mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
5a96685c86
This fixes a bug in Sleipnir's Newton solver (the exit status was inaccurate because unconstrained optimization problems can't be infeasible).
57 lines
1.3 KiB
Python
Executable File
57 lines
1.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import shutil
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from pathlib import Path
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from upstream_utils import Lib, has_prefix, walk_cwd_and_copy_if
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def copy_upstream_src(wpilib_root: Path):
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wpimath = wpilib_root / "wpimath"
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# Delete old install
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for d in [
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"src/main/native/thirdparty/sleipnir/src",
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"src/main/native/thirdparty/sleipnir/include",
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]:
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shutil.rmtree(wpimath / d, ignore_errors=True)
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# Copy Sleipnir files into allwpilib
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walk_cwd_and_copy_if(
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lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src"))),
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wpimath / "src/main/native/thirdparty/sleipnir",
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)
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# Write shim for wpi::SmallVector
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(wpimath / "src/main/native/thirdparty/sleipnir/include/gch").mkdir()
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with open(
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wpimath / "src/main/native/thirdparty/sleipnir/include/gch/small_vector.hpp",
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"w",
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) as f:
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f.write("""// Copyright (c) Sleipnir contributors
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#pragma once
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#include <wpi/util/SmallVector.hpp>
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namespace gch {
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template <typename T>
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using small_vector = wpi::util::SmallVector<T>;
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} // namespace gch
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""")
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def main():
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name = "sleipnir"
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url = "https://github.com/SleipnirGroup/Sleipnir"
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tag = "v0.5.2"
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sleipnir = Lib(name, url, tag, copy_upstream_src)
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sleipnir.main()
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if __name__ == "__main__":
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main()
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