mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
b37e2d9343
The framework fundamentally relies on the continuation API added in Java 21 (which is currently internal to the JDK). Continuations allow for call stacks to be saved to the heap and resumed later. The async framework allows command bodies to be written in an imperative style. However, an async command will need to be actively cooperative and periodically call coroutine.yield() in loops to yield control back to the command scheduler to let it process other commands. There are also some other additions like priority levels (as opposed to a blanket yes/no for ignoring incoming commands), factories requiring names be provided for commands, and the scheduler tracking all running commands and not just the highest-level groups. However, those changes aren't unique to an async framework, and could just as easily be used in a traditional command framework.
129 lines
5.3 KiB
Python
129 lines
5.3 KiB
Python
load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
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load("@rules_pkg//:mappings.bzl", "pkg_files")
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load("@rules_python//python:pip.bzl", "compile_pip_requirements")
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load("//shared/bazel/rules:publishing.bzl", "publish_all")
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exports_files([
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"LICENSE.md",
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"ThirdPartyNotices.txt",
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])
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pkg_files(
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name = "license_pkg_files",
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srcs = [
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"LICENSE.md",
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"ThirdPartyNotices.txt",
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],
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visibility = ["//visibility:public"],
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)
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# bazel build //:requirements.lock
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compile_pip_requirements(
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name = "requirements",
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extra_args = ["--allow-unsafe"],
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requirements_in = "requirements.txt",
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requirements_txt = "requirements_lock.txt",
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requirements_windows = "//:requirements_windows_lock.txt",
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# compile_pip_requirements does not respect target_compatible_with for some of the targets it generates under the hood
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tags = ["no-systemcore"],
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)
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alias(
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name = "quickbuf_protoc",
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actual = select({
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"@platforms//os:windows": "@quickbuffer_protoc_windows//file",
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"@rules_bzlmodrio_toolchains//conditions:osx_aarch64": "@quickbuffer_protoc_osx_aarch64//file",
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"@rules_bzlmodrio_toolchains//conditions:osx_x86_64": "@quickbuffer_protoc_osx_x86-64//file",
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"@rules_bzlmodrio_toolchains//constraints/combined:is_linux": "@quickbuffer_protoc_linux//file",
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}),
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tags = ["pregeneration"],
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visibility = ["//visibility:public"],
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)
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# This is a helper to run all of the pregeneration scripts at once.
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write_source_files(
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name = "write_all",
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additional_update_targets = [
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"//hal:write_hal",
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"//ntcore:write_ntcore",
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"//wpilibc:write_wpilibc",
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"//wpilibcExamples:write_example_project_list",
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"//wpilibj:write_wpilibj",
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"//wpilibjExamples:write_example_project_list",
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"//wpilibNewCommands:write_wpilib_new_commands",
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"//commandsv3:write_commandsv3",
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"//wpimath:write_wpimath",
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"//wpiunits:write_wpiunits",
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"//wpiutil:write_wpiutil",
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],
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tags = ["pregeneration"],
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)
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publish_all(
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name = "publish",
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targets = [
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"//apriltag:apriltag-cpp_publish.publish",
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"//apriltag:apriltag-java_publish.publish",
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"//cameraserver:cameraserver-cpp_publish.publish",
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"//cameraserver:cameraserver-java_publish.publish",
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"//cscore:cscore-cpp_publish.publish",
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"//cscore:cscore-java_publish.publish",
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"//datalog:datalog-cpp_publish.publish",
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"//datalog:datalog-java_publish.publish",
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"//datalogtool:datalogtool_publish.publish",
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"//docs:wpilibj_publish.publish",
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"//epilogue-processor:processor-java_publish.publish",
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"//epilogue-runtime:epilogue-java_publish.publish",
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"//fieldImages:fieldImages-cpp_publish.publish",
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"//fieldImages:fieldImages-java_publish.publish",
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"//glass:glass-cpp_publish.publish",
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"//glass:glassapp_publish.publish",
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"//glass:glassnt-cpp_publish.publish",
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"//hal:hal-java_publish.publish",
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"//hal:wpiHal-cpp_publish.publish",
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"//ntcore:ntcore-cpp_publish.publish",
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"//ntcore:ntcore-java_publish.publish",
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"//ntcoreffi:ntcoreffi-cpp_publish.publish",
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"//outlineviewer:outlineviewer_publish.publish",
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"//processstarter:processstarter_publish.publish",
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"//romiVendordep:romiVendordep-cpp_publish.publish",
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"//romiVendordep:romiVendordep-java_publish.publish",
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"//simulation/halsim_ds_socket:halsim_ds_socket-cpp_publish.publish",
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"//simulation/halsim_gui:halsim_gui-cpp_publish.publish",
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"//simulation/halsim_ws_client:halsim_ws_client-cpp_publish.publish",
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"//simulation/halsim_ws_core:halsim_ws_core-cpp_publish.publish",
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"//simulation/halsim_ws_server:halsim_ws_server-cpp_publish.publish",
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"//simulation/halsim_xrp:halsim_xrp-cpp_publish.publish",
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"//sysid:sysid_publish.publish",
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"//thirdparty/googletest:googletest-cpp_publish.publish",
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"//thirdparty/imgui_suite:imguiSuite-cpp_publish.publish",
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"//wpical:wpical_publish.publish",
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"//wpigui:wpigui-cpp_publish.publish",
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"//wpilibNewCommands:wpilibNewCommands-cpp_publish.publish",
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"//wpilibNewCommands:wpilibNewCommands-java_publish.publish",
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"//commandsv3:commandsv3-java_publish.publish",
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"//wpilibc:wpilibc-cpp_publish.publish",
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"//wpilibcExamples:commands_publish.publish",
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"//wpilibcExamples:examples_publish.publish",
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"//wpilibcExamples:templates_publish.publish",
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"//wpilibj:wpilibj-java_publish.publish",
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"//wpilibjExamples:commands_publish.publish",
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"//wpilibjExamples:examples_publish.publish",
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"//wpilibjExamples:templates_publish.publish",
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"//wpimath:wpimath-cpp_publish.publish",
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"//wpimath:wpimath-java_publish.publish",
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"//wpinet:wpinet-cpp_publish.publish",
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"//wpinet:wpinet-java_publish.publish",
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"//wpiunits:wpiunits-java_publish.publish",
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"//wpiutil:wpiutil-cpp_publish.publish",
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"//wpiutil:wpiutil-java_publish.publish",
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"//xrpVendordep:xrpVendordep-cpp_publish.publish",
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"//xrpVendordep:xrpVendordep-java_publish.publish",
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] + select({
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"@platforms//cpu:x86_64": [
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"//docs:wpilibc_publish.publish",
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],
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"//conditions:default": [],
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}),
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)
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