[bazel] Clean up bazel scripts (#7984)

wpimath/BUILD.bazel

@@ -3,6 +3,7 @@ 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_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_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("//wpimath:generate.bzl", "generate_wpimath")
@@ -25,7 +26,6 @@ py_binary(
         "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
         "//conditions:default": [],
     }),
-    visibility = ["//visibility:public"],
 )
 
 py_binary(
@@ -37,7 +37,6 @@ py_binary(
         "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
         "//conditions:default": [],
     }),
-    visibility = ["//visibility:public"],
     deps = [requirement("jinja2")],
 )
 
@@ -49,7 +48,6 @@ py_binary(
         "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
         "//conditions:default": [],
     }),
-    visibility = ["//visibility:public"],
 )
 
 py_binary(
@@ -61,7 +59,6 @@ py_binary(
         "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
         "//conditions:default": [],
     }),
-    visibility = ["//visibility:public"],
     deps = [
         ":generate_nanopb",
         ":generate_numbers",
@@ -87,43 +84,22 @@ write_source_files(
 filegroup(
     name = "generated_java",
     srcs = glob(["src/generated/main/java/**/*.java"]),
-    visibility = ["//wpimath:__subpackages__"],
 )
 
-cc_library(
-    name = "eigen-headers",
-    hdrs = glob([
-        "src/main/native/thirdparty/eigen/include/**",
-    ]),
-    includes = ["src/main/native/thirdparty/eigen/include"],
-    strip_include_prefix = "src/main/native/thirdparty/eigen/include",
-    visibility = ["//wpimath:__subpackages__"],
+third_party_cc_lib_helper(
+    name = "eigen",
+    include_root = "src/main/native/thirdparty/eigen/include",
 )
 
-cc_library(
+third_party_cc_lib_helper(
     name = "gcem",
-    hdrs = glob([
-        "src/main/native/thirdparty/gcem/include/**",
-    ]),
-    includes = ["src/main/native/thirdparty/gcem/include"],
-    strip_include_prefix = "src/main/native/thirdparty/gcem/include",
-    visibility = ["//wpimath:__subpackages__"],
+    include_root = "src/main/native/thirdparty/gcem/include",
 )
 
-cc_library(
-    name = "sleipnir-headers",
-    hdrs = glob([
-        "src/main/native/thirdparty/sleipnir/include/**/*.hpp",
-    ]),
-    includes = ["src/main/native/thirdparty/sleipnir/include"],
-    strip_include_prefix = "src/main/native/thirdparty/sleipnir/include",
-    visibility = ["//wpimath:__subpackages__"],
-)
-
-filegroup(
-    name = "sleipnir-srcs",
-    srcs = glob(["src/main/native/thirdparty/sleipnir/src/**"]),
-    visibility = ["//wpimath:__subpackages__"],
+third_party_cc_lib_helper(
+    name = "sleipnir",
+    include_root = "src/main/native/thirdparty/sleipnir/include",
+    src_root = "src/main/native/thirdparty/sleipnir/src",
 )
 
 cc_library(
@@ -131,10 +107,9 @@ cc_library(
     hdrs = glob(["src/generated/main/native/cpp/**/*.h"]),
     includes = ["src/generated/main/native/cpp"],
     strip_include_prefix = "src/generated/main/native/cpp",
-    visibility = ["//wpiutil:__subpackages__"],
 )
 
-cc_library(
+wpilib_cc_library(
     name = "wpimath.static",
     srcs = glob(
         [
@@ -142,7 +117,7 @@ cc_library(
             "src/generated/main/native/cpp/**/*.cpp",
         ],
         exclude = ["src/main/native/cpp/jni/**"],
-    ) + [":sleipnir-srcs"],
+    ),
     hdrs = glob(["src/main/native/include/**"]),
     defines = ["WPILIB_EXPORTS"],
     includes = [
@@ -150,12 +125,16 @@ cc_library(
         "src/main/native/thirdparty/sleipnir/src",
     ],
     strip_include_prefix = "src/main/native/include",
+    third_party_header_only_libraries = [
+        ":eigen",
+        ":gcem",
+    ],
+    third_party_libraries = [
+        ":sleipnir",
+    ],
     visibility = ["//visibility:public"],
     deps = [
-        ":eigen-headers",
-        ":gcem",
         ":nanopb-generated-headers",
-        ":sleipnir-headers",
         "//wpiutil:wpiutil.static",
     ],
 )
@@ -203,10 +182,6 @@ cc_test(
         "src/test/native/cpp/**/*.cpp",
         "src/test/native/cpp/**/*.h",
     ]),
-    tags = [
-        "no-bullseye",
-        "no-raspi",
-    ],
     deps = [
         ":test_headers",
         ":wpimath.static",
@@ -247,5 +222,8 @@ java_binary(
 py_binary(
     name = "ExponentialProfileModel",
     srcs = ["algorithms/ExponentialProfileModel.py"],
-    tags = ["manual"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
 )