[upstream_utils] Upgrade Sleipnir (#7973)

upstream_utils/sleipnir.py

@@ -24,10 +24,7 @@ def copy_upstream_src(wpilib_root):
 
     # Copy Sleipnir header files into allwpilib
     include_files = [
-        os.path.join(dp, f)
-        for dp, dn, fn in os.walk("include")
-        for f in fn
-        if not f.endswith("small_vector.hpp")
+        os.path.join(dp, f) for dp, dn, fn in os.walk("include") for f in fn
     ]
     include_files = copy_to(
         include_files, os.path.join(wpimath, "src/main/native/thirdparty/sleipnir")
@@ -44,12 +41,42 @@ def copy_upstream_src(wpilib_root):
             os.path.join(wpimath, "src/main/native/thirdparty/sleipnir", filename),
         )
 
+    # Write shim for wpi::SmallVector
+    try:
+        os.mkdir(
+            os.path.join(wpimath, "src/main/native/thirdparty/sleipnir/include/gch")
+        )
+    except:
+        pass
+    with open(
+        os.path.join(
+            wpimath,
+            "src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp",
+        ),
+        "w",
+    ) as f:
+        f.write(
+            """// Copyright (c) Sleipnir contributors
+
+#pragma once
+
+#include <wpi/SmallVector.h>
+
+namespace gch {
+
+template <typename T>
+using small_vector = wpi::SmallVector<T>;
+
+}  // namespace gch
+"""
+        )
+
 
 def main():
     name = "sleipnir"
     url = "https://github.com/SleipnirGroup/Sleipnir"
-    # main on 2024-12-07
-    tag = "01206ab17d741f4c45a7faeb56b8a5442df1681c"
+    # main on 2025-05-18
+    tag = "2cc18ff6d25ee0a9bd0f9993a0a41a61a28bda3e"
 
     sleipnir = Lib(name, url, tag, copy_upstream_src)
     sleipnir.main()