[wpimath] Add Sleipnir (#6541)

This is useful for solving quadratic programs.

upstream_utils/update_sleipnir.py

@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import (
+    get_repo_root,
+    clone_repo,
+    copy_to,
+    walk_cwd_and_copy_if,
+    git_am,
+)
+
+
+def main():
+    upstream_root = clone_repo(
+        "https://github.com/SleipnirGroup/Sleipnir",
+        # main on 2024-04-25
+        "fd2df40330df1f39b04f831f41fbcc22bab07a70",
+        shallow=False,
+    )
+    wpilib_root = get_repo_root()
+    wpimath = os.path.join(wpilib_root, "wpimath")
+
+    # Apply patches to upstream Git repo
+    os.chdir(upstream_root)
+    for f in [
+        "0001-Remove-using-enum-declarations.patch",
+    ]:
+        git_am(os.path.join(wpilib_root, "upstream_utils/sleipnir_patches", f))
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/sleipnir/src",
+        "src/main/native/thirdparty/sleipnir/include",
+    ]:
+        shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
+
+    # Copy Sleipnir source files into allwpilib
+    os.chdir(upstream_root)
+    src_files = [os.path.join(dp, f) for dp, dn, fn in os.walk("src") for f in fn]
+    src_files = copy_to(
+        src_files, os.path.join(wpimath, "src/main/native/thirdparty/sleipnir")
+    )
+
+    # 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
+    ]
+    include_files = copy_to(
+        include_files, os.path.join(wpimath, "src/main/native/thirdparty/sleipnir")
+    )
+
+    for filename in [
+        ".clang-format",
+        ".clang-tidy",
+        ".styleguide",
+        ".styleguide-license",
+    ]:
+        shutil.copyfile(
+            os.path.join(upstream_root, filename),
+            os.path.join(wpimath, "src/main/native/thirdparty/sleipnir", filename),
+        )
+
+
+if __name__ == "__main__":
+    main()