mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
e7e51c9c05
There were complaints about no patch files being created from CI when the examples pre-gen fails for people who don't build with bazel. This adds a new action step to run just the non-robotpy pregen. I also added an argument to the diff tests to make it a unified diff, which might make it easier to hand fix.
424 lines
12 KiB
Python
424 lines
12 KiB
Python
load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
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load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
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load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
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load("@rules_java//java:defs.bzl", "java_binary")
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load("@rules_pkg//:mappings.bzl", "pkg_files")
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load("@rules_python//python:defs.bzl", "py_binary")
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load("//shared/bazel/rules:cc_rules.bzl", "generate_def_windows", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
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load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
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load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
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load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project", "pkg_files_headers")
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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("//wpimath:generate.bzl", "generate_wpimath")
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load("//wpimath:robotpy_native_build_info.bzl", "define_native_wrapper")
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load("//wpimath:robotpy_pybind_build_info.bzl", "define_pybind_library", "publish_library_casters", "wpimath_extension")
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load("//wpimath:robotpy_pybind_test_info.bzl", "wpimath_test_extension", define_test_pybind_library = "define_pybind_library")
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filegroup(
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name = "doxygen-files",
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srcs = glob([
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"src/generated/main/native/cpp/wpimath/protobuf/*.h",
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"src/main/native/include/**/*",
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"src/main/native/thirdparty/gcem/include/**/*",
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"src/main/native/thirdparty/sleipnir/include/**/*",
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]),
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visibility = ["//visibility:public"],
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)
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filegroup(
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name = "templates",
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srcs = glob(["src/generate/main/java/*.jinja"]),
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)
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filegroup(
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name = "proto_files",
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srcs = glob(["src/main/proto/**/*.proto"]),
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)
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py_binary(
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name = "generate_nanopb",
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srcs = ["generate_nanopb.py"],
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target_compatible_with = select({
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"@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
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"@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
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"//conditions:default": [],
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}),
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)
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py_binary(
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name = "generate_numbers",
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srcs = ["generate_numbers.py"],
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data = [":templates"],
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target_compatible_with = select({
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"@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
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"@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
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"//conditions:default": [],
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}),
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deps = [requirement("jinja2")],
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)
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py_binary(
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name = "generate_quickbuf",
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srcs = ["generate_quickbuf.py"],
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target_compatible_with = select({
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"@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
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"@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
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"//conditions:default": [],
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}),
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)
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py_binary(
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name = "generate_wpimath_py",
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srcs = ["generate_wpimath.py"],
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main = "generate_wpimath.py",
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target_compatible_with = select({
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"@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
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"@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
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"//conditions:default": [],
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}),
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deps = [
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":generate_nanopb",
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":generate_numbers",
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":generate_quickbuf",
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],
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)
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generate_wpimath(
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name = "generate_wpimath",
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tags = ["pregeneration"],
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)
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write_source_files(
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name = "write_wpimath",
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diff_args = ["-u"],
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files = {
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"src/generated": ":generate_wpimath",
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},
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suggested_update_target = "//:write_all",
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tags = ["pregeneration"],
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visibility = ["//visibility:public"],
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)
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filegroup(
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name = "generated_java",
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srcs = glob(["src/generated/main/java/**/*.java"]),
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)
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alias(
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name = "eigen-headers",
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actual = "@eigen",
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visibility = ["//visibility:public"],
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)
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pkg_files_headers(
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name = "eigen-hdrs-pkg",
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dep = "@eigen",
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)
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third_party_cc_lib_helper(
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name = "gcem",
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include_root = "src/main/native/thirdparty/gcem/include",
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)
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third_party_cc_lib_helper(
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name = "sleipnir",
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include_root = "src/main/native/thirdparty/sleipnir/include",
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src_root = "src/main/native/thirdparty/sleipnir/src",
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)
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cc_library(
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name = "nanopb-generated-headers",
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hdrs = glob(["src/generated/main/native/cpp/**/*.h"]),
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includes = ["src/generated/main/native/cpp"],
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strip_include_prefix = "src/generated/main/native/cpp",
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)
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pkg_files(
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name = "protobuf_hdr_pkg",
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srcs = glob(["src/generated/main/native/cpp/wpimath/protobuf/*.npb.h"]),
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strip_prefix = "src/generated/main/native/cpp/",
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)
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wpilib_cc_library(
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name = "wpimath",
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srcs = glob(
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[
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"src/main/native/cpp/**",
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"src/generated/main/native/cpp/**/*.cpp",
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],
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exclude = ["src/main/native/cpp/jni/**"],
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),
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hdrs = glob(["src/main/native/include/**"]),
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extra_hdr_pkg_files = [":protobuf_hdr_pkg"],
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extra_src_pkg_files = [
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":wpimath-java-jni-hdrs-pkg",
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],
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includes = [
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"src/main/native/include",
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"src/main/native/thirdparty/sleipnir/src",
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],
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local_defines = [
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"WPILIB_EXPORTS",
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"SLEIPNIR_EXPORTS",
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],
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strip_include_prefix = "src/main/native/include",
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third_party_header_only_libraries = [
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":eigen",
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":gcem",
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],
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third_party_libraries = [
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":sleipnir",
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],
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visibility = ["//visibility:public"],
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deps = [
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":nanopb-generated-headers",
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"//wpiutil",
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],
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)
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generate_def_windows(
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name = "wpimath_def",
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filters = [
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".pb.obj",
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".npb.obj",
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],
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deps = [
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":wpimath",
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],
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)
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wpilib_cc_shared_library(
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name = "shared/wpimath",
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auto_export_windows_symbols = False,
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dynamic_deps = [
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"//wpiutil:shared/wpiutil",
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],
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visibility = ["//visibility:public"],
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win_def_file = ":wpimath_def",
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deps = [
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":wpimath",
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],
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)
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wpilib_cc_static_library(
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name = "static/wpimath",
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static_deps = [
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"//wpiutil:static/wpiutil",
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],
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visibility = ["//visibility:public"],
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deps = [
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":wpimath",
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],
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)
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wpilib_jni_cc_library(
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name = "wpimathjni",
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srcs = glob(["src/main/native/cpp/jni/**"]),
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java_dep = ":wpimath-java",
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visibility = ["//visibility:public"],
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deps = [
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":wpimath",
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],
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)
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wpilib_cc_shared_library(
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name = "shared/wpimathjni",
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auto_export_windows_symbols = False,
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dynamic_deps = [
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":shared/wpimath",
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"//wpiutil:shared/wpiutil",
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],
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use_debug_name = False,
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visibility = ["//visibility:public"],
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deps = [":wpimathjni"],
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)
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wpilib_jni_java_library(
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name = "wpimath-java",
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srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
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exported_plugins = ["//javacPlugin:plugin"],
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javacopts = [
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"-Xep:UnicodeInCode:OFF",
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],
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maven_artifact_name = "wpimath-java",
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maven_group_id = "org.wpilib.wpimath",
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native_libs = [":wpimathjni"],
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plugins = [
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"//:avaje_jsonb_generator",
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],
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resource_strip_prefix = "wpimath/src/main/proto",
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resources = glob(["src/main/proto/**"]),
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visibility = ["//visibility:public"],
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deps = [
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"//wpiannotations",
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"//wpiunits:wpiunits-java",
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"//wpiutil:wpiutil-java",
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"@maven//:io_avaje_avaje_json_core",
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"@maven//:io_avaje_avaje_jsonb",
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"@maven//:org_ejml_ejml_core",
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"@maven//:org_ejml_ejml_ddense",
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"@maven//:org_ejml_ejml_simple",
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"@maven//:us_hebi_quickbuf_quickbuf_runtime",
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],
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)
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cc_library(
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name = "test_headers",
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hdrs = glob([
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"src/test/native/include/**",
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]),
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strip_include_prefix = "src/test/native/include",
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)
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cc_test(
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name = "wpimath-cpp-test",
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size = "small",
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srcs = glob([
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"src/test/native/cpp/**/*.cpp",
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"src/test/native/cpp/**/*.hpp",
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]),
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tags = [
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"no-raspi",
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],
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deps = [
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":test_headers",
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":wpimath",
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"//thirdparty/googletest",
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],
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)
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wpilib_java_junit5_test(
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name = "wpimath-java-test",
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srcs = glob(["src/test/java/**/*.java"]),
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deps = [
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":wpimath-java",
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"//wpiunits:wpiunits-java",
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"//wpiutil:wpiutil-java",
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"@maven//:org_ejml_ejml_core",
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"@maven//:org_ejml_ejml_ddense",
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"@maven//:org_ejml_ejml_simple",
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"@maven//:us_hebi_quickbuf_quickbuf_runtime",
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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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":wpimath",
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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/math/DevMain.java"],
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main_class = "org.wpilib.math.DevMain",
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deps = [
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":wpimath-java",
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],
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)
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py_binary(
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name = "ExponentialProfileModel",
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srcs = ["algorithms/ExponentialProfileModel.py"],
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target_compatible_with = select({
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"@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
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"//conditions:default": [],
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}),
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)
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package_default_jni_project(
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name = "wpimath",
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maven_artifact_name = "wpimath-cpp",
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maven_group_id = "org.wpilib.wpimath",
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)
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generate_robotpy_native_wrapper_build_info(
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name = "robotpy-native-wpimath-generator",
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pyproject_toml = "src/main/python/native-pyproject.toml",
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third_party_dirs = [
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"gcem",
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"sleipnir",
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],
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)
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define_native_wrapper(
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name = "robotpy-native-wpimath",
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pyproject_toml = "src/main/python/native-pyproject.toml",
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)
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PYBIND_PKGCFG_DEPS = [
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"//wpimath:native/wpimath/robotpy-native-wpimath.pc",
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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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]
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generate_robotpy_pybind_build_info(
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name = "robotpy-wpimath-generator",
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additional_srcs = [":robotpy-native-wpimath.copy_headers"],
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package_root_file = "src/main/python/wpimath/__init__.py",
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pkgcfgs = PYBIND_PKGCFG_DEPS,
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yaml_files = glob(["src/main/python/semiwrap/**/*.yml"]),
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)
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publish_library_casters()
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wpimath_extension(
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srcs = ["src/main/python/wpimath/src/wpimath.cpp"],
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extra_hdrs = glob(["src/main/python/wpimath/_impl/src/**/*.h"]),
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)
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define_pybind_library(
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name = "robotpy-wpimath",
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pkgcfgs = PYBIND_PKGCFG_DEPS,
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)
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generate_robotpy_pybind_build_info(
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name = "robotpy-wpimath_test-generator",
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additional_srcs = ["src/test/python/cpp/wpimath_test/include/module.h"],
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generated_file_name = "robotpy_pybind_test_info.bzl",
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package_root_file = "src/test/python/cpp/wpimath_test/__init__.py",
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pkgcfgs = [
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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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"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
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"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
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],
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pyproject_toml = "src/test/python/cpp/pyproject.toml",
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stripped_include_prefix = "src/test/python/cpp",
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yaml_files = glob(["src/test/python/cpp/semiwrap/**/*.yml"]),
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yml_prefix = "src/test/python/cpp/",
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)
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wpimath_test_extension(
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srcs = glob(["src/test/python/cpp/wpimath_test/src/*.cpp"]),
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extra_hdrs = ["src/test/python/cpp/wpimath_test/include/module.h"],
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header_to_dat_deps = ["src/test/python/cpp/wpimath_test/include/module.h"],
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includes = ["src/test/python/cpp/wpimath_test/include"],
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)
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define_test_pybind_library(
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name = "robotpy-wpimath-test",
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pkgcfgs = [
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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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"//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
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"//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
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],
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)
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robotpy_py_test(
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"python_tests",
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srcs = glob(
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["src/test/python/**/*.py"],
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exclude = ["src/test/python/cpp/**"],
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),
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deps = [
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":robotpy-wpimath",
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":robotpy-wpimath-test",
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requirement("numpy"),
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requirement("pytest"),
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],
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)
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