mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
dacded37e5
User code: - OpModeRobot used as the robot base class - LinearOpMode and PeriodicOpMode are provided opmode base classes - In Java, annotations can be used to automatically register opmode classes Additional user code functionality: - OpMode (string) is available in addition to the overall auto/teleop/test robot mode - OpMode does not indicate enable (enable/disable is still separate) - The HAL API uses integer UIDs; these are exposed at the user API level as well for faster checks - User code creates opmodes on startup (these have name, category, description, etc). DS: - DS will present opmode selection lists for auto and teleop for match/practice. During a match, the DS will automatically activate the selected opmode in the corresponding match period. - For testing, an overall mode is selected (e.g. teleop/auto/test) and a single opmode is selected Future work: - Command framework support/integration - Python annotation support - Unit tests (needs race-free DS sim updates) - Porting of examples Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
678 lines
28 KiB
Python
Generated
678 lines
28 KiB
Python
Generated
# THIS FILE IS AUTO GENERATED
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load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
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load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
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load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
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load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
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def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
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HAL_SIMULATION_HEADER_GEN = [
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struct(
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class_name = "AddressableLEDData",
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yml_file = "semiwrap/simulation/AddressableLEDData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/AddressableLEDData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "AnalogInData",
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yml_file = "semiwrap/simulation/AnalogInData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/AnalogInData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "CTREPCMData",
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yml_file = "semiwrap/simulation/CTREPCMData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/CTREPCMData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DIOData",
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yml_file = "semiwrap/simulation/DIOData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DIOData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DigitalPWMData",
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yml_file = "semiwrap/simulation/DigitalPWMData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DigitalPWMData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DriverStationData",
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yml_file = "semiwrap/simulation/DriverStationData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DriverStationData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DutyCycleData",
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yml_file = "semiwrap/simulation/DutyCycleData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/DutyCycleData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "EncoderData",
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yml_file = "semiwrap/simulation/EncoderData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/EncoderData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "MockHooks",
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yml_file = "semiwrap/simulation/MockHooks.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/MockHooks.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "NotifierData",
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yml_file = "semiwrap/simulation/NotifierData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/NotifierData.h",
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tmpl_class_names = [],
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trampolines = [
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("HALSIM_NotifierInfo", "__HALSIM_NotifierInfo.hpp"),
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],
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),
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struct(
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class_name = "PWMData",
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yml_file = "semiwrap/simulation/PWMData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/PWMData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "PowerDistributionData",
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yml_file = "semiwrap/simulation/PowerDistributionData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/PowerDistributionData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "REVPHData",
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yml_file = "semiwrap/simulation/REVPHData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/REVPHData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "Reset",
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yml_file = "semiwrap/simulation/Reset.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/Reset.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "RoboRioData",
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yml_file = "semiwrap/simulation/RoboRioData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/RoboRioData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "SimDeviceData",
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yml_file = "semiwrap/simulation/SimDeviceData.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/simulation/SimDeviceData.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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]
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resolve_casters(
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name = "hal_simulation.resolve_casters",
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caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
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casters_pkl_file = "hal_simulation.casters.pkl",
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dep_file = "hal_simulation.casters.d",
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)
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gen_libinit(
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name = "hal_simulation.gen_lib_init",
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output_file = "src/main/python/hal/simulation/_init__simulation.py",
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modules = ["native.wpihal._init_robotpy_native_wpihal", "wpiutil._init__wpiutil", "ntcore._init__ntcore"],
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)
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gen_pkgconf(
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name = "hal_simulation.gen_pkgconf",
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libinit_py = "hal.simulation._init__simulation",
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module_pkg_name = "hal.simulation._simulation",
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output_file = "hal_simulation.pc",
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pkg_name = "hal_simulation",
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install_path = "src/main/python/hal/simulation",
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project_file = "src/main/python/pyproject.toml",
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package_root = "src/main/python/hal/__init__.py",
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)
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gen_modinit_hpp(
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name = "hal_simulation.gen_modinit_hpp",
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input_dats = [x.class_name for x in HAL_SIMULATION_HEADER_GEN],
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libname = "_simulation",
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output_file = "semiwrap_init.hal.simulation._simulation.hpp",
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)
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run_header_gen(
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name = "hal_simulation",
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casters_pickle = "hal_simulation.casters.pkl",
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header_gen_config = HAL_SIMULATION_HEADER_GEN,
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trampoline_subpath = "src/main/python/hal/simulation",
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deps = header_to_dat_deps,
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local_native_libraries = [
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"//datalog:robotpy-native-datalog.copy_headers",
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"//hal:robotpy-native-wpihal.copy_headers",
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"//ntcore:robotpy-native-ntcore.copy_headers",
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"//wpinet:robotpy-native-wpinet.copy_headers",
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"//wpiutil:robotpy-native-wpiutil.copy_headers",
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],
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)
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create_pybind_library(
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name = "hal_simulation",
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install_path = "src/main/python/hal/simulation/",
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extension_name = "_simulation",
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generated_srcs = [":hal_simulation.generated_srcs"],
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semiwrap_header = [":hal_simulation.gen_modinit_hpp"],
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deps = [
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":hal_simulation.tmpl_hdrs",
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":hal_simulation.trampoline_hdrs",
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"//hal:wpiHal",
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"//ntcore:ntcore",
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"//ntcore:ntcore_pybind_library",
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"//wpiutil:wpiutil",
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"//wpiutil:wpiutil_pybind_library",
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],
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dynamic_deps = [
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"//hal:shared/wpiHal",
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"//ntcore:shared/ntcore",
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"//wpiutil:shared/wpiutil",
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],
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extra_hdrs = extra_hdrs,
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extra_srcs = srcs,
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includes = includes,
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)
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native.filegroup(
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name = "hal_simulation.generated_files",
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srcs = [
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"hal_simulation.gen_modinit_hpp.gen",
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"hal_simulation.header_gen_files",
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"hal_simulation.gen_pkgconf",
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"hal_simulation.gen_lib_init",
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],
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tags = ["manual", "robotpy"],
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)
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def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
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WPIHAL_HEADER_GEN = [
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struct(
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class_name = "AddressableLED",
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yml_file = "semiwrap/AddressableLED.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AddressableLED.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "AddressableLEDTypes",
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yml_file = "semiwrap/AddressableLEDTypes.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AddressableLEDTypes.h",
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tmpl_class_names = [],
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trampolines = [
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("HAL_AddressableLEDData", "__HAL_AddressableLEDData.hpp"),
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],
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),
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struct(
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class_name = "AnalogInput",
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yml_file = "semiwrap/AnalogInput.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/AnalogInput.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "CAN",
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yml_file = "semiwrap/CAN.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CAN.h",
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tmpl_class_names = [],
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trampolines = [
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("HAL_CANStreamMessage", "__HAL_CANStreamMessage.hpp"),
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],
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),
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struct(
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class_name = "CANAPI",
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yml_file = "semiwrap/CANAPI.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CANAPI.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "CANAPITypes",
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yml_file = "semiwrap/CANAPITypes.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CANAPITypes.h",
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tmpl_class_names = [],
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trampolines = [
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("HAL_CANMessage", "__HAL_CANMessage.hpp"),
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("HAL_CANReceiveMessage", "__HAL_CANReceiveMessage.hpp"),
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],
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),
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struct(
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class_name = "CTREPCM",
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yml_file = "semiwrap/CTREPCM.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/CTREPCM.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "Constants",
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yml_file = "semiwrap/Constants.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Constants.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "Counter",
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yml_file = "semiwrap/Counter.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Counter.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DashboardOpMode",
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yml_file = "semiwrap/DashboardOpMode.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DashboardOpMode.hpp",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DIO",
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yml_file = "semiwrap/DIO.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DIO.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DriverStation",
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yml_file = "semiwrap/DriverStation.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DriverStation.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "DriverStationTypes",
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yml_file = "semiwrap/DriverStationTypes.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DriverStationTypes.h",
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tmpl_class_names = [],
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trampolines = [
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("HAL_JoystickAxes", "__HAL_JoystickAxes.hpp"),
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("HAL_JoystickPOVs", "__HAL_JoystickPOVs.hpp"),
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("HAL_JoystickButtons", "__HAL_JoystickButtons.hpp"),
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("HAL_JoystickDescriptor", "__HAL_JoystickDescriptor.hpp"),
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("HAL_MatchInfo", "__HAL_MatchInfo.hpp"),
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("HAL_JoystickTouchpadFinger", "__HAL_JoystickTouchpadFinger.hpp"),
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("HAL_JoystickTouchpad", "__HAL_JoystickTouchpad.hpp"),
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("HAL_JoystickTouchpads", "__HAL_JoystickTouchpads.hpp"),
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("HAL_OpModeOption", "__HAL_OpModeOption.hpp"),
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("wpi::hal::ControlWord", "wpi__hal__ControlWord.hpp"),
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],
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),
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struct(
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class_name = "DutyCycle",
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yml_file = "semiwrap/DutyCycle.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/DutyCycle.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "Encoder",
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yml_file = "semiwrap/Encoder.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Encoder.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "Extensions",
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yml_file = "semiwrap/Extensions.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Extensions.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "HALBase",
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yml_file = "semiwrap/HALBase.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/HALBase.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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class_name = "I2C",
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yml_file = "semiwrap/I2C.yml",
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header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/I2C.h",
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tmpl_class_names = [],
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trampolines = [],
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),
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struct(
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|
class_name = "I2CTypes",
|
|
yml_file = "semiwrap/I2CTypes.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/I2CTypes.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "Main",
|
|
yml_file = "semiwrap/Main.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Main.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "Notifier",
|
|
yml_file = "semiwrap/Notifier.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Notifier.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "PWM",
|
|
yml_file = "semiwrap/PWM.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/PWM.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "Ports",
|
|
yml_file = "semiwrap/Ports.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Ports.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "Power",
|
|
yml_file = "semiwrap/Power.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Power.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "PowerDistribution",
|
|
yml_file = "semiwrap/PowerDistribution.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/PowerDistribution.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("HAL_PowerDistributionVersion", "__HAL_PowerDistributionVersion.hpp"),
|
|
("HAL_PowerDistributionFaults", "__HAL_PowerDistributionFaults.hpp"),
|
|
("HAL_PowerDistributionStickyFaults", "__HAL_PowerDistributionStickyFaults.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "REVPH",
|
|
yml_file = "semiwrap/REVPH.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/REVPH.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("HAL_REVPHVersion", "__HAL_REVPHVersion.hpp"),
|
|
("HAL_REVPHCompressorConfig", "__HAL_REVPHCompressorConfig.hpp"),
|
|
("HAL_REVPHFaults", "__HAL_REVPHFaults.hpp"),
|
|
("HAL_REVPHStickyFaults", "__HAL_REVPHStickyFaults.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SerialPort",
|
|
yml_file = "semiwrap/SerialPort.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/SerialPort.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "SimDevice",
|
|
yml_file = "semiwrap/SimDevice.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/SimDevice.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::hal::SimValue", "wpi__hal__SimValue.hpp"),
|
|
("wpi::hal::SimInt", "wpi__hal__SimInt.hpp"),
|
|
("wpi::hal::SimLong", "wpi__hal__SimLong.hpp"),
|
|
("wpi::hal::SimDouble", "wpi__hal__SimDouble.hpp"),
|
|
("wpi::hal::SimEnum", "wpi__hal__SimEnum.hpp"),
|
|
("wpi::hal::SimBoolean", "wpi__hal__SimBoolean.hpp"),
|
|
("wpi::hal::SimDevice", "wpi__hal__SimDevice.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "UsageReporting",
|
|
yml_file = "semiwrap/UsageReporting.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/UsageReporting.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "Threads",
|
|
yml_file = "semiwrap/Threads.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/Threads.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
struct(
|
|
class_name = "HandlesInternal",
|
|
yml_file = "semiwrap/HandlesInternal.yml",
|
|
header_root = "$(execpath :robotpy-native-wpihal.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpihal.copy_headers)/wpi/hal/handles/HandlesInternal.h",
|
|
tmpl_class_names = [],
|
|
trampolines = [],
|
|
),
|
|
]
|
|
|
|
resolve_casters(
|
|
name = "wpihal.resolve_casters",
|
|
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
|
|
casters_pkl_file = "wpihal.casters.pkl",
|
|
dep_file = "wpihal.casters.d",
|
|
)
|
|
|
|
gen_libinit(
|
|
name = "wpihal.gen_lib_init",
|
|
output_file = "src/main/python/hal/_init__wpiHal.py",
|
|
modules = ["native.wpihal._init_robotpy_native_wpihal", "wpiutil._init__wpiutil", "ntcore._init__ntcore"],
|
|
)
|
|
|
|
gen_pkgconf(
|
|
name = "wpihal.gen_pkgconf",
|
|
libinit_py = "hal._init__wpiHal",
|
|
module_pkg_name = "hal._wpiHal",
|
|
output_file = "wpihal.pc",
|
|
pkg_name = "wpihal",
|
|
install_path = "src/main/python/hal",
|
|
project_file = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/hal/__init__.py",
|
|
)
|
|
|
|
gen_modinit_hpp(
|
|
name = "wpihal.gen_modinit_hpp",
|
|
input_dats = [x.class_name for x in WPIHAL_HEADER_GEN],
|
|
libname = "_wpiHal",
|
|
output_file = "semiwrap_init.hal._wpiHal.hpp",
|
|
)
|
|
|
|
run_header_gen(
|
|
name = "wpihal",
|
|
casters_pickle = "wpihal.casters.pkl",
|
|
header_gen_config = WPIHAL_HEADER_GEN,
|
|
trampoline_subpath = "src/main/python/hal",
|
|
deps = header_to_dat_deps,
|
|
local_native_libraries = [
|
|
"//datalog:robotpy-native-datalog.copy_headers",
|
|
"//hal:robotpy-native-wpihal.copy_headers",
|
|
"//ntcore:robotpy-native-ntcore.copy_headers",
|
|
"//wpinet:robotpy-native-wpinet.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
)
|
|
|
|
create_pybind_library(
|
|
name = "wpihal",
|
|
install_path = "src/main/python/hal/",
|
|
extension_name = "_wpiHal",
|
|
generated_srcs = [":wpihal.generated_srcs"],
|
|
semiwrap_header = [":wpihal.gen_modinit_hpp"],
|
|
deps = [
|
|
":wpihal.tmpl_hdrs",
|
|
":wpihal.trampoline_hdrs",
|
|
"//hal:wpiHal",
|
|
"//ntcore:ntcore",
|
|
"//ntcore:ntcore_pybind_library",
|
|
"//wpiutil:wpiutil",
|
|
"//wpiutil:wpiutil_pybind_library",
|
|
],
|
|
dynamic_deps = [
|
|
"//hal:shared/wpiHal",
|
|
"//ntcore:shared/ntcore",
|
|
"//wpiutil:shared/wpiutil",
|
|
],
|
|
extra_hdrs = extra_hdrs,
|
|
extra_srcs = srcs,
|
|
includes = includes,
|
|
)
|
|
|
|
native.filegroup(
|
|
name = "wpihal.generated_files",
|
|
srcs = [
|
|
"wpihal.gen_modinit_hpp.gen",
|
|
"wpihal.header_gen_files",
|
|
"wpihal.gen_pkgconf",
|
|
"wpihal.gen_lib_init",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
def define_pybind_library(name, pkgcfgs = []):
|
|
# Helper used to generate all files with one target.
|
|
native.filegroup(
|
|
name = "{}.generated_files".format(name),
|
|
srcs = [
|
|
"hal_simulation.generated_files",
|
|
"wpihal.generated_files",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
visibility = ["//visibility:public"],
|
|
)
|
|
|
|
# Files that will be included in the wheel as data deps
|
|
native.filegroup(
|
|
name = "{}.generated_pkgcfg_files".format(name),
|
|
srcs = [
|
|
"src/main/python/hal/simulation/hal_simulation.pc",
|
|
"src/main/python/hal/wpihal.pc",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
visibility = ["//visibility:public"],
|
|
)
|
|
|
|
# Contains all of the non-python files that need to be included in the wheel
|
|
native.filegroup(
|
|
name = "{}.extra_files".format(name),
|
|
srcs = native.glob(["src/main/python/hal/**"], exclude = ["src/main/python/hal/**/*.py"], allow_empty = True),
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
generate_version_file(
|
|
name = "{}.generate_version".format(name),
|
|
output_file = "src/main/python/hal/version.py",
|
|
template = "//shared/bazel/rules/robotpy:version_template.in",
|
|
)
|
|
|
|
robotpy_library(
|
|
name = name,
|
|
srcs = native.glob(["src/main/python/hal/**/*.py"]) + [
|
|
"src/main/python/hal/simulation/_init__simulation.py",
|
|
"src/main/python/hal/_init__wpiHal.py",
|
|
"{}.generate_version".format(name),
|
|
],
|
|
data = [
|
|
"{}.generated_pkgcfg_files".format(name),
|
|
"{}.extra_files".format(name),
|
|
":src/main/python/hal/simulation/_simulation",
|
|
":src/main/python/hal/_wpiHal",
|
|
":hal_simulation.trampoline_hdr_files",
|
|
":wpihal.trampoline_hdr_files",
|
|
],
|
|
imports = ["src/main/python"],
|
|
deps = [
|
|
"//hal:robotpy-native-wpihal",
|
|
"//ntcore:pyntcore",
|
|
"//wpiutil:robotpy-wpiutil",
|
|
],
|
|
visibility = ["//visibility:public"],
|
|
)
|
|
|
|
update_yaml_files(
|
|
name = "{}-update-yaml".format(name),
|
|
yaml_output_directory = "src/main/python/semiwrap",
|
|
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
|
|
"//datalog:robotpy-native-datalog.copy_headers",
|
|
"//hal:robotpy-native-wpihal.copy_headers",
|
|
"//ntcore:robotpy-native-ntcore.copy_headers",
|
|
"//wpinet:robotpy-native-wpinet.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
package_root_file = "src/main/python/hal/__init__.py",
|
|
pkgcfgs = pkgcfgs,
|
|
pyproject_toml = "src/main/python/pyproject.toml",
|
|
yaml_files = native.glob(["src/main/python/semiwrap/**"]),
|
|
)
|
|
|
|
scan_headers(
|
|
name = "{}-scan-headers".format(name),
|
|
extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
|
|
"//hal:robotpy-native-wpihal.copy_headers",
|
|
],
|
|
package_root_file = "src/main/python/hal/__init__.py",
|
|
pkgcfgs = pkgcfgs,
|
|
pyproject_toml = "src/main/python/pyproject.toml",
|
|
)
|