[wpimath] Move Drake and Eigen to thirdparty folders (#4307)

ThirdPartyNotices.txt

@@ -38,8 +38,7 @@ Feather Icons         wpinet/src/main/native/resources/feather-*
 jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
-Eigen                 wpimath/src/main/native/eigeninclude/
-                      wpimath/src/main/native/include/unsupported/
+Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
 StackWalker           wpiutil/src/main/native/windows/StackWalker.*
 TCB span              wpiutil/src/main/native/include/wpi/span.h
                       wpiutil/src/test/native/cpp/span/
@@ -50,8 +49,9 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
                       wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
                       wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-Drake                 wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp
-                      wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
+Drake                 wpimath/src/main/native/thirdparty/drake/
+                      wpimath/src/test/native/cpp/drake/
+                      wpimath/src/test/native/include/drake/
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 
 ==============================================================================

upstream_utils/update_drake.py

@@ -21,7 +21,8 @@ def main():
 
     # Delete old install
     for d in [
-            "src/main/native/cpp/drake", "src/main/native/include/drake",
+            "src/main/native/thirdparty/drake/src",
+            "src/main/native/thirdparty/drake/include",
             "src/test/native/cpp/drake", "src/test/native/include/drake"
     ]:
         shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
@@ -30,7 +31,7 @@ def main():
     src_files = walk_cwd_and_copy_if(
         lambda dp, f: f in
         ["drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"],
-        os.path.join(wpimath, "src/main/native/cpp/drake"))
+        os.path.join(wpimath, "src/main/native/thirdparty/drake/src"))
 
     # Copy drake header files into allwpilib
     include_files = walk_cwd_and_copy_if(
@@ -38,7 +39,8 @@ def main():
             "drake_assert.h", "drake_assertion_error.h",
             "is_approx_equal_abstol.h", "never_destroyed.h", "drake_copyable.h",
             "drake_throw.h", "discrete_algebraic_riccati_equation.h"
-        ], os.path.join(wpimath, "src/main/native/include/drake"))
+        ],
+        os.path.join(wpimath, "src/main/native/thirdparty/drake/include/drake"))
 
     # Copy drake test source files into allwpilib
     os.chdir(os.path.join(repo, "math/test"))
@@ -54,18 +56,20 @@ def main():
 
     for f in src_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/include")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/drake/include")])
     for f in include_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/include")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/drake/include")])
     for f in test_src_files:
         comment_out_invalid_includes(f, [
-            os.path.join(wpimath, "src/main/native/include"),
+            os.path.join(wpimath, "src/main/native/thirdparty/drake/include"),
             os.path.join(wpimath, "src/test/native/include")
         ])
     for f in test_include_files:
         comment_out_invalid_includes(f, [
-            os.path.join(wpimath, "src/main/native/include"),
+            os.path.join(wpimath, "src/main/native/thirdparty/drake/include"),
             os.path.join(wpimath, "src/test/native/include")
         ])
 

upstream_utils/update_eigen.py

@@ -97,26 +97,29 @@ def main():
 
     # Delete old install
     for d in [
-            "src/main/native/eigeninclude/Eigen",
-            "src/main/native/eigeninclude/unsupported"
+            "src/main/native/thirdparty/eigen/include/Eigen",
+            "src/main/native/thirdparty/eigen/include/unsupported"
     ]:
         shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
 
     # Copy Eigen headers into allwpilib
     eigen_files = walk_cwd_and_copy_if(
-        eigen_inclusions, os.path.join(wpimath, "src/main/native/eigeninclude"))
+        eigen_inclusions,
+        os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"))
 
     # Copy unsupported headers into allwpilib
     unsupported_files = walk_cwd_and_copy_if(
         unsupported_inclusions,
-        os.path.join(wpimath, "src/main/native/eigeninclude"))
+        os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"))
 
     for f in eigen_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/eigeninclude")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")])
     for f in unsupported_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/eigeninclude")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")])
 
 
 if __name__ == "__main__":

wpimath/.styleguide

@@ -13,12 +13,10 @@ modifiableFileExclude {
 }
 
 generatedFileExclude {
-  src/main/native/cpp/drake/
-  src/main/native/eigeninclude/
-  src/main/native/include/drake/
   src/main/native/include/units/base\.h$
   src/main/native/include/units/units\.h$
   src/main/native/include/unsupported/
+  src/main/native/thirdparty/
   src/test/native/cpp/UnitsTest\.cpp$
   src/test/native/cpp/drake/
   src/test/native/include/drake/

wpimath/CMakeLists.txt

@@ -89,7 +89,8 @@ if (WITH_JAVA)
 
 endif()
 
-file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp)
+file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp
+                                     src/main/native/thirdparty/drake/src/*.cpp)
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
@@ -108,9 +109,11 @@ wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)
 
 if (NOT USE_VCPKG_EIGEN)
-    install(DIRECTORY src/main/native/eigeninclude/ DESTINATION "${include_dest}/wpimath")
+    install(DIRECTORY src/main/native/thirdparty/drake/include/ DESTINATION "${include_dest}/wpimath")
+    install(DIRECTORY src/main/native/thirdparty/eigen/include/ DESTINATION "${include_dest}/wpimath")
     target_include_directories(wpimath SYSTEM PUBLIC
-                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/eigeninclude>
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/drake/include>
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
                             $<INSTALL_INTERFACE:${include_dest}/wpimath>)
 else()
     find_package(Eigen3 CONFIG REQUIRED)

wpimath/build.gradle

@@ -9,12 +9,30 @@ ext {
 
     nativeName = 'wpimath'
     devMain = 'edu.wpi.first.math.DevMain'
+
+    splitSetup = {
+        it.sources {
+            drakeCpp(CppSourceSet) {
+                source {
+                    srcDirs 'src/main/native/thirdparty/drake/src'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/main/native/thirdparty/drake/include',
+                            'src/main/native/thirdparty/eigen/include'
+                }
+            }
+        }
+    }
 }
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
 cppHeadersZip {
-    from('src/main/native/eigeninclude') {
+    from('src/main/native/thirdparty/drake/include') {
+        into '/'
+    }
+    from('src/main/native/thirdparty/eigen/include') {
         into '/'
     }
 }
@@ -24,7 +42,9 @@ model {
         all {
             it.sources.each {
                 it.exportedHeaders {
-                    srcDirs 'src/main/native/include', 'src/main/native/eigeninclude'
+                    srcDirs 'src/main/native/include',
+                            'src/main/native/thirdparty/drake/include',
+                            'src/main/native/thirdparty/eigen/include'
                 }
             }
         }