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

This gets the majority of projects from mostrobotpy building in this mirror. Projects missing still are cscore and the halsim wrappers.

romiVendordep/BUILD.bazel

@@ -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"),
+    ],
+)

romiVendordep/robotpy_native_build_info.bzl

@@ -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/",
+    )

romiVendordep/robotpy_pybind_build_info.bzl

@@ -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",
+    )