy-native-wpimath-generator.generate_build_info",
"//wpiutil:robotpy-native-wpiutil-generator.generate_build_info",
"//xrpVendordep:robotpy-native-xrp-generator.generate_build_info",
],
tags = [
"pregeneration",
"robotpy",
],
target_compatible_with = robotpy_compatibility_select(),
)
write_source_files(
name = "write_robotpy_generated_pybind_files",
additional_update_targets = [
"//apriltag:robotpy-apriltag-generator.generate_build_info",
"//datalog:robotpy-datalog-generator.generate_build_info",
"//hal:robotpy-hal-generator.generate_build_info",
"//ntcore:pyntcore-generator.generate_build_info",
"//romiVendordep:robotpy-romi-generator.generate_build_info",
"//wpilibc:robotpy-wpilib-generator.generate_build_info",
"//wpinet:robotpy-wpinet-generator.generate_build_info",
"//wpimath:robotpy-wpimath-generator.generate_build_info",
"//wpimath:robotpy-wpimath_test-generator.generate_build_info",
"//wpiutil:robotpy-wpiutil-generator.generate_build_info",
"//xrpVendordep:robotpy-xrp-generator.generate_build_info",
],
tags = [
"pregeneration",
"robotpy",
],
target_compatible_with = robotpy_compatibility_select(),
)
write_source_files(
name = "write_robotpy_update_yaml_files",
additional_update_targets = [
"//apriltag:write_robotpy-apriltag-update-yaml",
"//datalog:write_robotpy-wpilog-update-yaml",
"//hal:write_robotpy-hal-update-yaml",
"//ntcore:write_pyntcore-update-yaml",
"//romiVendordep:write_robotpy-romi-update-yaml",
"//wpilibc:write_robotpy-wpilib-update-yaml",
"//wpinet:write_robotpy-wpinet-update-yaml",
"//wpimath:write_robotpy-wpimath-update-yaml",
"//wpimath:write_robotpy-wpimath-test-update-yaml",
"//wpiutil:write_robotpy-wpiutil-update-yaml",
"//xrpVendordep:write_robotpy-xrp-update-yaml",
],
tags = [
"manual",
"pregeneration",
"robotpy",
],
target_compatible_with = robotpy_compatibility_select(),
)
write_source_files(
name = "write_robotpy_create_imports",
additional_update_targets = [
"//apriltag:robotpy-apriltag-create-imports",
"//datalog:robotpy-wpilog-create-imports",
"//hal:robotpy-hal-create-imports",
"//ntcore:pyntcore-create-imports",
"//romiVendordep:robotpy-romi-create-imports",
"//wpilibc:robotpy-wpilib-create-imports",
"//wpinet:robotpy-wpinet-create-imports",
"//wpimath:robotpy-wpimath-create-imports",
"//wpimath:robotpy-wpimath-test-create-imports",
"//wpiutil:robotpy-wpiutil-create-imports",
"//xrpVendordep:robotpy-xrp-create-imports",
],
tags = [
"manual",
"pregeneration",
"robotpy",
],
target_compatible_with = robotpy_compatibility_select(),
)
write_source_files(
name = "write_robotpy_files",
additional_update_targets = [
":write_robotpy_generated_native_files",
":write_robotpy_generated_pybind_files",
":write_robotpy_update_yaml_files",
],
tags = [
"manual",
"pregeneration",
],
)
write_source_files(
name = "write_all",
additional_update_targets = [
":write_pregenerated_files",
":write_robotpy_files",
],
tags = [
"manual",
"pregeneration",
],
)
# Helper easily run the semiwrap parsing tools on all of the robotpy projects.
filegroup(
name = "robotpy_generated_files",
srcs = [
"//apriltag:robotpy-apriltag.generated_files",
"//datalog:robotpy-wpilog.generated_files",
"//hal:robotpy-hal.generated_files",
"//ntcore:pyntcore.generated_files",
"//wpilibc:robotpy-wpilib.generated_files",
"//wpimath:robotpy-wpimath.generated_files",
"//wpimath:robotpy-wpimath-test.generated_files",
"//wpinet:robotpy-wpinet.generated_files",
"//wpiutil:robotpy-wpiutil.generated_files",
],
tags = ["manual"],
target_compatible_with = robotpy_compatibility_select(),
)

52
README-RobotPy.md
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@@ -11,3 +11,55 @@ Building the robotpy software on top of the standard C++/Java software can resul
NOTE: This process is currently unlanded while robotpy gets the 2027 branch stable
[Copybara](https://github.com/google/copybara) is used to maintin synchronization between the upstream robotpy repositories and the allwpilib mirror. Github actions can be manually run which will create pull requests that will update all of the robotpy files between the two repositories. The ideal process is that the allwpilib mirror is always building in CI, and once a release is created the RobotPy team can run the `wpilib -> robotpy` copybara task, make any fine tuned adjustements and create their release. In the event that additional changes are made on the robotpy side, they can run the `robotpy -> wpilib` task to push the updates back to the mirror. However the goal of the mirroring the software here is to be able to more rapidly test changes and will hopefully overwhelmingly eliminate the need for syncs this direction.
# Debugging Build Errors
The build process is highly automated and automatically parses C++ header files to generate pybind11 bindings. Some of these steps here are considered "pregeneration" steps, and the bazel build system will update build files as necessary. If a new header is added, or if the contents of a header file has changed, some of the pregeneration scripts might need to be run. If you encounter an error building `robotpy` code, it is recommended that you go through these steps to make sure everything is set up correctly. The examples are for `wpilibc`, but similar build tasks and tests exist for each wrapped project
## 1. scan-headers
This can be the first source of problems if a new header file has been added. `semiwrap` will look through all of the headers for a library and notify you if a file is not covered by the projects `pyproject.toml` file. Bazel has a test case to ensure the files are up to date.
An example test failure when a new header being introduced. You can run the test with the following command
bazel run //wpilibc:robotpy-wpilib-scan-headers
```
# wpi
ExpansionHub = "wpi/ExpansionHub.hpp"
ExpansionHubMotor = "wpi/ExpansionHubMotor.hpp"
ExpansionHubPidConstants = "wpi/ExpansionHubPidConstants.hpp"
ExpansionHubServo = "wpi/ExpansionHubServo.hpp"
```
To fix this, you can copy the lines from the console, and add them to the pyproject.toml file, located here `wpilibc/src/main/python/pyproject.toml`
## 2. update-yaml
This process parses all of the header files, and creates a representation of the classes / enums / etc in yaml. Occasionally some functions might be ignored or need custom pybind code, which can be added to these files by the user.
There is a bazel task that you can run to automatically update the files:
`bazel run //wpilibc:write_robotpy-wpilib-update-yaml`
## 3. generate-build-info
This step takes the yaml files, and auto generates a bazel build script for the library.
There is a bazel task that you can run to automatically update the files:
`bazel run //wpilibc:robotpy-wpilib-generator.generate_build_info`
## semiwrap errors
If all of these steps above go smoothly and have their tests pass, but the generated cpp files still won't compile, it is possible that either an update needs to be made to the semiwrap tool to handle the new complex functionality, the new functionality can be ignored, or the new functionality might be better handled with a custom pybind11 implementation. In any case, it is best to reach out to the robotpy team for guidance.
## Running multiple projects at once
Each project has its own `scan-headers` and various pregeneration tools, but you can run all of them at once with the following commands. Note: Sometimes if something in the dependency chain for a library fails, these amalgamation commands will also fail. If that happens, fix your way up the dependency chain project by project.
```
# Scan Headers
bazel test //... -k --test_tag_filters=robotpy_scan_headers --build_tests_only
# All pregen
bazel run //:write_robotpy_files
```

58
apriltag/BUILD.bazel
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@@ -1,12 +1,17 @@
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("@rules_pkg//:mappings.bzl", "pkg_files")
load("@rules_python//python:defs.bzl", "py_binary")
load("//apriltag:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//apriltag:robotpy_pybind_build_info.bzl", "apriltag_extension", "define_pybind_library")
load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_minimal_jni_project")
load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
filegroup(
name = "doxygen-files",
@@ -212,3 +217,56 @@ package_minimal_jni_project(
maven_artifact_name = "apriltag-cpp",
maven_group_id = "org.wpilib.apriltag",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-apriltag-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
third_party_dirs = ["apriltag"],
)
define_native_wrapper(
name = "robotpy-native-apriltag",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PYBIND_PKGCFG_DEPS = [
"//apriltag:native/apriltag/robotpy-native-apriltag.pc",
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
]
generate_robotpy_pybind_build_info(
name = "robotpy-apriltag-generator",
additional_srcs = [":robotpy-native-apriltag.copy_headers"],
package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
pkgcfgs = PYBIND_PKGCFG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
)
apriltag_extension(
srcs = ["src/main/python/robotpy_apriltag/src/main.cpp"],
includes = [
"src/main/python/datalog/",
],
)
define_pybind_library(
name = "robotpy-apriltag",
pkgcfgs = PYBIND_PKGCFG_DEPS,
)
robotpy_py_test(
"python_tests",
srcs = glob(["src/test/python/**/*.py"]),
data = glob([
"src/test/python/*.png",
"src/test/python/*.jpg",
]),
deps = [
":robotpy-apriltag",
requirement("pytest"),
requirement("opencv-python"),
],
)

39
apriltag/robotpy_native_build_info.bzl generated Normal file
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@@ -0,0 +1,39 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True) + native.glob([
"src/main/native/thirdparty/apriltag/include/**",
]),
out = "native/apriltag/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"apriltag/src/generated/main/native/include": "",
"apriltag/src/main/native/include": "",
"apriltag/src/main/native/thirdparty/apriltag/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/apriltag/_init_robotpy_native_apriltag.py",
pc_file = "native/apriltag/robotpy-native-apriltag.pc",
pc_deps = [
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
],
deps = [
"//wpimath:robotpy-native-wpimath",
"//wpiutil:robotpy-native-wpiutil",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/apriltag",
install_path = "native/apriltag/",
)

242
apriltag/robotpy_pybind_build_info.bzl generated Normal file
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@@ -0,0 +1,242 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
APRILTAG_HEADER_GEN = [
struct(
class_name = "AprilTag",
yml_file = "semiwrap/AprilTag.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTag.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::apriltag::AprilTag", "wpi__apriltag__AprilTag.hpp"),
],
),
struct(
class_name = "AprilTagDetection",
yml_file = "semiwrap/AprilTagDetection.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagDetection.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::apriltag::AprilTagDetection", "wpi__apriltag__AprilTagDetection.hpp"),
("wpi::apriltag::AprilTagDetection::Point", "wpi__apriltag__AprilTagDetection__Point.hpp"),
],
),
struct(
class_name = "AprilTagDetector",
yml_file = "semiwrap/AprilTagDetector.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagDetector.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::apriltag::AprilTagDetector", "wpi__apriltag__AprilTagDetector.hpp"),
("wpi::apriltag::AprilTagDetector::Config", "wpi__apriltag__AprilTagDetector__Config.hpp"),
("wpi::apriltag::AprilTagDetector::QuadThresholdParameters", "wpi__apriltag__AprilTagDetector__QuadThresholdParameters.hpp"),
("wpi::apriltag::AprilTagDetector::Results", "wpi__apriltag__AprilTagDetector__Results.hpp"),
],
),
struct(
class_name = "AprilTagFieldLayout",
yml_file = "semiwrap/AprilTagFieldLayout.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagFieldLayout.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::apriltag::AprilTagFieldLayout", "wpi__apriltag__AprilTagFieldLayout.hpp"),
],
),
struct(
class_name = "AprilTagFields",
yml_file = "semiwrap/AprilTagFields.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagFields.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "AprilTagPoseEstimate",
yml_file = "semiwrap/AprilTagPoseEstimate.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagPoseEstimate.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::apriltag::AprilTagPoseEstimate", "wpi__apriltag__AprilTagPoseEstimate.hpp"),
],
),
struct(
class_name = "AprilTagPoseEstimator",
yml_file = "semiwrap/AprilTagPoseEstimator.yml",
header_root = "$(execpath :robotpy-native-apriltag.copy_headers)",
header_file = "$(execpath :robotpy-native-apriltag.copy_headers)/wpi/apriltag/AprilTagPoseEstimator.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::apriltag::AprilTagPoseEstimator", "wpi__apriltag__AprilTagPoseEstimator.hpp"),
("wpi::apriltag::AprilTagPoseEstimator::Config", "wpi__apriltag__AprilTagPoseEstimator__Config.hpp"),
],
),
]
resolve_casters(
name = "apriltag.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "apriltag.casters.pkl",
dep_file = "apriltag.casters.d",
)
gen_libinit(
name = "apriltag.gen_lib_init",
output_file = "src/main/python/robotpy_apriltag/_init__apriltag.py",
modules = ["native.apriltag._init_robotpy_native_apriltag", "wpiutil._init__wpiutil", "wpimath._init__wpimath"],
)
gen_pkgconf(
name = "apriltag.gen_pkgconf",
libinit_py = "robotpy_apriltag._init__apriltag",
module_pkg_name = "robotpy_apriltag._apriltag",
output_file = "apriltag.pc",
pkg_name = "apriltag",
install_path = "src/main/python/robotpy_apriltag",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/robotpy_apriltag/__init__.py",
)
gen_modinit_hpp(
name = "apriltag.gen_modinit_hpp",
input_dats = [x.class_name for x in APRILTAG_HEADER_GEN],
libname = "_apriltag",
output_file = "semiwrap_init.robotpy_apriltag._apriltag.hpp",
)
run_header_gen(
name = "apriltag",
casters_pickle = "apriltag.casters.pkl",
header_gen_config = APRILTAG_HEADER_GEN,
trampoline_subpath = "src/main/python/robotpy_apriltag",
deps = header_to_dat_deps,
local_native_libraries = [
"//apriltag:robotpy-native-apriltag.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "apriltag",
install_path = "src/main/python/robotpy_apriltag/",
extension_name = "_apriltag",
generated_srcs = [":apriltag.generated_srcs"],
semiwrap_header = [":apriltag.gen_modinit_hpp"],
deps = [
":apriltag.tmpl_hdrs",
":apriltag.trampoline_hdrs",
"//apriltag:apriltag",
"//wpimath:wpimath",
"//wpimath:wpimath_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//apriltag:shared/apriltag",
"//wpimath:shared/wpimath",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "apriltag.generated_files",
srcs = [
"apriltag.gen_modinit_hpp.gen",
"apriltag.header_gen_files",
"apriltag.gen_pkgconf",
"apriltag.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"apriltag.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/robotpy_apriltag/apriltag.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/main/python/robotpy_apriltag/**"], exclude = ["src/main/python/robotpy_apriltag/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/robotpy_apriltag/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/robotpy_apriltag/**/*.py"]) + [
"src/main/python/robotpy_apriltag/_init__apriltag.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/robotpy_apriltag/_apriltag",
":apriltag.trampoline_hdr_files",
],
imports = ["src/main/python"],
deps = [
"//apriltag:robotpy-native-apriltag",
"//wpimath:robotpy-wpimath",
"//wpiutil:robotpy-wpiutil",
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//apriltag:robotpy-native-apriltag.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//apriltag:robotpy-native-apriltag.copy_headers",
],
package_root_file = "src/main/python/robotpy_apriltag/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
)

50
datalog/BUILD.bazel
View File

@@ -1,10 +1,15 @@
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("@rules_python//python:defs.bzl", "py_binary")
load("//datalog:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//datalog:robotpy_pybind_build_info.bzl", "define_pybind_library", "wpilog_extension")
load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_minimal_jni_project")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
wpilib_cc_library(
name = "datalog",
@@ -146,3 +151,48 @@ package_minimal_jni_project(
maven_artifact_name = "datalog-cpp",
maven_group_id = "org.wpilib.datalog",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-datalog-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
define_native_wrapper(
name = "robotpy-native-datalog",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PYBIND_PKGCFG_DEPS = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
]
generate_robotpy_pybind_build_info(
name = "robotpy-datalog-generator",
additional_srcs = [":robotpy-native-datalog.copy_headers"],
package_root_file = "src/main/python/wpilog/__init__.py",
pkgcfgs = PYBIND_PKGCFG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
)
wpilog_extension(
srcs = ["src/main/python/src/main.cpp"],
includes = [
"src/main/python/datalog/",
],
)
define_pybind_library(
name = "robotpy-wpilog",
pkgcfgs = PYBIND_PKGCFG_DEPS,
)
robotpy_py_test(
"datalog_tests",
srcs = glob(["src/test/python/**/*.py"]),
deps = [
":robotpy-wpilog",
requirement("pytest"),
],
)

34
datalog/robotpy_native_build_info.bzl generated Normal file
View File

@@ -0,0 +1,34 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
out = "native/datalog/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"datalog/src/generated/main/native/include": "",
"datalog/src/main/native/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/datalog/_init_robotpy_native_datalog.py",
pc_file = "native/datalog/robotpy-native-datalog.pc",
pc_deps = [
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
],
deps = [
"//wpiutil:robotpy-native-wpiutil",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/datalog",
install_path = "native/datalog/",
)

235
datalog/robotpy_pybind_build_info.bzl generated Normal file
View File

@@ -0,0 +1,235 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def wpilog_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPILOG_HEADER_GEN = [
struct(
class_name = "DataLog",
yml_file = "semiwrap/DataLog.yml",
header_root = "$(execpath :robotpy-native-datalog.copy_headers)",
header_file = "$(execpath :robotpy-native-datalog.copy_headers)/wpi/datalog/DataLog.hpp",
tmpl_class_names = [
("DataLog_tmpl1", "StructLogEntry"),
("DataLog_tmpl2", "StructArrayLogEntry"),
("DataLog_tmpl3", "_RawLogEntryImpl"),
("DataLog_tmpl4", "_BooleanLogEntryImpl"),
("DataLog_tmpl5", "_IntegerLogEntryImpl"),
("DataLog_tmpl6", "_FloatLogEntryImpl"),
("DataLog_tmpl7", "_DoubleLogEntryImpl"),
("DataLog_tmpl8", "_StringLogEntryImpl"),
("DataLog_tmpl9", "_BooleanArrayLogEntryImpl"),
("DataLog_tmpl10", "_IntegerArrayLogEntryImpl"),
("DataLog_tmpl11", "_FloatArrayLogEntryImpl"),
("DataLog_tmpl12", "_DoubleArrayLogEntryImpl"),
("DataLog_tmpl13", "_StringArrayLogEntryImpl"),
],
trampolines = [
("wpi::log::DataLog", "wpi__log__DataLog.hpp"),
("wpi::log::DataLogEntry", "wpi__log__DataLogEntry.hpp"),
("wpi::log::DataLogValueEntryImpl", "wpi__log__DataLogValueEntryImpl.hpp"),
("wpi::log::RawLogEntry", "wpi__log__RawLogEntry.hpp"),
("wpi::log::BooleanLogEntry", "wpi__log__BooleanLogEntry.hpp"),
("wpi::log::IntegerLogEntry", "wpi__log__IntegerLogEntry.hpp"),
("wpi::log::FloatLogEntry", "wpi__log__FloatLogEntry.hpp"),
("wpi::log::DoubleLogEntry", "wpi__log__DoubleLogEntry.hpp"),
("wpi::log::StringLogEntry", "wpi__log__StringLogEntry.hpp"),
("wpi::log::BooleanArrayLogEntry", "wpi__log__BooleanArrayLogEntry.hpp"),
("wpi::log::IntegerArrayLogEntry", "wpi__log__IntegerArrayLogEntry.hpp"),
("wpi::log::FloatArrayLogEntry", "wpi__log__FloatArrayLogEntry.hpp"),
("wpi::log::DoubleArrayLogEntry", "wpi__log__DoubleArrayLogEntry.hpp"),
("wpi::log::StringArrayLogEntry", "wpi__log__StringArrayLogEntry.hpp"),
("wpi::log::StructLogEntry", "wpi__log__StructLogEntry.hpp"),
("wpi::log::StructArrayLogEntry", "wpi__log__StructArrayLogEntry.hpp"),
],
),
struct(
class_name = "DataLogBackgroundWriter",
yml_file = "semiwrap/DataLogBackgroundWriter.yml",
header_root = "$(execpath :robotpy-native-datalog.copy_headers)",
header_file = "$(execpath :robotpy-native-datalog.copy_headers)/wpi/datalog/DataLogBackgroundWriter.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::log::DataLogBackgroundWriter", "wpi__log__DataLogBackgroundWriter.hpp"),
],
),
struct(
class_name = "DataLogReader",
yml_file = "semiwrap/DataLogReader.yml",
header_root = "$(execpath :robotpy-native-datalog.copy_headers)",
header_file = "$(execpath :robotpy-native-datalog.copy_headers)/wpi/datalog/DataLogReader.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::log::StartRecordData", "wpi__log__StartRecordData.hpp"),
("wpi::log::MetadataRecordData", "wpi__log__MetadataRecordData.hpp"),
("wpi::log::DataLogRecord", "wpi__log__DataLogRecord.hpp"),
("wpi::log::DataLogReader", "wpi__log__DataLogReader.hpp"),
],
),
struct(
class_name = "DataLogWriter",
yml_file = "semiwrap/DataLogWriter.yml",
header_root = "$(execpath :robotpy-native-datalog.copy_headers)",
header_file = "$(execpath :robotpy-native-datalog.copy_headers)/wpi/datalog/DataLogWriter.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::log::DataLogWriter", "wpi__log__DataLogWriter.hpp"),
],
),
]
resolve_casters(
name = "wpilog.resolve_casters",
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "wpilog.casters.pkl",
dep_file = "wpilog.casters.d",
)
gen_libinit(
name = "wpilog.gen_lib_init",
output_file = "src/main/python/wpilog/_init__wpilog.py",
modules = ["native.datalog._init_robotpy_native_datalog", "wpiutil._init__wpiutil"],
)
gen_pkgconf(
name = "wpilog.gen_pkgconf",
libinit_py = "wpilog._init__wpilog",
module_pkg_name = "wpilog._wpilog",
output_file = "wpilog.pc",
pkg_name = "wpilog",
install_path = "src/main/python/wpilog",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/wpilog/__init__.py",
)
gen_modinit_hpp(
name = "wpilog.gen_modinit_hpp",
input_dats = [x.class_name for x in WPILOG_HEADER_GEN],
libname = "_wpilog",
output_file = "semiwrap_init.wpilog._wpilog.hpp",
)
run_header_gen(
name = "wpilog",
casters_pickle = "wpilog.casters.pkl",
header_gen_config = WPILOG_HEADER_GEN,
trampoline_subpath = "src/main/python/wpilog",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "wpilog",
install_path = "src/main/python/wpilog/",
extension_name = "_wpilog",
generated_srcs = [":wpilog.generated_srcs"],
semiwrap_header = [":wpilog.gen_modinit_hpp"],
deps = [
":wpilog.tmpl_hdrs",
":wpilog.trampoline_hdrs",
"//datalog:datalog",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//datalog:shared/datalog",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "wpilog.generated_files",
srcs = [
"wpilog.gen_modinit_hpp.gen",
"wpilog.header_gen_files",
"wpilog.gen_pkgconf",
"wpilog.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"wpilog.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/wpilog/wpilog.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/main/python/wpilog/**"], exclude = ["src/main/python/wpilog/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/wpilog/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/wpilog/**/*.py"]) + [
"src/main/python/wpilog/_init__wpilog.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/wpilog/_wpilog",
":wpilog.trampoline_hdr_files",
],
imports = ["src/main/python"],
deps = [
"//datalog:robotpy-native-datalog",
"//wpiutil:robotpy-wpiutil",
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//datalog:robotpy-native-datalog.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
package_root_file = "src/main/python/wpilog/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//datalog:robotpy-native-datalog.copy_headers",
],
package_root_file = "src/main/python/wpilog/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
)

62
hal/BUILD.bazel
View File

@@ -1,13 +1,18 @@
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("@rules_pkg//:mappings.bzl", "pkg_files")
load("@rules_python//python:defs.bzl", "py_binary")
load("//hal:generate.bzl", "generate_hal")
load("//hal:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//hal:robotpy_pybind_build_info.bzl", "define_pybind_library", "hal_simulation_extension", "wpihal_extension")
load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_minimal_jni_project")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
filegroup(
name = "doxygen-files",
@@ -232,3 +237,60 @@ package_minimal_jni_project(
maven_artifact_name = "hal-cpp",
maven_group_id = "org.wpilib.hal",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-wpihal-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
define_native_wrapper(
name = "robotpy-native-wpihal",
)
PYBIND_PKGCFG_DEPS = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//datalog:robotpy-wpilog.generated_pkgcfg_files",
"//hal:native/wpihal/robotpy-native-wpihal.pc",
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//ntcore:pyntcore.generated_pkgcfg_files",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpinet:robotpy-wpinet.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
]
generate_robotpy_pybind_build_info(
name = "robotpy-hal-generator",
additional_srcs = [":robotpy-native-wpihal.copy_headers"],
package_root_file = "src/main/python/hal/__init__.py",
pkgcfgs = PYBIND_PKGCFG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
)
hal_simulation_extension(
srcs = glob(["src/main/python/hal/simulation/*.cpp"]),
extra_hdrs = glob(["src/main/python/hal/simulation/*.h"]),
includes = ["src/main/python/hal/simulation"],
)
wpihal_extension(
srcs = ["src/main/python/hal/src/hal.cpp"],
extra_hdrs = ["src/main/python/hal/src/ds_types_fmt.h"],
includes = [
"src/main/python/hal",
],
)
define_pybind_library(
name = "robotpy-hal",
pkgcfgs = PYBIND_PKGCFG_DEPS,
)
robotpy_py_test(
"python_tests",
srcs = glob(["src/test/python/**/*.py"]),
deps = [
":robotpy-hal",
requirement("pytest"),
],
)

36
hal/robotpy_native_build_info.bzl generated Normal file
View File

@@ -0,0 +1,36 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
out = "native/wpihal/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"hal/src/generated/main/native/include": "",
"hal/src/main/native/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/wpihal/_init_robotpy_native_wpihal.py",
pc_file = "native/wpihal/robotpy-native-wpihal.pc",
pc_deps = [
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
],
deps = [
"//ntcore:robotpy-native-ntcore",
"//wpiutil:robotpy-native-wpiutil",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/wpiHal",
install_path = "native/wpihal/",
)

665
hal/robotpy_pybind_build_info.bzl generated Normal file
View File

@@ -0,0 +1,665 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
HAL_SIMULATION_HEADER_GEN = [
struct(
class_name = "AddressableLEDData",
yml_file = "semiwrap/simulation/AddressableLEDData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/AddressableLEDData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "AnalogInData",
yml_file = "semiwrap/simulation/AnalogInData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/AnalogInData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "CTREPCMData",
yml_file = "semiwrap/simulation/CTREPCMData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/CTREPCMData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DIOData",
yml_file = "semiwrap/simulation/DIOData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DIOData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DigitalPWMData",
yml_file = "semiwrap/simulation/DigitalPWMData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DigitalPWMData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DriverStationData",
yml_file = "semiwrap/simulation/DriverStationData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DriverStationData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DutyCycleData",
yml_file = "semiwrap/simulation/DutyCycleData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DutyCycleData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "EncoderData",
yml_file = "semiwrap/simulation/EncoderData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/EncoderData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "MockHooks",
yml_file = "semiwrap/simulation/MockHooks.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/MockHooks.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "NotifierData",
yml_file = "semiwrap/simulation/NotifierData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/NotifierData.h",
tmpl_class_names = [],
trampolines = [
("HALSIM_NotifierInfo", "__HALSIM_NotifierInfo.hpp"),
],
),
struct(
class_name = "PWMData",
yml_file = "semiwrap/simulation/PWMData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/PWMData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "PowerDistributionData",
yml_file = "semiwrap/simulation/PowerDistributionData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/PowerDistributionData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "REVPHData",
yml_file = "semiwrap/simulation/REVPHData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/REVPHData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Reset",
yml_file = "semiwrap/simulation/Reset.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/Reset.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "RoboRioData",
yml_file = "semiwrap/simulation/RoboRioData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/RoboRioData.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "SimDeviceData",
yml_file = "semiwrap/simulation/SimDeviceData.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/SimDeviceData.h",
tmpl_class_names = [],
trampolines = [],
),
]
resolve_casters(
name = "hal_simulation.resolve_casters",
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "hal_simulation.casters.pkl",
dep_file = "hal_simulation.casters.d",
)
gen_libinit(
name = "hal_simulation.gen_lib_init",
output_file = "src/main/python/hal/simulation/_init__simulation.py",
modules = ["native.wpihal._init_robotpy_native_wpihal", "wpiutil._init__wpiutil", "ntcore._init__ntcore"],
)
gen_pkgconf(
name = "hal_simulation.gen_pkgconf",
libinit_py = "hal.simulation._init__simulation",
module_pkg_name = "hal.simulation._simulation",
output_file = "hal_simulation.pc",
pkg_name = "hal_simulation",
install_path = "src/main/python/hal/simulation",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/hal/__init__.py",
)
gen_modinit_hpp(
name = "hal_simulation.gen_modinit_hpp",
input_dats = [x.class_name for x in HAL_SIMULATION_HEADER_GEN],
libname = "_simulation",
output_file = "semiwrap_init.hal.simulation._simulation.hpp",
)
run_header_gen(
name = "hal_simulation",
casters_pickle = "hal_simulation.casters.pkl",
header_gen_config = HAL_SIMULATION_HEADER_GEN,
trampoline_subpath = "src/main/python/hal/simulation",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "hal_simulation",
install_path = "src/main/python/hal/simulation/",
extension_name = "_simulation",
generated_srcs = [":hal_simulation.generated_srcs"],
semiwrap_header = [":hal_simulation.gen_modinit_hpp"],
deps = [
":hal_simulation.tmpl_hdrs",
":hal_simulation.trampoline_hdrs",
"//hal:wpiHal",
"//ntcore:ntcore",
"//ntcore:ntcore_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//hal:shared/wpiHal",
"//ntcore:shared/ntcore",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "hal_simulation.generated_files",
srcs = [
"hal_simulation.gen_modinit_hpp.gen",
"hal_simulation.header_gen_files",
"hal_simulation.gen_pkgconf",
"hal_simulation.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPIHAL_HEADER_GEN = [
struct(
class_name = "AddressableLED",
yml_file = "semiwrap/AddressableLED.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AddressableLED.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "AddressableLEDTypes",
yml_file = "semiwrap/AddressableLEDTypes.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AddressableLEDTypes.h",
tmpl_class_names = [],
trampolines = [
("HAL_AddressableLEDData", "__HAL_AddressableLEDData.hpp"),
],
),
struct(
class_name = "AnalogInput",
yml_file = "semiwrap/AnalogInput.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AnalogInput.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "CAN",
yml_file = "semiwrap/CAN.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CAN.h",
tmpl_class_names = [],
trampolines = [
("HAL_CANStreamMessage", "__HAL_CANStreamMessage.hpp"),
],
),
struct(
class_name = "CANAPI",
yml_file = "semiwrap/CANAPI.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CANAPI.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "CANAPITypes",
yml_file = "semiwrap/CANAPITypes.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CANAPITypes.h",
tmpl_class_names = [],
trampolines = [
("HAL_CANMessage", "__HAL_CANMessage.hpp"),
("HAL_CANReceiveMessage", "__HAL_CANReceiveMessage.hpp"),
],
),
struct(
class_name = "CTREPCM",
yml_file = "semiwrap/CTREPCM.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CTREPCM.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Constants",
yml_file = "semiwrap/Constants.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Constants.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Counter",
yml_file = "semiwrap/Counter.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Counter.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DIO",
yml_file = "semiwrap/DIO.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DIO.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DriverStation",
yml_file = "semiwrap/DriverStation.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DriverStation.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "DriverStationTypes",
yml_file = "semiwrap/DriverStationTypes.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DriverStationTypes.h",
tmpl_class_names = [],
trampolines = [
("HAL_ControlWord", "__HAL_ControlWord.hpp"),
("HAL_JoystickAxes", "__HAL_JoystickAxes.hpp"),
("HAL_JoystickPOVs", "__HAL_JoystickPOVs.hpp"),
("HAL_JoystickButtons", "__HAL_JoystickButtons.hpp"),
("HAL_JoystickDescriptor", "__HAL_JoystickDescriptor.hpp"),
("HAL_MatchInfo", "__HAL_MatchInfo.hpp"),
],
),
struct(
class_name = "DutyCycle",
yml_file = "semiwrap/DutyCycle.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DutyCycle.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Encoder",
yml_file = "semiwrap/Encoder.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Encoder.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Extensions",
yml_file = "semiwrap/Extensions.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Extensions.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "HALBase",
yml_file = "semiwrap/HALBase.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/HALBase.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "I2C",
yml_file = "semiwrap/I2C.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/I2C.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "I2CTypes",
yml_file = "semiwrap/I2CTypes.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/I2CTypes.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Main",
yml_file = "semiwrap/Main.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Main.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Notifier",
yml_file = "semiwrap/Notifier.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Notifier.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "PWM",
yml_file = "semiwrap/PWM.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/PWM.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Ports",
yml_file = "semiwrap/Ports.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Ports.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Power",
yml_file = "semiwrap/Power.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Power.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "PowerDistribution",
yml_file = "semiwrap/PowerDistribution.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/PowerDistribution.h",
tmpl_class_names = [],
trampolines = [
("HAL_PowerDistributionVersion", "__HAL_PowerDistributionVersion.hpp"),
("HAL_PowerDistributionFaults", "__HAL_PowerDistributionFaults.hpp"),
("HAL_PowerDistributionStickyFaults", "__HAL_PowerDistributionStickyFaults.hpp"),
],
),
struct(
class_name = "REVPH",
yml_file = "semiwrap/REVPH.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/REVPH.h",
tmpl_class_names = [],
trampolines = [
("HAL_REVPHVersion", "__HAL_REVPHVersion.hpp"),
("HAL_REVPHCompressorConfig", "__HAL_REVPHCompressorConfig.hpp"),
("HAL_REVPHFaults", "__HAL_REVPHFaults.hpp"),
("HAL_REVPHStickyFaults", "__HAL_REVPHStickyFaults.hpp"),
],
),
struct(
class_name = "SerialPort",
yml_file = "semiwrap/SerialPort.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/SerialPort.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "SimDevice",
yml_file = "semiwrap/SimDevice.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/SimDevice.h",
tmpl_class_names = [],
trampolines = [
("wpi::hal::SimValue", "wpi__hal__SimValue.hpp"),
("wpi::hal::SimInt", "wpi__hal__SimInt.hpp"),
("wpi::hal::SimLong", "wpi__hal__SimLong.hpp"),
("wpi::hal::SimDouble", "wpi__hal__SimDouble.hpp"),
("wpi::hal::SimEnum", "wpi__hal__SimEnum.hpp"),
("wpi::hal::SimBoolean", "wpi__hal__SimBoolean.hpp"),
("wpi::hal::SimDevice", "wpi__hal__SimDevice.hpp"),
],
),
struct(
class_name = "UsageReporting",
yml_file = "semiwrap/UsageReporting.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/UsageReporting.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "Threads",
yml_file = "semiwrap/Threads.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Threads.h",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "HandlesInternal",
yml_file = "semiwrap/HandlesInternal.yml",
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/handles/HandlesInternal.h",
tmpl_class_names = [],
trampolines = [],
),
]
resolve_casters(
name = "wpihal.resolve_casters",
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "wpihal.casters.pkl",
dep_file = "wpihal.casters.d",
)
gen_libinit(
name = "wpihal.gen_lib_init",
output_file = "src/main/python/hal/_init__wpiHal.py",
modules = ["native.wpihal._init_robotpy_native_wpihal", "wpiutil._init__wpiutil", "ntcore._init__ntcore"],
)
gen_pkgconf(
name = "wpihal.gen_pkgconf",
libinit_py = "hal._init__wpiHal",
module_pkg_name = "hal._wpiHal",
output_file = "wpihal.pc",
pkg_name = "wpihal",
install_path = "src/main/python/hal",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/hal/__init__.py",
)
gen_modinit_hpp(
name = "wpihal.gen_modinit_hpp",
input_dats = [x.class_name for x in WPIHAL_HEADER_GEN],
libname = "_wpiHal",
output_file = "semiwrap_init.hal._wpiHal.hpp",
)
run_header_gen(
name = "wpihal",
casters_pickle = "wpihal.casters.pkl",
header_gen_config = WPIHAL_HEADER_GEN,
trampoline_subpath = "src/main/python/hal",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "wpihal",
install_path = "src/main/python/hal/",
extension_name = "_wpiHal",
generated_srcs = [":wpihal.generated_srcs"],
semiwrap_header = [":wpihal.gen_modinit_hpp"],
deps = [
":wpihal.tmpl_hdrs",
":wpihal.trampoline_hdrs",
"//hal:wpiHal",
"//ntcore:ntcore",
"//ntcore:ntcore_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//hal:shared/wpiHal",
"//ntcore:shared/ntcore",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "wpihal.generated_files",
srcs = [
"wpihal.gen_modinit_hpp.gen",
"wpihal.header_gen_files",
"wpihal.gen_pkgconf",
"wpihal.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"hal_simulation.generated_files",
"wpihal.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/hal/simulation/hal_simulation.pc",
"src/main/python/hal/wpihal.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/main/python/hal/**"], exclude = ["src/main/python/hal/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/hal/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/hal/**/*.py"]) + [
"src/main/python/hal/simulation/_init__simulation.py",
"src/main/python/hal/_init__wpiHal.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/hal/simulation/_simulation",
":src/main/python/hal/_wpiHal",
":hal_simulation.trampoline_hdr_files",
":wpihal.trampoline_hdr_files",
],
imports = ["src/main/python"],
deps = [
"//hal:robotpy-native-wpihal",
"//ntcore:pyntcore",
"//wpiutil:robotpy-wpiutil",
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
package_root_file = "src/main/python/hal/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//hal:robotpy-native-wpihal.copy_headers",
],
package_root_file = "src/main/python/hal/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
)

57
ntcore/BUILD.bazel
View File

@@ -4,10 +4,14 @@ load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("@rules_python//python:defs.bzl", "py_binary")
load("//ntcore:generate_ntcore.bzl", "generate_ntcore")
load("//ntcore:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//ntcore:robotpy_pybind_build_info.bzl", "define_pybind_library", "ntcore_extension")
load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
filegroup(
name = "doxygen-files",
@@ -224,3 +228,56 @@ package_default_jni_project(
maven_artifact_name = "ntcore-cpp",
maven_group_id = "org.wpilib.ntcore",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-ntcore-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
define_native_wrapper(
name = "robotpy-native-ntcore",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PYBIND_PKGCFG_DEPS = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//datalog:robotpy-wpilog.generated_pkgcfg_files",
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpinet:robotpy-wpinet.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
]
generate_robotpy_pybind_build_info(
name = "pyntcore-generator",
additional_srcs = [":robotpy-native-ntcore.copy_headers"],
package_root_file = "src/main/python/ntcore/__init__.py",
pkgcfgs = PYBIND_PKGCFG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
)
ntcore_extension(
srcs = glob(["src/main/python/ntcore/src/*.cpp"]),
extra_hdrs = glob([
"src/main/python/ntcore/src/*.h",
"src/main/python/ntcore/src/*.inl",
]),
includes = [
"src/main/python/ntcore/",
],
)
define_pybind_library(
name = "pyntcore",
pkgcfgs = PYBIND_PKGCFG_DEPS,
)
robotpy_py_test(
"python_tests",
srcs = glob(["src/test/python/**/*.py"]),
deps = [
":pyntcore",
requirement("pytest"),
],
)

38
ntcore/robotpy_native_build_info.bzl generated Normal file
View File

@@ -0,0 +1,38 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
out = "native/ntcore/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"ntcore/src/generated/main/native/include": "",
"ntcore/src/main/native/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/ntcore/_init_robotpy_native_ntcore.py",
pc_file = "native/ntcore/robotpy-native-ntcore.pc",
pc_deps = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
],
deps = [
"//datalog:robotpy-native-datalog",
"//wpinet:robotpy-native-wpinet",
"//wpiutil:robotpy-native-wpiutil",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/ntcore",
install_path = "native/ntcore/",
)

514
ntcore/robotpy_pybind_build_info.bzl generated Normal file
View File

@@ -0,0 +1,514 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def ntcore_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
NTCORE_HEADER_GEN = [
struct(
class_name = "BooleanArrayTopic",
yml_file = "semiwrap/BooleanArrayTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/BooleanArrayTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::BooleanArraySubscriber", "wpi__nt__BooleanArraySubscriber.hpp"),
("wpi::nt::BooleanArrayPublisher", "wpi__nt__BooleanArrayPublisher.hpp"),
("wpi::nt::BooleanArrayEntry", "wpi__nt__BooleanArrayEntry.hpp"),
("wpi::nt::BooleanArrayTopic", "wpi__nt__BooleanArrayTopic.hpp"),
],
),
struct(
class_name = "BooleanTopic",
yml_file = "semiwrap/BooleanTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/BooleanTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::BooleanSubscriber", "wpi__nt__BooleanSubscriber.hpp"),
("wpi::nt::BooleanPublisher", "wpi__nt__BooleanPublisher.hpp"),
("wpi::nt::BooleanEntry", "wpi__nt__BooleanEntry.hpp"),
("wpi::nt::BooleanTopic", "wpi__nt__BooleanTopic.hpp"),
],
),
struct(
class_name = "DoubleArrayTopic",
yml_file = "semiwrap/DoubleArrayTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/DoubleArrayTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::DoubleArraySubscriber", "wpi__nt__DoubleArraySubscriber.hpp"),
("wpi::nt::DoubleArrayPublisher", "wpi__nt__DoubleArrayPublisher.hpp"),
("wpi::nt::DoubleArrayEntry", "wpi__nt__DoubleArrayEntry.hpp"),
("wpi::nt::DoubleArrayTopic", "wpi__nt__DoubleArrayTopic.hpp"),
],
),
struct(
class_name = "DoubleTopic",
yml_file = "semiwrap/DoubleTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/DoubleTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::DoubleSubscriber", "wpi__nt__DoubleSubscriber.hpp"),
("wpi::nt::DoublePublisher", "wpi__nt__DoublePublisher.hpp"),
("wpi::nt::DoubleEntry", "wpi__nt__DoubleEntry.hpp"),
("wpi::nt::DoubleTopic", "wpi__nt__DoubleTopic.hpp"),
],
),
struct(
class_name = "FloatArrayTopic",
yml_file = "semiwrap/FloatArrayTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/FloatArrayTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::FloatArraySubscriber", "wpi__nt__FloatArraySubscriber.hpp"),
("wpi::nt::FloatArrayPublisher", "wpi__nt__FloatArrayPublisher.hpp"),
("wpi::nt::FloatArrayEntry", "wpi__nt__FloatArrayEntry.hpp"),
("wpi::nt::FloatArrayTopic", "wpi__nt__FloatArrayTopic.hpp"),
],
),
struct(
class_name = "FloatTopic",
yml_file = "semiwrap/FloatTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/FloatTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::FloatSubscriber", "wpi__nt__FloatSubscriber.hpp"),
("wpi::nt::FloatPublisher", "wpi__nt__FloatPublisher.hpp"),
("wpi::nt::FloatEntry", "wpi__nt__FloatEntry.hpp"),
("wpi::nt::FloatTopic", "wpi__nt__FloatTopic.hpp"),
],
),
struct(
class_name = "GenericEntry",
yml_file = "semiwrap/GenericEntry.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/GenericEntry.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::GenericSubscriber", "wpi__nt__GenericSubscriber.hpp"),
("wpi::nt::GenericPublisher", "wpi__nt__GenericPublisher.hpp"),
("wpi::nt::GenericEntry", "wpi__nt__GenericEntry.hpp"),
],
),
struct(
class_name = "IntegerArrayTopic",
yml_file = "semiwrap/IntegerArrayTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/IntegerArrayTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::IntegerArraySubscriber", "wpi__nt__IntegerArraySubscriber.hpp"),
("wpi::nt::IntegerArrayPublisher", "wpi__nt__IntegerArrayPublisher.hpp"),
("wpi::nt::IntegerArrayEntry", "wpi__nt__IntegerArrayEntry.hpp"),
("wpi::nt::IntegerArrayTopic", "wpi__nt__IntegerArrayTopic.hpp"),
],
),
struct(
class_name = "IntegerTopic",
yml_file = "semiwrap/IntegerTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/IntegerTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::IntegerSubscriber", "wpi__nt__IntegerSubscriber.hpp"),
("wpi::nt::IntegerPublisher", "wpi__nt__IntegerPublisher.hpp"),
("wpi::nt::IntegerEntry", "wpi__nt__IntegerEntry.hpp"),
("wpi::nt::IntegerTopic", "wpi__nt__IntegerTopic.hpp"),
],
),
struct(
class_name = "MultiSubscriber",
yml_file = "semiwrap/MultiSubscriber.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/MultiSubscriber.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::MultiSubscriber", "wpi__nt__MultiSubscriber.hpp"),
],
),
struct(
class_name = "NTSendable",
yml_file = "semiwrap/NTSendable.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NTSendable.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::NTSendable", "wpi__nt__NTSendable.hpp"),
],
),
struct(
class_name = "NTSendableBuilder",
yml_file = "semiwrap/NTSendableBuilder.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NTSendableBuilder.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::NTSendableBuilder", "wpi__nt__NTSendableBuilder.hpp"),
],
),
struct(
class_name = "NetworkTable",
yml_file = "semiwrap/NetworkTable.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTable.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::NetworkTable", "wpi__nt__NetworkTable.hpp"),
],
),
struct(
class_name = "NetworkTableEntry",
yml_file = "semiwrap/NetworkTableEntry.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableEntry.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::NetworkTableEntry", "wpi__nt__NetworkTableEntry.hpp"),
],
),
struct(
class_name = "NetworkTableInstance",
yml_file = "semiwrap/NetworkTableInstance.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableInstance.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::NetworkTableInstance", "wpi__nt__NetworkTableInstance.hpp"),
],
),
struct(
class_name = "NetworkTableListener",
yml_file = "semiwrap/NetworkTableListener.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableListener.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::NetworkTableListener", "wpi__nt__NetworkTableListener.hpp"),
("wpi::nt::NetworkTableListenerPoller", "wpi__nt__NetworkTableListenerPoller.hpp"),
],
),
struct(
class_name = "NetworkTableType",
yml_file = "semiwrap/NetworkTableType.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableType.hpp",
tmpl_class_names = [],
trampolines = [],
),
struct(
class_name = "NetworkTableValue",
yml_file = "semiwrap/NetworkTableValue.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableValue.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::Value", "wpi__nt__Value.hpp"),
],
),
struct(
class_name = "RawTopic",
yml_file = "semiwrap/RawTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/RawTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::RawSubscriber", "wpi__nt__RawSubscriber.hpp"),
("wpi::nt::RawPublisher", "wpi__nt__RawPublisher.hpp"),
("wpi::nt::RawEntry", "wpi__nt__RawEntry.hpp"),
("wpi::nt::RawTopic", "wpi__nt__RawTopic.hpp"),
],
),
struct(
class_name = "StructTopic",
yml_file = "semiwrap/StructTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StructTopic.hpp",
tmpl_class_names = [
("StructTopic_tmpl1", "StructSubscriber"),
("StructTopic_tmpl2", "StructPublisher"),
("StructTopic_tmpl3", "StructEntry"),
("StructTopic_tmpl4", "StructTopic"),
],
trampolines = [
("wpi::nt::StructSubscriber", "wpi__nt__StructSubscriber.hpp"),
("wpi::nt::StructPublisher", "wpi__nt__StructPublisher.hpp"),
("wpi::nt::StructEntry", "wpi__nt__StructEntry.hpp"),
("wpi::nt::StructTopic", "wpi__nt__StructTopic.hpp"),
],
),
struct(
class_name = "StructArrayTopic",
yml_file = "semiwrap/StructArrayTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StructArrayTopic.hpp",
tmpl_class_names = [
("StructArrayTopic_tmpl1", "StructArraySubscriber"),
("StructArrayTopic_tmpl2", "StructArrayPublisher"),
("StructArrayTopic_tmpl3", "StructArrayEntry"),
("StructArrayTopic_tmpl4", "StructArrayTopic"),
],
trampolines = [
("wpi::nt::StructArraySubscriber", "wpi__nt__StructArraySubscriber.hpp"),
("wpi::nt::StructArrayPublisher", "wpi__nt__StructArrayPublisher.hpp"),
("wpi::nt::StructArrayEntry", "wpi__nt__StructArrayEntry.hpp"),
("wpi::nt::StructArrayTopic", "wpi__nt__StructArrayTopic.hpp"),
],
),
struct(
class_name = "StringArrayTopic",
yml_file = "semiwrap/StringArrayTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StringArrayTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::StringArraySubscriber", "wpi__nt__StringArraySubscriber.hpp"),
("wpi::nt::StringArrayPublisher", "wpi__nt__StringArrayPublisher.hpp"),
("wpi::nt::StringArrayEntry", "wpi__nt__StringArrayEntry.hpp"),
("wpi::nt::StringArrayTopic", "wpi__nt__StringArrayTopic.hpp"),
],
),
struct(
class_name = "StringTopic",
yml_file = "semiwrap/StringTopic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StringTopic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::StringSubscriber", "wpi__nt__StringSubscriber.hpp"),
("wpi::nt::StringPublisher", "wpi__nt__StringPublisher.hpp"),
("wpi::nt::StringEntry", "wpi__nt__StringEntry.hpp"),
("wpi::nt::StringTopic", "wpi__nt__StringTopic.hpp"),
],
),
struct(
class_name = "Topic",
yml_file = "semiwrap/Topic.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/Topic.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::Topic", "wpi__nt__Topic.hpp"),
("wpi::nt::Subscriber", "wpi__nt__Subscriber.hpp"),
("wpi::nt::Publisher", "wpi__nt__Publisher.hpp"),
],
),
struct(
class_name = "ntcore_cpp",
yml_file = "semiwrap/ntcore_cpp.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/ntcore_cpp.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::nt::EventFlags", "wpi__nt__EventFlags.hpp"),
("wpi::nt::TopicInfo", "wpi__nt__TopicInfo.hpp"),
("wpi::nt::ConnectionInfo", "wpi__nt__ConnectionInfo.hpp"),
("wpi::nt::ValueEventData", "wpi__nt__ValueEventData.hpp"),
("wpi::nt::LogMessage", "wpi__nt__LogMessage.hpp"),
("wpi::nt::TimeSyncEventData", "wpi__nt__TimeSyncEventData.hpp"),
("wpi::nt::Event", "wpi__nt__Event.hpp"),
("wpi::nt::PubSubOptions", "wpi__nt__PubSubOptions.hpp"),
("wpi::nt::meta::SubscriberOptions", "wpi__nt__meta__SubscriberOptions.hpp"),
("wpi::nt::meta::TopicPublisher", "wpi__nt__meta__TopicPublisher.hpp"),
("wpi::nt::meta::TopicSubscriber", "wpi__nt__meta__TopicSubscriber.hpp"),
("wpi::nt::meta::ClientPublisher", "wpi__nt__meta__ClientPublisher.hpp"),
("wpi::nt::meta::ClientSubscriber", "wpi__nt__meta__ClientSubscriber.hpp"),
("wpi::nt::meta::Client", "wpi__nt__meta__Client.hpp"),
],
),
struct(
class_name = "ntcore_cpp_types",
yml_file = "semiwrap/ntcore_cpp_types.yml",
header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/ntcore_cpp_types.hpp",
tmpl_class_names = [
("ntcore_cpp_types_tmpl1", "TimestampedBoolean"),
("ntcore_cpp_types_tmpl2", "TimestampedInteger"),
("ntcore_cpp_types_tmpl3", "TimestampedFloat"),
("ntcore_cpp_types_tmpl4", "TimestampedDouble"),
("ntcore_cpp_types_tmpl5", "TimestampedString"),
("ntcore_cpp_types_tmpl6", "TimestampedRaw"),
("ntcore_cpp_types_tmpl7", "TimestampedBooleanArray"),
("ntcore_cpp_types_tmpl8", "TimestampedIntegerArray"),
("ntcore_cpp_types_tmpl9", "TimestampedFloatArray"),
("ntcore_cpp_types_tmpl10", "TimestampedDoubleArray"),
("ntcore_cpp_types_tmpl11", "TimestampedStringArray"),
("ntcore_cpp_types_tmpl12", "TimestampedStruct"),
("ntcore_cpp_types_tmpl13", "TimestampedStructArray"),
],
trampolines = [
("wpi::nt::Timestamped", "wpi__nt__Timestamped.hpp"),
],
),
]
resolve_casters(
name = "ntcore.resolve_casters",
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "ntcore.casters.pkl",
dep_file = "ntcore.casters.d",
)
gen_libinit(
name = "ntcore.gen_lib_init",
output_file = "src/main/python/ntcore/_init__ntcore.py",
modules = ["native.ntcore._init_robotpy_native_ntcore", "wpiutil._init__wpiutil", "wpinet._init__wpinet", "wpilog._init__wpilog"],
)
gen_pkgconf(
name = "ntcore.gen_pkgconf",
libinit_py = "ntcore._init__ntcore",
module_pkg_name = "ntcore._ntcore",
output_file = "ntcore.pc",
pkg_name = "ntcore",
install_path = "src/main/python/ntcore",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/ntcore/__init__.py",
)
gen_modinit_hpp(
name = "ntcore.gen_modinit_hpp",
input_dats = [x.class_name for x in NTCORE_HEADER_GEN],
libname = "_ntcore",
output_file = "semiwrap_init.ntcore._ntcore.hpp",
)
run_header_gen(
name = "ntcore",
casters_pickle = "ntcore.casters.pkl",
header_gen_config = NTCORE_HEADER_GEN,
trampoline_subpath = "src/main/python/ntcore",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "ntcore",
install_path = "src/main/python/ntcore/",
extension_name = "_ntcore",
generated_srcs = [":ntcore.generated_srcs"],
semiwrap_header = [":ntcore.gen_modinit_hpp"],
deps = [
":ntcore.tmpl_hdrs",
":ntcore.trampoline_hdrs",
"//datalog:datalog",
"//datalog:wpilog_pybind_library",
"//ntcore:ntcore",
"//wpinet:wpinet",
"//wpinet:wpinet_pybind_library",
"//wpiutil:wpiutil",
"//wpiutil:wpiutil_pybind_library",
],
dynamic_deps = [
"//datalog:shared/datalog",
"//ntcore:shared/ntcore",
"//wpinet:shared/wpinet",
"//wpiutil:shared/wpiutil",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "ntcore.generated_files",
srcs = [
"ntcore.gen_modinit_hpp.gen",
"ntcore.header_gen_files",
"ntcore.gen_pkgconf",
"ntcore.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"ntcore.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/ntcore/ntcore.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/main/python/ntcore/**"], exclude = ["src/main/python/ntcore/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/ntcore/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/ntcore/**/*.py"]) + [
"src/main/python/ntcore/_init__ntcore.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/ntcore/_ntcore",
":ntcore.trampoline_hdr_files",
],
imports = ["src/main/python"],
deps = [
"//datalog:robotpy-wpilog",
"//ntcore:robotpy-native-ntcore",
"//wpinet:robotpy-wpinet",
"//wpiutil:robotpy-wpiutil",
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//datalog:robotpy-native-datalog.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
package_root_file = "src/main/python/ntcore/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//ntcore:robotpy-native-ntcore.copy_headers",
],
package_root_file = "src/main/python/ntcore/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
)

59
romiVendordep/BUILD.bazel
View File

@@ -1,8 +1,13 @@
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("//romiVendordep:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//romiVendordep:robotpy_pybind_build_info.bzl", "define_pybind_library", "romi_extension")
load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_minimal_cc_project")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
filegroup(
name = "doxygen-files",
@@ -101,3 +106,57 @@ package_minimal_cc_project(
maven_artifact_name = "romiVendordep-cpp",
maven_group_id = "org.wpilib.romiVendordep",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-xrp-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
define_native_wrapper(
name = "robotpy-native-romi",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PKG_CONFIG_DEPS = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//datalog:robotpy-wpilog.generated_pkgcfg_files",
"//hal:native/wpihal/robotpy-native-wpihal.pc",
"//hal:robotpy-hal.generated_pkgcfg_files",
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//ntcore:pyntcore.generated_pkgcfg_files",
"//wpilibc:native/wpilib/robotpy-native-wpilib.pc",
"//wpilibc:robotpy-wpilib.generated_pkgcfg_files",
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpinet:robotpy-wpinet.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
"//romiVendordep:native/romi/robotpy-native-romi.pc",
]
generate_robotpy_pybind_build_info(
name = "robotpy-romi-generator",
additional_srcs = [":robotpy-native-romi.copy_headers"],
package_root_file = "src/main/python/romi/__init__.py",
pkgcfgs = PKG_CONFIG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
)
romi_extension(
srcs = ["src/main/python/romi/src/main.cpp"],
)
define_pybind_library(
name = "robotpy-romi",
pkgcfgs = PKG_CONFIG_DEPS,
)
robotpy_py_test(
"python_tests",
srcs = glob(["src/test/python/**/*.py"]),
deps = [
":robotpy-romi",
requirement("pytest"),
],
)

34
romiVendordep/robotpy_native_build_info.bzl generated Normal file
View File

@@ -0,0 +1,34 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
out = "native/romi/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"romiVendordep/src/generated/main/native/include": "",
"romiVendordep/src/main/native/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/romi/_init_robotpy_native_romi.py",
pc_file = "native/romi/robotpy-native-romi.pc",
pc_deps = [
"//wpilibc:native/wpilib/robotpy-native-wpilib.pc",
],
deps = [
"//wpilibc:robotpy-native-wpilib",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/romiVendordep",
install_path = "native/romi/",
)

208
romiVendordep/robotpy_pybind_build_info.bzl generated Normal file
View File

@@ -0,0 +1,208 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
ROMI_HEADER_GEN = [
struct(
class_name = "OnBoardIO",
yml_file = "semiwrap/OnBoardIO.yml",
header_root = "$(execpath :robotpy-native-romi.copy_headers)",
header_file = "$(execpath :robotpy-native-romi.copy_headers)/wpi/romi/OnBoardIO.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::romi::OnBoardIO", "wpi__romi__OnBoardIO.hpp"),
],
),
struct(
class_name = "RomiGyro",
yml_file = "semiwrap/RomiGyro.yml",
header_root = "$(execpath :robotpy-native-romi.copy_headers)",
header_file = "$(execpath :robotpy-native-romi.copy_headers)/wpi/romi/RomiGyro.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::romi::RomiGyro", "wpi__romi__RomiGyro.hpp"),
],
),
struct(
class_name = "RomiMotor",
yml_file = "semiwrap/RomiMotor.yml",
header_root = "$(execpath :robotpy-native-romi.copy_headers)",
header_file = "$(execpath :robotpy-native-romi.copy_headers)/wpi/romi/RomiMotor.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::romi::RomiMotor", "wpi__romi__RomiMotor.hpp"),
],
),
]
resolve_casters(
name = "romi.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "romi.casters.pkl",
dep_file = "romi.casters.d",
)
gen_libinit(
name = "romi.gen_lib_init",
output_file = "src/main/python/romi/_init__romi.py",
modules = ["native.romi._init_robotpy_native_romi", "wpilib._init__wpilib", "wpimath.geometry._init__geometry"],
)
gen_pkgconf(
name = "romi.gen_pkgconf",
libinit_py = "romi._init__romi",
module_pkg_name = "romi._romi",
output_file = "romi.pc",
pkg_name = "romi",
install_path = "src/main/python/romi",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/romi/__init__.py",
)
gen_modinit_hpp(
name = "romi.gen_modinit_hpp",
input_dats = [x.class_name for x in ROMI_HEADER_GEN],
libname = "_romi",
output_file = "semiwrap_init.romi._romi.hpp",
)
run_header_gen(
name = "romi",
casters_pickle = "romi.casters.pkl",
header_gen_config = ROMI_HEADER_GEN,
trampoline_subpath = "src/main/python/romi",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//romiVendordep:robotpy-native-romi.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
)
create_pybind_library(
name = "romi",
install_path = "src/main/python/romi/",
extension_name = "_romi",
generated_srcs = [":romi.generated_srcs"],
semiwrap_header = [":romi.gen_modinit_hpp"],
deps = [
":romi.tmpl_hdrs",
":romi.trampoline_hdrs",
"//romiVendordep:romiVendordep",
"//wpilibc:wpilib_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_geometry_pybind_library",
],
dynamic_deps = [
"//romiVendordep:shared/romiVendordep",
"//wpilibc:shared/wpilibc",
"//wpimath:shared/wpimath",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "romi.generated_files",
srcs = [
"romi.gen_modinit_hpp.gen",
"romi.header_gen_files",
"romi.gen_pkgconf",
"romi.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"romi.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/romi/romi.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/main/python/romi/**"], exclude = ["src/main/python/romi/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/romi/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/romi/**/*.py"]) + [
"src/main/python/romi/_init__romi.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/romi/_romi",
":romi.trampoline_hdr_files",
],
imports = ["src/main/python"],
deps = [
"//romiVendordep:robotpy-native-romi",
"//wpilibc:robotpy-wpilib",
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//romiVendordep:robotpy-native-romi.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
package_root_file = "src/main/python/romi/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//romiVendordep:robotpy-native-romi.copy_headers",
],
package_root_file = "src/main/python/romi/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
)

5
shared/bazel/rules/robotpy/BUILD.bazel
View File

@@ -3,7 +3,10 @@ load("@rules_cc//cc:cc_library.bzl", "cc_library")
load("@rules_python//python:defs.bzl", "py_binary", "py_library")
load("@rules_python//python:pip.bzl", "whl_filegroup")
exports_files(["wrapper.py"])
exports_files([
"wrapper.py",
"version_template.in",
])
py_library(
name = "hack_pkgcfgs",

14
shared/bazel/rules/robotpy/generate_pybind_build_file.py
View File

@@ -384,6 +384,18 @@ def generate_pybind_build_file(
env.filters["jsonify"] = jsonify
template = env.from_string(template_contents)
all_local_native_deps = set()
for em in extension_modules:
all_local_native_deps.update(em.native_wrapper_dependencies)
all_local_native_deps = sorted(all_local_native_deps)
try:
version_file = raw_config["tool"]["hatch"]["build"]["hooks"]["robotpy"][
"version_file"
]
except:
version_file = None
with open(output_file, "w") as f:
f.write(
template.render(
@@ -391,11 +403,13 @@ def generate_pybind_build_file(
top_level_name=top_level_name,
publish_casters_targets=publish_casters_targets,
python_deps=sorted(python_deps),
all_local_native_deps=all_local_native_deps,
stripped_include_prefix=stripped_include_prefix,
yml_prefix=yml_prefix,
package_root_file=package_root_file,
raw_project_config=raw_config["project"],
entry_points=entry_points,
version_file=version_file,
)
+ "\n"
)

22
shared/bazel/rules/robotpy/pybind_build_file_template.jinja2
View File

@@ -2,6 +2,9 @@
{% if publish_casters_targets %}
load("@rules_cc//cc:cc_library.bzl", "cc_library")
{%- endif %}
{%- if version_file %}
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
{%- endif %}
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", {% if publish_casters_targets %}"publish_casters", {% endif %}"resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
@@ -178,13 +181,22 @@ def define_pybind_library(name, pkgcfgs = []):
srcs = native.glob(["{{stripped_include_prefix}}/{{top_level_name}}/**"], exclude = ["{{stripped_include_prefix}}/{{top_level_name}}/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
{% if version_file %}
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "{{stripped_include_prefix}}/{{version_file}}",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
{% endif %}
robotpy_library(
name = name,
srcs = native.glob(["{{stripped_include_prefix}}/{{top_level_name}}/**/*.py"]) + [
{%- for em in extension_modules %}
"{{stripped_include_prefix}}/{{ em.gen_pkgconf.libinit_py.replace(".", "/") }}.py",
{%- endfor %}
{%- if version_file %}
"{}.generate_version".format(name),
{%- endif %}
],
data = [
"{}.generated_pkgcfg_files".format(name),
@@ -209,11 +221,9 @@ def define_pybind_library(name, pkgcfgs = []):
name = "{}-update-yaml".format(name),
yaml_output_directory = "{{ stripped_include_prefix }}/semiwrap",
extra_hdrs = native.glob(["{{stripped_include_prefix}}/**/*.h"], allow_empty = True) + [
{%- if python_deps %}
{% for d in python_deps %}
{%- if "native" in d %}"{{d}}.copy_headers",{%- endif %}
{%- endfor %}
{%- endif %}
{%- for d in all_local_native_deps %}
"{{d}}",
{%- endfor %}
],
package_root_file = "{{package_root_file}}",
pkgcfgs = pkgcfgs,

2
shared/bazel/rules/robotpy/semiwrap_tool_helpers.bzl
View File

@@ -84,9 +84,11 @@ def scan_headers(name, pyproject_toml, package_root_file, extra_hdrs, pkgcfgs):
"semiwrap.tool",
"scan-headers",
"--pyproject=$(location " + pyproject_toml + ")",
"--check",
] + pkgcfg_args,
data = extra_hdrs + pkgcfgs + [pyproject_toml, package_root_file],
main = "shared/bazel/rules/robotpy/wrapper.py",
size = "small",
target_compatible_with = robotpy_compatibility_select(),
tags = ["robotpy_scan_headers"],
)

3
shared/bazel/rules/robotpy/version_template.in Normal file
View File

@@ -0,0 +1,3 @@
# This file is automatically generated, DO NOT EDIT
version = __version__ = "${wpilib_version}"

97
wpilibc/BUILD.bazel
View File

@@ -6,7 +6,11 @@ load("@rules_python//python:defs.bzl", "py_binary")
load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:packaging.bzl", "package_minimal_cc_project")
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
load("//wpilibc:generate.bzl", "generate_wpilibc")
load("//wpilibc:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//wpilibc:robotpy_pybind_build_info.bzl", "define_pybind_library", "wpilib_counter_extension", "wpilib_drive_extension", "wpilib_event_extension", "wpilib_extension", "wpilib_simulation_extension")
filegroup(
name = "doxygen-files",
@@ -199,3 +203,96 @@ package_minimal_cc_project(
maven_artifact_name = "wpilibc-cpp",
maven_group_id = "org.wpilib.wpilibc",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-wpilib-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
define_native_wrapper(
name = "robotpy-native-wpilib",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PKG_CONFIG_DEPS = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//datalog:robotpy-wpilog.generated_pkgcfg_files",
"//hal:native/wpihal/robotpy-native-wpihal.pc",
"//hal:robotpy-hal.generated_pkgcfg_files",
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//ntcore:pyntcore.generated_pkgcfg_files",
"//wpilibc:native/wpilib/robotpy-native-wpilib.pc",
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpinet:robotpy-wpinet.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
]
generate_robotpy_pybind_build_info(
name = "robotpy-wpilib-generator",
additional_srcs = [
"src/main/python/wpilib/src/rpy/Filesystem.h",
"src/main/python/wpilib/src/rpy/Notifier.h",
"src/main/python/wpilib/src/rpy/MotorControllerGroup.h",
] + [":robotpy-native-wpilib.copy_headers"],
package_root_file = "src/main/python/wpilib/__init__.py",
pkgcfgs = PKG_CONFIG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
)
wpilib_event_extension(
srcs = ["src/main/python/wpilib/event/event.cpp"],
)
wpilib_extension(
srcs = glob(["src/main/python/wpilib/src/**/*.cpp"]),
extra_hdrs = glob([
"src/main/python/wpilib/src/rpy/*.h",
"src/main/python/wpilib/src/rpy/*.inc",
]),
header_to_dat_deps = glob(["src/main/python/wpilib/src/**"]),
includes = [
"src/main/python/wpilib",
"src/main/python/wpilib/src",
],
)
wpilib_counter_extension(
srcs = ["src/main/python/wpilib/counter/counter.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpilib/src/rpy/*.h",
"src/main/python/wpilib/src/rpy/*.inc",
]),
)
wpilib_drive_extension(
srcs = ["src/main/python/wpilib/drive/drive.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpilib/src/rpy/*.h",
"src/main/python/wpilib/src/rpy/*.inc",
]),
)
wpilib_simulation_extension(
srcs = ["src/main/python/wpilib/simulation/simulation.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpilib/src/rpy/*.h",
"src/main/python/wpilib/src/rpy/*.inc",
]),
)
define_pybind_library(
name = "robotpy-wpilib",
pkgcfgs = PKG_CONFIG_DEPS,
)
robotpy_py_test(
"python_tests",
srcs = glob(["src/test/python/**/*.py"]),
deps = [
":robotpy-wpilib",
requirement("pytest"),
],
)

42
wpilibc/robotpy_native_build_info.bzl generated Normal file
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@@ -0,0 +1,42 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
out = "native/wpilib/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"wpilibc/src/generated/main/native/include": "",
"wpilibc/src/main/native/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/wpilib/_init_robotpy_native_wpilib.py",
pc_file = "native/wpilib/robotpy-native-wpilib.pc",
pc_deps = [
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//hal:native/wpihal/robotpy-native-wpihal.pc",
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
],
deps = [
"//ntcore:robotpy-native-ntcore",
"//hal:robotpy-native-wpihal",
"//wpimath:robotpy-native-wpimath",
"//wpinet:robotpy-native-wpinet",
"//wpiutil:robotpy-native-wpiutil",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/wpilibc",
install_path = "native/wpilib/",
)

1974
wpilibc/robotpy_pybind_build_info.bzl generated Normal file
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155
wpilibc/src/main/python/pyproject.toml
View File

@@ -60,9 +60,6 @@ update_init = [
scan_headers_ignore = [
"wpi/system/WPILibVersion.hpp",
# needs a python wrapper
"frc/AsynchronousInterrupt.h",
"wpi/system/Filesystem.hpp",
"wpi/system/Notifier.hpp", # wrapped separately
"wpi/system/Resource.hpp",
@@ -91,78 +88,62 @@ includes = ["wpilib/src"]
DYNAMIC_CAMERA_SERVER = 1
[tool.semiwrap.extension_modules."wpilib._wpilib".headers]
# frc
ADXL345_I2C = "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
AddressableLED = "wpi/hardware/led/AddressableLED.hpp"
Alert = "wpi/util/Alert.hpp"
AnalogAccelerometer = "wpi/hardware/accelerometer/AnalogAccelerometer.hpp"
AnalogEncoder = "wpi/hardware/rotation/AnalogEncoder.hpp"
AnalogInput = "wpi/hardware/discrete/AnalogInput.hpp"
AnalogPotentiometer = "wpi/hardware/rotation/AnalogPotentiometer.hpp"
CAN = "wpi/hardware/bus/CAN.hpp"
Compressor = "wpi/hardware/pneumatic/Compressor.hpp"
CompressorConfigType = "wpi/hardware/pneumatic/CompressorConfigType.hpp"
DataLogManager = "wpi/system/DataLogManager.hpp"
DSControlWord = "wpi/driverstation/DSControlWord.hpp"
DigitalInput = "wpi/hardware/discrete/DigitalInput.hpp"
DigitalOutput = "wpi/hardware/discrete/DigitalOutput.hpp"
DoubleSolenoid = "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
DriverStation = "wpi/driverstation/DriverStation.hpp"
DutyCycle = "wpi/hardware/rotation/DutyCycle.hpp"
DutyCycleEncoder = "wpi/hardware/rotation/DutyCycleEncoder.hpp"
Encoder = "wpi/hardware/rotation/Encoder.hpp"
Errors = "wpi/system/Errors.hpp"
# rpy
Filesystem = "rpy/Filesystem.h"
MotorControllerGroup = "rpy/MotorControllerGroup.h"
Notifier = "rpy/Notifier.h"
# wpi
ExpansionHub = "wpi/ExpansionHub.hpp"
ExpansionHubMotor = "wpi/ExpansionHubMotor.hpp"
ExpansionHubPidConstants = "wpi/ExpansionHubPidConstants.hpp"
ExpansionHubServo = "wpi/ExpansionHubServo.hpp"
Filesystem = "rpy/Filesystem.h"
# wpi/driverstation
DSControlWord = "wpi/driverstation/DSControlWord.hpp"
DriverStation = "wpi/driverstation/DriverStation.hpp"
Gamepad = "wpi/driverstation/Gamepad.hpp"
I2C = "wpi/hardware/bus/I2C.hpp"
IterativeRobotBase = "wpi/framework/IterativeRobotBase.hpp"
GenericHID = "wpi/driverstation/GenericHID.hpp"
Joystick = "wpi/driverstation/Joystick.hpp"
LEDPattern = "wpi/hardware/led/LEDPattern.hpp"
MotorSafety = "wpi/hardware/motor/MotorSafety.hpp"
Notifier = "rpy/Notifier.h"
OnboardIMU = "wpi/hardware/imu/OnboardIMU.hpp"
PS4Controller = "wpi/driverstation/PS4Controller.hpp"
PS5Controller = "wpi/driverstation/PS5Controller.hpp"
PWM = "wpi/hardware/discrete/PWM.hpp"
PneumaticHub = "wpi/hardware/pneumatic/PneumaticHub.hpp"
PneumaticsBase = "wpi/hardware/pneumatic/PneumaticsBase.hpp"
PneumaticsControlModule = "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
PneumaticsModuleType = "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
PowerDistribution = "wpi/hardware/power/PowerDistribution.hpp"
Preferences = "wpi/util/Preferences.hpp"
RobotBase = "wpi/framework/RobotBase.hpp"
RobotController = "wpi/system/RobotController.hpp"
RobotState = "wpi/framework/RobotState.hpp"
RuntimeType = "wpi/system/RuntimeType.hpp"
SensorUtil = "wpi/util/SensorUtil.hpp"
SerialPort = "wpi/hardware/bus/SerialPort.hpp"
SharpIR = "wpi/hardware/range/SharpIR.hpp"
Solenoid = "wpi/hardware/pneumatic/Solenoid.hpp"
StadiaController = "wpi/driverstation/StadiaController.hpp"
SystemServer = "wpi/system/SystemServer.hpp"
Threads = "wpi/system/Threads.hpp"
TimedRobot = "wpi/framework/TimedRobot.hpp"
Timer = "wpi/system/Timer.hpp"
TimesliceRobot = "wpi/framework/TimesliceRobot.hpp"
Tracer = "wpi/system/Tracer.hpp"
Watchdog = "wpi/system/Watchdog.hpp"
XboxController = "wpi/driverstation/XboxController.hpp"
# frc (interfaces)
# wpi/framework
IterativeRobotBase = "wpi/framework/IterativeRobotBase.hpp"
RobotBase = "wpi/framework/RobotBase.hpp"
RobotState = "wpi/framework/RobotState.hpp"
TimedRobot = "wpi/framework/TimedRobot.hpp"
TimesliceRobot = "wpi/framework/TimesliceRobot.hpp"
# wpi/hardware/accelerometer
ADXL345_I2C = "wpi/hardware/accelerometer/ADXL345_I2C.hpp"
AnalogAccelerometer = "wpi/hardware/accelerometer/AnalogAccelerometer.hpp"
# wpi/hardware/bus
CAN = "wpi/hardware/bus/CAN.hpp"
I2C = "wpi/hardware/bus/I2C.hpp"
SerialPort = "wpi/hardware/bus/SerialPort.hpp"
# wpi/hardware/discrete
AnalogInput = "wpi/hardware/discrete/AnalogInput.hpp"
CounterBase = "wpi/hardware/discrete/CounterBase.hpp"
GenericHID = "wpi/driverstation/GenericHID.hpp"
MotorController = "wpi/hardware/motor/MotorController.hpp"
DigitalInput = "wpi/hardware/discrete/DigitalInput.hpp"
DigitalOutput = "wpi/hardware/discrete/DigitalOutput.hpp"
PWM = "wpi/hardware/discrete/PWM.hpp"
# frc/internal
DriverStationModeThread = "wpi/internal/DriverStationModeThread.hpp"
# wpi/hardware/imu
OnboardIMU = "wpi/hardware/imu/OnboardIMU.hpp"
# frc/motorcontrol
# wpi/hardware/led
AddressableLED = "wpi/hardware/led/AddressableLED.hpp"
LEDPattern = "wpi/hardware/led/LEDPattern.hpp"
# wpi/hardware/motor
Koors40 = "wpi/hardware/motor/Koors40.hpp"
MotorControllerGroup = "rpy/MotorControllerGroup.h"
MotorController = "wpi/hardware/motor/MotorController.hpp"
MotorSafety = "wpi/hardware/motor/MotorSafety.hpp"
PWMMotorController = "wpi/hardware/motor/PWMMotorController.hpp"
PWMSparkFlex = "wpi/hardware/motor/PWMSparkFlex.hpp"
PWMSparkMax = "wpi/hardware/motor/PWMSparkMax.hpp"
@@ -175,7 +156,33 @@ SparkMini = "wpi/hardware/motor/SparkMini.hpp"
Talon = "wpi/hardware/motor/Talon.hpp"
VictorSP = "wpi/hardware/motor/VictorSP.hpp"
# frc/smartdashboard
# wpi/hardware/pneumatic
Compressor = "wpi/hardware/pneumatic/Compressor.hpp"
CompressorConfigType = "wpi/hardware/pneumatic/CompressorConfigType.hpp"
DoubleSolenoid = "wpi/hardware/pneumatic/DoubleSolenoid.hpp"
PneumaticHub = "wpi/hardware/pneumatic/PneumaticHub.hpp"
PneumaticsBase = "wpi/hardware/pneumatic/PneumaticsBase.hpp"
PneumaticsControlModule = "wpi/hardware/pneumatic/PneumaticsControlModule.hpp"
PneumaticsModuleType = "wpi/hardware/pneumatic/PneumaticsModuleType.hpp"
Solenoid = "wpi/hardware/pneumatic/Solenoid.hpp"
# wpi/hardware/power
PowerDistribution = "wpi/hardware/power/PowerDistribution.hpp"
# wpi/hardware/range
SharpIR = "wpi/hardware/range/SharpIR.hpp"
# wpi/hardware/rotation
AnalogEncoder = "wpi/hardware/rotation/AnalogEncoder.hpp"
AnalogPotentiometer = "wpi/hardware/rotation/AnalogPotentiometer.hpp"
DutyCycle = "wpi/hardware/rotation/DutyCycle.hpp"
DutyCycleEncoder = "wpi/hardware/rotation/DutyCycleEncoder.hpp"
Encoder = "wpi/hardware/rotation/Encoder.hpp"
# wpi/internal
DriverStationModeThread = "wpi/internal/DriverStationModeThread.hpp"
# wpi/smartdashboard
Field2d = "wpi/smartdashboard/Field2d.hpp"
FieldObject2d = "wpi/smartdashboard/FieldObject2d.hpp"
Mechanism2d = "wpi/smartdashboard/Mechanism2d.hpp"
@@ -187,12 +194,26 @@ SendableChooser = "wpi/smartdashboard/SendableChooser.hpp"
SendableChooserBase = "wpi/smartdashboard/SendableChooserBase.hpp"
SmartDashboard = "wpi/smartdashboard/SmartDashboard.hpp"
# frc/sysid
# wpi/sysid
SysIdRoutineLog = "wpi/sysid/SysIdRoutineLog.hpp"
# frc/util
# wpi/system
DataLogManager = "wpi/system/DataLogManager.hpp"
Errors = "wpi/system/Errors.hpp"
RobotController = "wpi/system/RobotController.hpp"
RuntimeType = "wpi/system/RuntimeType.hpp"
SystemServer = "wpi/system/SystemServer.hpp"
Threads = "wpi/system/Threads.hpp"
Timer = "wpi/system/Timer.hpp"
Tracer = "wpi/system/Tracer.hpp"
Watchdog = "wpi/system/Watchdog.hpp"
# wpi/util
Alert = "wpi/util/Alert.hpp"
Color = "wpi/util/Color.hpp"
Color8Bit = "wpi/util/Color8Bit.hpp"
Preferences = "wpi/util/Preferences.hpp"
SensorUtil = "wpi/util/SensorUtil.hpp"
[tool.semiwrap.extension_modules."wpilib.counter._counter"]
@@ -202,7 +223,7 @@ depends = ["wpilib"]
yaml_path = "semiwrap/counter"
[tool.semiwrap.extension_modules."wpilib.counter._counter".headers]
# frc/counter
# wpi/counter
EdgeConfiguration = "wpi/counter/EdgeConfiguration.hpp"
Tachometer = "wpi/counter/Tachometer.hpp"
UpDownCounter = "wpi/counter/UpDownCounter.hpp"
@@ -215,7 +236,7 @@ depends = ["wpilib"]
yaml_path = "semiwrap/drive"
[tool.semiwrap.extension_modules."wpilib.drive._drive".headers]
# frc/drive
# wpi/drive
DifferentialDrive = "wpi/drive/DifferentialDrive.hpp"
MecanumDrive = "wpi/drive/MecanumDrive.hpp"
RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
@@ -229,7 +250,7 @@ depends = ["wpimath_filter"]
yaml_path = "semiwrap/event"
[tool.semiwrap.extension_modules."wpilib.event._event".headers]
# frc/event
# wpi/event
BooleanEvent = "wpi/event/BooleanEvent.hpp"
EventLoop = "wpi/event/EventLoop.hpp"
NetworkBooleanEvent = "wpi/event/NetworkBooleanEvent.hpp"
@@ -242,7 +263,7 @@ depends = ["wpilib", "wpimath_controls", "wpimath_geometry", "wpimath_kinematics
yaml_path = "semiwrap/simulation"
[tool.semiwrap.extension_modules."wpilib.simulation._simulation".headers]
# frc/simulation
# wpi/simulation
ADXL345Sim = "wpi/simulation/ADXL345Sim.hpp"
AddressableLEDSim = "wpi/simulation/AddressableLEDSim.hpp"
AnalogEncoderSim = "wpi/simulation/AnalogEncoderSim.hpp"

139
wpimath/BUILD.bazel
View File

@@ -8,7 +8,12 @@ load("//shared/bazel/rules:cc_rules.bzl", "generate_def_windows", "third_party_c
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project", "pkg_files_headers")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
load("//wpimath:generate.bzl", "generate_wpimath")
load("//wpimath:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//wpimath:robotpy_pybind_build_info.bzl", "define_pybind_library", "publish_library_casters", "wpimath_controls_extension", "wpimath_extension", "wpimath_filter_extension", "wpimath_geometry_extension", "wpimath_interpolation_extension", "wpimath_kinematics_extension", "wpimath_spline_extension")
load("//wpimath:robotpy_pybind_test_info.bzl", "wpimath_test_extension", define_test_pybind_library = "define_pybind_library")
filegroup(
name = "doxygen-files",
@@ -319,3 +324,137 @@ package_default_jni_project(
maven_artifact_name = "wpimath-cpp",
maven_group_id = "org.wpilib.wpimath",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-wpimath-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
third_party_dirs = [
"gcem",
"sleipnir",
],
)
define_native_wrapper(
name = "robotpy-native-wpimath",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PYBIND_PKGCFG_DEPS = [
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
]
generate_robotpy_pybind_build_info(
name = "robotpy-wpimath-generator",
additional_srcs = [":robotpy-native-wpimath.copy_headers"],
package_root_file = "src/main/python/wpimath/__init__.py",
pkgcfgs = PYBIND_PKGCFG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
)
publish_library_casters()
wpimath_extension(
srcs = ["src/main/python/wpimath/src/wpimath.cpp"],
extra_hdrs = glob(["src/main/python/wpimath/_impl/src/**/*.h"]),
)
wpimath_filter_extension(
srcs = ["src/main/python/wpimath/filter/filter.cpp"],
extra_hdrs = glob(["src/main/python/wpimath/_impl/src/**/*.h"]),
)
wpimath_geometry_extension(
srcs = ["src/main/python/wpimath/geometry/geometry.cpp"],
extra_hdrs = glob(["src/main/python/wpimath/geometry/include/rpy/*"]),
header_to_dat_deps = glob(["src/main/native/include/**/*"]) + glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
includes = ["src/main/python/wpimath/geometry/include"],
)
wpimath_interpolation_extension(
srcs = ["src/main/python/wpimath/interpolation/interpolation.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
wpimath_kinematics_extension(
srcs = ["src/main/python/wpimath/kinematics/kinematics.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
wpimath_spline_extension(
srcs = ["src/main/python/wpimath/spline/spline.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
wpimath_controls_extension(
srcs = ["src/main/python/wpimath/_controls/controls.cpp"],
header_to_dat_deps = glob([
"src/main/python/wpimath/geometry/include/**/*.h",
"src/main/python/wpimath/_impl/src/**/*.h",
]),
)
define_pybind_library(
name = "robotpy-wpimath",
pkgcfgs = PYBIND_PKGCFG_DEPS,
)
generate_robotpy_pybind_build_info(
name = "robotpy-wpimath_test-generator",
additional_srcs = ["src/test/python/cpp/wpimath_test/include/module.h"],
generated_file_name = "robotpy_pybind_test_info.bzl",
package_root_file = "src/test/python/cpp/wpimath_test/__init__.py",
pkgcfgs = [
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
],
pyproject_toml = "src/test/python/cpp/pyproject.toml",
stripped_include_prefix = "src/test/python/cpp",
yaml_files = glob(["src/test/python/cpp/semiwrap/**/*.yml"]),
yml_prefix = "src/test/python/cpp/",
)
wpimath_test_extension(
srcs = glob(["src/test/python/cpp/wpimath_test/src/*.cpp"]),
extra_hdrs = ["src/test/python/cpp/wpimath_test/include/module.h"],
header_to_dat_deps = ["src/test/python/cpp/wpimath_test/include/module.h"],
includes = ["src/test/python/cpp/wpimath_test/include"],
)
define_test_pybind_library(
name = "robotpy-wpimath-test",
pkgcfgs = [
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
],
)
robotpy_py_test(
"python_tests",
srcs = glob(
["src/test/python/**/*.py"],
exclude = ["src/test/python/cpp/**"],
),
deps = [
":robotpy-wpimath",
":robotpy-wpimath-test",
requirement("pytest"),
],
)

39
wpimath/robotpy_native_build_info.bzl generated Normal file
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@@ -0,0 +1,39 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True) + native.glob([
"src/main/native/thirdparty/gcem/include/**",
"src/main/native/thirdparty/sleipnir/include/**",
]),
out = "native/wpimath/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"wpimath/src/generated/main/native/include": "",
"wpimath/src/main/native/include": "",
"wpimath/src/main/native/thirdparty/gcem/include": "",
"wpimath/src/main/native/thirdparty/sleipnir/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/wpimath/_init_robotpy_native_wpimath.py",
pc_file = "native/wpimath/robotpy-native-wpimath.pc",
pc_deps = [
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
],
deps = [
"//wpiutil:robotpy-native-wpiutil",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/wpimath",
install_path = "native/wpimath/",
)

1785
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157
wpimath/robotpy_pybind_test_info.bzl Normal file
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@@ -0,0 +1,157 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def wpimath_test_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
WPIMATH_TEST_HEADER_GEN = [
struct(
class_name = "module",
yml_file = "semiwrap/module.yml",
header_root = "wpimath/src/test/python/cpp/wpimath_test/include",
header_file = "wpimath/src/test/python/cpp/wpimath_test/include/module.h",
tmpl_class_names = [],
trampolines = [
("SomeClass", "__SomeClass.hpp"),
],
),
]
resolve_casters(
name = "wpimath_test.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "wpimath_test.casters.pkl",
dep_file = "wpimath_test.casters.d",
)
gen_libinit(
name = "wpimath_test.gen_lib_init",
output_file = "src/test/python/cpp/wpimath_test/_init__wpimath_test.py",
modules = ["wpimath._init__wpimath"],
)
gen_pkgconf(
name = "wpimath_test.gen_pkgconf",
libinit_py = "wpimath_test._init__wpimath_test",
module_pkg_name = "wpimath_test._wpimath_test",
output_file = "wpimath_test.pc",
pkg_name = "wpimath_test",
install_path = "src/test/python/cpp/wpimath_test",
project_file = "src/test/python/cpp/pyproject.toml",
package_root = "src/test/python/cpp/wpimath_test/__init__.py",
)
gen_modinit_hpp(
name = "wpimath_test.gen_modinit_hpp",
input_dats = [x.class_name for x in WPIMATH_TEST_HEADER_GEN],
libname = "_wpimath_test",
output_file = "semiwrap_init.wpimath_test._wpimath_test.hpp",
)
run_header_gen(
name = "wpimath_test",
casters_pickle = "wpimath_test.casters.pkl",
header_gen_config = WPIMATH_TEST_HEADER_GEN,
trampoline_subpath = "src/test/python/cpp/wpimath_test",
deps = header_to_dat_deps,
local_native_libraries = [
],
yml_prefix = "src/test/python/cpp/",
)
create_pybind_library(
name = "wpimath_test",
install_path = "src/test/python/cpp/wpimath_test/",
extension_name = "_wpimath_test",
generated_srcs = [":wpimath_test.generated_srcs"],
semiwrap_header = [":wpimath_test.gen_modinit_hpp"],
deps = [
":wpimath_test.tmpl_hdrs",
":wpimath_test.trampoline_hdrs",
"//wpimath:wpimath",
"//wpimath:wpimath_pybind_library",
],
dynamic_deps = [
"//wpimath:shared/wpimath",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "wpimath_test.generated_files",
srcs = [
"wpimath_test.gen_modinit_hpp.gen",
"wpimath_test.header_gen_files",
"wpimath_test.gen_pkgconf",
"wpimath_test.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"wpimath_test.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/test/python/cpp/wpimath_test/wpimath_test.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/test/python/cpp/wpimath_test/**"], exclude = ["src/test/python/cpp/wpimath_test/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
robotpy_library(
name = name,
srcs = native.glob(["src/test/python/cpp/wpimath_test/**/*.py"]) + [
"src/test/python/cpp/wpimath_test/_init__wpimath_test.py",
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/test/python/cpp/wpimath_test/_wpimath_test",
":wpimath_test.trampoline_hdr_files",
],
imports = ["src/test/python/cpp"],
deps = [
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/test/python/cpp/semiwrap",
extra_hdrs = native.glob(["src/test/python/cpp/**/*.h"], allow_empty = True) + [
],
package_root_file = "src/test/python/cpp/wpimath_test/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/test/python/cpp/pyproject.toml",
yaml_files = native.glob(["src/test/python/cpp/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/test/python/cpp/**/*.h"], allow_empty = True) + [
],
package_root_file = "src/test/python/cpp/wpimath_test/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/test/python/cpp/pyproject.toml",
)

30
wpimath/src/main/python/pyproject.toml
View File

@@ -83,10 +83,10 @@ scan_headers_ignore = [
"wpi/math/proto/*",
"wpi/math/*/proto/*",
"wpi/math/struct/*",
"wpi/math/*/struct/*",
"[eE]igen/*",
"gcem.hpp",
@@ -95,9 +95,7 @@ scan_headers_ignore = [
"gch/*",
"sleipnir/*",
"type_casters/*",
"unsupported/*",
"wpi/units/*",
"wpimath/protobuf/*",
"wpi/math/util/MathShared.hpp",
@@ -1491,7 +1489,7 @@ includes = ["wpimath/geometry/include"]
yaml_path = "semiwrap/geometry"
[tool.semiwrap.extension_modules."wpimath.geometry._geometry".headers]
# frc/geometry
# wpi/math/geometry
CoordinateAxis = "wpi/math/geometry/CoordinateAxis.hpp"
CoordinateSystem = "wpi/math/geometry/CoordinateSystem.hpp"
Ellipse2d = "wpi/math/geometry/Ellipse2d.hpp"
@@ -1515,7 +1513,7 @@ depends = ["wpimath_geometry"]
yaml_path = "semiwrap/interpolation"
[tool.semiwrap.extension_modules."wpimath.interpolation._interpolation".headers]
# frc/interpolation
# wpi/math/interpolation
TimeInterpolatableBuffer = "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
@@ -1526,7 +1524,7 @@ depends = ["wpimath_geometry"]
yaml_path = "semiwrap/kinematics"
[tool.semiwrap.extension_modules."wpimath.kinematics._kinematics".headers]
# frc/kinematics
# wpi/math/kinematics
ChassisSpeeds = "wpi/math/kinematics/ChassisSpeeds.hpp"
DifferentialDriveKinematics = "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
DifferentialDriveOdometry3d = "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
@@ -1555,7 +1553,7 @@ depends = ["wpimath_geometry"]
yaml_path = "semiwrap/spline"
[tool.semiwrap.extension_modules."wpimath.spline._spline".headers]
# frc/spline
# wpi/math/spline
CubicHermiteSpline = "wpi/math/spline/CubicHermiteSpline.hpp"
QuinticHermiteSpline = "wpi/math/spline/QuinticHermiteSpline.hpp"
Spline = "wpi/math/spline/Spline.hpp"
@@ -1570,7 +1568,7 @@ depends = ["wpimath", "wpimath_geometry", "wpimath_kinematics", "wpimath_spline"
yaml_path = "semiwrap/controls"
[tool.semiwrap.extension_modules."wpimath._controls._controls".headers]
# frc/controller
# wpi/math/controller
ArmFeedforward = "wpi/math/controller/ArmFeedforward.hpp"
BangBangController = "wpi/math/controller/BangBangController.hpp"
ControlAffinePlantInversionFeedforward = "wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp"
@@ -1587,7 +1585,7 @@ PIDController = "wpi/math/controller/PIDController.hpp"
ProfiledPIDController = "wpi/math/controller/ProfiledPIDController.hpp"
SimpleMotorFeedforward = "wpi/math/controller/SimpleMotorFeedforward.hpp"
# frc/estimator
# wpi/math/estimator
# AngleStatistics = "wpi/math/estimator/AngleStatistics.hpp"
DifferentialDrivePoseEstimator = "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
DifferentialDrivePoseEstimator3d = "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
@@ -1604,24 +1602,24 @@ SwerveDrivePoseEstimator3d = "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
# UnscentedKalmanFilter = "wpi/math/estimator/UnscentedKalmanFilter.hpp"
# UnscentedTransform = "wpi/math/estimator/UnscentedTransform.hpp"
# frc/optimization
# wpi/math/optimization
SimulatedAnnealing = "wpi/math/optimization/SimulatedAnnealing.hpp"
# frc/path
# wpi/math/path
TravelingSalesman = "wpi/math/path/TravelingSalesman.hpp"
# frc/system
# wpi/math/system
# Discretization = "wpi/math/system/Discretization.hpp"
LinearSystem = "wpi/math/system/LinearSystem.hpp"
LinearSystemLoop = "wpi/math/system/LinearSystemLoop.hpp"
# NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
# NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
# frc/system/plant
# wpi/math/system/plant
DCMotor = "wpi/math/system/plant/DCMotor.hpp"
LinearSystemId = "wpi/math/system/plant/LinearSystemId.hpp"
# frc/trajectory
# wpi/math/trajectory
ExponentialProfile = "wpi/math/trajectory/ExponentialProfile.hpp"
Trajectory = "wpi/math/trajectory/Trajectory.hpp"
TrajectoryConfig = "wpi/math/trajectory/TrajectoryConfig.hpp"
@@ -1629,7 +1627,7 @@ TrajectoryGenerator = "wpi/math/trajectory/TrajectoryGenerator.hpp"
TrajectoryParameterizer = "wpi/math/trajectory/TrajectoryParameterizer.hpp"
TrapezoidProfile = "wpi/math/trajectory/TrapezoidProfile.hpp"
# frc/trajectory/constraint
# wpi/math/trajectory/constraint
CentripetalAccelerationConstraint = "wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp"
DifferentialDriveKinematicsConstraint = "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
DifferentialDriveVoltageConstraint = "wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp"

2
wpimath/src/test/python/cpp/wpimath_test/__init__.py
View File

@@ -1,6 +1,6 @@
from . import _init__wpimath_test
# autogenerated by 'robotpy-build create-imports wpimath_test'
# autogenerated by 'semiwrap create-imports wpimath_test wpimath_test._wpimath_test'
from ._wpimath_test import SomeClass
__all__ = ["SomeClass"]

9
wpinet/robotpy_pybind_build_info.bzl generated
View File

@@ -1,5 +1,6 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
@@ -132,10 +133,17 @@ def define_pybind_library(name, pkgcfgs = []):
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/wpinet/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/wpinet/**/*.py"]) + [
"src/main/python/wpinet/_init__wpinet.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
@@ -156,6 +164,7 @@ def define_pybind_library(name, pkgcfgs = []):
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
],
package_root_file = "src/main/python/wpinet/__init__.py",
pkgcfgs = pkgcfgs,

8
wpiutil/robotpy_pybind_build_info.bzl generated
View File

@@ -1,6 +1,7 @@
# THIS FILE IS AUTO GENERATED
load("@rules_cc//cc:cc_library.bzl", "cc_library")
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "publish_casters", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
@@ -193,10 +194,17 @@ def define_pybind_library(name, pkgcfgs = []):
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/wpiutil/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/wpiutil/**/*.py"]) + [
"src/main/python/wpiutil/_init__wpiutil.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),

59
xrpVendordep/BUILD.bazel
View File

@@ -1,8 +1,13 @@
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
load("@rules_java//java:defs.bzl", "java_binary")
load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_library")
load("//shared/bazel/rules:packaging.bzl", "package_minimal_cc_project")
load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
load("//xrpVendordep:robotpy_native_build_info.bzl", "define_native_wrapper")
load("//xrpVendordep:robotpy_pybind_build_info.bzl", "define_pybind_library", "xrp_extension")
filegroup(
name = "doxygen-files",
@@ -99,3 +104,57 @@ package_minimal_cc_project(
maven_artifact_name = "xrpVendordep-cpp",
maven_group_id = "org.wpilib.xrpVendordep",
)
generate_robotpy_native_wrapper_build_info(
name = "robotpy-native-xrp-generator",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
define_native_wrapper(
name = "robotpy-native-xrp",
pyproject_toml = "src/main/python/native-pyproject.toml",
)
PKG_CONFIG_DEPS = [
"//datalog:native/datalog/robotpy-native-datalog.pc",
"//datalog:robotpy-wpilog.generated_pkgcfg_files",
"//hal:native/wpihal/robotpy-native-wpihal.pc",
"//hal:robotpy-hal.generated_pkgcfg_files",
"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
"//ntcore:pyntcore.generated_pkgcfg_files",
"//wpilibc:native/wpilib/robotpy-native-wpilib.pc",
"//wpilibc:robotpy-wpilib.generated_pkgcfg_files",
"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
"//wpinet:robotpy-wpinet.generated_pkgcfg_files",
"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
"//xrpVendordep:native/xrp/robotpy-native-xrp.pc",
]
generate_robotpy_pybind_build_info(
name = "robotpy-xrp-generator",
additional_srcs = [":robotpy-native-xrp.copy_headers"],
package_root_file = "src/main/python/xrp/__init__.py",
pkgcfgs = PKG_CONFIG_DEPS,
yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
)
xrp_extension(
srcs = ["src/main/python/xrp/src/main.cpp"],
)
define_pybind_library(
name = "robotpy-xrp",
pkgcfgs = PKG_CONFIG_DEPS,
)
robotpy_py_test(
"python_tests",
srcs = glob(["src/test/python/*.py"]),
deps = [
":robotpy-xrp",
requirement("pytest"),
],
)

34
xrpVendordep/robotpy_native_build_info.bzl generated Normal file
View File

@@ -0,0 +1,34 @@
# THIS FILE IS AUTO GENERATED
load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
def define_native_wrapper(name, pyproject_toml = None):
copy_to_directory(
name = "{}.copy_headers".format(name),
srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
out = "native/xrp/include",
root_paths = ["src/main/native/include/"],
replace_prefixes = {
"xrpVendordep/src/generated/main/native/include": "",
"xrpVendordep/src/main/native/include": "",
},
verbose = False,
visibility = ["//visibility:public"],
)
native_wrappery_library(
name = name,
pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
libinit_file = "native/xrp/_init_robotpy_native_xrp.py",
pc_file = "native/xrp/robotpy-native-xrp.pc",
pc_deps = [
"//wpilibc:native/wpilib/robotpy-native-wpilib.pc",
],
deps = [
"//wpilibc:robotpy-native-wpilib",
],
headers = "{}.copy_headers".format(name),
native_shared_library = "shared/xrpVendordep",
install_path = "native/xrp/",
)

238
xrpVendordep/robotpy_pybind_build_info.bzl generated Normal file
View File

@@ -0,0 +1,238 @@
# THIS FILE IS AUTO GENERATED
load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
def xrp_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
XRP_HEADER_GEN = [
struct(
class_name = "XRPGyro",
yml_file = "semiwrap/XRPGyro.yml",
header_root = "$(execpath :robotpy-native-xrp.copy_headers)",
header_file = "$(execpath :robotpy-native-xrp.copy_headers)/wpi/xrp/XRPGyro.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::xrp::XRPGyro", "wpi__xrp__XRPGyro.hpp"),
],
),
struct(
class_name = "XRPMotor",
yml_file = "semiwrap/XRPMotor.yml",
header_root = "$(execpath :robotpy-native-xrp.copy_headers)",
header_file = "$(execpath :robotpy-native-xrp.copy_headers)/wpi/xrp/XRPMotor.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::xrp::XRPMotor", "wpi__xrp__XRPMotor.hpp"),
],
),
struct(
class_name = "XRPOnBoardIO",
yml_file = "semiwrap/XRPOnBoardIO.yml",
header_root = "$(execpath :robotpy-native-xrp.copy_headers)",
header_file = "$(execpath :robotpy-native-xrp.copy_headers)/wpi/xrp/XRPOnBoardIO.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::xrp::XRPOnBoardIO", "wpi__xrp__XRPOnBoardIO.hpp"),
],
),
struct(
class_name = "XRPRangefinder",
yml_file = "semiwrap/XRPRangefinder.yml",
header_root = "$(execpath :robotpy-native-xrp.copy_headers)",
header_file = "$(execpath :robotpy-native-xrp.copy_headers)/wpi/xrp/XRPRangefinder.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::xrp::XRPRangefinder", "wpi__xrp__XRPRangefinder.hpp"),
],
),
struct(
class_name = "XRPReflectanceSensor",
yml_file = "semiwrap/XRPReflectanceSensor.yml",
header_root = "$(execpath :robotpy-native-xrp.copy_headers)",
header_file = "$(execpath :robotpy-native-xrp.copy_headers)/wpi/xrp/XRPReflectanceSensor.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::xrp::XRPReflectanceSensor", "wpi__xrp__XRPReflectanceSensor.hpp"),
],
),
struct(
class_name = "XRPServo",
yml_file = "semiwrap/XRPServo.yml",
header_root = "$(execpath :robotpy-native-xrp.copy_headers)",
header_file = "$(execpath :robotpy-native-xrp.copy_headers)/wpi/xrp/XRPServo.hpp",
tmpl_class_names = [],
trampolines = [
("wpi::xrp::XRPServo", "wpi__xrp__XRPServo.hpp"),
],
),
]
resolve_casters(
name = "xrp.resolve_casters",
caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
casters_pkl_file = "xrp.casters.pkl",
dep_file = "xrp.casters.d",
)
gen_libinit(
name = "xrp.gen_lib_init",
output_file = "src/main/python/xrp/_init__xrp.py",
modules = ["native.xrp._init_robotpy_native_xrp", "wpilib._init__wpilib", "wpimath.geometry._init__geometry"],
)
gen_pkgconf(
name = "xrp.gen_pkgconf",
libinit_py = "xrp._init__xrp",
module_pkg_name = "xrp._xrp",
output_file = "xrp.pc",
pkg_name = "xrp",
install_path = "src/main/python/xrp",
project_file = "src/main/python/pyproject.toml",
package_root = "src/main/python/xrp/__init__.py",
)
gen_modinit_hpp(
name = "xrp.gen_modinit_hpp",
input_dats = [x.class_name for x in XRP_HEADER_GEN],
libname = "_xrp",
output_file = "semiwrap_init.xrp._xrp.hpp",
)
run_header_gen(
name = "xrp",
casters_pickle = "xrp.casters.pkl",
header_gen_config = XRP_HEADER_GEN,
trampoline_subpath = "src/main/python/xrp",
deps = header_to_dat_deps,
local_native_libraries = [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
"//xrpVendordep:robotpy-native-xrp.copy_headers",
],
)
create_pybind_library(
name = "xrp",
install_path = "src/main/python/xrp/",
extension_name = "_xrp",
generated_srcs = [":xrp.generated_srcs"],
semiwrap_header = [":xrp.gen_modinit_hpp"],
deps = [
":xrp.tmpl_hdrs",
":xrp.trampoline_hdrs",
"//wpilibc:wpilib_pybind_library",
"//wpilibc:wpilibc",
"//wpimath:wpimath",
"//wpimath:wpimath_geometry_pybind_library",
"//xrpVendordep:xrpVendordep",
],
dynamic_deps = [
"//wpilibc:shared/wpilibc",
"//wpimath:shared/wpimath",
"//xrpVendordep:shared/xrpVendordep",
],
extra_hdrs = extra_hdrs,
extra_srcs = srcs,
includes = includes,
)
native.filegroup(
name = "xrp.generated_files",
srcs = [
"xrp.gen_modinit_hpp.gen",
"xrp.header_gen_files",
"xrp.gen_pkgconf",
"xrp.gen_lib_init",
],
tags = ["manual", "robotpy"],
)
def define_pybind_library(name, pkgcfgs = []):
# Helper used to generate all files with one target.
native.filegroup(
name = "{}.generated_files".format(name),
srcs = [
"xrp.generated_files",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Files that will be included in the wheel as data deps
native.filegroup(
name = "{}.generated_pkgcfg_files".format(name),
srcs = [
"src/main/python/xrp/xrp.pc",
],
tags = ["manual", "robotpy"],
visibility = ["//visibility:public"],
)
# Contains all of the non-python files that need to be included in the wheel
native.filegroup(
name = "{}.extra_files".format(name),
srcs = native.glob(["src/main/python/xrp/**"], exclude = ["src/main/python/xrp/**/*.py"], allow_empty = True),
tags = ["manual", "robotpy"],
)
generate_version_file(
name = "{}.generate_version".format(name),
output_file = "src/main/python/xrp/version.py",
template = "//shared/bazel/rules/robotpy:version_template.in",
)
robotpy_library(
name = name,
srcs = native.glob(["src/main/python/xrp/**/*.py"]) + [
"src/main/python/xrp/_init__xrp.py",
"{}.generate_version".format(name),
],
data = [
"{}.generated_pkgcfg_files".format(name),
"{}.extra_files".format(name),
":src/main/python/xrp/_xrp",
":xrp.trampoline_hdr_files",
],
imports = ["src/main/python"],
deps = [
"//wpilibc:robotpy-wpilib",
"//xrpVendordep:robotpy-native-xrp",
],
visibility = ["//visibility:public"],
)
update_yaml_files(
name = "{}-update-yaml".format(name),
yaml_output_directory = "src/main/python/semiwrap",
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//datalog:robotpy-native-datalog.copy_headers",
"//hal:robotpy-native-wpihal.copy_headers",
"//ntcore:robotpy-native-ntcore.copy_headers",
"//wpilibc:robotpy-native-wpilib.copy_headers",
"//wpimath:robotpy-native-wpimath.copy_headers",
"//wpinet:robotpy-native-wpinet.copy_headers",
"//wpiutil:robotpy-native-wpiutil.copy_headers",
"//xrpVendordep:robotpy-native-xrp.copy_headers",
],
package_root_file = "src/main/python/xrp/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
)
scan_headers(
name = "{}-scan-headers".format(name),
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
"//xrpVendordep:robotpy-native-xrp.copy_headers",
],
package_root_file = "src/main/python/xrp/__init__.py",
pkgcfgs = pkgcfgs,
pyproject_toml = "src/main/python/pyproject.toml",
)