mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6e5171cd8f
Using MrcLib on the robot is going to be the plan for the future, to make things easier. MrcLib is how sim is supported going forward. The desktop version of mrclib can act as a robot server. This is set up where the mrclib interface is in shared code. On robot, that is the only backend used. On desktop, a default sim backend is used. However, the sim plugin can switch that to the real robot backend, so the robot code will exactly look like a real robot.
162 lines
4.7 KiB
Python
162 lines
4.7 KiB
Python
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
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load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
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load("@rules_java//java:defs.bzl", "java_binary")
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load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
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load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_library")
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load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
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load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
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load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
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load("//xrpVendordep:robotpy_native_build_info.bzl", "define_native_wrapper")
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load("//xrpVendordep:robotpy_pybind_build_info.bzl", "define_pybind_library", "xrp_extension")
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filegroup(
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name = "doxygen-files",
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srcs = glob([
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"src/main/native/include/**/*",
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]),
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visibility = ["//visibility:public"],
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)
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wpilib_cc_library(
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name = "xrpVendordep",
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srcs = glob([
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"src/main/native/cpp/**",
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]),
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hdrs = glob(["src/main/native/include/**"]),
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strip_include_prefix = "src/main/native/include",
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visibility = ["//visibility:public"],
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deps = [
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"//ntcore",
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"//wpilibc",
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"//wpinet",
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],
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)
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wpilib_cc_shared_library(
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name = "shared/xrpVendordep",
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dynamic_deps = [
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"//ntcore:shared/ntcore",
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"//wpilibc:shared/wpilibc",
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"//wpinet:shared/wpinet",
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"//wpiutil:shared/wpiutil",
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"//wpimath:shared/wpimath",
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"//hal:shared/wpiHal",
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],
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visibility = ["//visibility:public"],
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deps = [":xrpVendordep"],
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)
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wpilib_cc_static_library(
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name = "static/xrpVendordep",
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static_deps = [
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"//ntcore:static/ntcore",
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"//wpilibc:static/wpilibc",
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"//wpinet:static/wpinet",
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],
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visibility = ["//visibility:public"],
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deps = [":xrpVendordep"],
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)
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wpilib_java_library(
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name = "xrpVendordep-java",
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srcs = glob(["src/main/java/**/*.java"]),
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maven_artifact_name = "xrpVendordep-java",
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maven_group_id = "org.wpilib.xrpVendordep",
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visibility = ["//visibility:public"],
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deps = [
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"//hal:hal-java",
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"//wpilibj:wpilibj-java",
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"//wpimath:wpimath-java",
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],
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)
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cc_test(
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name = "xrp-cpp-test",
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size = "small",
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srcs = glob(["src/test/native/cpp/**"]),
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deps = [
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":xrpVendordep",
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"//thirdparty/googletest",
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],
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)
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cc_binary(
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name = "DevMain-Cpp",
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srcs = ["src/dev/native/cpp/main.cpp"],
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deps = [
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"//wpiutil",
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],
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)
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java_binary(
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name = "DevMain-Java",
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srcs = ["src/dev/java/org/wpilib/xrp/DevMain.java"],
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main_class = "org.wpilib.xrp.DevMain",
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deps = [
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"//hal:hal-java",
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"//ntcore:ntcore-java",
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"//wpiutil:wpiutil-java",
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],
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)
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package_default_cc_project(
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name = "xrpVendordep",
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maven_artifact_name = "xrpVendordep-cpp",
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maven_group_id = "org.wpilib.xrpVendordep",
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)
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generate_robotpy_native_wrapper_build_info(
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name = "robotpy-native-xrp-generator",
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pyproject_toml = "src/main/python/native-pyproject.toml",
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)
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define_native_wrapper(
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name = "robotpy-native-xrp",
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pyproject_toml = "src/main/python/native-pyproject.toml",
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)
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PKG_CONFIG_DEPS = [
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"//datalog:native/datalog/robotpy-native-datalog.pc",
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"//datalog:robotpy-wpilog.generated_pkgcfg_files",
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"//hal:native/wpihal/robotpy-native-mrclib.pc",
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"//hal:native/wpihal/robotpy-native-wpihal.pc",
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"//hal:robotpy-hal.generated_pkgcfg_files",
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"//ntcore:native/ntcore/robotpy-native-ntcore.pc",
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"//ntcore:pyntcore.generated_pkgcfg_files",
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"//wpilibc:native/wpilib/robotpy-native-wpilib.pc",
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"//wpilibc:robotpy-wpilib.generated_pkgcfg_files",
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"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
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"//wpimath:robotpy-wpimath.generated_pkgcfg_files",
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"//wpinet:native/wpinet/robotpy-native-wpinet.pc",
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"//wpinet:robotpy-wpinet.generated_pkgcfg_files",
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"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
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"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
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"//xrpVendordep:native/xrp/robotpy-native-xrp.pc",
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]
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generate_robotpy_pybind_build_info(
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name = "robotpy-xrp-generator",
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additional_srcs = [":robotpy-native-xrp.copy_headers"],
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package_root_file = "src/main/python/xrp/__init__.py",
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pkgcfgs = PKG_CONFIG_DEPS,
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yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
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)
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xrp_extension(
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srcs = ["src/main/python/xrp/src/main.cpp"],
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)
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define_pybind_library(
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name = "robotpy-xrp",
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pkgcfgs = PKG_CONFIG_DEPS,
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)
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robotpy_py_test(
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"python_tests",
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srcs = glob(["src/test/python/*.py"]),
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deps = [
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":robotpy-xrp",
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requirement("pytest"),
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],
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)
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