mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
b37e2d9343
The framework fundamentally relies on the continuation API added in Java 21 (which is currently internal to the JDK). Continuations allow for call stacks to be saved to the heap and resumed later. The async framework allows command bodies to be written in an imperative style. However, an async command will need to be actively cooperative and periodically call coroutine.yield() in loops to yield control back to the command scheduler to let it process other commands. There are also some other additions like priority levels (as opposed to a blanket yes/no for ignoring incoming commands), factories requiring names be provided for commands, and the scheduler tracking all running commands and not just the highest-level groups. However, those changes aren't unique to an async framework, and could just as easily be used in a traditional command framework.
137 lines
4.3 KiB
Python
137 lines
4.3 KiB
Python
load("@aspect_bazel_lib//lib:copy_file.bzl", "copy_file")
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load("@doxygen//:doxygen.bzl", "doxygen")
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load("@rules_jvm_external//:defs.bzl", "javadoc", "maven_export")
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load("@rules_pkg//:pkg.bzl", "pkg_zip")
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paths = [
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"apriltag/src/main/native/include",
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"cameraserver/src/generated/main/native/include",
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"cameraserver/src/main/native/include",
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"cscore/src/main/native/include",
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"hal/src/main/native/include",
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"ntcore/src/main/native/include",
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"romiVendordep/src/generated/main/native/include",
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"romiVendordep/src/main/native/include",
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"wpilibNewCommands/src/generated/main/native/include",
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"wpilibNewCommands/src/main/native/include",
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"wpilibc/src/generated/main/native/include",
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"wpilibc/src/main/native/include",
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"wpimath/src/main/native/include",
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"wpinet/src/main/native/include",
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"wpiutil/src/main/native/include",
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"wpiutil/src/main/native/thirdparty/argparse/include",
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"wpiutil/src/main/native/thirdparty/debugging/include",
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"wpiutil/src/main/native/thirdparty/expected/include",
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"wpiutil/src/main/native/thirdparty/fmtlib/include",
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"wpiutil/src/main/native/thirdparty/json/include",
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"wpiutil/src/main/native/thirdparty/llvm/include",
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"wpiutil/src/main/native/thirdparty/mpack/include",
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"wpiutil/src/main/native/thirdparty/nanopb/include",
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"wpiutil/src/main/native/thirdparty/protobuf/include",
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"wpiutil/src/main/native/thirdparty/sigslot/include",
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"xrpVendordep/src/generated/main/native/include",
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"xrpVendordep/src/main/native/include",
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]
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# Doxygen library includes '.' if we include these from their original path.
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# That pulls in external/* and all sorts of other mess.
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# Instead, copy them here so we instead include 'docs'
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copy_file(
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name = "license",
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src = "//:LICENSE.md",
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out = "LICENSE.md",
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allow_symlink = False,
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is_executable = False,
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)
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copy_file(
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name = "third_party_notices",
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src = "//:ThirdPartyNotices.txt",
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out = "ThirdPartyNotices.txt",
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allow_symlink = False,
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is_executable = False,
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)
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doxygen(
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name = "doxygen",
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srcs = [
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":license",
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":theme.css",
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":third_party_notices",
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"//apriltag:doxygen-files",
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"//cameraserver:doxygen-files",
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"//cscore:doxygen-files",
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"//hal:doxygen-files",
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"//ntcore:doxygen-files",
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"//romiVendordep:doxygen-files",
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"//wpilibNewCommands:doxygen-files",
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"//wpilibc:doxygen-files",
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"//wpimath:doxygen-files",
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"//wpinet:doxygen-files",
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"//wpiutil:doxygen-files",
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"//wpiutil:src/main/native/resources/wpilib-128.png",
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"//xrpVendordep:doxygen-files",
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],
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outs = ["html"],
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doxyfile_template = "Doxyfile",
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exclude = "wpiutil/src/main/native/resources/wpilib-128.png docs/theme.css",
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html_extra_stylesheet = "docs/theme.css",
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project_logo = "wpiutil/src/main/native/resources/wpilib-128.png",
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project_name = "WPILibC++",
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project_number = "$(WPILIB_VERSION)",
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strip_from_inc_path = paths,
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strip_from_path = paths,
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target_compatible_with = select({
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"@platforms//cpu:x86_64": [],
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"//conditions:default": ["@platforms//:incompatible"],
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}),
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warnings = "NO",
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)
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pkg_zip(
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name = "doxygen-zip",
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srcs = [":doxygen"],
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strip_prefix = "html",
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)
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maven_export(
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name = "wpilibc_publish",
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maven_coordinates = "edu.wpi.first.wpilibc:documentation:$(WPILIB_VERSION)",
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target = ":doxygen-zip",
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visibility = ["//visibility:public"],
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)
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javadoc(
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name = "javadoc",
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deps = [
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"//apriltag:apriltag-java",
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"//cameraserver:cameraserver-java",
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"//commandsv3:commandsv3-java",
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"//cscore:cscore-java",
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"//epilogue-runtime:epilogue-java",
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"//hal:hal-java",
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"//ntcore:ntcore-java",
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"//romiVendordep:romiVendordep-java",
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"//wpilibNewCommands:wpilibNewCommands-java",
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"//wpilibj:wpilibj-java",
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"//wpimath:wpimath-java",
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"//wpinet:wpinet-java",
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"//wpiunits:wpiunits-java",
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"//wpiutil:wpiutil-java",
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"//xrpVendordep:xrpVendordep-java",
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],
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)
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copy_file(
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name = "javadoc-zip",
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src = ":javadoc",
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out = "javadoc-zip.zip",
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)
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maven_export(
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name = "wpilibj_publish",
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maven_coordinates = "edu.wpi.first.wpilibj:documentation:$(WPILIB_VERSION)",
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target = ":javadoc-zip",
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visibility = ["//visibility:public"],
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)
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