diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Cholesky b/wpimath/src/main/native/eigeninclude/Eigen/Cholesky index 1332b540d8..2460ce049b 100644 --- a/wpimath/src/main/native/eigeninclude/Eigen/Cholesky +++ b/wpimath/src/main/native/eigeninclude/Eigen/Cholesky @@ -33,11 +33,11 @@ #include "src/Cholesky/LDLT.h" #ifdef EIGEN_USE_LAPACKE #ifdef EIGEN_USE_MKL -#include "mkl_lapacke.h" +// #include "mkl_lapacke.h" #else -#include "src/misc/lapacke.h" +// #include "src/misc/lapacke.h" #endif -#include "src/Cholesky/LLT_LAPACKE.h" +// #include "src/Cholesky/LLT_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Core b/wpimath/src/main/native/eigeninclude/Eigen/Core index 68b8b54b04..1122fc2ea8 100644 --- a/wpimath/src/main/native/eigeninclude/Eigen/Core +++ b/wpimath/src/main/native/eigeninclude/Eigen/Core @@ -381,8 +381,8 @@ using std::ptrdiff_t; #include "src/Core/arch/SSE/MathFunctions.h" #include "src/Core/arch/AVX/PacketMath.h" #include "src/Core/arch/AVX/MathFunctions.h" - #include "src/Core/arch/AVX512/PacketMath.h" - #include "src/Core/arch/AVX512/MathFunctions.h" + // #include "src/Core/arch/AVX512/PacketMath.h" + // #include "src/Core/arch/AVX512/MathFunctions.h" #elif defined EIGEN_VECTORIZE_AVX // Use AVX for floats and doubles, SSE for integers #include "src/Core/arch/SSE/PacketMath.h" @@ -399,17 +399,17 @@ using std::ptrdiff_t; #include "src/Core/arch/SSE/Complex.h" #include "src/Core/arch/SSE/TypeCasting.h" #elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX) - #include "src/Core/arch/AltiVec/PacketMath.h" - #include "src/Core/arch/AltiVec/MathFunctions.h" - #include "src/Core/arch/AltiVec/Complex.h" + // #include "src/Core/arch/AltiVec/PacketMath.h" + // #include "src/Core/arch/AltiVec/MathFunctions.h" + // #include "src/Core/arch/AltiVec/Complex.h" #elif defined EIGEN_VECTORIZE_NEON #include "src/Core/arch/NEON/PacketMath.h" #include "src/Core/arch/NEON/MathFunctions.h" #include "src/Core/arch/NEON/Complex.h" #elif defined EIGEN_VECTORIZE_ZVECTOR - #include "src/Core/arch/ZVector/PacketMath.h" - #include "src/Core/arch/ZVector/MathFunctions.h" - #include "src/Core/arch/ZVector/Complex.h" + // #include "src/Core/arch/ZVector/PacketMath.h" + // #include "src/Core/arch/ZVector/MathFunctions.h" + // #include "src/Core/arch/ZVector/Complex.h" #endif // Half float support @@ -418,8 +418,8 @@ using std::ptrdiff_t; // #include "src/Core/arch/CUDA/TypeCasting.h" #if defined EIGEN_VECTORIZE_CUDA - #include "src/Core/arch/CUDA/PacketMath.h" - #include "src/Core/arch/CUDA/MathFunctions.h" + // #include "src/Core/arch/CUDA/PacketMath.h" + // #include "src/Core/arch/CUDA/MathFunctions.h" #endif #include "src/Core/arch/Default/Settings.h" @@ -521,18 +521,18 @@ using std::ptrdiff_t; #include "src/Core/ArrayWrapper.h" #ifdef EIGEN_USE_BLAS -#include "src/Core/products/GeneralMatrixMatrix_BLAS.h" -#include "src/Core/products/GeneralMatrixVector_BLAS.h" -#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h" -#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h" -#include "src/Core/products/SelfadjointMatrixVector_BLAS.h" -#include "src/Core/products/TriangularMatrixMatrix_BLAS.h" -#include "src/Core/products/TriangularMatrixVector_BLAS.h" -#include "src/Core/products/TriangularSolverMatrix_BLAS.h" +// #include "src/Core/products/GeneralMatrixMatrix_BLAS.h" +// #include "src/Core/products/GeneralMatrixVector_BLAS.h" +// #include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h" +// #include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h" +// #include "src/Core/products/SelfadjointMatrixVector_BLAS.h" +// #include "src/Core/products/TriangularMatrixMatrix_BLAS.h" +// #include "src/Core/products/TriangularMatrixVector_BLAS.h" +// #include "src/Core/products/TriangularSolverMatrix_BLAS.h" #endif // EIGEN_USE_BLAS #ifdef EIGEN_USE_MKL_VML -#include "src/Core/Assign_MKL.h" +// #include "src/Core/Assign_MKL.h" #endif #include "src/Core/GlobalFunctions.h" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Eigen b/wpimath/src/main/native/eigeninclude/Eigen/Eigen deleted file mode 100644 index 654c8dc638..0000000000 --- a/wpimath/src/main/native/eigeninclude/Eigen/Eigen +++ /dev/null @@ -1,2 +0,0 @@ -#include "Dense" -#include "Sparse" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Eigenvalues b/wpimath/src/main/native/eigeninclude/Eigen/Eigenvalues index 3b24d52d45..83cfdca999 100644 --- a/wpimath/src/main/native/eigeninclude/Eigen/Eigenvalues +++ b/wpimath/src/main/native/eigeninclude/Eigen/Eigenvalues @@ -46,13 +46,13 @@ #include "src/Eigenvalues/MatrixBaseEigenvalues.h" #ifdef EIGEN_USE_LAPACKE #ifdef EIGEN_USE_MKL -#include "mkl_lapacke.h" +// #include "mkl_lapacke.h" #else -#include "src/misc/lapacke.h" +// #include "src/misc/lapacke.h" #endif -#include "src/Eigenvalues/RealSchur_LAPACKE.h" -#include "src/Eigenvalues/ComplexSchur_LAPACKE.h" -#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h" +// #include "src/Eigenvalues/RealSchur_LAPACKE.h" +// #include "src/Eigenvalues/ComplexSchur_LAPACKE.h" +// #include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/LU b/wpimath/src/main/native/eigeninclude/Eigen/LU index 6418a86e19..88f75931c3 100644 --- a/wpimath/src/main/native/eigeninclude/Eigen/LU +++ b/wpimath/src/main/native/eigeninclude/Eigen/LU @@ -29,11 +29,11 @@ #include "src/LU/PartialPivLU.h" #ifdef EIGEN_USE_LAPACKE #ifdef EIGEN_USE_MKL -#include "mkl_lapacke.h" +// #include "mkl_lapacke.h" #else -#include "src/misc/lapacke.h" +// #include "src/misc/lapacke.h" #endif -#include "src/LU/PartialPivLU_LAPACKE.h" +// #include "src/LU/PartialPivLU_LAPACKE.h" #endif #include "src/LU/Determinant.h" #include "src/LU/InverseImpl.h" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/QR b/wpimath/src/main/native/eigeninclude/Eigen/QR index 1be1863a1d..01c37817d0 100644 --- a/wpimath/src/main/native/eigeninclude/Eigen/QR +++ b/wpimath/src/main/native/eigeninclude/Eigen/QR @@ -37,12 +37,12 @@ #include "src/QR/CompleteOrthogonalDecomposition.h" #ifdef EIGEN_USE_LAPACKE #ifdef EIGEN_USE_MKL -#include "mkl_lapacke.h" +// #include "mkl_lapacke.h" #else -#include "src/misc/lapacke.h" +// #include "src/misc/lapacke.h" #endif -#include "src/QR/HouseholderQR_LAPACKE.h" -#include "src/QR/ColPivHouseholderQR_LAPACKE.h" +// #include "src/QR/HouseholderQR_LAPACKE.h" +// #include "src/QR/ColPivHouseholderQR_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/SVD b/wpimath/src/main/native/eigeninclude/Eigen/SVD index 5d0e75f7f7..167a2b0715 100644 --- a/wpimath/src/main/native/eigeninclude/Eigen/SVD +++ b/wpimath/src/main/native/eigeninclude/Eigen/SVD @@ -38,11 +38,11 @@ #include "src/SVD/BDCSVD.h" #if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT) #ifdef EIGEN_USE_MKL -#include "mkl_lapacke.h" +// #include "mkl_lapacke.h" #else -#include "src/misc/lapacke.h" +// #include "src/misc/lapacke.h" #endif -#include "src/SVD/JacobiSVD_LAPACKE.h" +// #include "src/SVD/JacobiSVD_LAPACKE.h" #endif #include "src/Core/util/ReenableStupidWarnings.h" diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Assign_MKL.h b/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Assign_MKL.h deleted file mode 100644 index 6866095bf8..0000000000 --- a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Assign_MKL.h +++ /dev/null @@ -1,178 +0,0 @@ -/* - Copyright (c) 2011, Intel Corporation. All rights reserved. - Copyright (C) 2015 Gael Guennebaud - - Redistribution and use in source and binary forms, with or without modification, - are permitted provided that the following conditions are met: - - * Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - * Neither the name of Intel Corporation nor the names of its contributors may - be used to endorse or promote products derived from this software without - specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR - ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - ******************************************************************************** - * Content : Eigen bindings to Intel(R) MKL - * MKL VML support for coefficient-wise unary Eigen expressions like a=b.sin() - ******************************************************************************** -*/ - -#ifndef EIGEN_ASSIGN_VML_H -#define EIGEN_ASSIGN_VML_H - -namespace Eigen { - -namespace internal { - -template -class vml_assign_traits -{ - private: - enum { - DstHasDirectAccess = Dst::Flags & DirectAccessBit, - SrcHasDirectAccess = Src::Flags & DirectAccessBit, - StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)), - InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime) - : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime) - : int(Dst::RowsAtCompileTime), - InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime) - : int(Dst::Flags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime) - : int(Dst::MaxRowsAtCompileTime), - MaxSizeAtCompileTime = Dst::SizeAtCompileTime, - - MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1, - MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit), - VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize, - LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD - }; - public: - enum { - EnableVml = MightEnableVml && LargeEnough, - Traversal = MightLinearize ? LinearTraversal : DefaultTraversal - }; -}; - -#define EIGEN_PP_EXPAND(ARG) ARG -#if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1) -#define EIGEN_VMLMODE_EXPAND_LA , VML_HA -#else -#define EIGEN_VMLMODE_EXPAND_LA , VML_LA -#endif - -#define EIGEN_VMLMODE_EXPAND__ - -#define EIGEN_VMLMODE_PREFIX_LA vm -#define EIGEN_VMLMODE_PREFIX__ v -#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE) - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \ - template< typename DstXprType, typename SrcXprNested> \ - struct Assignment, SrcXprNested>, assign_op, \ - Dense2Dense, typename enable_if::EnableVml>::type> { \ - typedef CwiseUnaryOp, SrcXprNested> SrcXprType; \ - static void run(DstXprType &dst, const SrcXprType &src, const assign_op &func) { \ - resize_if_allowed(dst, src, func); \ - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \ - if(vml_assign_traits::Traversal==LinearTraversal) { \ - VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(), \ - (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \ - } else { \ - const Index outerSize = dst.outerSize(); \ - for(Index outer = 0; outer < outerSize; ++outer) { \ - const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) : \ - &(src.nestedExpression().coeffRef(0, outer)); \ - EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \ - VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, \ - (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \ - } \ - } \ - } \ - }; \ - - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE) - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE) - -#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE) \ - EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE) - - -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin, Sin, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin, Asin, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh, Sinh, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos, Cos, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos, Acos, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh, Cosh, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan, Tan, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan, Atan, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh, Tanh, LA) -// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs, Abs, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp, Exp, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log, Ln, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt, Sqrt, _) - -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor, _) -EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil, Ceil, _) - -#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE) \ - template< typename DstXprType, typename SrcXprNested, typename Plain> \ - struct Assignment, SrcXprNested, \ - const CwiseNullaryOp,Plain> >, assign_op, \ - Dense2Dense, typename enable_if::EnableVml>::type> { \ - typedef CwiseBinaryOp, SrcXprNested, \ - const CwiseNullaryOp,Plain> > SrcXprType; \ - static void run(DstXprType &dst, const SrcXprType &src, const assign_op &func) { \ - resize_if_allowed(dst, src, func); \ - eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols()); \ - VMLTYPE exponent = reinterpret_cast(src.rhs().functor().m_other); \ - if(vml_assign_traits::Traversal==LinearTraversal) \ - { \ - VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent, \ - (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) ); \ - } else { \ - const Index outerSize = dst.outerSize(); \ - for(Index outer = 0; outer < outerSize; ++outer) { \ - const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) : \ - &(src.lhs().coeffRef(0, outer)); \ - EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer)); \ - VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent, \ - (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE)); \ - } \ - } \ - } \ - }; - -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float, float, LA) -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double, double, LA) -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8, LA) -EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA) - -} // end namespace internal - -} // end namespace Eigen - -#endif // EIGEN_ASSIGN_VML_H diff --git a/wpimath/update_eigen.py b/wpimath/update_eigen.py new file mode 100755 index 0000000000..5df5e78501 --- /dev/null +++ b/wpimath/update_eigen.py @@ -0,0 +1,197 @@ +#!/usr/bin/env python3 + +import os +import re +import shutil +import subprocess +import tempfile + + +def clone_repo(url, treeish): + """Clones a git repo at the given URL and checks out the given tree-ish + (either branch or tag). + + Keyword argument: + url -- The URL of the git repo + treeish -- The tree-ish to check out (branch or tag) + """ + repo = os.path.basename(url) + dest = os.path.join(os.getcwd(), repo).rstrip(".git") + + # Clone Git repository into current directory or update it + if not os.path.exists(dest): + subprocess.run(["git", "clone", url, dest]) + os.chdir(dest) + else: + os.chdir(dest) + subprocess.run(["git", "fetch", "origin", treeish]) + + # Get list of heads + # Example output of "git ls-remote --heads": + # From https://gitlab.com/libeigen/eigen.git + # 77c66e368c7e355f8be299659f57b0ffcaedb505 refs/heads/3.4 + # 3e006bfd31e4389e8c5718c30409cddb65a73b04 refs/heads/master + ls_out = subprocess.check_output(["git", "ls-remote", + "--heads"]).decode().rstrip() + heads = [x.split()[1] for x in ls_out.split("\n")[1:]] + + if f"refs/heads/{treeish}" in heads: + # Checking out the remote branch avoids needing to handle syncing a + # preexisting local one + subprocess.run(["git", "checkout", f"origin/{treeish}"]) + else: + subprocess.run(["git", "checkout", treeish]) + + +def eigen_inclusions(dp, f): + """Returns true if the given file in the "Eigen" include directory of the + Eigen git repo should be copied into allwpilib + + Keyword arguments: + dp -- directory path + f -- filename + """ + abspath = os.path.join(dp, f) + + # Exclude build system + if f == "CMakeLists.txt": + return False + + # Exclude code licensed under MPL2 + if f == "NonMPL2.h": + return False + + # Exclude BLAS support + if f.endswith("_BLAS.h") or "blas" in f: + return False + + # Exclude LAPACK support + if f.endswith("_LAPACKE.h") or "lapack" in f: + return False + + # Exclude MKL support + if "MKL" in f: + return False + + # Include architectures we care about + if "Core/arch/" in abspath: + return ("arch/AVX/" in abspath or "arch/Default" in abspath or + "arch/NEON" in abspath or "arch/SSE" in abspath) + + # Include the following modules + modules = [ + "Cholesky", + "Core", + "Eigenvalues", + "Householder", + "Jacobi", + "LU", + "QR", + "SVD", + "StlSupport", + "misc", + "plugins", + ] + modules_rgx = r"|".join("/" + m for m in modules) + + # "Std" matches StdDeque, StdList, and StdVector headers + if re.search(modules_rgx, abspath) or "Std" in f: + return True + else: + # Exclude all other modules + return False + + +def unsupported_inclusions(dp, f): + """Returns true if the given file in the "unsupported" include directory of + the Eigen git repo should be copied into allwpilib + + Keyword arguments: + dp -- directory path + f -- filename + """ + abspath = os.path.join(dp, f) + + # Exclude build system and READMEs + if f == "CMakeLists.txt" or "README" in f: + return False + + # Include the AutoDiff and MatrixFunctions modules + return "AutoDiff" in abspath or "MatrixFunctions" in abspath + + +def comment_out_invalid_includes(filename): + """Comment out #include directives that include a nonexistent file + + Keyword arguments: + filename -- file to search for includes + """ + # Read header + with open(filename) as f: + old_contents = f.read() + + new_contents = "" + pos = 0 + for match in re.finditer(r"#include \"([^\"]+)\"", old_contents): + include = match.group(1) + + # Write contents from before this match + new_contents += old_contents[pos:match.span()[0]] + + # Comment out #include if the file doesn't exist + if not os.path.exists(os.path.join(os.path.dirname(filename), include)): + new_contents += "// " + + new_contents += match.group() + pos = match.span()[1] + + # Write rest of file if it wasn't all processed + if pos < len(old_contents): + new_contents += old_contents[pos:] + + # Write modified file back out + if old_contents != new_contents: + with open(filename, "w") as f: + f.write(new_contents) + + +def main(): + cwd = os.getcwd() + os.chdir(tempfile.gettempdir()) + clone_repo("https://gitlab.com/libeigen/eigen.git", "3.3.9") + + # Get list of Eigen headers to copy + files = [ + os.path.join(dp, f) + for dp, dn, fn in os.walk("Eigen") + for f in fn + if eigen_inclusions(dp, f) + ] + files += [ + os.path.join(dp, f) + for dp, dn, fn in os.walk("unsupported") + for f in fn + if unsupported_inclusions(dp, f) + ] + + # Delete old Eigen install + include_root = os.path.join(cwd, "src/main/native/eigeninclude") + for folder in ["Eigen", "unsupported"]: + shutil.rmtree(os.path.join(include_root, folder), ignore_errors=True) + + # Copy new Eigen into allwpilib + for f in files: + dest_file = os.path.join(include_root, f) + dest_dir = os.path.dirname(dest_file) + if not os.path.exists(dest_dir): + os.makedirs(dest_dir) + shutil.copyfile(f, dest_file) + + # Comment out missing headers + for f in files: + dest_file = os.path.join(include_root, f) + comment_out_invalid_includes(dest_file) + + +if __name__ == "__main__": + main()