mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
ae84f6d2c5
wpical was unable to use wpimath and its dependent libraries because Ceres was compiled with a different version of Eigen. Now that the Ceres build has been redone and shipped in #8151, we can now use wpimath and our C++ apriltag wrapper in wpical, allowing for major refactors. This includes: * Using `to_json` and `from_json` specializations to concisely serialize and deserialize all JSON files instead of manually handling JSON. * Removal of the `Fieldmap` and `Pose` classes, which were duplicates of the `AprilTagFieldLayout` and `Pose3d` classes respectively. * Using `AprilTagDetector` instead of the raw libapriltag library. * Using `Pose3d` instead of raw Eigen matrices. In addition, several other refactors were made to make the code more readable and to fix several UX issues and crashes. This includes: * Eagerly parsing every JSON file when selected by the user. This means JSON files are only parsed once on selection, instead of every time a downstream function wants to use the data. This also means invalid JSON can be detected upfront and a specific error shown immediately instead of a catch all error when trying to calibrate. * Using `std::optional` to indicate a calibration failed instead of status codes. * Processing videos on separate threads to not block the UI thread and take advantage of parallelization for camera calibration. (2x speedup on my laptop) * Removing the OpenCV calibration option, since mrcal should be better in every scenario. * Showing a progress bar for camera calibration. * Breaking up the massive `DisplayGui` function into separate functions which contain code for different popups. This also allowed for better organization and scoping of static variables. * Renaming variables to make their purpose more clear. * Displaying the tags present in a field layout when trying to combine multiple field layouts. Fixes #7722.
250 lines
5.9 KiB
Python
250 lines
5.9 KiB
Python
load("@rules_cc//cc:cc_binary.bzl", "cc_binary")
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load("@rules_cc//cc:cc_library.bzl", "cc_library")
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load("@rules_cc//cc:cc_test.bzl", "cc_test")
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load("@rules_pkg//:mappings.bzl", "pkg_files")
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load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library")
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load("//shared/bazel/rules:packaging.bzl", "package_binary_cc_project")
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load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
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load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
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pkg_files(
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name = "licenses",
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srcs = [
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"WPICalThirdPartyNotices.txt",
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],
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)
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generate_resources(
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name = "generate-resources",
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namespace = "wpical",
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prefix = "WPI",
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resource_files = glob(["src/main/native/resources/*"]),
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)
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generate_version_file(
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name = "generate-version",
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output_file = "WPILibVersion.cpp",
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template = "src/main/generate/WPILibVersion.cpp.in",
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)
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cc_library(
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name = "headers",
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hdrs = glob([
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"src/main/native/include/**/*",
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]),
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strip_include_prefix = "src/main/native/include",
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deps = [
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":headers-libdogleg",
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":headers-mrcal",
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":headers-mrcal-generated",
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":headers-mrcal-java",
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],
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)
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cc_library(
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name = "headers-libdogleg",
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hdrs = glob([
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"src/main/native/thirdparty/libdogleg/include/**/*",
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]),
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strip_include_prefix = "src/main/native/thirdparty/libdogleg/include",
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)
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cc_library(
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name = "headers-mrcal-generated",
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hdrs = glob([
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"src/main/native/thirdparty/mrcal/generated/**/*",
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]),
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strip_include_prefix = "src/main/native/thirdparty/mrcal/generated/",
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)
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cc_library(
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name = "headers-mrcal",
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hdrs = glob([
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"src/main/native/thirdparty/mrcal/include/**/*",
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]),
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strip_include_prefix = "src/main/native/thirdparty/mrcal/include/",
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)
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cc_library(
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name = "headers-mrcal-java",
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hdrs = glob([
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"src/main/native/thirdparty/mrcal_java/include/**/*",
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]),
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strip_include_prefix = "src/main/native/thirdparty/mrcal_java/include/",
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)
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unix_copts = [
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"-Wno-pedantic",
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"-Wno-format-nonliteral",
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"-Wno-unused-variable",
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"-Wno-unused-function",
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"-Wno-sign-compare",
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]
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osx_copts = unix_copts
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copts = select({
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"@platforms//os:linux": unix_copts + [
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"-Wno-maybe-uninitialized",
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],
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"@platforms//os:osx": osx_copts,
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"@platforms//os:windows": [
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"/wd4047",
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"/wd4098",
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"/wd4267",
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],
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})
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unix_cxxopts = [
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"-Wno-missing-field-initializers",
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"-Wno-pedantic",
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"-fpermissive",
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"-Wno-deprecated-declarations",
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"-Wno-return-type",
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"-Wno-missing-braces",
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"-Wno-null-conversion",
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"-Wno-unused-but-set-variable",
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]
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osx_cxxopts = unix_cxxopts + [
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"-Wno-unused-variable",
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"-Wno-unused-function",
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"-Wno-sign-compare",
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"-Wno-sometimes-uninitialized",
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]
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cxxopts = select({
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"@platforms//os:linux": unix_cxxopts + [
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"-Wno-deprecated-enum-enum-conversion",
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],
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"@platforms//os:osx": osx_cxxopts,
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"@platforms//os:windows": [
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"/wd4068",
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"/wd4101",
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"/wd4200",
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"/wd4576",
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"/wd4715",
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],
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})
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mac_linkopts = [
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"-framework",
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"Metal",
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"-framework",
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"MetalKit",
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"-framework",
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"Cocoa",
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"-framework",
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"IOKit",
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"-framework",
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"CoreFoundation",
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"-framework",
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"CoreVideo",
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"-framework",
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"QuartzCore",
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"-framework",
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"Accelerate",
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"-framework",
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"AVFoundation",
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"-framework",
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"CoreMedia",
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]
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linkopts = select({
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"@platforms//os:linux": [],
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"@platforms//os:osx": mac_linkopts,
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"@platforms//os:windows": [
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"-DEFAULTLIB:Gdi32.lib",
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"-DEFAULTLIB:Shell32.lib",
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"-DEFAULTLIB:d3d11.lib",
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"-DEFAULTLIB:d3dcompiler.lib",
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"-DEFAULTLIB:Comdlg32.lib",
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"-DEFAULTLIB:dbghelp.lib",
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"-DEFAULTLIB:Advapi32.lib",
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],
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})
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wpilib_cc_library(
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name = "wpical_lib",
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srcs = glob(
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[
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"src/main/native/cpp/**/*.cpp",
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"src/main/native/thirdparty/libdogleg/src/**/*.cpp",
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"src/main/native/thirdparty/mrcal/src/**/*.cpp",
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"src/main/native/thirdparty/mrcal/src/**/*.c",
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"src/main/native/thirdparty/mrcal_java/src/**/*.cpp",
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],
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exclude = ["src/main/native/cpp/WPIcal.cpp"],
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) + [
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":generate-resources",
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":generate-version",
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],
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copts = copts,
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cxxopts = cxxopts,
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defines = ["OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT"],
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include_license_files = True,
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linkopts = linkopts,
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linkstatic = True,
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strip_include_prefix = "include",
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visibility = ["//visibility:public"],
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deps = [
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":headers",
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"//apriltag",
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"//thirdparty/ceres",
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"//wpigui",
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"//wpiutil",
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"@bzlmodrio-opencv//libraries/cpp/opencv",
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],
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)
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cc_binary(
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name = "wpical",
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srcs = [
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"src/main/native/cpp/WPIcal.cpp",
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],
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copts = copts,
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cxxopts = cxxopts,
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linkopts = select({
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"@platforms//os:linux": [],
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"@platforms//os:osx": [],
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"@platforms//os:windows": [
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"-SUBSYSTEM:WINDOWS",
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],
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}),
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deps = [
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":wpical_lib",
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"//glass",
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"//thirdparty/imgui_suite",
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],
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)
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cc_test(
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name = "wpical_test",
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size = "medium",
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srcs = glob(["src/test/native/**"]),
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copts = copts,
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cxxopts = cxxopts,
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data = glob(["src/main/native/assets/**"]) + [
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"src/main/native/assets",
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"src/main/native/assets/altfieldvideo",
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"src/main/native/assets/fieldvideo",
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],
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defines = [
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'PROJECT_ROOT_PATH=\\"tools/wpical/src/main/native/assets\\"',
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"__BAZEL__=1",
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],
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deps = [
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":wpical_lib",
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"//thirdparty/ceres",
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"//thirdparty/googletest",
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"@bazel_tools//tools/cpp/runfiles",
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],
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)
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package_binary_cc_project(
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name = "wpical",
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extra_files = [":licenses"],
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maven_artifact_name = "wpical",
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maven_group_id = "org.wpilib.tools",
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)
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