[upstream_utils] Use pathlib instead of os.path (#7983)

A noteworthy change is the replacement of the `dp.startswith(os.path.join(".", "subdir"))` pattern. pathlib doesn't offer something with similar semantics besides `match` and `full_match`, so there's now a helper function that replicates the behavior.

Other notable changes include the addition of type annotations to ensure code correctness, using == to check file names instead of `endswith` for clarity (`endswith` is still used to check extensions), manual walking and copying being refactored in googletest, json, memory, nanopb, protobuf, and sleipnir to use `walk_cwd_and_copy_if`, and matching functions being shortened to the point where they can just be inlined into the lambda.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>

upstream_utils/eigen.py

@@ -1,13 +1,17 @@
 #!/usr/bin/env python3
 
-import os
-import re
 import shutil
+from pathlib import Path
 
-from upstream_utils import Lib, comment_out_invalid_includes, walk_cwd_and_copy_if
+from upstream_utils import (
+    Lib,
+    comment_out_invalid_includes,
+    has_prefix,
+    walk_cwd_and_copy_if,
+)
 
 
-def eigen_inclusions(dp, f):
+def eigen_inclusions(dp: Path, f: str):
     """Returns true if the given file in the "Eigen" include directory of the
     Eigen git repo should be copied into allwpilib
 
@@ -15,11 +19,9 @@ def eigen_inclusions(dp, f):
     dp -- directory path
     f -- filename
     """
-    if not dp.startswith(os.path.join(".", "Eigen")):
+    if not has_prefix(dp, Path("Eigen")):
         return False
 
-    abspath = os.path.join(dp, f)
-
     # Exclude NonMPL2.h since all non-MPL2 code will be excluded anyway
     if f == "NonMPL2.h":
         return False
@@ -36,13 +38,13 @@ def eigen_inclusions(dp, f):
     if "MKL" in f:
         return False
 
-    # Include architectures we care about
-    if "Core/arch/" in abspath:
+    # Include architectures we care about by filtering for Core/arch
+    if "Core" in dp.parts and "arch" in dp.parts:
         return (
-            "arch/AVX/" in abspath
-            or "arch/Default" in abspath
-            or "arch/NEON" in abspath
-            or "arch/SSE" in abspath
+            "AVX" in dp.parts
+            or "Default" in dp.parts
+            or "NEON" in dp.parts
+            or "SSE" in dp.parts
         )
 
     # Include the following modules
@@ -65,10 +67,13 @@ def eigen_inclusions(dp, f):
         "misc",
         "plugins",
     ]
-    return bool(re.search(r"|".join("/" + m for m in modules), abspath))
+    for m in modules:
+        if m in dp.parts or f == m:
+            return True
+    return False
 
 
-def unsupported_inclusions(dp, f):
+def unsupported_inclusions(dp: Path, f: str):
     """Returns true if the given file in the "unsupported" include directory of
     the Eigen git repo should be copied into allwpilib
 
@@ -76,50 +81,50 @@ def unsupported_inclusions(dp, f):
     dp -- directory path
     f -- filename
     """
-    if not dp.startswith(os.path.join(".", "unsupported")):
+    if not has_prefix(dp, Path("unsupported")):
         return False
 
-    abspath = os.path.join(dp, f)
+    abspath = dp / f
 
     # Exclude build system and READMEs
     if f == "CMakeLists.txt" or "README" in f:
         return False
 
     # Include the MatrixFunctions module
-    return "MatrixFunctions" in abspath
+    return "MatrixFunctions" in abspath.parts
 
 
-def copy_upstream_src(wpilib_root):
-    wpimath = os.path.join(wpilib_root, "wpimath")
+def copy_upstream_src(wpilib_root: Path):
+    wpimath = wpilib_root / "wpimath"
 
     # Delete old install
     for d in ["src/main/native/thirdparty/eigen/include"]:
-        shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
+        shutil.rmtree(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/thirdparty/eigen/include"),
+        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/thirdparty/eigen/include"),
+        wpimath / "src/main/native/thirdparty/eigen/include",
     )
 
     for f in eigen_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")]
+            f, [wpimath / "src/main/native/thirdparty/eigen/include"]
         )
     for f in unsupported_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")]
+            f, [wpimath / "src/main/native/thirdparty/eigen/include"]
         )
 
     shutil.copyfile(
         ".clang-format",
-        os.path.join(wpimath, "src/main/native/thirdparty/eigen/include/.clang-format"),
+        wpimath / "src/main/native/thirdparty/eigen/include/.clang-format",
     )